From de9b9f3eb8ff10f76a654aca0688a81c27892f5d Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Mon, 19 Feb 2024 17:00:42 -0500
Subject: [PATCH] Remove unintended favorited Objectives

---
 .../objectives/force_exceeds_threshold.xml                      | 2 +-
 .../objectives/open_door_fixed_handle_ml.xml                    | 2 +-
 .../objectives/open_lever_handle_door.xml                       | 2 +-
 src/picknik_ur_site_config/objectives/push_button_ml.xml        | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/picknik_ur_gazebo_config/objectives/force_exceeds_threshold.xml b/src/picknik_ur_gazebo_config/objectives/force_exceeds_threshold.xml
index 4774969c..0dea66a0 100644
--- a/src/picknik_ur_gazebo_config/objectives/force_exceeds_threshold.xml
+++ b/src/picknik_ur_gazebo_config/objectives/force_exceeds_threshold.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Force Exceeds Threshold">
-    <BehaviorTree ID="Force Exceeds Threshold" _description="Uses a Force Torque Sensor topic to check if input End Effector force exceeds threshold. This subtree is used to overwrite these values for each package." _favorite="true">
+    <BehaviorTree ID="Force Exceeds Threshold" _description="Uses a Force Torque Sensor topic to check if input End Effector force exceeds threshold. This subtree is used to overwrite these values for each package." _favorite="false">
         <Control ID="Sequence">
             <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
         </Control>
diff --git a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
index 4ced5725..f8138b52 100644
--- a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
+++ b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Open Door Fixed Handle ML">
   <!-- ////////// -->
-  <BehaviorTree ID="Open Door Fixed Handle ML" _description="Attempts to open a door with a fixed handle (such as cabinet doors) using machine learning." _favorite="true" _hardcoded="true">
+  <BehaviorTree ID="Open Door Fixed Handle ML" _description="Attempts to open a door with a fixed handle (such as cabinet doors) using machine learning." _favorite="false" _hardcoded="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Load the parameters needed for this Objective -->
       <Action ID="LoadObjectiveParameters" config_file_name="open_door_fixed_handle_MTC_config.yaml" parameters="{parameters}"/>
diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
index 9d085a85..524e9485 100644
--- a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
+++ b/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Open Lever Handle Door">
-  <BehaviorTree ID="Open Lever Handle Door" _description="Open a lever handle door by turning the handle and pushing the door" _favorite="true">
+  <BehaviorTree ID="Open Lever Handle Door" _description="Open a lever handle door by turning the handle and pushing the door" _favorite="false">
     <Control ID="Sequence" name="Setup">
       <Action ID="LoadObjectiveParameters" config_file_name="open_door_lever_handle_MTC_config.yaml" parameters="{parameters}"/>
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
index b4aab8e3..81d00440 100644
--- a/src/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Push Button ML">
-  <BehaviorTree ID="Push Button ML" _description="Move to a waypoint, and then push a button detected by a image segmentation network with the end effector" _favorite="true">
+  <BehaviorTree ID="Push Button ML" _description="Move to a waypoint, and then push a button detected by a image segmentation network with the end effector" _favorite="false">
     <Control ID="Sequence">
       <Action ID="LoadObjectiveParameters" config_file_name="push_along_axis_config.yaml" parameters="{parameters}"/>
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>