From 2d60551a8df619e8a61d98dc9871c09aa80860a1 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 11:23:07 -0600
Subject: [PATCH 01/15] feat(hangar_sim): add Semantic Navigate objectives

---
 .../objectives/semantic_navigate.xml          | 48 +++++++++++++++++++
 .../semantic_navigate_to_workbench.xml        | 43 +++++++++++++++++
 2 files changed, 91 insertions(+)
 create mode 100644 src/hangar_sim/objectives/semantic_navigate.xml
 create mode 100644 src/hangar_sim/objectives/semantic_navigate_to_workbench.xml

diff --git a/src/hangar_sim/objectives/semantic_navigate.xml b/src/hangar_sim/objectives/semantic_navigate.xml
new file mode 100644
index 000000000..165007969
--- /dev/null
+++ b/src/hangar_sim/objectives/semantic_navigate.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Contract #2 integration target. The caller (viewpane / Claude terminal) sets two blackboard
+     params before running, derived from the resolver's {x, y, yaw}:
+        target_position_xyz    e.g. "24.0;8.3;0.0"   (map frame, z=0 for the base)
+        target_orientation_xyzw e.g. "0.0;0.0;0.0;1.0" (caller converts yaw -> quaternion)
+     Defaults drive to the workbench so it is also runnable standalone. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate">
+  <BehaviorTree
+    ID="Semantic Navigate"
+    _description="Drive the Ridgeback to a semantic goal pose (map frame) resolved from natural language."
+    _favorite="true"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action
+        ID="CreatePoseStamped"
+        reference_frame="map"
+        position_xyz="{target_position_xyz}"
+        orientation_xyzw="{target_orientation_xyzw}"
+        pose_stamped="{target_pose}"
+      />
+      <Action
+        ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller"
+      />
+      <Action
+        ID="NavigateToPoseAction"
+        action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}"
+      />
+      <Action
+        ID="SwitchController"
+        activate_controllers="joint_trajectory_controller"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Navigation" />
+      </MetadataFields>
+      <input_port name="target_position_xyz" default="24.0;8.3;0.0">Goal position "x;y;z" in the map frame.</input_port>
+      <input_port name="target_orientation_xyzw" default="0.0;0.0;0.0;1.0">Goal orientation quaternion "x;y;z;w".</input_port>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
new file mode 100644
index 000000000..b77e93a4b
--- /dev/null
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Smoke test: drives the Ridgeback to a hardcoded "workbench" pose with zero parameters.
+     Proves the Semantic Nav drive path end-to-end independent of the resolver/viewpane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate to Workbench">
+  <BehaviorTree
+    ID="Semantic Navigate to Workbench"
+    _description="Smoke test for Semantic Nav: drive to a fixed workbench pose in the map frame."
+    _favorite="true"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action
+        ID="CreatePoseStamped"
+        reference_frame="map"
+        position_xyz="24.0;8.3;0.0"
+        orientation_xyzw="0.0;0.0;0.0;1.0"
+        pose_stamped="{target_pose}"
+      />
+      <Action
+        ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller"
+      />
+      <Action
+        ID="NavigateToPoseAction"
+        action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}"
+      />
+      <Action
+        ID="SwitchController"
+        activate_controllers="joint_trajectory_controller"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate to Workbench">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Navigation" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>

From 1577e98376116b29dcfa1f7b74a9bdacfdb839eb Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 12:58:47 -0600
Subject: [PATCH 02/15] fix(hangar_sim): retarget smoke test to free-space dock
 pose

---
 .../semantic_navigate_to_workbench.xml           | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index b77e93a4b..a47871bcb 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -1,17 +1,19 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Smoke test: drives the Ridgeback to a hardcoded "workbench" pose with zero parameters.
-     Proves the Semantic Nav drive path end-to-end independent of the resolver/viewpane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate to Workbench">
+<!-- Smoke test: drives the Ridgeback to the docking station (a pose that is free in the nav map)
+     with zero parameters. Proves the Semantic Nav drive path end-to-end, independent of the
+     resolver/viewpane. NOTE: object *centers* from the semantic map are often inside obstacles
+     (walls/shelves); the dock center is in free space, which is why it is used here. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate to Dock">
   <BehaviorTree
-    ID="Semantic Navigate to Workbench"
-    _description="Smoke test for Semantic Nav: drive to a fixed workbench pose in the map frame."
+    ID="Semantic Navigate to Dock"
+    _description="Smoke test for Semantic Nav: drive to the docking station (free-space pose, map frame)."
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="CreatePoseStamped"
         reference_frame="map"
-        position_xyz="24.0;8.3;0.0"
+        position_xyz="0.194;28.924;0.0"
         orientation_xyzw="0.0;0.0;0.0;1.0"
         pose_stamped="{target_pose}"
       />
@@ -33,7 +35,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate to Workbench">
+    <SubTree ID="Semantic Navigate to Dock">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />

From 823dfa0fbf121639a6865a8c528bd7be4adc6230 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 13:30:16 -0600
Subject: [PATCH 03/15] test(hangar_sim): smoke test to SE door standoff; hide
 unwired parameterized objective

---
 .../objectives/semantic_navigate.xml          |  3 ++-
 .../semantic_navigate_to_workbench.xml        | 20 +++++++++----------
 2 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate.xml b/src/hangar_sim/objectives/semantic_navigate.xml
index 165007969..70b32bf2d 100644
--- a/src/hangar_sim/objectives/semantic_navigate.xml
+++ b/src/hangar_sim/objectives/semantic_navigate.xml
@@ -38,7 +38,8 @@
   <TreeNodesModel>
     <SubTree ID="Semantic Navigate">
       <MetadataFields>
-        <Metadata runnable="true" />
+        <!-- Not runnable from the sidebar: fired programmatically by B/terminal with pose params.
+             Re-enable runnable once the transport is wired and a default pose is validated. -->
         <Metadata subcategory="Navigation" />
       </MetadataFields>
       <input_port name="target_position_xyz" default="24.0;8.3;0.0">Goal position "x;y;z" in the map frame.</input_port>
diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index a47871bcb..350119baa 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -1,20 +1,20 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Smoke test: drives the Ridgeback to the docking station (a pose that is free in the nav map)
-     with zero parameters. Proves the Semantic Nav drive path end-to-end, independent of the
-     resolver/viewpane. NOTE: object *centers* from the semantic map are often inside obstacles
-     (walls/shelves); the dock center is in free space, which is why it is used here. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate to Dock">
+<!-- Smoke test: drives the Ridgeback to a nav-ready standoff pose (the SE double door, offset
+     ~2.25 m into the interior). Validates the standoff approach against the live costmap. If this
+     fails, bump the standoff (B owns NAV_STANDOFF_M) or add obstacle-aware per-cluster offsets.
+     Stable objective ID so we can iterate the pose without renaming in the UI. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate (Smoke Test)">
   <BehaviorTree
-    ID="Semantic Navigate to Dock"
-    _description="Smoke test for Semantic Nav: drive to the docking station (free-space pose, map frame)."
+    ID="Semantic Navigate (Smoke Test)"
+    _description="Smoke test for Semantic Nav: drive to the SE door nav-ready standoff pose (map frame)."
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="CreatePoseStamped"
         reference_frame="map"
-        position_xyz="0.194;28.924;0.0"
-        orientation_xyzw="0.0;0.0;0.0;1.0"
+        position_xyz="21.259;0.6;0.0"
+        orientation_xyzw="0.0;0.0;-0.7071;0.7071"
         pose_stamped="{target_pose}"
       />
       <Action
@@ -35,7 +35,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate to Dock">
+    <SubTree ID="Semantic Navigate (Smoke Test)">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />

From ccb81f0e26cd16f8241f08bf22c46b3f6a9bf915 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 13:50:37 -0600
Subject: [PATCH 04/15] feat(hangar_sim): runnable Semantic Navigate (override
 target) + clickable demo objectives

