From 3da16fdd67899d4ed6c24b01a9ee1a3938449b70 Mon Sep 17 00:00:00 2001
From: Michael Wrock <mike.wrock@gmail.com>
Date: Tue, 3 Dec 2024 09:59:36 -0800
Subject: [PATCH 1/4] copypasta

---
 .../objectives/interpolate_to_joint_state.xml        |  3 +++
 src/fanuc_sim/objectives/move_to_joint_state.xml     |  3 +++
 src/fanuc_sim/objectives/move_to_pose.xml            |  3 +++
 src/fanuc_sim/objectives/move_to_waypoint.xml        |  3 +++
 src/lab_sim/objectives/add_waypoints_to_mtc_task.xml |  3 +++
 src/lab_sim/objectives/apriltag_pick_object.xml      |  6 +++++-
 src/lab_sim/objectives/create_pose_vector.xml        |  3 +++
 src/lab_sim/objectives/force_relaxation.xml          |  3 +++
 .../objectives/get_april_tag_pose_from_image.xml     |  3 +++
 .../objectives/load_mesh_as_green_poincloud.xml      |  3 +++
 .../objectives/load_mesh_as_red_pointcloud.xml       |  3 +++
 .../objectives/pick_first_object_in_vector.xml       |  6 +++++-
 src/lab_sim/objectives/place_object.xml              |  6 +++++-
 src/lab_sim/objectives/plan_and_save_trajectory.xml  |  6 +++++-
 src/lab_sim/objectives/plan_move_to_pose.xml         |  4 ++++
 src/lab_sim/objectives/plan_to_pose.xml              |  3 +++
 .../save_and_execute_a_trajectory_from_disk.xml      |  5 ++++-
 src/lab_sim/objectives/take_snap.xml                 |  6 +++++-
 .../get_imarker_pose_from_mesh_visualization.xml     |  3 +++
 .../objectives/move_to_waypoint.xml                  |  3 +++
 .../objectives/move_to_pose.xml                      |  3 +++
 .../objectives/move_to_waypoint.xml                  |  3 +++
 .../objectives/re_zero_force_torque_sensors.xml      |  6 +++++-
 .../objectives/sample_april_tag.xml                  |  3 +++
 .../objectives/estimate_object_pose.xml              |  6 +++++-
 .../objectives/move_to_a_stampedpose.xml             |  3 +++
 .../objectives/take_snap.xml                         |  6 +++++-
 .../objectives/wrist_snap.xml                        |  6 +++++-
 .../arm_on_rail_sim/objectives/pick_object.xml       |  6 +++++-
 .../arm_on_rail_sim/objectives/wrist_snap.xml        |  2 +-
 .../objectives/request_teleoperation.xml             | 12 ++++++++++++
 .../objectives/reset_planning_scene.xml              |  3 +--
 .../objectives/interpolate_to_joint_state.xml        |  3 +++
 .../objectives/move_to_joint_state.xml               |  3 +++
 .../objectives/move_to_pose.xml                      |  3 +++
 .../objectives/retreat_to_initial_pose.xml           |  3 +++
 36 files changed, 135 insertions(+), 14 deletions(-)

diff --git a/src/fanuc_sim/objectives/interpolate_to_joint_state.xml b/src/fanuc_sim/objectives/interpolate_to_joint_state.xml
index 892d8e83..e4f99ff4 100644
--- a/src/fanuc_sim/objectives/interpolate_to_joint_state.xml
+++ b/src/fanuc_sim/objectives/interpolate_to_joint_state.xml
@@ -34,6 +34,9 @@
   <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>
diff --git a/src/fanuc_sim/objectives/move_to_joint_state.xml b/src/fanuc_sim/objectives/move_to_joint_state.xml
index 60b6c5d1..63ab4a8e 100644
--- a/src/fanuc_sim/objectives/move_to_joint_state.xml
+++ b/src/fanuc_sim/objectives/move_to_joint_state.xml
@@ -32,6 +32,9 @@
   <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>
diff --git a/src/fanuc_sim/objectives/move_to_pose.xml b/src/fanuc_sim/objectives/move_to_pose.xml
index 1e58a85e..4009dca1 100644
--- a/src/fanuc_sim/objectives/move_to_pose.xml
+++ b/src/fanuc_sim/objectives/move_to_pose.xml
@@ -36,6 +36,9 @@
   <TreeNodesModel>
     <SubTree ID="Move to Pose">
       <input_port name="target_pose" default="{target_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/fanuc_sim/objectives/move_to_waypoint.xml b/src/fanuc_sim/objectives/move_to_waypoint.xml
index ca42e19e..ad9ec51d 100644
--- a/src/fanuc_sim/objectives/move_to_waypoint.xml
+++ b/src/fanuc_sim/objectives/move_to_waypoint.xml
@@ -47,6 +47,9 @@
         name="controller_names"
         default="/joint_trajectory_controller"
       />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
index a8b2f957..9359a4b0 100644
--- a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
+++ b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -41,6 +41,9 @@
       <input_port name="joint_group_name" default="manipulator" />
       <inout_port name="mtc_task" default="{mtc_task}" />
       <input_port name="planner_interface" default="moveit_default" />
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/apriltag_pick_object.xml b/src/lab_sim/objectives/apriltag_pick_object.xml
index df3f814f..90dc1d9a 100644
--- a/src/lab_sim/objectives/apriltag_pick_object.xml
+++ b/src/lab_sim/objectives/apriltag_pick_object.xml
@@ -90,6 +90,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Pick April Tag Labeled Object" />
