Fix a few issues

Author: bgill92

src/factory_sim/objectives/pick_up_tool_from_holder.xml

@@ -67,7 +67,7 @@
         ID="AttachTool"
         parent_link_name="tool0"
         tool_name="{tool_name}"
-        allowed_collision_links="link_6"
+        allowed_collision_links="link_5;link_6"
       />
       <SubTree ID="Retract" _collapsed="true" distance="0.35" />
     </Control>
@@ -78,8 +78,8 @@
         <Metadata subcategory="Grasping" />
         <Metadata runnable="false" />
       </MetadataFields>
-      <inout_port name="tool_name" default="" />
       <inout_port name="tool_attach_site" default="" />
+      <inout_port name="tool_name" default="" />
     </SubTree>
   </TreeNodesModel>
 </root>

src/factory_sim/objectives/place_tool_in_tool_holder.xml

@@ -20,12 +20,18 @@
         trajectory_monitoring="false"
       />
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
-      <Action
-        ID="SetupMTCIgnoreCollisionsBetweenObjects"
-        allow_collision="true"
-        task="{mtc_task}"
-        object_names="{ignore_collisions_between_these_objects}"
-      />
+      <Decorator
+        ID="Precondition"
+        else="SUCCESS"
+        if="ignore_collisions_between_these_objects!=&quot;&quot;"
+      >
+        <Action
+          ID="SetupMTCIgnoreCollisionsBetweenObjects"
+          allow_collision="true"
+          task="{mtc_task}"
+          object_names="{ignore_collisions_between_these_objects}"
+        />
+      </Decorator>
       <Action
         ID="SetupMTCPlanToPose"
         acceleration_scale_factor="0.5"

src/factory_sim/objectives/tool_attachment_example.xml

@@ -22,8 +22,8 @@
       <Action ID="WaitForDuration" delay_duration="2" />
       <SubTree
         ID="Place Tool in Tool Holder"
-        _collapsed="true"
-        ignore_collisions_between_these_objects=""
+        _collapsed="false"
+        ignore_collisions_between_these_objects="link_5;link_6;suction_gripper"
         tool_name="suction_gripper"
         tool_return_site="suction_gripper_holder_site"
       />