From 83587a1a65bd53cc58e6d0ba12862ca4e977195f Mon Sep 17 00:00:00 2001
From: Chance Cardona <chance.cardona@picknik.ai>
Date: Tue, 28 May 2024 17:29:19 -0600
Subject: [PATCH 1/4] added ShapeCompletion action definition

---
 .../action/ShapeCompletion.action                    | 12 ++++++++++++
 .../moveit_studio_vision_msgs/package.xml            |  4 ++--
 2 files changed, 14 insertions(+), 2 deletions(-)
 create mode 100644 moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action

diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
new file mode 100644
index 0000000..fa15251
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
@@ -0,0 +1,12 @@
+# Goal 
+
+# Point cloud to complete
+sensor_msgs/PointCloud2 partial_pointcloud
+#vs moveit_studio_vision_msgs/PointCloudPCD ?
+
+--- 
+# Result
+sensor_msgs/PointCloud2 completed_pointcloud
+
+---
+# Feedback
diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml b/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml
index 1602deb..56fa68e 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml
@@ -2,8 +2,8 @@
   <name>moveit_studio_vision_msgs</name>
   <version>3.0.0</version>
   <description>Messages, services, and actions used by MoveIt Pro vision capabilities.</description>
-  <author email="sebastian.castro@picknik.ai">Sebastian Castro</author>
-  <maintainer email="sebastian.castro@picknik.ai">Sebastian Castro</maintainer>
+  <author email="support@picknik.ai">MoveIt Pro maintainer</author>
+  <maintainer email="support@picknik.ai">MoveIt Pro maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

From 7d64165fa7927364f8c2d8818fdd904a2cd40597 Mon Sep 17 00:00:00 2001
From: Chance Cardona <chance.cardona@picknik.ai>
Date: Thu, 30 May 2024 12:23:28 -0600
Subject: [PATCH 2/4] Add to cmakelists and remove comment

---
 moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt    | 1 +
 .../moveit_studio_vision_msgs/action/ShapeCompletion.action    | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt
index 2c40360..059aaf4 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt
@@ -30,6 +30,7 @@ set(msg_files
 
 set(action_files
   "action/GetMasks2D.action"
+  "action/ShapeCompletion.action"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
index fa15251..7719d84 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
@@ -2,11 +2,10 @@
 
 # Point cloud to complete
 sensor_msgs/PointCloud2 partial_pointcloud
-#vs moveit_studio_vision_msgs/PointCloudPCD ?
 
 --- 
 # Result
-sensor_msgs/PointCloud2 completed_pointcloud
+sensor_msgs/PointCloud2 complete_pointcloud
 
 ---
 # Feedback

From 9a89bf6ec95fb1889087da20be560f4159a33599 Mon Sep 17 00:00:00 2001
From: Chance Cardona <chance.cardona@picknik.ai>
Date: Thu, 30 May 2024 12:26:15 -0600
Subject: [PATCH 3/4] precommit

---
 .../moveit_studio_vision_msgs/action/ShapeCompletion.action     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
index 7719d84..24d4103 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
@@ -3,7 +3,7 @@
 # Point cloud to complete
 sensor_msgs/PointCloud2 partial_pointcloud
 
---- 
+---
 # Result
 sensor_msgs/PointCloud2 complete_pointcloud
 

From 7486c7484b8f9f594a19e23a742d6258fe3af111 Mon Sep 17 00:00:00 2001
From: Chance Cardona <chance.cardona@picknik.ai>
Date: Mon, 3 Jun 2024 15:26:44 -0600
Subject: [PATCH 4/4] Added model parameters to action

---
 .../moveit_studio_vision_msgs/action/ShapeCompletion.action    | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
index 24d4103..6fa7323 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
@@ -3,6 +3,9 @@
 # Point cloud to complete
 sensor_msgs/PointCloud2 partial_pointcloud
 
+# Model parameters. Stored as key-value pairs as they can be specific to the model selected.
+moveit_studio_sdk_msgs/BehaviorParameter[] parameters
+
 ---
 # Result
 sensor_msgs/PointCloud2 complete_pointcloud