+    <SubTree ID="Pick April Tag Labeled Object">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/create_pose_vector.xml b/src/lab_sim/objectives/create_pose_vector.xml
index 0a5ccce0..fe951010 100644
--- a/src/lab_sim/objectives/create_pose_vector.xml
+++ b/src/lab_sim/objectives/create_pose_vector.xml
@@ -111,6 +111,9 @@
   <TreeNodesModel>
     <SubTree ID="Create Pose Vector">
       <output_port name="target_poses" default="{target_poses}" />
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/force_relaxation.xml b/src/lab_sim/objectives/force_relaxation.xml
index a62429fe..f137daea 100644
--- a/src/lab_sim/objectives/force_relaxation.xml
+++ b/src/lab_sim/objectives/force_relaxation.xml
@@ -50,6 +50,9 @@
       <input_port name="wrench_gain" default="0.01" />
       <input_port name="relaxation_time_ms" default="500" />
       <input_port name="tip_link" default="grasp_link" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Controls" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/get_april_tag_pose_from_image.xml b/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
index 302e2f6f..6a223a9e 100644
--- a/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
+++ b/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
@@ -40,6 +40,9 @@
       <input_port name="camera_info" default="{camera_info}" />
       <input_port name="parameters" default="{parameters}" />
       <output_port name="detection_pose" default="{detection_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Perception - Image Processing" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/load_mesh_as_green_poincloud.xml b/src/lab_sim/objectives/load_mesh_as_green_poincloud.xml
index 28acf149..cce854ba 100644
--- a/src/lab_sim/objectives/load_mesh_as_green_poincloud.xml
+++ b/src/lab_sim/objectives/load_mesh_as_green_poincloud.xml
@@ -31,6 +31,9 @@
       <output_port name="point_cloud" default="{green_cloud}" />
       <input_port name="_collapsed" default="true" />
       <input_port name="initial_pose" default="{stamped_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Perception - 3D Point Cloud" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml b/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml
index 4984c7c5..e7492b15 100644
--- a/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml
+++ b/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml
@@ -31,6 +31,9 @@
       <output_port name="point_cloud" default="{red_cloud}" />
       <input_port name="_collapsed" default="false" />
       <input_port name="initial_pose" default="{stamped_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Perception - 3D Point Cloud" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/pick_first_object_in_vector.xml b/src/lab_sim/objectives/pick_first_object_in_vector.xml
index 30bd2bf4..43312862 100644
--- a/src/lab_sim/objectives/pick_first_object_in_vector.xml
+++ b/src/lab_sim/objectives/pick_first_object_in_vector.xml
@@ -43,6 +43,10 @@
     </Decorator>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Pick first object in vector" />
+    <SubTree ID="Pick first object in vector" >
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/place_object.xml b/src/lab_sim/objectives/place_object.xml
index 21a7eaa5..54a785d3 100644
--- a/src/lab_sim/objectives/place_object.xml
+++ b/src/lab_sim/objectives/place_object.xml
@@ -30,6 +30,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Place object" />
+    <SubTree ID="Place object" >
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
index fe26aee1..f2df5324 100644
--- a/src/lab_sim/objectives/plan_and_save_trajectory.xml
+++ b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -51,6 +51,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Plan and Save Trajectory" />
+    <SubTree ID="Plan and Save Trajectory" >
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
index 9f1da373..253b610d 100644
--- a/src/lab_sim/objectives/plan_move_to_pose.xml
+++ b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -35,6 +35,10 @@
         name="move_to_pose_solution"
         default="{move_to_pose_solution}"
       />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Plan" />
+      </MetadataFields>
+    </SubTree>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/plan_to_pose.xml b/src/lab_sim/objectives/plan_to_pose.xml
index 13d39ec9..3bb7c76b 100644
--- a/src/lab_sim/objectives/plan_to_pose.xml
+++ b/src/lab_sim/objectives/plan_to_pose.xml
@@ -49,6 +49,9 @@
       <input_port name="planning_group_name" default="manipulator" />
       <input_port name="ik_frame" default="grasp_link" />
       <inout_port name="mtc_task" default="{mtc_task}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Plan" />
+      </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
index ddeac5a6..8e91ea9a 100644
