From 689d06363089fae6351248eb32205c2a4a8d2722 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 10 Jul 2024 13:38:21 -0600
Subject: [PATCH 1/3] Add comments and explanation to joint_diagnostic

---
 src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
index c610cebf..30586a5d 100644
--- a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
@@ -1,11 +1,13 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
   <!-- ////////// -->
-  <BehaviorTree ID="Joint Diagnostic" _description="Move to a known pose and cycle through the min and max limits of a joint repeatedly" _favorite="true">
+  <BehaviorTree ID="Joint Diagnostic" _description="Example of cycliing through the min and max limits of a single joint, for hardware testing" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
+      <!--Setup by moving home-->
       <SubTree ID="Move to Waypoint" waypoint_name="Home" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
+          <!-- If you use two waypoints that have idential joint values, except for one joint, you can use this Objective as a way to test a single joint repeatidly. This is useful for things like hardware diagnostics and hardware bringup.-->
           <SubTree ID="Move to Waypoint" waypoint_name="Wrist 2 Max" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
           <SubTree ID="Move to Waypoint" waypoint_name="Wrist 2 Min" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
         </Control>

From e6bc7a6227448068ed1e1714ed8af702d090d329 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 10 Jul 2024 13:49:15 -0600
Subject: [PATCH 2/3] Update
 src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml

Co-authored-by: Bilal Gill <bilal.gill@picknik.ai>
---
 src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
index 30586a5d..9623eda9 100644
--- a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
   <!-- ////////// -->
-  <BehaviorTree ID="Joint Diagnostic" _description="Example of cycliing through the min and max limits of a single joint, for hardware testing" _favorite="true">
+  <BehaviorTree ID="Joint Diagnostic" _description="Example of cycling through the min and max limits of a single joint, for hardware testing" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <!--Setup by moving home-->
       <SubTree ID="Move to Waypoint" waypoint_name="Home" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>

From 7f1b0868c3c8525c1ad0206c3cd764a1e27b117b Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 10 Jul 2024 13:49:26 -0600
Subject: [PATCH 3/3] Update
 src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml

Co-authored-by: Bilal Gill <bilal.gill@picknik.ai>
---
 src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
index 9623eda9..0f233bda 100644
--- a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
@@ -7,7 +7,7 @@
       <SubTree ID="Move to Waypoint" waypoint_name="Home" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
-          <!-- If you use two waypoints that have idential joint values, except for one joint, you can use this Objective as a way to test a single joint repeatidly. This is useful for things like hardware diagnostics and hardware bringup.-->
+          <!-- If you use two waypoints that have identical joint values, except for one joint, you can use this Objective as a way to test a single joint repeatedly. This is useful for things like hardware diagnostics and hardware bringup.-->
           <SubTree ID="Move to Waypoint" waypoint_name="Wrist 2 Max" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
           <SubTree ID="Move to Waypoint" waypoint_name="Wrist 2 Min" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
         </Control>