---
 .../objectives/semantic_navigate.xml          |  7 +++--
 .../objectives/semnav_demo_door_east.xml      | 27 +++++++++++++++++++
 .../semnav_demo_door_south_east.xml           | 27 +++++++++++++++++++
 .../objectives/semnav_demo_door_west.xml      | 27 +++++++++++++++++++
 .../semnav_demo_shelving_south_east.xml       | 27 +++++++++++++++++++
 .../semnav_demo_stairs_north_east.xml         | 27 +++++++++++++++++++
 6 files changed, 138 insertions(+), 4 deletions(-)
 create mode 100644 src/hangar_sim/objectives/semnav_demo_door_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_demo_door_south_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_demo_door_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml

diff --git a/src/hangar_sim/objectives/semantic_navigate.xml b/src/hangar_sim/objectives/semantic_navigate.xml
index 70b32bf2d..252790280 100644
--- a/src/hangar_sim/objectives/semantic_navigate.xml
+++ b/src/hangar_sim/objectives/semantic_navigate.xml
@@ -38,12 +38,11 @@
   <TreeNodesModel>
     <SubTree ID="Semantic Navigate">
       <MetadataFields>
-        <!-- Not runnable from the sidebar: fired programmatically by B/terminal with pose params.
-             Re-enable runnable once the transport is wired and a default pose is validated. -->
+        <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />
       </MetadataFields>
-      <input_port name="target_position_xyz" default="24.0;8.3;0.0">Goal position "x;y;z" in the map frame.</input_port>
-      <input_port name="target_orientation_xyzw" default="0.0;0.0;0.0;1.0">Goal orientation quaternion "x;y;z;w".</input_port>
+      <input_port name="target_position_xyz" default="21.259;0.6;0.0">Goal position "x;y;z" in the map frame (B overrides this).</input_port>
+      <input_port name="target_orientation_xyzw" default="0.0;0.0;-0.7071;0.7071">Goal orientation quaternion "x;y;z;w" (B overrides this).</input_port>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_demo_door_east.xml b/src/hangar_sim/objectives/semnav_demo_door_east.xml
new file mode 100644
index 000000000..e3cc6f435
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_demo_door_east.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Double Door (east) nav-ready pose. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Double Door (east)">
+  <BehaviorTree ID="Semantic Navigate: Double Door (east)" _description="Drive to Double Door (east) (door-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;24.5590;0.0"
+        orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: Double Door (east)">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Semantic Nav Demo" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_door_south_east.xml b/src/hangar_sim/objectives/semnav_demo_door_south_east.xml
new file mode 100644
index 000000000..21db7427e
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_demo_door_south_east.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Door (south-east) nav-ready pose. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Door (south-east)">
+  <BehaviorTree ID="Semantic Navigate: Door (south-east)" _description="Drive to Door (south-east) (door-south-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="21.2590;0.6000;0.0"
+        orientation_xyzw="0.000000;0.000000;-0.707179;0.707035"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: Door (south-east)">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Semantic Nav Demo" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_door_west.xml b/src/hangar_sim/objectives/semnav_demo_door_west.xml
new file mode 100644
index 000000000..3aabc4375
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_demo_door_west.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Double Door (west) nav-ready pose. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Double Door (west)">
+  <BehaviorTree ID="Semantic Navigate: Double Door (west)" _description="Drive to Double Door (west) (door-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-22.6000;24.3090;0.0"
+        orientation_xyzw="0.000000;0.000000;1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: Double Door (west)">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Semantic Nav Demo" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml b/src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml
new file mode 100644
index 000000000..d2203d7cf
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Shelving (south-east) nav-ready pose. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Shelving (south-east)">
+  <BehaviorTree ID="Semantic Navigate: Shelving (south-east)" _description="Drive to Shelving (south-east) (shelving-south-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;9.8160;0.0"
+        orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: Shelving (south-east)">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Semantic Nav Demo" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml b/src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml
new file mode 100644
index 000000000..2565a5394
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Stairs (north-east) nav-ready pose. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Stairs (north-east)">
+  <BehaviorTree ID="Semantic Navigate: Stairs (north-east)" _description="Drive to Stairs (north-east) (stairs-north-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="17.2480;40.2260;0.0"
+        orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: Stairs (north-east)">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Semantic Nav Demo" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>

From 2aaefb654e0bb3fc7472974ebc7f9d3e9505aa81 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:22:04 -0600
Subject: [PATCH 05/15] feat(hangar_sim): per-place by-name Semantic Navigate
 objectives (fallback path)

---
 .../semnav_access_stand_south_east.xml        | 24 +++++++++++++++++++
 .../semnav_access_stand_south_west.xml        | 24 +++++++++++++++++++
 .../objectives/semnav_access_stand_west.xml   | 24 +++++++++++++++++++
 ...emo_door_east.xml => semnav_door_east.xml} | 15 +++++-------
 .../objectives/semnav_door_north.xml          | 24 +++++++++++++++++++
 .../objectives/semnav_door_north_east.xml     | 24 +++++++++++++++++++
 .../objectives/semnav_door_north_east_2.xml   | 24 +++++++++++++++++++
 .../objectives/semnav_door_north_west.xml     | 24 +++++++++++++++++++
 .../objectives/semnav_door_north_west_2.xml   | 24 +++++++++++++++++++
 .../objectives/semnav_door_north_west_3.xml   | 24 +++++++++++++++++++
 ...th_east.xml => semnav_door_south_east.xml} | 15 +++++-------
 ...emo_door_west.xml => semnav_door_west.xml} | 15 +++++-------
 .../objectives/semnav_ladder_south_west.xml   | 24 +++++++++++++++++++
 .../objectives/semnav_ladder_west.xml         | 24 +++++++++++++++++++
 .../objectives/semnav_shelving_east.xml       | 24 +++++++++++++++++++
 ...ast.xml => semnav_shelving_south_east.xml} | 15 +++++-------
 .../objectives/semnav_shelving_south_west.xml | 24 +++++++++++++++++++
 ..._east.xml => semnav_stairs_north_east.xml} | 15 +++++-------
 .../objectives/semnav_stairs_north_west.xml   | 24 +++++++++++++++++++
 .../objectives/semnav_trash_bin_east.xml      | 24 +++++++++++++++++++
 .../objectives/semnav_trash_bin_west.xml      | 24 +++++++++++++++++++
 21 files changed, 414 insertions(+), 45 deletions(-)
 create mode 100644 src/hangar_sim/objectives/semnav_access_stand_south_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_access_stand_south_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_access_stand_west.xml
 rename src/hangar_sim/objectives/{semnav_demo_door_east.xml => semnav_door_east.xml} (64%)
 create mode 100644 src/hangar_sim/objectives/semnav_door_north.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_east_2.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_west_2.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_west_3.xml
 rename src/hangar_sim/objectives/{semnav_demo_door_south_east.xml => semnav_door_south_east.xml} (64%)
 rename src/hangar_sim/objectives/{semnav_demo_door_west.xml => semnav_door_west.xml} (64%)
 create mode 100644 src/hangar_sim/objectives/semnav_ladder_south_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_ladder_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_shelving_east.xml
 rename src/hangar_sim/objectives/{semnav_demo_shelving_south_east.xml => semnav_shelving_south_east.xml} (63%)
 create mode 100644 src/hangar_sim/objectives/semnav_shelving_south_west.xml
 rename src/hangar_sim/objectives/{semnav_demo_stairs_north_east.xml => semnav_stairs_north_east.xml} (64%)
 create mode 100644 src/hangar_sim/objectives/semnav_stairs_north_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_trash_bin_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_trash_bin_west.xml

