PickNikRobotics · JWhitleyWork · Feb 24, 2026 · Feb 21, 2026
diff --git a/src/lab_sim/objectives/add_point_cloud_to_vector.xml b/src/lab_sim/objectives/add_point_cloud_to_vector.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="Add Point Cloud to Vector"
     _description="Takes a point cloud from a topic and adds it to a vector of point clouds."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/add_table_to_planning_scene.xml b/src/lab_sim/objectives/add_table_to_planning_scene.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Add Table to Planning Scene">
   <!--//////////-->
-  <BehaviorTree ID="Add Table to Planning Scene" _description="">
+  <BehaviorTree
+    ID="Add Table to Planning Scene"
+    _description=""
+    _favorite="false"
+  >
     <Control ID="Sequence">
       <Action
         ID="GetCurrentPlanningScene"

diff --git a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -6,6 +6,7 @@
     _description="Retrieves waypoints and adds them to an MTC task for motion planning."
     joint_group_name="manipulator"
     mtc_task="{mtc_task}"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/addcollisionobjecttoplanningscene.xml b/src/lab_sim/objectives/addcollisionobjecttoplanningscene.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="AddCollisionObjectToPlanningScene"
     _description="Adds a collision box to the planning scene  with the specified ID and pose."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/clear_previous_obstacles.xml b/src/lab_sim/objectives/clear_previous_obstacles.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="Clear Previous Obstacles"
     _description="Clear previous scene obstacles"
+    _favorite="false"
   >
     <Control ID="Sequence" name="Setup">
       <Action ID="ClearSnapshot" />

diff --git a/src/lab_sim/objectives/compute_linkpose_from_waypoint.xml b/src/lab_sim/objectives/compute_linkpose_from_waypoint.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="ComputeLinkPoseFromWaypoint">
   <!--//////////-->
-  <BehaviorTree ID="ComputeLinkPoseFromWaypoint">
+  <BehaviorTree ID="ComputeLinkPoseFromWaypoint" _favorite="false">
     <Control ID="Sequence" _collapsed="false">
       <Action
         ID="RetrieveWaypoint"

diff --git a/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml b/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml
@@ -7,6 +7,7 @@
   <BehaviorTree
     ID="Constrained Pick and Place Subtree"
     _description="Takes in waypoints to run a constrained pick and place operation."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <!--Move to pick location-->

diff --git a/src/lab_sim/objectives/errorcheckvectorsize.xml b/src/lab_sim/objectives/errorcheckvectorsize.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="ErrorCheckVectorSize"
     _description="Assert that the input vector is the expected length, and if not show a UI error and return FAILURE"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/fuse_multiple_views_subtree.xml b/src/lab_sim/objectives/fuse_multiple_views_subtree.xml
@@ -5,6 +5,7 @@
     ID="Fuse Multiple Views Subtree"
     name="Moves to the three waypoints and returns the merged point cloud from those locations."
     _description="Moves to three different waypoints, captures point clouds, returns the merged point cloud."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <SubTree ID="Clear Snapshot" _collapsed="true" />

diff --git a/src/lab_sim/objectives/get_april_tag_pose_from_image.xml b/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
@@ -3,6 +3,7 @@
   <BehaviorTree
     ID="Get AprilTag Pose from Image"
     _description="Takes an image snapshot from the wrist camera and attempts to detect an april tag for pose estimation."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <!--Get tag pose estimate in world frame-->

diff --git a/src/lab_sim/objectives/get_candidate_grasps_subtree.xml b/src/lab_sim/objectives/get_candidate_grasps_subtree.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="Get Candidate Grasps Subtree"
     _description="Infer grasp poses from camera image."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action ID="ClearSnapshot" />

diff --git a/src/lab_sim/objectives/get_collision_free_grasp_subtree.xml b/src/lab_sim/objectives/get_collision_free_grasp_subtree.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="Get Collision Free Grasp Subtree"
     _description="Takes a set of grasp poses and returns the first collision free pose."
+    _favorite="false"
   >
     <Decorator
       ID="ForEachUntilSuccess"

diff --git a/src/lab_sim/objectives/get_grasp_from_text_prompt_subtree.xml b/src/lab_sim/objectives/get_grasp_from_text_prompt_subtree.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Get Grasp from Text Prompt Subtree"
     _description="Identifies an object and returns a collision free grasp pose."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <SubTree

diff --git a/src/lab_sim/objectives/get_pose_at_gripper_and_display.xml b/src/lab_sim/objectives/get_pose_at_gripper_and_display.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="GetPoseAtGripperandDisplay"
     _description="Create a pose at the gripper, transform it, and display it."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/load_and_visualize_point_cloud.xml b/src/lab_sim/objectives/load_and_visualize_point_cloud.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="LoadAndVisualizePointCloud"
     _description="Load point cloud from file, transform it using the input pose, and send it to the UI."
+    _favorite="false"
   >
     <Control ID="Sequence" _collapsed="false">
       <Action

diff --git a/src/lab_sim/objectives/ml_segment_image.xml b/src/lab_sim/objectives/ml_segment_image.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="ML Segment Image"
     _description="Run an ML model to find all objects and visualize the masks with bounding boxes, from a text prompt."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/ml_segment_point_cloud.xml b/src/lab_sim/objectives/ml_segment_point_cloud.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="ML Segment Point Cloud"
     _description="Captures a point cloud and segments out all possible objects from a text prompt"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <SubTree