--- 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
@@ -15,6 +15,9 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Save and Execute a Trajectory from Disk" />
+    <SubTree ID="Save and Execute a Trajectory from Disk" >
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/take_snap.xml b/src/lab_sim/objectives/take_snap.xml
index ebadf701..15807dca 100644
--- a/src/lab_sim/objectives/take_snap.xml
+++ b/src/lab_sim/objectives/take_snap.xml
@@ -14,6 +14,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot" />
+    <SubTree ID="Scene camera snapshot" >
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
index 9be4f855..70fa45ba 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
@@ -26,6 +26,9 @@
       <input_port name="mesh_path" default="{mesh_path}" />
       <input_port name="mesh_pose" default="{mesh_pose}" />
       <input_port name="_collapsed" default="false" />
+      <MetadataFields>
+        <Metadata subcategory="User Input" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_waypoint.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_waypoint.xml
index dd1dac8a..15132ea6 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_waypoint.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_waypoint.xml
@@ -38,6 +38,9 @@
   <TreeNodesModel>
     <SubTree ID="Move to Waypoint">
       <input_port name="planner_interface" default="moveit_default" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
index 51a3f183..fca077c6 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
@@ -63,6 +63,9 @@
       <input_port name="planning_group_name" default="manipulator" />
       <input_port name="ik_frame" default="grasp_link" />
       <input_port name="target_pose" default="{hole_object}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_waypoint.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_waypoint.xml
index 4733f815..c81b5485 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_waypoint.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_waypoint.xml
@@ -45,6 +45,9 @@
         name="controller_names"
         default="/joint_trajectory_controller"
       />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml
index 9c4f1ec4..cffab5a1 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml
@@ -18,6 +18,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Re-Zero Force-Torque Sensors" />
+    <SubTree ID="Re-Zero Force-Torque Sensors" >
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/sample_april_tag.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/sample_april_tag.xml
index 78f8523c..0f26bbba 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/sample_april_tag.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/sample_april_tag.xml
@@ -56,6 +56,9 @@
   <TreeNodesModel>
     <SubTree ID="Sample April Tag">
       <input_port name="tag_id" default="-1" />
+      <MetadataFields>
+        <Metadata subcategory="Perception - Image Processing" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml
index fede7df6..1fd9d7dc 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml
@@ -71,6 +71,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Estimate Object Pose" />
+    <SubTree ID="Estimate Object Pose" >
+      <MetadataFields>
+        <Metadata subcategory="Perception - 3D Point Cloud" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
index 03509637..60cfa019 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
@@ -57,6 +57,9 @@
         default="/joint_trajectory_controller"
       />
       <input_port name="target_pose" default="{stamped_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml
index 07878d8d..1e26de10 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml
@@ -14,6 +14,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Take scene camera snapshot" />
+    <SubTree ID="Take scene camera snapshot" >
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
index 97c4f73b..8653ec49 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
@@ -13,6 +13,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Take wrist camera snapshot" />
+    <SubTree ID="Take wrist camera snapshot" >
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml
index b92faa44..ffcc0a8a 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml
+++ b/src/moveit_pro_ur_configs/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>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
index 324be61b..7c04c0c4 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute=" Take wrist camera snapshot">
   <!--//////////-->
   <BehaviorTree
     ID="Take wrist camera snapshot"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
index 330d4fc6..c5b5dafc 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
@@ -64,6 +64,10 @@
             <!--Interactive markers move to pose-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