diff --git a/src/hangar_sim/objectives/semnav_access_stand_south_east.xml b/src/hangar_sim/objectives/semnav_access_stand_south_east.xml
new file mode 100644
index 000000000..6a41df905
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_access_stand_south_east.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: access-stand-south-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: access-stand-south-east">
+  <BehaviorTree ID="Semantic Navigate: access-stand-south-east" _description="Drive to Access Stand (south-east) (access-stand-south-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="11.5770;9.3090;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: access-stand-south-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_access_stand_south_west.xml b/src/hangar_sim/objectives/semnav_access_stand_south_west.xml
new file mode 100644
index 000000000..a5fce3c28
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_access_stand_south_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: access-stand-south-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: access-stand-south-west">
+  <BehaviorTree ID="Semantic Navigate: access-stand-south-west" _description="Drive to Access Stand (south-west) (access-stand-south-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-11.7970;2.9360;0.0"
+        orientation_xyzw="0.0;0.0;-1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: access-stand-south-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_access_stand_west.xml b/src/hangar_sim/objectives/semnav_access_stand_west.xml
new file mode 100644
index 000000000..38b4a92cc
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_access_stand_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: access-stand-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: access-stand-west">
+  <BehaviorTree ID="Semantic Navigate: access-stand-west" _description="Drive to Access Stand (west) (access-stand-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-19.3070;16.4050;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: access-stand-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_door_east.xml b/src/hangar_sim/objectives/semnav_door_east.xml
similarity index 64%
rename from src/hangar_sim/objectives/semnav_demo_door_east.xml
rename to src/hangar_sim/objectives/semnav_door_east.xml
index e3cc6f435..24cde4e99 100644
--- a/src/hangar_sim/objectives/semnav_demo_door_east.xml
+++ b/src/hangar_sim/objectives/semnav_door_east.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Double Door (east) nav-ready pose. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Double Door (east)">
-  <BehaviorTree ID="Semantic Navigate: Double Door (east)" _description="Drive to Double Door (east) (door-east)." _favorite="true">
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-east">
+  <BehaviorTree ID="Semantic Navigate: door-east" _description="Drive to Double Door (east) (door-east)." _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="CreatePoseStamped" reference_frame="map"
         position_xyz="22.6000;24.5590;0.0"
-        orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
         pose_stamped="{target_pose}" />
       <Action ID="SwitchController"
         activate_controllers="platform_velocity_controller_nav2"
@@ -17,11 +17,8 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Double Door (east)">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Semantic Nav Demo" />
-      </MetadataFields>
+    <SubTree ID="Semantic Navigate: door-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_door_north.xml b/src/hangar_sim/objectives/semnav_door_north.xml
new file mode 100644
index 000000000..dcd12d2fd
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north">
+  <BehaviorTree ID="Semantic Navigate: door-north" _description="Drive to Sliding Door (north) (door-north)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-0.0270;55.7000;0.0"
+        orientation_xyzw="0.0;0.0;0.707179;0.707035"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: door-north">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east.xml b/src/hangar_sim/objectives/semnav_door_north_east.xml
new file mode 100644
index 000000000..bbd5bc532
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_east.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east">
+  <BehaviorTree ID="Semantic Navigate: door-north-east" _description="Drive to Door (north-east) (door-north-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="11.8540;48.0680;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: door-north-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east_2.xml b/src/hangar_sim/objectives/semnav_door_north_east_2.xml
new file mode 100644
index 000000000..7858a1602
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_east_2.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-east-2") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east-2">
+  <BehaviorTree ID="Semantic Navigate: door-north-east-2" _description="Drive to Door (north-east) (door-north-east-2)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="20.9410;41.2630;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: door-north-east-2">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west.xml b/src/hangar_sim/objectives/semnav_door_north_west.xml
new file mode 100644
index 000000000..881f037a6
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west">
+  <BehaviorTree ID="Semantic Navigate: door-north-west" _description="Drive to Door (north-west) (door-north-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-21.4590;41.2630;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: door-north-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_2.xml b/src/hangar_sim/objectives/semnav_door_north_west_2.xml
new file mode 100644
index 000000000..5bd317cf3
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_west_2.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-west-2") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-2">
+  <BehaviorTree ID="Semantic Navigate: door-north-west-2" _description="Drive to Door (north-west) (door-north-west-2)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-11.9850;48.0500;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: door-north-west-2">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_3.xml b/src/hangar_sim/objectives/semnav_door_north_west_3.xml
new file mode 100644
index 000000000..39cb913b9
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_west_3.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-west-3") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-3">
+  <BehaviorTree ID="Semantic Navigate: door-north-west-3" _description="Drive to Door (north-west) (door-north-west-3)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-8.8590;55.7000;0.0"
+        orientation_xyzw="0.0;0.0;0.707179;0.707035"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: door-north-west-3">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_door_south_east.xml b/src/hangar_sim/objectives/semnav_door_south_east.xml
similarity index 64%
rename from src/hangar_sim/objectives/semnav_demo_door_south_east.xml
rename to src/hangar_sim/objectives/semnav_door_south_east.xml
index 21db7427e..6241a3339 100644
--- a/src/hangar_sim/objectives/semnav_demo_door_south_east.xml
+++ b/src/hangar_sim/objectives/semnav_door_south_east.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Door (south-east) nav-ready pose. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Door (south-east)">
-  <BehaviorTree ID="Semantic Navigate: Door (south-east)" _description="Drive to Door (south-east) (door-south-east)." _favorite="true">
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-south-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-south-east">
+  <BehaviorTree ID="Semantic Navigate: door-south-east" _description="Drive to Door (south-east) (door-south-east)." _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="CreatePoseStamped" reference_frame="map"
         position_xyz="21.2590;0.6000;0.0"
-        orientation_xyzw="0.000000;0.000000;-0.707179;0.707035"
+        orientation_xyzw="0.0;0.0;-0.707179;0.707035"
         pose_stamped="{target_pose}" />
       <Action ID="SwitchController"
         activate_controllers="platform_velocity_controller_nav2"
@@ -17,11 +17,8 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Door (south-east)">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Semantic Nav Demo" />
-      </MetadataFields>
+    <SubTree ID="Semantic Navigate: door-south-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_demo_door_west.xml b/src/hangar_sim/objectives/semnav_door_west.xml
similarity index 64%
rename from src/hangar_sim/objectives/semnav_demo_door_west.xml
rename to src/hangar_sim/objectives/semnav_door_west.xml
index 3aabc4375..bb2a7f94f 100644
--- a/src/hangar_sim/objectives/semnav_demo_door_west.xml
+++ b/src/hangar_sim/objectives/semnav_door_west.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Double Door (west) nav-ready pose. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Double Door (west)">
-  <BehaviorTree ID="Semantic Navigate: Double Door (west)" _description="Drive to Double Door (west) (door-west)." _favorite="true">
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-west">
+  <BehaviorTree ID="Semantic Navigate: door-west" _description="Drive to Double Door (west) (door-west)." _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="CreatePoseStamped" reference_frame="map"
         position_xyz="-22.6000;24.3090;0.0"
-        orientation_xyzw="0.000000;0.000000;1.000000;-0.000204"
+        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
         pose_stamped="{target_pose}" />
       <Action ID="SwitchController"
         activate_controllers="platform_velocity_controller_nav2"
@@ -17,11 +17,8 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Double Door (west)">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Semantic Nav Demo" />
-      </MetadataFields>
+    <SubTree ID="Semantic Navigate: door-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_ladder_south_west.xml b/src/hangar_sim/objectives/semnav_ladder_south_west.xml
new file mode 100644
index 000000000..0c0228b68
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_ladder_south_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: ladder-south-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: ladder-south-west">
+  <BehaviorTree ID="Semantic Navigate: ladder-south-west" _description="Drive to Ladder (south-west) (ladder-south-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-11.9630;6.3510;0.0"
+        orientation_xyzw="0.0;0.0;-0.278277;0.960501"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: ladder-south-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_ladder_west.xml b/src/hangar_sim/objectives/semnav_ladder_west.xml
new file mode 100644
index 000000000..05648b36c
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_ladder_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: ladder-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: ladder-west">
+  <BehaviorTree ID="Semantic Navigate: ladder-west" _description="Drive to Ladder (west) (ladder-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-22.6000;31.7100;0.0"
+        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: ladder-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_east.xml b/src/hangar_sim/objectives/semnav_shelving_east.xml
new file mode 100644
index 000000000..6f490fadf
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_shelving_east.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: shelving-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-east">
+  <BehaviorTree ID="Semantic Navigate: shelving-east" _description="Drive to Shelving (east) (shelving-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;15.8200;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: shelving-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml b/src/hangar_sim/objectives/semnav_shelving_south_east.xml
similarity index 63%
rename from src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml
rename to src/hangar_sim/objectives/semnav_shelving_south_east.xml
index d2203d7cf..a918055d7 100644
--- a/src/hangar_sim/objectives/semnav_demo_shelving_south_east.xml
+++ b/src/hangar_sim/objectives/semnav_shelving_south_east.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Shelving (south-east) nav-ready pose. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Shelving (south-east)">
-  <BehaviorTree ID="Semantic Navigate: Shelving (south-east)" _description="Drive to Shelving (south-east) (shelving-south-east)." _favorite="true">
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: shelving-south-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-east">
+  <BehaviorTree ID="Semantic Navigate: shelving-south-east" _description="Drive to Shelving (south-east) (shelving-south-east)." _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="CreatePoseStamped" reference_frame="map"
         position_xyz="22.6000;9.8160;0.0"
-        orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
         pose_stamped="{target_pose}" />
       <Action ID="SwitchController"
         activate_controllers="platform_velocity_controller_nav2"
@@ -17,11 +17,8 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Shelving (south-east)">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Semantic Nav Demo" />
-      </MetadataFields>
+    <SubTree ID="Semantic Navigate: shelving-south-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_west.xml b/src/hangar_sim/objectives/semnav_shelving_south_west.xml
new file mode 100644
index 000000000..d79530b0e
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_shelving_south_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: shelving-south-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-west">
+  <BehaviorTree ID="Semantic Navigate: shelving-south-west" _description="Drive to Shelving (south-west) (shelving-south-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-22.6000;13.3160;0.0"
+        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: shelving-south-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml b/src/hangar_sim/objectives/semnav_stairs_north_east.xml
similarity index 64%
rename from src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml
rename to src/hangar_sim/objectives/semnav_stairs_north_east.xml
index 2565a5394..51bf1e23c 100644
--- a/src/hangar_sim/objectives/semnav_demo_stairs_north_east.xml
+++ b/src/hangar_sim/objectives/semnav_stairs_north_east.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated clickable Semantic Nav demo objective. Drives to Stairs (north-east) nav-ready pose. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Stairs (north-east)">
-  <BehaviorTree ID="Semantic Navigate: Stairs (north-east)" _description="Drive to Stairs (north-east) (stairs-north-east)." _favorite="true">
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: stairs-north-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-east">
+  <BehaviorTree ID="Semantic Navigate: stairs-north-east" _description="Drive to Stairs (north-east) (stairs-north-east)." _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="CreatePoseStamped" reference_frame="map"
         position_xyz="17.2480;40.2260;0.0"
-        orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
         pose_stamped="{target_pose}" />
       <Action ID="SwitchController"
         activate_controllers="platform_velocity_controller_nav2"
@@ -17,11 +17,8 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Stairs (north-east)">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Semantic Nav Demo" />
-      </MetadataFields>
+    <SubTree ID="Semantic Navigate: stairs-north-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_west.xml b/src/hangar_sim/objectives/semnav_stairs_north_west.xml
new file mode 100644
index 000000000..c30dbe035
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_stairs_north_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: stairs-north-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-west">
+  <BehaviorTree ID="Semantic Navigate: stairs-north-west" _description="Drive to Stairs (north-west) (stairs-north-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-17.2850;40.2240;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: stairs-north-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_trash_bin_east.xml b/src/hangar_sim/objectives/semnav_trash_bin_east.xml
new file mode 100644
index 000000000..56b0767e5
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_trash_bin_east.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: trash-bin-east") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: trash-bin-east">
+  <BehaviorTree ID="Semantic Navigate: trash-bin-east" _description="Drive to Trash Bins (east) (trash-bin-east)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;30.1090;0.0"
+        orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: trash-bin-east">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_trash_bin_west.xml b/src/hangar_sim/objectives/semnav_trash_bin_west.xml
new file mode 100644
index 000000000..43e9c3015
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_trash_bin_west.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: trash-bin-west") via /execute_objective from B's pane. -->
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: trash-bin-west">
+  <BehaviorTree ID="Semantic Navigate: trash-bin-west" _description="Drive to Trash Bins (west) (trash-bin-west)." _favorite="true">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-22.6000;27.0690;0.0"
+        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Semantic Navigate: trash-bin-west">
+      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>

From aa810e89c9058f87e8b9a6184cde51dc472006e2 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:23:08 -0600
Subject: [PATCH 06/15] chore(hangar_sim): drop by-name objectives; keep
 parameterized Semantic Navigate for /execute_objective overrides

---
 .../semnav_access_stand_south_east.xml        | 24 -------------------
 .../semnav_access_stand_south_west.xml        | 24 -------------------
 .../objectives/semnav_access_stand_west.xml   | 24 -------------------
 .../objectives/semnav_door_east.xml           | 24 -------------------
 .../objectives/semnav_door_north.xml          | 24 -------------------
 .../objectives/semnav_door_north_east.xml     | 24 -------------------
 .../objectives/semnav_door_north_east_2.xml   | 24 -------------------
 .../objectives/semnav_door_north_west.xml     | 24 -------------------
 .../objectives/semnav_door_north_west_2.xml   | 24 -------------------
 .../objectives/semnav_door_north_west_3.xml   | 24 -------------------
 .../objectives/semnav_door_south_east.xml     | 24 -------------------
 .../objectives/semnav_door_west.xml           | 24 -------------------
 .../objectives/semnav_ladder_south_west.xml   | 24 -------------------
 .../objectives/semnav_ladder_west.xml         | 24 -------------------
 .../objectives/semnav_shelving_east.xml       | 24 -------------------
 .../objectives/semnav_shelving_south_east.xml | 24 -------------------
 .../objectives/semnav_shelving_south_west.xml | 24 -------------------
 .../objectives/semnav_stairs_north_east.xml   | 24 -------------------
 .../objectives/semnav_stairs_north_west.xml   | 24 -------------------
 .../objectives/semnav_trash_bin_east.xml      | 24 -------------------
 .../objectives/semnav_trash_bin_west.xml      | 24 -------------------
 21 files changed, 504 deletions(-)
 delete mode 100644 src/hangar_sim/objectives/semnav_access_stand_south_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_access_stand_south_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_access_stand_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_east_2.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_west_2.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_west_3.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_south_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_ladder_south_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_ladder_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_shelving_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_shelving_south_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_shelving_south_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_stairs_north_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_stairs_north_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_trash_bin_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_trash_bin_west.xml

