Merge pull request #74 from PickNikRobotics/fix-cat-7.0

jeremydbronson · web-flow · commit 58419bb2d0a4 · 2025-01-03T09:23:10.000-07:00
fix: added subcategories to the missing objectives Former-commit-id: acc26d8
diff --git a/src/lab_sim/objectives/constrained_pick_place.xml b/src/lab_sim/objectives/constrained_pick_place.xml
@@ -153,6 +153,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Constrained Pick and Place" />
+    <SubTree ID="Constrained Pick and Place">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/pick_and_place_example.xml b/src/lab_sim/objectives/pick_and_place_example.xml
@@ -69,7 +69,7 @@
   <TreeNodesModel>
     <SubTree ID="Pick And Place Example">
       <MetadataFields>
-        <Metadata subcategory="Application - Basic Examples" />
+        <Metadata subcategory="Application - Advanced Examples" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -54,7 +54,7 @@
   <TreeNodesModel>
     <SubTree ID="Plan and Save Trajectory">
       <MetadataFields>
-        <Metadata subcategory="Application - Advanced Examples" />
+        <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/register_cad_part.xml b/src/lab_sim/objectives/register_cad_part.xml
@@ -61,7 +61,7 @@
   <TreeNodesModel>
     <SubTree ID="Register CAD Part">
       <MetadataFields>
-        <Metadata subcategory="Perception - Planning Scene" />
+        <Metadata subcategory="Application - Advanced Examples" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/run_sam2_onnx.xml b/src/lab_sim/objectives/run_sam2_onnx.xml
@@ -36,6 +36,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Segment Point Cloud from Clicked Point" />
+    <SubTree ID="Segment Point Cloud from Clicked Point">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml b/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml
@@ -17,7 +17,7 @@
   <TreeNodesModel>
     <SubTree ID="Save and Execute a Trajectory from Disk">
       <MetadataFields>
-        <Metadata subcategory="Motion - Execute" />
+        <Metadata subcategory="Application - Advanced Examples" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/clear_snapshot.xml
@@ -8,9 +8,10 @@
     <Action ID="ClearSnapshot" />
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Clear Snapshot" />
-    <MetadataFields>
-      <Metadata subcategory="Perception - 3D Point Cloud" />
-    </MetadataFields>
+    <SubTree ID="Clear Snapshot">
+      <MetadataFields>
+        <Metadata subcategory="Perception - Planning Scene" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
@@ -15,9 +15,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Close Gripper" />
-    <MetadataFields>
-      <Metadata subcategory="Grasping" />
-    </MetadataFields>
+    <SubTree ID="Close Gripper">
+      <MetadataFields>
+        <Metadata subcategory="Grasping" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