diff --git a/src/lab_sim/objectives/move_along_square.xml b/src/lab_sim/objectives/move_along_square.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Move Along Square">
   <!--//////////-->
-  <BehaviorTree ID="Move Along Square" _description="Move along a square path">
+  <BehaviorTree
+    ID="Move Along Square"
+    _description="Move along a square path"
+    _favorite="false"
+  >
     <Control ID="Sequence">
       <Action
         ID="InitializeMTCTask"

diff --git a/...im/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml b/...im/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
@@ -6,7 +6,7 @@
   <BehaviorTree
     ID="MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
     _description="Example of end effector avoiding a moving point cloud that is down-sampled with spheres."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <SubTree ID="Clear Snapshot" _collapsed="true" />

diff --git a/...sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml b/...sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
@@ -6,7 +6,7 @@
   <BehaviorTree
     ID="MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
     _description="Example of end effector avoiding a point cloud that is down-sampled with spheres and statically placed in the environment."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree ID="Clear Snapshot" _collapsed="true" />

diff --git a/src/lab_sim/objectives/mpc_pose_tracking_with_point_cloud_avoidance.xml b/src/lab_sim/objectives/mpc_pose_tracking_with_point_cloud_avoidance.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="MPC Pose Tracking With Point Cloud Avoidance"
     _description="Uses Model Predictive Control (MPC) to track a target pose while avoiding obstacles represented by a point cloud."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree ID="Clear Snapshot" _collapsed="true" />

diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="Plan Move To Pose"
     _description="Plan an MTC task, but do not execute it"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/lab_sim/objectives/reflect_poses_subtree.xml b/src/lab_sim/objectives/reflect_poses_subtree.xml
@@ -5,6 +5,7 @@
     ID="Reflect Poses Subtree"
     name=""
     _description="Takes a set of poses, transforms each pose around an axis, and returns the combined set."
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action ID="ResetPoseStampedVector" vector="{output_poses}" />

diff --git a/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml b/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
@@ -6,6 +6,7 @@
   <BehaviorTree
     ID="Stitch Multiple Point Clouds Together"
     _description="Multi-view inspection routine: Captures images and point clouds from multiple viewpoints for 3D reconstruction or quality inspection"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <!--Initialize visualization and point cloud vector-->

diff --git a/src/lab_sim/objectives/take_picture_with_wrist_camera.xml b/src/lab_sim/objectives/take_picture_with_wrist_camera.xml
@@ -4,6 +4,7 @@
   <BehaviorTree
     ID="Take Wrist Camera Image"
     _description="Loads wrist camera parameters and records color image."
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action

diff --git a/...figs/franka_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/...figs/franka_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Segment Image from No Negative Text Prompt Subtree"
     _description="Run text based segmentation and visualize the masks."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/...pro_ur_configs/picknik_ur_base_config/objectives/create_point_cloud_vector_from_masks.xml b/...pro_ur_configs/picknik_ur_base_config/objectives/create_point_cloud_vector_from_masks.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Create Point Cloud Vector From Masks"
     _description="Create point cloud vector From masks"
-    _favorite="true"
+    _favorite="false"
     masks3d="/wrist_camera/camera_info"
     point_cloud="/wrist_camera/camera_info"
   >

diff --git a/.../picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/.../picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Segment Image from No Negative Text Prompt Subtree"
     _description="Run text based segmentation and visualize the masks."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/...eit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml b/...eit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="Segment Image from Point Subtree"
     _description="Captures an image and segments it using three user provided prompt points."
-    _favorite="true"
+    _favorite="false"
     decoder_model_path="models/decoder.onnx"
     encoder_model_path="models/sam2_hiera_large_encoder.onnx"
     image_topic_name="/wrist_camera/color"

diff --git a/...o_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml b/...o_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Segment Image from Text Prompt Subtree"
     _description="Run text based segmentation and visualize the masks."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action

diff --git a/...figs/picknik_ur_base_config/objectives/segment_point_cloud_from_clicked_point_subtree.xml b/...figs/picknik_ur_base_config/objectives/segment_point_cloud_from_clicked_point_subtree.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Segment Point Cloud from Clicked Point Subtree"
     _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
-    _favorite="true"
+    _favorite="false"
     camera_topic_name="{camera_topic_name}"
     decoder_model_path="{decoder_model_path}"
     encoder_model_path="{encoder_model_path}"

diff --git a/...onfigs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml b/...onfigs/picknik_ur_base_config/objectives/segment_point_cloud_from_text_prompt_subtree.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Segment Point Cloud from Text Prompt Subtree"
     _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
-    _favorite="true"
+    _favorite="false"
     camera_topic_name="/wrist_camera/camera_info"
     decoder_model_path="models/decoder.onnx"
     encoder_model_path="models/sam2_hiera_large_encoder.onnx"

diff --git a/...veit_pro_ur_configs/picknik_ur_base_config/objectives/visualize_segmented_point_cloud.xml b/...veit_pro_ur_configs/picknik_ur_base_config/objectives/visualize_segmented_point_cloud.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="Visualize Segmented Point Cloud"
     _description="Publish segmented point cloud to the UI."
-    _favorite="true"
+    _favorite="false"
     masks3d="/wrist_camera/camera_info"
     point_cloud="/wrist_camera/camera_info"
   >