diff --git a/src/hangar_sim/objectives/semnav_access_stand_south_east.xml b/src/hangar_sim/objectives/semnav_access_stand_south_east.xml
deleted file mode 100644
index 6a41df905..000000000
--- a/src/hangar_sim/objectives/semnav_access_stand_south_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: access-stand-south-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: access-stand-south-east">
-  <BehaviorTree ID="Semantic Navigate: access-stand-south-east" _description="Drive to Access Stand (south-east) (access-stand-south-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="11.5770;9.3090;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: access-stand-south-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_access_stand_south_west.xml b/src/hangar_sim/objectives/semnav_access_stand_south_west.xml
deleted file mode 100644
index a5fce3c28..000000000
--- a/src/hangar_sim/objectives/semnav_access_stand_south_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: access-stand-south-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: access-stand-south-west">
-  <BehaviorTree ID="Semantic Navigate: access-stand-south-west" _description="Drive to Access Stand (south-west) (access-stand-south-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-11.7970;2.9360;0.0"
-        orientation_xyzw="0.0;0.0;-1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: access-stand-south-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_access_stand_west.xml b/src/hangar_sim/objectives/semnav_access_stand_west.xml
deleted file mode 100644
index 38b4a92cc..000000000
--- a/src/hangar_sim/objectives/semnav_access_stand_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: access-stand-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: access-stand-west">
-  <BehaviorTree ID="Semantic Navigate: access-stand-west" _description="Drive to Access Stand (west) (access-stand-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-19.3070;16.4050;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: access-stand-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_east.xml b/src/hangar_sim/objectives/semnav_door_east.xml
deleted file mode 100644
index 24cde4e99..000000000
--- a/src/hangar_sim/objectives/semnav_door_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-east">
-  <BehaviorTree ID="Semantic Navigate: door-east" _description="Drive to Double Door (east) (door-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;24.5590;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north.xml b/src/hangar_sim/objectives/semnav_door_north.xml
deleted file mode 100644
index dcd12d2fd..000000000
--- a/src/hangar_sim/objectives/semnav_door_north.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north">
-  <BehaviorTree ID="Semantic Navigate: door-north" _description="Drive to Sliding Door (north) (door-north)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-0.0270;55.7000;0.0"
-        orientation_xyzw="0.0;0.0;0.707179;0.707035"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-north">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east.xml b/src/hangar_sim/objectives/semnav_door_north_east.xml
deleted file mode 100644
index bbd5bc532..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east">
-  <BehaviorTree ID="Semantic Navigate: door-north-east" _description="Drive to Door (north-east) (door-north-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="11.8540;48.0680;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-north-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east_2.xml b/src/hangar_sim/objectives/semnav_door_north_east_2.xml
deleted file mode 100644
index 7858a1602..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_east_2.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-east-2") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east-2">
-  <BehaviorTree ID="Semantic Navigate: door-north-east-2" _description="Drive to Door (north-east) (door-north-east-2)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="20.9410;41.2630;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-north-east-2">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west.xml b/src/hangar_sim/objectives/semnav_door_north_west.xml
deleted file mode 100644
index 881f037a6..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west">
-  <BehaviorTree ID="Semantic Navigate: door-north-west" _description="Drive to Door (north-west) (door-north-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-21.4590;41.2630;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-north-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_2.xml b/src/hangar_sim/objectives/semnav_door_north_west_2.xml
deleted file mode 100644
index 5bd317cf3..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_west_2.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-west-2") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-2">
-  <BehaviorTree ID="Semantic Navigate: door-north-west-2" _description="Drive to Door (north-west) (door-north-west-2)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-11.9850;48.0500;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-north-west-2">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_3.xml b/src/hangar_sim/objectives/semnav_door_north_west_3.xml
deleted file mode 100644
index 39cb913b9..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_west_3.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-north-west-3") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-3">
-  <BehaviorTree ID="Semantic Navigate: door-north-west-3" _description="Drive to Door (north-west) (door-north-west-3)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-8.8590;55.7000;0.0"
-        orientation_xyzw="0.0;0.0;0.707179;0.707035"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-north-west-3">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_south_east.xml b/src/hangar_sim/objectives/semnav_door_south_east.xml
deleted file mode 100644
index 6241a3339..000000000
--- a/src/hangar_sim/objectives/semnav_door_south_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-south-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-south-east">
-  <BehaviorTree ID="Semantic Navigate: door-south-east" _description="Drive to Door (south-east) (door-south-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="21.2590;0.6000;0.0"
-        orientation_xyzw="0.0;0.0;-0.707179;0.707035"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-south-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_west.xml b/src/hangar_sim/objectives/semnav_door_west.xml
deleted file mode 100644
index bb2a7f94f..000000000
--- a/src/hangar_sim/objectives/semnav_door_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: door-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-west">
-  <BehaviorTree ID="Semantic Navigate: door-west" _description="Drive to Double Door (west) (door-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-22.6000;24.3090;0.0"
-        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: door-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_ladder_south_west.xml b/src/hangar_sim/objectives/semnav_ladder_south_west.xml
deleted file mode 100644
index 0c0228b68..000000000
--- a/src/hangar_sim/objectives/semnav_ladder_south_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: ladder-south-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: ladder-south-west">
-  <BehaviorTree ID="Semantic Navigate: ladder-south-west" _description="Drive to Ladder (south-west) (ladder-south-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-11.9630;6.3510;0.0"
-        orientation_xyzw="0.0;0.0;-0.278277;0.960501"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: ladder-south-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_ladder_west.xml b/src/hangar_sim/objectives/semnav_ladder_west.xml
deleted file mode 100644
index 05648b36c..000000000
--- a/src/hangar_sim/objectives/semnav_ladder_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: ladder-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: ladder-west">
-  <BehaviorTree ID="Semantic Navigate: ladder-west" _description="Drive to Ladder (west) (ladder-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-22.6000;31.7100;0.0"
-        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: ladder-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_east.xml b/src/hangar_sim/objectives/semnav_shelving_east.xml
deleted file mode 100644
index 6f490fadf..000000000
--- a/src/hangar_sim/objectives/semnav_shelving_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: shelving-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-east">
-  <BehaviorTree ID="Semantic Navigate: shelving-east" _description="Drive to Shelving (east) (shelving-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;15.8200;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: shelving-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_east.xml b/src/hangar_sim/objectives/semnav_shelving_south_east.xml
deleted file mode 100644
index a918055d7..000000000
--- a/src/hangar_sim/objectives/semnav_shelving_south_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: shelving-south-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-east">
-  <BehaviorTree ID="Semantic Navigate: shelving-south-east" _description="Drive to Shelving (south-east) (shelving-south-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;9.8160;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: shelving-south-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_west.xml b/src/hangar_sim/objectives/semnav_shelving_south_west.xml
deleted file mode 100644
index d79530b0e..000000000
--- a/src/hangar_sim/objectives/semnav_shelving_south_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: shelving-south-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-west">
-  <BehaviorTree ID="Semantic Navigate: shelving-south-west" _description="Drive to Shelving (south-west) (shelving-south-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-22.6000;13.3160;0.0"
-        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: shelving-south-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_east.xml b/src/hangar_sim/objectives/semnav_stairs_north_east.xml
deleted file mode 100644
index 51bf1e23c..000000000
--- a/src/hangar_sim/objectives/semnav_stairs_north_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: stairs-north-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-east">
-  <BehaviorTree ID="Semantic Navigate: stairs-north-east" _description="Drive to Stairs (north-east) (stairs-north-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="17.2480;40.2260;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: stairs-north-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_west.xml b/src/hangar_sim/objectives/semnav_stairs_north_west.xml
deleted file mode 100644
index c30dbe035..000000000
--- a/src/hangar_sim/objectives/semnav_stairs_north_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: stairs-north-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-west">
-  <BehaviorTree ID="Semantic Navigate: stairs-north-west" _description="Drive to Stairs (north-west) (stairs-north-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-17.2850;40.2240;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: stairs-north-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_trash_bin_east.xml b/src/hangar_sim/objectives/semnav_trash_bin_east.xml
deleted file mode 100644
index 56b0767e5..000000000
--- a/src/hangar_sim/objectives/semnav_trash_bin_east.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: trash-bin-east") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: trash-bin-east">
-  <BehaviorTree ID="Semantic Navigate: trash-bin-east" _description="Drive to Trash Bins (east) (trash-bin-east)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;30.1090;0.0"
-        orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: trash-bin-east">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_trash_bin_west.xml b/src/hangar_sim/objectives/semnav_trash_bin_west.xml
deleted file mode 100644
index 43e9c3015..000000000
--- a/src/hangar_sim/objectives/semnav_trash_bin_west.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Auto-generated. Fired BY NAME ("Semantic Navigate: trash-bin-west") via /execute_objective from B's pane. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: trash-bin-west">
-  <BehaviorTree ID="Semantic Navigate: trash-bin-west" _description="Drive to Trash Bins (west) (trash-bin-west)." _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-22.6000;27.0690;0.0"
-        orientation_xyzw="0.0;0.0;1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: trash-bin-west">
-      <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>

From a2a5e6a980b9a0897f4e2bf912a8341052203efd Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:34:44 -0600
Subject: [PATCH 07/15] feat(hangar_sim): by-name Semantic Navigate objectives
 (override path blocked by vector<double> parser)

