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Added example for SetMujocoState behavior. #508

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Merged
kineticsystem merged 2 commits into from
Feb 13, 2026
Merged

Added example for SetMujocoState behavior. #508

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8e10bac
Added example for SetMujocoState behavior.
kineticsystem Feb 12, 2026
da82c03
Merge branch 'main' into pr-reset-mujoco-robot
kineticsystem Feb 13, 2026
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42 changes: 42 additions & 0 deletions src/lab_sim/objectives/reset_mujoco_robot.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Reset MuJoco Robot">
<!--//////////-->
<BehaviorTree
ID="Reset MuJoco Robot"
_description="Set the joint state of the robot in the MuJoCo simulation."
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
ID="ListControllers"
type="command"
controller_list="{command_controllers}"
state="active"
/>
<Action
ID="SwitchController"
deactivate_controllers="{command_controllers}"
/>
<Action
ID="CreateJointState"
joint_names="linear_rail_joint;shoulder_pan_joint;shoulder_lift_joint;elbow_joint;wrist_1_joint;wrist_2_joint;wrist_3_joint"
positions="0.0;0.0;-1.57;0.0;0.0;0.0;0.0"
/>
<Decorator ID="ForceSuccess">
<Action ID="SetMujocoState" />
</Decorator>
<Action
ID="SwitchController"
activate_controllers="{command_controllers}"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Reset MuJoco Robot">
<MetadataFields>
<Metadata runnable="true" />
<Metadata subcategory="MuJoCo Simulation" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
</root>