From 5525ed9e18a83054488931f5ec7eb08f0f99ffff Mon Sep 17 00:00:00 2001
From: Michael Wrock <mike.wrock@gmail.com>
Date: Wed, 4 Dec 2024 17:38:06 -0800
Subject: [PATCH] Updating favourites

---
 src/lab_sim/objectives/add_waypoints_to_mtc_task.xml       | 5 +++--
 src/lab_sim/objectives/apriltag_pick_object.xml            | 1 -
 src/lab_sim/objectives/move_with_velocity_and_force.xml    | 2 +-
 src/lab_sim/objectives/pick_and_place_example.xml          | 3 +--
 src/lab_sim/objectives/plan_and_save_trajectory.xml        | 3 ++-
 src/lab_sim/objectives/register_cad_part.xml               | 2 +-
 .../objectives/save_and_execute_a_trajectory_from_disk.xml | 2 +-
 .../picknik_ur_base_config/objectives/clear_snapshot.xml   | 2 +-
 .../picknik_ur_base_config/objectives/close_gripper.xml    | 7 +++++--
 .../picknik_ur_base_config/objectives/open_gripper.xml     | 7 +++++--
 10 files changed, 20 insertions(+), 14 deletions(-)

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 9359a4b0..4ede36b5 100644
--- a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
+++ b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Add Waypoints to MTC Task">
   <!--//////////-->
   <BehaviorTree
@@ -9,7 +10,7 @@
       <Action
         ID="RetrieveWaypoint"
         waypoint_joint_state="{target_joint_state}"
-        waypoint_name="Pick Cube"
+        waypoint_name="Above Pick Cube"
         joint_group_name="{joint_group_name}"
       />
       <Action
@@ -23,7 +24,7 @@
       <Action
         ID="RetrieveWaypoint"
         waypoint_joint_state="{target_joint_state}"
-        waypoint_name="Place Cube"
+        waypoint_name="Above Place Cube"
         joint_group_name="{joint_group_name}"
       />
       <Action
diff --git a/src/lab_sim/objectives/apriltag_pick_object.xml b/src/lab_sim/objectives/apriltag_pick_object.xml
index 90dc1d9a..29dc823a 100644
--- a/src/lab_sim/objectives/apriltag_pick_object.xml
+++ b/src/lab_sim/objectives/apriltag_pick_object.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Pick April Tag Labeled Object">
   <!--//////////-->
   <BehaviorTree
diff --git a/src/lab_sim/objectives/move_with_velocity_and_force.xml b/src/lab_sim/objectives/move_with_velocity_and_force.xml
index 0026831a..630d784b 100644
--- a/src/lab_sim/objectives/move_with_velocity_and_force.xml
+++ b/src/lab_sim/objectives/move_with_velocity_and_force.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Move until Force Contact"
     _description="An example for how to use the VFC to move with a velocity / force reference until it collides"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree
diff --git a/src/lab_sim/objectives/pick_and_place_example.xml b/src/lab_sim/objectives/pick_and_place_example.xml
index 456b378b..09423b90 100644
--- a/src/lab_sim/objectives/pick_and_place_example.xml
+++ b/src/lab_sim/objectives/pick_and_place_example.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Pick And Place Example">
   <!-- ////////// -->
   <BehaviorTree
     ID="Pick And Place Example"
     _description="Pick and place example objective"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="Pick and Place">
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
index be333a75..db138a7a 100644
--- a/src/lab_sim/objectives/plan_and_save_trajectory.xml
+++ b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Plan and Save Trajectory">
   <!--//////////-->
   <BehaviorTree
@@ -39,7 +40,7 @@
       />
       <Action ID="PlanMTCTask" solution="{mtc_solution}" task="{mtc_task}" />
       <Action ID="WaitForUserTrajectoryApproval" />
-      <!-- The following behavior can be found in the example_behaviors package. -->
+      <!--The following behavior can be found in the example_behaviors package.-->
       <Action
         ID="ConvertMtcSolutionToJointTrajectory"
         joint_trajectory="{joint_trajectory_msg}"
diff --git a/src/lab_sim/objectives/register_cad_part.xml b/src/lab_sim/objectives/register_cad_part.xml
index 4c56b729..f7786c58 100644
--- a/src/lab_sim/objectives/register_cad_part.xml
+++ b/src/lab_sim/objectives/register_cad_part.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Register CAD Part"
     _description="Load an STL from disk and use registration to align the pointcloud with a matching shape in the environment"
-    _favorite="true"
+    _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
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 33d02a77..caafc2a5 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
@@ -6,7 +6,7 @@
   <BehaviorTree
     ID="Save and Execute a Trajectory from Disk"
     _description="Build a trajectory from a series of waypoints and MTC tasks, then save the trajectory to disk. Load the trajectory from disk and execute it as well."
-    _favorite="true"
+    _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
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
index b4f943f0..285a3060 100644
--- 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
@@ -1,9 +1,9 @@
-<?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>
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
index e96d3dba..11132bd3 100644
--- 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
@@ -1,6 +1,9 @@
-<?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"
+  >
     <Control ID="Sequence" name="root">
       <Action
         ID="MoveGripperAction"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml
index f2d84d47..91194afe 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml
+++ b/src/moveit_pro_ur_configs/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"