Squashed 'src/moveit_pro_ur_configs/' changes from f9571cf9..1f617039

1f617039 Merge pull request #5 from PickNikRobotics/subtree-sync
cc22e06a Merge commit 'b51ce0ff97add848234e88b212eae61e6d604253'
9a10a61a Sync 6.5 to main (#37)
df591088 Subtree sync (#19)

git-subtree-dir: src/moveit_pro_ur_configs
git-subtree-split: 1f617039b1f9a9d63987a22c798471c906eedd32

Author: MikeWrock

arm_on_rail_sim/objectives/pick_object.xml

@@ -30,6 +30,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Pick object" />
+    <SubTree ID="Pick object">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>

picknik_ur_base_config/objectives/clear_snapshot.xml

@@ -1,14 +1,14 @@
-<?xml version="1.0" ?>
 <root BTCPP_format="4" main_tree_to_execute="Clear Snapshot">
   <!-- ////////// -->
   <BehaviorTree
     ID="Clear Snapshot"
     _description="Clear the point cloud snapshot"
+    _favorite="true"
   >
     <Action ID="ClearSnapshot" />
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="ClearSnapshot" />
+    <SubTree ID="Clear Snapshot" />
     <MetadataFields>
       <Metadata subcategory="Perception - 3D Point Cloud" />
     </MetadataFields>

picknik_ur_base_config/objectives/close_gripper.xml

@@ -1,6 +1,10 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Close Gripper">
-  <BehaviorTree ID="Close Gripper" _description="Close the gripper">
+  <BehaviorTree
+    ID="Close Gripper"
+    _description="Close the gripper"
+    _favorite="true"
+    _subtreeOnly="false"
+  >
     <Control ID="Sequence" name="root">
       <Action
         ID="MoveGripperAction"

picknik_ur_base_config/objectives/open_gripper.xml

@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Open Gripper">
   <!--//////////-->
-  <BehaviorTree ID="Open Gripper" _description="Open the gripper">
+  <BehaviorTree
+    ID="Open Gripper"
+    _description="Open the gripper"
+    _favorite="true"
+  >
     <Control ID="Sequence" name="root">
       <Action
         ID="MoveGripperAction"

picknik_ur_multi_arm_config/objectives/interpolate_to_joint_state.xml

@@ -33,6 +33,9 @@
   <TreeNodesModel>
     <SubTree ID="Interpolate to Joint State">
       <input_port name="target_joint_state" default="{target_joint_state}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>

picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml

@@ -31,6 +31,9 @@
   <TreeNodesModel>
     <SubTree ID="Move to Joint State">
       <input_port name="target_joint_state" default="{target_joint_state}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>

picknik_ur_multi_arm_config/objectives/move_to_pose.xml

@@ -35,6 +35,9 @@
   <TreeNodesModel>
     <SubTree ID="Move to Pose">
       <input_port name="target_pose" default="{target_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>

picknik_ur_site_config/objectives/retreat_to_initial_pose.xml

@@ -59,6 +59,9 @@
         default="{pre_approach_robot_state}"
       />
       <input_port name="initial_robot_state" default="{initial_robot_state}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>