From fb8bf92c5f0ab55b6613115eaf9b196cd10e99ea Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Mon, 25 Nov 2024 12:53:47 +0100
Subject: [PATCH] mobile_manipulation_config: revisit favorites

---
 .../objectives/00_solution_-_move_to_initial_pose.xml          | 3 +--
 .../objectives/01_solution_-_create_a_pose.xml                 | 3 +--
 .../objectives/02_solution_-_visualize_a_pose.xml              | 3 +--
 .../objectives/03_solution_-_pose_2m_above_the_robot.xml       | 3 +--
 .../objectives/05_solution_-_define_a_path.xml                 | 3 +--
 .../objectives/06_solution_-_visualize_a_path.xml              | 3 +--
 .../objectives/07_solution_-_plan_motion_for_a_path.xml        | 3 +--
 .../objectives/08_solution_-_execute_path_plan.xml             | 3 +--
 .../objectives/09_solution_-_an_infeasible_path.xml            | 3 +--
 .../objectives/10_solution_-_visualize_path_error.xml          | 3 +--
 .../objectives/12_solution_-_constrain_orientation.xml         | 3 +--
 .../objectives/13_solution_-_load_a_path_from_file.xml         | 3 +--
 .../objectives/15_solution_-_a_path_that_collides.xml          | 3 +--
 .../objectives/16_solution_-_checking_for_collisions.xml       | 3 +--
 .../objectives/17_solution_-_execute_the_feasible_path.xml     | 3 +--
 .../objectives/18_solution_-_define_a_coverage_path.xml        | 3 +--
 .../objectives/19_solution_-_execute_coverage_path.xml         | 3 +--
 .../objectives/20_solution_-_look_at_the_airfoil.xml           | 3 +--
 .../objectives/21_solution_-_find_the_airfoil.xml              | 3 +--
 .../objectives/22_solution_-_visualize_airfoil_frame.xml       | 3 +--
 .../objectives/23_solution_-_airfoil_coverage_origin.xml       | 3 +--
 .../objectives/24_solution_-_airfoil_coverage_path.xml         | 3 +--
 .../objectives/25_solution_-_execute_airfoil_coverage.xml      | 3 +--
 .../mobile_manipulation_config/objectives/take_snapshot.xml    | 3 +--
 24 files changed, 24 insertions(+), 48 deletions(-)

diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
index a3218ad5..331cc32b 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="00 Solution - Move to Initial Pose"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="00 Solution - Move to Initial Pose"
     _description="Move to a pre-defined waypoint"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
index 864e0a27..92d0ad90 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="01 Solution - Create a Pose">
   <!--//////////-->
   <BehaviorTree
     ID="01 Solution - Create a Pose"
     _description="Creates a pose relative to a frame"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
index 8ad5dde6..977bb5f7 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="02 Solution - Visualize a Pose">
   <!--//////////-->
   <BehaviorTree
     ID="02 Solution - Visualize a Pose"
     _description="Creates a pose and visualizes it"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
index b17e352d..2d1c8064 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="03 Solution - Pose 2m above the robot"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="03 Solution - Pose 2m above the robot"
     _description="Creates a visualizes a pose 2m right above the robot 'base_link'"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
index 8f201381..ba9bc3e2 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="05 Solution - Define a path">
   <!--//////////-->
   <BehaviorTree
     ID="05 Solution - Define a path"
     _description="Creates a simple path with two waypoints"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
index e60debc8..ed03d8ab 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="06 Solution - Visualize a path">
   <!--//////////-->
   <BehaviorTree
     ID="06 Solution - Visualize a path"
     _description="How to visualize a path"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
index e86d9589..a3f5ad5d 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="07 Solution - Plan motion for a path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="07 Solution - Plan motion for a path"
     _description="Given a path, plans the motion for the robot joints"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
index 93907cd7..256eb4f1 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="08 Solution - Execute path plan">
   <!--//////////-->
   <BehaviorTree
     ID="08 Solution - Execute path plan"
     _description="Plans joint-space motion to track a path, and executes it"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
index 394b30be..8d5cb54a 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="09 Solution - An infeasible path">
   <!--//////////-->
   <BehaviorTree
     ID="09 Solution - An infeasible path"
     _description="An example of a path that is not feasible"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
index f22d769b..3e335c04 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="10 Solution - Visualize path error"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="10 Solution - Visualize path error"
     _description="How to visualize what's going on with an infeasible path"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml
index cb0f2f30..e5553b27 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="12 Solution - Constrain orientation"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="12 Solution - Constrain orientation"
     _description="How to constrain end-effector orientation along paths"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml
index bdba5324..24bbdff9 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="13 Solution - Load a path from file"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="13 Solution - Load a path from file"
     _description="Loads a complex path from a file, and visualizes it"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="LoadPoseStampedVectorFromYaml" file_path="path.yaml" />
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml
index 80c42b30..6d12c405 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="15 Solution - A path that collides"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="15 Solution - A path that collides"
     _description="An example of a path kinematically feasible, but colliding"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml
index 33d201e6..cc9fb3aa 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="16 Solution - Checking for collisions"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="16 Solution - Checking for collisions"
     _description="How to check if a plan will collide"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml
index 1ac2bbb5..68a5fbd3 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="17 Solution - Execute the feasible path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="17 Solution - Execute the feasible path"
     _description=""
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml
index c86e86e8..8c9e5859 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="18 Solution - Define a coverage path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="18 Solution - Define a coverage path"
     _description="Automatically creates a path to cover a rectangular area"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml
index d9890900..3c3fb7b1 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="19 Solution - Execute coverage path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="19 Solution - Execute coverage path"
     _description="Executes a coverage path"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
index d1ac09b0..0eb08894 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="20 Solution - Look at the airfoil">
   <!--//////////-->
   <BehaviorTree
     ID="20 Solution - Look at the airfoil"
     _description="Move to a pre-defined waypoint that looks towards the airfoil"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
index a2b766dd..dcd90294 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="21 Solution - Find the airfoil">
   <!--//////////-->
   <BehaviorTree
     ID="21 Solution - Find the airfoil"
     _description="Estimate the pose of an airfoil using ICP"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
index a8234385..e7f4b46f 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="22 Solution - Visualize airfoil frame"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="22 Solution - Visualize airfoil frame"
     _description="Estimate the pose of an airfoil and visualize its origin frame"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
index 304f77fe..0c2a75ef 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="23 Solution - Airfoil Coverage Origin"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="23 Solution - Airfoil Coverage Origin"
     _description="Estimate the pose of an airfoil and set the origin to define a coverage area"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
index 1ee19ff6..882109b5 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="24 Solution - Airfoil Coverage Path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="24 Solution - Airfoil Coverage Path"
     _description="Estimate the pose of an airfoil and define a coverage path"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
index 890ff21c..0e34cd50 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="25 Solution - Execute Airfoil Coverage"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="25 Solution - Execute Airfoil Coverage"
     _description="Estimate the pose of an airfoil, define a coverage path and execute it"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml
index 4b1c1bca..e2e8723d 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
   <!--//////////-->
   <BehaviorTree
     ID="Take Snapshot"
     _description="Take a point cloud snapshot and add to collision scene"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />