copypasta

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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>

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"

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"

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"

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>

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>

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>