meta_planner_trees

Node Tree for Dynamic Table To Bin with 3 objects
===================================

    prioritizedSeq
        checkpoint
            DynamicToBin
        checkpoint
            DynamicToBin
        checkpoint
            DynamicToBin

    DynamicToBin generates either
        prioritizedSeq
            GrabGlass (is PrioritizedSeq)
                MoveHandTo
                MoveToGrabGlass
                MoveTowardsGlass
                MoveHandTo
                Grab
                PlanArmToEEOffset
            PlaceInBin
            PlanArmToConfig
        prioritizedSeq
            GrabBowl (is PrioritizedSeq)
                MoveHandTo
                MoveToGrabBowl
                MoveTowardsBoal
                GrabNode
                PlanArmToEEOffset
            PlaceInBin
            PlanArmToConfig
        prioritizedSeq
            SlidePlate
                generates 
                    PrioritizedSeq
                        MoveHandTo
                        PlanArmToPose
                        MoveHandTo
                        PlanArmToEEOffset
                        Grab
                        PlanArmToEEOffset
                        Release
                        PlanArmToEEOffset
            GrabPlate
                generates 
                    PrioritizedSeq
                        MoveHandTo
                        PlanArmToPose
                        MoveHandTo
                        PlanArmToEEOffset
                        PlanArmToEEOffset
                        MoveHandTo
                        MoveHandTo
                        Grab
                        PlanArmToEEOffset
                        Release
                        MoveHandTo
                        PlanArmToEEOffset
                        MoveHandTo
                        MoveHandTo
                        Grab
                        PlanArmToEEOffset
            PlaceInBin
            PlanArmToConfig

    PlaceInBin (is PrioritizedSeq)
        MoveObjAboveBin
        MoveObjTowardsBin
        MoveHandTo
        Release
        Enable
        MoveAboveBin

Component Tree for MoveToGrabBowl
===================================

    MoveToGrabBowl
        PlanArmToPosesGoalGenChoices
            PrioritizedMultiStartsGoalGenChoicesGenSubnode
                PrioritizedMultiStartsGenSubnodeComponent
                    MultiStartsGoalGenChoicesGenSubnode
                        MultiStartsGenSubnode
                            MultiStarts
                                MultiStartGoal
                                Run
                                DisableState
                                ConnectedStartGoalPairs
                                DisableNode
                            ChooseSubnode
                                Subnode
                                    Run
            generates and runs instances of PlanArmToPoses
                PlanArmToPoses
                    PrioritizedMultiStartsGenSubnode
                        PrioritizedMultiStartsGenSubnodeComponent
                            MultiStartsGenSubnode
                                MultiStarts
                                    MultiStartGoal
                                    Run
                                    DisableState
                                    ConnectedStartGoalPairs
                                    DisableNode
                                ChooseSubnode
                                    Subnode
                                        Run
                generates and runs instances of PlanArmToConfigsNode
                    PlanArmToConfigsNode
                        PrioritizedMultiStarts
                            PrioritizedMultiStartsComponent
                                MultiStarts
                                    MultiStartGoal
                                    Run
                                    DisableState
                                    ConnectedStartGoalPairs
                                    DisableNode