---
 .../objectives/semnav_door_east.xml           | 20 +++++++++++++++++++
 .../objectives/semnav_door_north.xml          | 20 +++++++++++++++++++
 .../objectives/semnav_door_north_east.xml     | 20 +++++++++++++++++++
 .../objectives/semnav_door_north_east_2.xml   | 20 +++++++++++++++++++
 .../objectives/semnav_door_north_west.xml     | 20 +++++++++++++++++++
 .../objectives/semnav_door_north_west_2.xml   | 20 +++++++++++++++++++
 .../objectives/semnav_door_north_west_3.xml   | 20 +++++++++++++++++++
 .../objectives/semnav_door_south_east.xml     | 20 +++++++++++++++++++
 .../objectives/semnav_door_west.xml           | 20 +++++++++++++++++++
 .../objectives/semnav_shelving_east.xml       | 20 +++++++++++++++++++
 .../objectives/semnav_shelving_south_east.xml | 20 +++++++++++++++++++
 .../objectives/semnav_shelving_south_west.xml | 20 +++++++++++++++++++
 .../objectives/semnav_stairs_north_east.xml   | 20 +++++++++++++++++++
 .../objectives/semnav_stairs_north_west.xml   | 20 +++++++++++++++++++
 14 files changed, 280 insertions(+)
 create mode 100644 src/hangar_sim/objectives/semnav_door_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_east_2.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_west_2.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_north_west_3.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_south_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_door_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_shelving_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_shelving_south_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_shelving_south_west.xml
 create mode 100644 src/hangar_sim/objectives/semnav_stairs_north_east.xml
 create mode 100644 src/hangar_sim/objectives/semnav_stairs_north_west.xml

diff --git a/src/hangar_sim/objectives/semnav_door_east.xml b/src/hangar_sim/objectives/semnav_door_east.xml
new file mode 100644
index 000000000..a3ed95c9b
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_east.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-east">
+  <BehaviorTree ID="Semantic Navigate: door-east" _description="Drive to Double Door (east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;24.5590;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-east">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north.xml b/src/hangar_sim/objectives/semnav_door_north.xml
new file mode 100644
index 000000000..2890c7312
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north">
+  <BehaviorTree ID="Semantic Navigate: door-north" _description="Drive to Sliding Door (north).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-0.0270;55.7000;0.0" orientation_xyzw="0.0;0.0;0.707179;0.707035"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east.xml b/src/hangar_sim/objectives/semnav_door_north_east.xml
new file mode 100644
index 000000000..094356700
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_east.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east">
+  <BehaviorTree ID="Semantic Navigate: door-north-east" _description="Drive to Door (north-east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="11.8540;48.0680;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-east">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east_2.xml b/src/hangar_sim/objectives/semnav_door_north_east_2.xml
new file mode 100644
index 000000000..c5bdc936c
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_east_2.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east-2">
+  <BehaviorTree ID="Semantic Navigate: door-north-east-2" _description="Drive to Door (north-east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="20.9410;41.2630;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-east-2">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west.xml b/src/hangar_sim/objectives/semnav_door_north_west.xml
new file mode 100644
index 000000000..9f7e8c36e
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_west.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west">
+  <BehaviorTree ID="Semantic Navigate: door-north-west" _description="Drive to Door (north-west).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-21.4590;41.2630;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-west">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_2.xml b/src/hangar_sim/objectives/semnav_door_north_west_2.xml
new file mode 100644
index 000000000..b5016f38e
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_west_2.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-2">
+  <BehaviorTree ID="Semantic Navigate: door-north-west-2" _description="Drive to Door (north-west).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-11.9850;48.0500;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-west-2">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_3.xml b/src/hangar_sim/objectives/semnav_door_north_west_3.xml
new file mode 100644
index 000000000..1e807eb8e
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_north_west_3.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-3">
+  <BehaviorTree ID="Semantic Navigate: door-north-west-3" _description="Drive to Door (north-west).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-8.8590;55.7000;0.0" orientation_xyzw="0.0;0.0;0.707179;0.707035"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-west-3">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_south_east.xml b/src/hangar_sim/objectives/semnav_door_south_east.xml
new file mode 100644
index 000000000..1f0fe95e1
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_south_east.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-south-east">
+  <BehaviorTree ID="Semantic Navigate: door-south-east" _description="Drive to Door (south-east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="21.2590;0.6000;0.0" orientation_xyzw="0.0;0.0;-0.707179;0.707035"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-south-east">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_door_west.xml b/src/hangar_sim/objectives/semnav_door_west.xml
new file mode 100644
index 000000000..4144eb1de
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_door_west.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-west">
+  <BehaviorTree ID="Semantic Navigate: door-west" _description="Drive to Double Door (west).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-22.6000;24.3090;0.0" orientation_xyzw="0.0;0.0;1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: door-west">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_east.xml b/src/hangar_sim/objectives/semnav_shelving_east.xml
new file mode 100644
index 000000000..93a05ae42
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_shelving_east.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-east">
+  <BehaviorTree ID="Semantic Navigate: shelving-east" _description="Drive to Shelving (east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;15.8200;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: shelving-east">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_east.xml b/src/hangar_sim/objectives/semnav_shelving_south_east.xml
new file mode 100644
index 000000000..11235b62b
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_shelving_south_east.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-east">
+  <BehaviorTree ID="Semantic Navigate: shelving-south-east" _description="Drive to Shelving (south-east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="22.6000;9.8160;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: shelving-south-east">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_west.xml b/src/hangar_sim/objectives/semnav_shelving_south_west.xml
new file mode 100644
index 000000000..17379a5c7
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_shelving_south_west.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-west">
+  <BehaviorTree ID="Semantic Navigate: shelving-south-west" _description="Drive to Shelving (south-west).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-22.6000;13.3160;0.0" orientation_xyzw="0.0;0.0;1.000000;-0.000204"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: shelving-south-west">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_east.xml b/src/hangar_sim/objectives/semnav_stairs_north_east.xml
new file mode 100644
index 000000000..078599fcb
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_stairs_north_east.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-east">
+  <BehaviorTree ID="Semantic Navigate: stairs-north-east" _description="Drive to Stairs (north-east).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="17.2480;40.2260;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: stairs-north-east">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_west.xml b/src/hangar_sim/objectives/semnav_stairs_north_west.xml
new file mode 100644
index 000000000..687b091e5
--- /dev/null
+++ b/src/hangar_sim/objectives/semnav_stairs_north_west.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-west">
+  <BehaviorTree ID="Semantic Navigate: stairs-north-west" _description="Drive to Stairs (north-west).">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="CreatePoseStamped" reference_frame="map"
+        position_xyz="-17.2850;40.2240;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController"
+        activate_controllers="platform_velocity_controller_nav2"
+        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
+      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
+        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        pose_stamped="{target_pose}" />
+      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel><SubTree ID="Semantic Navigate: stairs-north-west">
+    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
+  </SubTree></TreeNodesModel>
+</root>

From 5d4015848c5ca1eadef82653cf6179042e3474a4 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:42:55 -0600
Subject: [PATCH 08/15] feat(hangar_sim): single Semantic Navigate with
 target_pose PoseStamped override; drop per-location objectives

---
 .../objectives/semantic_navigate.xml          | 20 +++++--------------
 .../objectives/semnav_door_east.xml           | 20 -------------------
 .../objectives/semnav_door_north.xml          | 20 -------------------
 .../objectives/semnav_door_north_east.xml     | 20 -------------------
 .../objectives/semnav_door_north_east_2.xml   | 20 -------------------
 .../objectives/semnav_door_north_west.xml     | 20 -------------------
 .../objectives/semnav_door_north_west_2.xml   | 20 -------------------
 .../objectives/semnav_door_north_west_3.xml   | 20 -------------------
 .../objectives/semnav_door_south_east.xml     | 20 -------------------
 .../objectives/semnav_door_west.xml           | 20 -------------------
 .../objectives/semnav_shelving_east.xml       | 20 -------------------
 .../objectives/semnav_shelving_south_east.xml | 20 -------------------
 .../objectives/semnav_shelving_south_west.xml | 20 -------------------
 .../objectives/semnav_stairs_north_east.xml   | 20 -------------------
 .../objectives/semnav_stairs_north_west.xml   | 20 -------------------
 15 files changed, 5 insertions(+), 295 deletions(-)
 delete mode 100644 src/hangar_sim/objectives/semnav_door_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_east_2.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_west_2.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_north_west_3.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_south_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_door_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_shelving_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_shelving_south_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_shelving_south_west.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_stairs_north_east.xml
 delete mode 100644 src/hangar_sim/objectives/semnav_stairs_north_west.xml