               <Control ID="Sequence">
+                <Action
+                  ID="SwitchUIPrimaryView"
+                  primary_view_name="Visualization"
+                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -98,6 +102,10 @@
             <!--Waypoint buttons move to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
               <Control ID="Sequence">
+                <Action
+                  ID="SwitchUIPrimaryView"
+                  primary_view_name="Visualization"
+                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -131,6 +139,10 @@
             </Decorator>
             <!--Cartesian and joint jogging-->
             <Control ID="Sequence" _while="teleop_mode == 2">
+              <Action
+                ID="SwitchUIPrimaryView"
+                primary_view_name="Visualization"
+              />
               <Action
                 ID="TeleoperateTwist"
                 controller_name="servo_controller"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml
index 360fe805..21d122b2 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml
@@ -3,10 +3,9 @@
   <!-- ////////// -->
   <BehaviorTree
     ID="Reset Planning Scene"
-    _description="Remove all runtime additions to the planning scene"
+    _description=""
     _favorite="false"
     _hardcoded="false"
-    _subtreeOnly="false"
   >
     <Action
       ID="ResetPlanningSceneObjects"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/interpolate_to_joint_state.xml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/interpolate_to_joint_state.xml
index 9687de28..67b02a66 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/interpolate_to_joint_state.xml
+++ b/src/moveit_pro_ur_configs/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>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml
index 1e0c2a5e..82d378cb 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml
+++ b/src/moveit_pro_ur_configs/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>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
index cda5743f..c00a3227 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
+++ b/src/moveit_pro_ur_configs/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>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
index ee4c82a9..24964ffa 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
+++ b/src/moveit_pro_ur_configs/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>

From b3f29f9ba8b51fd06617c976b0893e8144d10870 Mon Sep 17 00:00:00 2001
From: Michael Wrock <michael.wrock@picknik.ai>
Date: Tue, 3 Dec 2024 10:05:35 -0800
Subject: [PATCH 2/4] Apply suggestions from code review

---
 .../arm_on_rail_sim/objectives/wrist_snap.xml        |  2 +-
 .../objectives/request_teleoperation.xml             | 12 ------------
 .../objectives/reset_planning_scene.xml              |  3 ++-
 3 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
index 7c04c0c4..324be61b 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute=" Take wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
   <!--//////////-->
   <BehaviorTree
     ID="Take wrist camera snapshot"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
index c5b5dafc..330d4fc6 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
@@ -64,10 +64,6 @@
             <!--Interactive markers move to pose-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
               <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -102,10 +98,6 @@
             <!--Waypoint buttons move to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
               <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -139,10 +131,6 @@
             </Decorator>
             <!--Cartesian and joint jogging-->
             <Control ID="Sequence" _while="teleop_mode == 2">
-              <Action
-                ID="SwitchUIPrimaryView"
-                primary_view_name="Visualization"
-              />
               <Action
                 ID="TeleoperateTwist"
                 controller_name="servo_controller"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml
index 21d122b2..360fe805 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/reset_planning_scene.xml
@@ -3,9 +3,10 @@
   <!-- ////////// -->
   <BehaviorTree
     ID="Reset Planning Scene"
-    _description=""
+    _description="Remove all runtime additions to the planning scene"
     _favorite="false"
     _hardcoded="false"
+    _subtreeOnly="false"
   >
     <Action
       ID="ResetPlanningSceneObjects"

From cb56c0ccfde8acaf7747237d90ce5f4bc1d2ac26 Mon Sep 17 00:00:00 2001
From: Michael Wrock <mike.wrock@gmail.com>
Date: Tue, 3 Dec 2024 10:11:02 -0800
Subject: [PATCH 3/4] pre-commit

---
 src/lab_sim/objectives/pick_first_object_in_vector.xml          | 2 +-
