remove old objectives and rename bring it

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>

Author: pac48

src/hangar_sim/objectives/look_at_table.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Bring It">
+<root BTCPP_format="4" main_tree_to_execute="Move Boxes to Loading Zone">
   <!--//////////-->
   <BehaviorTree
-    ID="Bring It"
+    ID="Move Boxes to Loading Zone"
     _description="Bring beer to table"
     _favorite="true"
   >
@@ -19,7 +19,7 @@
           <Control ID="Sequence">
             <Control ID="Fallback">
               <SubTree
-                ID="Bring It start from waypoint"
+                ID="Move Boxes to Loading Zone Start from Waypoint"
                 waypoint_name="View Boxes"
                 _collapsed="true"
                 threshold="0.25"
@@ -30,7 +30,7 @@
                 erosion_size="10"
               />
               <SubTree
-                ID="Bring It start from waypoint"
+                ID="Move Boxes to Loading Zone Start from Waypoint"
                 waypoint_name="View Boxes 2"
                 place_pose="{place_pose}"
                 threshold="0.4"
@@ -52,7 +52,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Bring It">
+    <SubTree ID="Move Boxes to Loading Zone">
       <MetadataFields>
         <Metadata runnable="true" />
       </MetadataFields>

src/hangar_sim/objectives/bring_it.xml src/hangar_sim/objectives/move_boxes_to_loading_zone.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Bring It start from waypoint">
+<root BTCPP_format="4" main_tree_to_execute="Move Boxes to Loading Zone Start from Waypoint">
   <!--//////////-->
   <BehaviorTree
-    ID="Bring It start from waypoint"
+    ID="Move Boxes to Loading Zone Start from Waypoint"
     _subtreeOnly="false"
     waypoint_name="View Boxes"
     place_pose="{place_pose}"
@@ -299,7 +299,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Bring It start from waypoint">
+    <SubTree ID="Move Boxes to Loading Zone Start from Waypoint">
       <input_port name="erosion_size" default="0" />
       <input_port name="negative_prompts" default="{negative_prompts}" />
       <input_port name="place_pose" default="{place_pose}" />

src/hangar_sim/objectives/bring_it_start_from_waypoint.xml src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="run_clipseg">
+<root BTCPP_format="4" main_tree_to_execute="Run Text Segmentation">
   <!--//////////-->
   <BehaviorTree
-    ID="run_clipseg"
+    ID="Run Text Segmentation"
     _subtreeOnly="false"
     _description=""
     _favorite="true"
@@ -35,7 +35,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="run_clipseg">
+    <SubTree ID="Run Text Segmentation">
       <MetadataFields>
         <Metadata runnable="true" />
       </MetadataFields>

src/hangar_sim/objectives/move_close_to_bar.xml

@@ -34,7 +34,10 @@
   <TreeNodesModel>
     <SubTree ID="Interpolate to Joint State">
       <input_port name="target_joint_state" default="{target_joint_state}" />
-      <input_port name="controller_names" default="/joint_trajectory_controller /robotiq_gripper_controller" />
+      <input_port
+        name="controller_names"
+        default="/joint_trajectory_controller /robotiq_gripper_controller"
+      />
       <MetadataFields>
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>