diff --git a/src/hangar_sim/objectives/semantic_navigate.xml b/src/hangar_sim/objectives/semantic_navigate.xml
index 252790280..af0c00207 100644
--- a/src/hangar_sim/objectives/semantic_navigate.xml
+++ b/src/hangar_sim/objectives/semantic_navigate.xml
@@ -1,23 +1,14 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!-- Contract #2 integration target. The caller (viewpane / Claude terminal) sets two blackboard
-     params before running, derived from the resolver's {x, y, yaw}:
-        target_position_xyz    e.g. "24.0;8.3;0.0"   (map frame, z=0 for the base)
-        target_orientation_xyzw e.g. "0.0;0.0;0.0;1.0" (caller converts yaw -> quaternion)
-     Defaults drive to the workbench so it is also runnable standalone. -->
+<!-- Single parameterized objective. The caller (B's pane) overrides `target_pose` with a
+     geometry_msgs/PoseStamped (map frame). PoseStamped has a registered parameter-override parser,
+     so the override applies cleanly; it wires straight into NavigateToPoseAction (no vector ports). -->
 <root BTCPP_format="4" main_tree_to_execute="Semantic Navigate">
   <BehaviorTree
     ID="Semantic Navigate"
-    _description="Drive the Ridgeback to a semantic goal pose (map frame) resolved from natural language."
+    _description="Drive the Ridgeback to a semantic goal pose (PoseStamped, map frame) resolved from natural language."
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreatePoseStamped"
-        reference_frame="map"
-        position_xyz="{target_position_xyz}"
-        orientation_xyzw="{target_orientation_xyzw}"
-        pose_stamped="{target_pose}"
-      />
       <Action
         ID="SwitchController"
         activate_controllers="platform_velocity_controller_nav2"
@@ -41,8 +32,7 @@
         <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />
       </MetadataFields>
-      <input_port name="target_position_xyz" default="21.259;0.6;0.0">Goal position "x;y;z" in the map frame (B overrides this).</input_port>
-      <input_port name="target_orientation_xyzw" default="0.0;0.0;-0.7071;0.7071">Goal orientation quaternion "x;y;z;w" (B overrides this).</input_port>
+      <input_port name="target_pose">Goal pose as geometry_msgs/PoseStamped in the map frame. Overridden by the pane.</input_port>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/semnav_door_east.xml b/src/hangar_sim/objectives/semnav_door_east.xml
deleted file mode 100644
index a3ed95c9b..000000000
--- a/src/hangar_sim/objectives/semnav_door_east.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-east">
-  <BehaviorTree ID="Semantic Navigate: door-east" _description="Drive to Double Door (east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;24.5590;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-east">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north.xml b/src/hangar_sim/objectives/semnav_door_north.xml
deleted file mode 100644
index 2890c7312..000000000
--- a/src/hangar_sim/objectives/semnav_door_north.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north">
-  <BehaviorTree ID="Semantic Navigate: door-north" _description="Drive to Sliding Door (north).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-0.0270;55.7000;0.0" orientation_xyzw="0.0;0.0;0.707179;0.707035"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east.xml b/src/hangar_sim/objectives/semnav_door_north_east.xml
deleted file mode 100644
index 094356700..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_east.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east">
-  <BehaviorTree ID="Semantic Navigate: door-north-east" _description="Drive to Door (north-east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="11.8540;48.0680;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-east">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_east_2.xml b/src/hangar_sim/objectives/semnav_door_north_east_2.xml
deleted file mode 100644
index c5bdc936c..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_east_2.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-east-2">
-  <BehaviorTree ID="Semantic Navigate: door-north-east-2" _description="Drive to Door (north-east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="20.9410;41.2630;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-east-2">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west.xml b/src/hangar_sim/objectives/semnav_door_north_west.xml
deleted file mode 100644
index 9f7e8c36e..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_west.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west">
-  <BehaviorTree ID="Semantic Navigate: door-north-west" _description="Drive to Door (north-west).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-21.4590;41.2630;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-west">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_2.xml b/src/hangar_sim/objectives/semnav_door_north_west_2.xml
deleted file mode 100644
index b5016f38e..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_west_2.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-2">
-  <BehaviorTree ID="Semantic Navigate: door-north-west-2" _description="Drive to Door (north-west).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-11.9850;48.0500;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-west-2">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_north_west_3.xml b/src/hangar_sim/objectives/semnav_door_north_west_3.xml
deleted file mode 100644
index 1e807eb8e..000000000
--- a/src/hangar_sim/objectives/semnav_door_north_west_3.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-north-west-3">
-  <BehaviorTree ID="Semantic Navigate: door-north-west-3" _description="Drive to Door (north-west).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-8.8590;55.7000;0.0" orientation_xyzw="0.0;0.0;0.707179;0.707035"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-north-west-3">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_south_east.xml b/src/hangar_sim/objectives/semnav_door_south_east.xml
deleted file mode 100644
index 1f0fe95e1..000000000
--- a/src/hangar_sim/objectives/semnav_door_south_east.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-south-east">
-  <BehaviorTree ID="Semantic Navigate: door-south-east" _description="Drive to Door (south-east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="21.2590;0.6000;0.0" orientation_xyzw="0.0;0.0;-0.707179;0.707035"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-south-east">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_door_west.xml b/src/hangar_sim/objectives/semnav_door_west.xml
deleted file mode 100644
index 4144eb1de..000000000
--- a/src/hangar_sim/objectives/semnav_door_west.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: door-west">
-  <BehaviorTree ID="Semantic Navigate: door-west" _description="Drive to Double Door (west).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-22.6000;24.3090;0.0" orientation_xyzw="0.0;0.0;1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: door-west">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_east.xml b/src/hangar_sim/objectives/semnav_shelving_east.xml
deleted file mode 100644
index 93a05ae42..000000000
--- a/src/hangar_sim/objectives/semnav_shelving_east.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-east">
-  <BehaviorTree ID="Semantic Navigate: shelving-east" _description="Drive to Shelving (east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;15.8200;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: shelving-east">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_east.xml b/src/hangar_sim/objectives/semnav_shelving_south_east.xml
deleted file mode 100644
index 11235b62b..000000000
--- a/src/hangar_sim/objectives/semnav_shelving_south_east.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-east">
-  <BehaviorTree ID="Semantic Navigate: shelving-south-east" _description="Drive to Shelving (south-east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="22.6000;9.8160;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: shelving-south-east">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_shelving_south_west.xml b/src/hangar_sim/objectives/semnav_shelving_south_west.xml
deleted file mode 100644
index 17379a5c7..000000000
--- a/src/hangar_sim/objectives/semnav_shelving_south_west.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: shelving-south-west">
-  <BehaviorTree ID="Semantic Navigate: shelving-south-west" _description="Drive to Shelving (south-west).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-22.6000;13.3160;0.0" orientation_xyzw="0.0;0.0;1.000000;-0.000204"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: shelving-south-west">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_east.xml b/src/hangar_sim/objectives/semnav_stairs_north_east.xml
deleted file mode 100644
index 078599fcb..000000000
--- a/src/hangar_sim/objectives/semnav_stairs_north_east.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-east">
-  <BehaviorTree ID="Semantic Navigate: stairs-north-east" _description="Drive to Stairs (north-east).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="17.2480;40.2260;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: stairs-north-east">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/semnav_stairs_north_west.xml b/src/hangar_sim/objectives/semnav_stairs_north_west.xml
deleted file mode 100644
index 687b091e5..000000000
--- a/src/hangar_sim/objectives/semnav_stairs_north_west.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: stairs-north-west">
-  <BehaviorTree ID="Semantic Navigate: stairs-north-west" _description="Drive to Stairs (north-west).">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="CreatePoseStamped" reference_frame="map"
-        position_xyz="-17.2850;40.2240;0.0" orientation_xyzw="0.0;0.0;0.000000;1.000000"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller" />
-      <Action ID="NavigateToPoseAction" action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}" />
-      <Action ID="SwitchController" activate_controllers="joint_trajectory_controller" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel><SubTree ID="Semantic Navigate: stairs-north-west">
-    <MetadataFields><Metadata runnable="true" /><Metadata subcategory="Semantic Nav" /></MetadataFields>
-  </SubTree></TreeNodesModel>
-</root>