 src/lab_sim/objectives/place_object.xml                         | 2 +-
 src/lab_sim/objectives/plan_and_save_trajectory.xml             | 2 +-
 src/lab_sim/objectives/take_snap.xml                            | 2 +-
 .../objectives/re_zero_force_torque_sensors.xml                 | 2 +-
 .../objectives/estimate_object_pose.xml                         | 2 +-
 .../picknik_ur_mobile_config/objectives/take_snap.xml           | 2 +-
 .../picknik_ur_mobile_config/objectives/wrist_snap.xml          | 2 +-
 .../arm_on_rail_sim/objectives/pick_object.xml                  | 2 +-
 9 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/lab_sim/objectives/pick_first_object_in_vector.xml b/src/lab_sim/objectives/pick_first_object_in_vector.xml
index 43312862..b153b8a1 100644
--- a/src/lab_sim/objectives/pick_first_object_in_vector.xml
+++ b/src/lab_sim/objectives/pick_first_object_in_vector.xml
@@ -43,7 +43,7 @@
     </Decorator>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Pick first object in vector" >
+    <SubTree ID="Pick first object in vector">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/lab_sim/objectives/place_object.xml b/src/lab_sim/objectives/place_object.xml
index 54a785d3..fec0fd73 100644
--- a/src/lab_sim/objectives/place_object.xml
+++ b/src/lab_sim/objectives/place_object.xml
@@ -30,7 +30,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Place object" >
+    <SubTree ID="Place object">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
index f2df5324..ae458e45 100644
--- a/src/lab_sim/objectives/plan_and_save_trajectory.xml
+++ b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -51,7 +51,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Plan and Save Trajectory" >
+    <SubTree ID="Plan and Save Trajectory">
       <MetadataFields>
         <Metadata subcategory="Application - Advanced Examples" />
       </MetadataFields>
diff --git a/src/lab_sim/objectives/take_snap.xml b/src/lab_sim/objectives/take_snap.xml
index 15807dca..0fdb917b 100644
--- a/src/lab_sim/objectives/take_snap.xml
+++ b/src/lab_sim/objectives/take_snap.xml
@@ -14,7 +14,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot" >
+    <SubTree ID="Scene camera snapshot">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml
index cffab5a1..5fbbf52e 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml
@@ -18,7 +18,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Re-Zero Force-Torque Sensors" >
+    <SubTree ID="Re-Zero Force-Torque Sensors">
       <MetadataFields>
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml
index 1fd9d7dc..1414ad50 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/estimate_object_pose.xml
@@ -71,7 +71,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Estimate Object Pose" >
+    <SubTree ID="Estimate Object Pose">
       <MetadataFields>
         <Metadata subcategory="Perception - 3D Point Cloud" />
       </MetadataFields>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml
index 1e26de10..89f2873c 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/take_snap.xml
@@ -14,7 +14,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Take scene camera snapshot" >
+    <SubTree ID="Take scene camera snapshot">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
index 8653ec49..324be61b 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
@@ -13,7 +13,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Take wrist camera snapshot" >
+    <SubTree ID="Take wrist camera snapshot">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml
index ffcc0a8a..8fa1bfc1 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/pick_object.xml
@@ -30,7 +30,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Pick object" >
+    <SubTree ID="Pick object">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>

From d5017267284baadccc3ae9cf0dd12b24f265d472 Mon Sep 17 00:00:00 2001
From: Michael Wrock <mike.wrock@gmail.com>
Date: Tue, 3 Dec 2024 15:20:12 -0800
Subject: [PATCH 4/4] formatting

---
 src/lab_sim/objectives/plan_move_to_pose.xml                   | 1 -
 .../objectives/save_and_execute_a_trajectory_from_disk.xml     | 3 ++-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
index 253b610d..c280015e 100644
--- a/src/lab_sim/objectives/plan_move_to_pose.xml
+++ b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -39,6 +39,5 @@
         <Metadata subcategory="Motion - Plan" />
       </MetadataFields>
     </SubTree>
-    </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
index 8e91ea9a..33d02a77 100644
--- 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
@@ -15,9 +15,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Save and Execute a Trajectory from Disk" >
+    <SubTree ID="Save and Execute a Trajectory from Disk">
       <MetadataFields>
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>