Sync 6.5 to main (#37)

PickNikRobotics · Dec 5, 2024 · b3c8f59 · b3c8f59
1 parent 1fdeeda
commit b3c8f59
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Showing 6 changed files with 20 additions and 1 deletion.
diff --git a/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml b/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/kinova_gen3_base_config/objectives/move_to_waypoint.xml b/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/kinova_gen3_mujoco_config/objectives/move_to_pose.xml b/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/kinova_gen3_mujoco_config/objectives/move_to_waypoint.xml b/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/kinova_gen3_mujoco_config/objectives/re_zero_force_torque_sensors.xml b/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/kinova_gen3_mujoco_config/objectives/sample_april_tag.xml b/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>