From 0a9563514a2d047df3579b21e2f48b7d257fbf75 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:48:11 -0600
Subject: [PATCH 09/15] test(hangar_sim): point smoke test at aircraft nose to
 validate A's offset

---
 src/hangar_sim/objectives/semantic_navigate_to_workbench.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index 350119baa..4fbbccdc7 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -6,14 +6,14 @@
 <root BTCPP_format="4" main_tree_to_execute="Semantic Navigate (Smoke Test)">
   <BehaviorTree
     ID="Semantic Navigate (Smoke Test)"
-    _description="Smoke test for Semantic Nav: drive to the SE door nav-ready standoff pose (map frame)."
+    _description="Smoke test for Semantic Nav: drive to the aircraft NOSE approach pose (validates A's riskiest offset)."
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="CreatePoseStamped"
         reference_frame="map"
-        position_xyz="21.259;0.6;0.0"
+        position_xyz="0.004;23.573;0.0"
         orientation_xyzw="0.0;0.0;-0.7071;0.7071"
         pose_stamped="{target_pose}"
       />

From 8a560077e9fd22513e014aff42b86de278e627b2 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:52:35 -0600
Subject: [PATCH 10/15] test(hangar_sim): smoke test to aircraft tail (nose
 blocked by dock)

---
 src/hangar_sim/objectives/semantic_navigate_to_workbench.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index 4fbbccdc7..c4a5dc7fd 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -13,8 +13,8 @@
       <Action
         ID="CreatePoseStamped"
         reference_frame="map"
-        position_xyz="0.004;23.573;0.0"
-        orientation_xyzw="0.0;0.0;-0.7071;0.7071"
+        position_xyz="0.004;8.573;0.0"
+        orientation_xyzw="0.0;0.0;0.7071;0.7071"
         pose_stamped="{target_pose}"
       />
       <Action

From 0536e31c5449c118fdd516e7f0b3c007f3f066ac Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 14:58:22 -0600
Subject: [PATCH 11/15] test(hangar_sim): rename smoke test to 'Semantic
 Navigate: Aircraft Tail'

---
 .../objectives/semantic_navigate_to_workbench.xml           | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index c4a5dc7fd..7f3e06562 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -3,9 +3,9 @@
      ~2.25 m into the interior). Validates the standoff approach against the live costmap. If this
      fails, bump the standoff (B owns NAV_STANDOFF_M) or add obstacle-aware per-cluster offsets.
      Stable objective ID so we can iterate the pose without renaming in the UI. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate (Smoke Test)">
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Aircraft Tail">
   <BehaviorTree
-    ID="Semantic Navigate (Smoke Test)"
+    ID="Semantic Navigate: Aircraft Tail"
     _description="Smoke test for Semantic Nav: drive to the aircraft NOSE approach pose (validates A's riskiest offset)."
     _favorite="true"
   >
@@ -35,7 +35,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate (Smoke Test)">
+    <SubTree ID="Semantic Navigate: Aircraft Tail">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />

From 9ae56fbfac61af5235ee0be3888118caf85f650f Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 15:07:37 -0600
Subject: [PATCH 12/15] test(hangar_sim): smoke test to A's map-verified
 aircraft tail (0,6.3)

---
 src/hangar_sim/objectives/semantic_navigate_to_workbench.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index 7f3e06562..3e7d4fba2 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -13,7 +13,7 @@
       <Action
         ID="CreatePoseStamped"
         reference_frame="map"
-        position_xyz="0.004;8.573;0.0"
+        position_xyz="0.0;6.3;0.0"
         orientation_xyzw="0.0;0.0;0.7071;0.7071"
         pose_stamped="{target_pose}"
       />

From b608e7227a77b5e7b9455d7e4eb790481e0167e2 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 15:09:53 -0600
Subject: [PATCH 13/15] test(hangar_sim): rename to Aircraft Nose (south pose
 is the front, robot-verified)

---
 .../objectives/semantic_navigate_to_workbench.xml           | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
index 3e7d4fba2..684928a62 100644
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
@@ -3,9 +3,9 @@
      ~2.25 m into the interior). Validates the standoff approach against the live costmap. If this
      fails, bump the standoff (B owns NAV_STANDOFF_M) or add obstacle-aware per-cluster offsets.
      Stable objective ID so we can iterate the pose without renaming in the UI. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Aircraft Tail">
+<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Aircraft Nose">
   <BehaviorTree
-    ID="Semantic Navigate: Aircraft Tail"
+    ID="Semantic Navigate: Aircraft Nose"
     _description="Smoke test for Semantic Nav: drive to the aircraft NOSE approach pose (validates A's riskiest offset)."
     _favorite="true"
   >
@@ -35,7 +35,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Aircraft Tail">
+    <SubTree ID="Semantic Navigate: Aircraft Nose">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />

From 4396b6f553a3e40b7c079b869f8149bd36cab624 Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler>
Date: Wed, 10 Jun 2026 16:12:18 -0600
Subject: [PATCH 14/15] chore(hangar_sim): remove smoke-test objective; keep
 Semantic Navigate

---
 .../semantic_navigate_to_workbench.xml        | 45 -------------------
 1 file changed, 45 deletions(-)
 delete mode 100644 src/hangar_sim/objectives/semantic_navigate_to_workbench.xml

diff --git a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml b/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
deleted file mode 100644
index 684928a62..000000000
--- a/src/hangar_sim/objectives/semantic_navigate_to_workbench.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!-- Smoke test: drives the Ridgeback to a nav-ready standoff pose (the SE double door, offset
-     ~2.25 m into the interior). Validates the standoff approach against the live costmap. If this
-     fails, bump the standoff (B owns NAV_STANDOFF_M) or add obstacle-aware per-cluster offsets.
-     Stable objective ID so we can iterate the pose without renaming in the UI. -->
-<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate: Aircraft Nose">
-  <BehaviorTree
-    ID="Semantic Navigate: Aircraft Nose"
-    _description="Smoke test for Semantic Nav: drive to the aircraft NOSE approach pose (validates A's riskiest offset)."
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreatePoseStamped"
-        reference_frame="map"
-        position_xyz="0.0;6.3;0.0"
-        orientation_xyzw="0.0;0.0;0.7071;0.7071"
-        pose_stamped="{target_pose}"
-      />
-      <Action
-        ID="SwitchController"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller"
-      />
-      <Action
-        ID="NavigateToPoseAction"
-        action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-        pose_stamped="{target_pose}"
-      />
-      <Action
-        ID="SwitchController"
-        activate_controllers="joint_trajectory_controller"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Semantic Navigate: Aircraft Nose">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Navigation" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>

From 2351e7c33898f6e74c487f57124f96dd5aedf08c Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler@picknik.ai>
Date: Thu, 11 Jun 2026 14:34:07 -0400
Subject: [PATCH 15/15] fix(hangar_sim): hide Semantic Navigate from favorites
 list

_favorite="false" so the objective does not appear in the sidebar; users
navigate via the Semantic Nav pane, not by launching the objective directly.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
---
 src/hangar_sim/objectives/semantic_navigate.xml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/hangar_sim/objectives/semantic_navigate.xml b/src/hangar_sim/objectives/semantic_navigate.xml
index af0c00207..e40f99f6b 100644
--- a/src/hangar_sim/objectives/semantic_navigate.xml
+++ b/src/hangar_sim/objectives/semantic_navigate.xml
@@ -6,7 +6,7 @@
   <BehaviorTree
     ID="Semantic Navigate"
     _description="Drive the Ridgeback to a semantic goal pose (PoseStamped, map frame) resolved from natural language."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
@@ -32,7 +32,10 @@
         <Metadata runnable="true" />
         <Metadata subcategory="Navigation" />
       </MetadataFields>
-      <input_port name="target_pose">Goal pose as geometry_msgs/PoseStamped in the map frame. Overridden by the pane.</input_port>
+      <input_port name="target_pose">
+        Goal pose as geometry_msgs/PoseStamped in the map frame. Overridden by
+        the pane.
+      </input_port>
     </SubTree>
   </TreeNodesModel>
 </root>