From f520997de12cfb0437d02ac1737b01610e39c486 Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Wed, 25 Mar 2026 08:37:29 +0100
Subject: [PATCH 1/3] add mujoco behaviors plugin to hangar_sim

---
 src/hangar_sim/config/config.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/hangar_sim/config/config.yaml b/src/hangar_sim/config/config.yaml
index 0e9ce13a1..feddea7ab 100644
--- a/src/hangar_sim/config/config.yaml
+++ b/src/hangar_sim/config/config.yaml
@@ -60,9 +60,13 @@ objectives:
       - "moveit_pro::behaviors::NavBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     hangar_sim_objectives:
       package_name: "hangar_sim"
       relative_path: "objectives"

From 7e81739449079206142198d31ec896241ab41ad2 Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Wed, 25 Mar 2026 08:37:43 +0100
Subject: [PATCH 2/3] loop version of Plan Path Along Surface

---
 .../plan_path_along_surface_-_loop.xml        | 134 ++++++++++++++++++
 1 file changed, 134 insertions(+)
 create mode 100644 src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml

diff --git a/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
new file mode 100644
index 000000000..792087ef0
--- /dev/null
+++ b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Plan Path Along Surface - Loop">
+  <BehaviorTree
+    ID="Plan Path Along Surface - Loop"
+    _description="Plan and execute a path following a surface"
+    _favorite="true"
+  >
+    <Decorator ID="KeepRunningUntilFailure">
+      <Control ID="Sequence" name="TopLevelSequence" _collapsed="true">
+        <SubTree
+          ID="Move to Waypoint (JTC)"
+          _collapsed="true"
+          acceleration_scale_factor="1.0"
+          controller_names="joint_trajectory_controller"
+          joint_group_name="manipulator"
+          keep_orientation="false"
+          keep_orientation_tolerance="0.05"
+          link_padding="0.0"
+          seed="0"
+          velocity_scale_factor="1.0"
+          waypoint_name="Look at Plane"
+        />
+        <Control ID="Sequence" _collapsed="true">
+          <!--Get a point cloud and crop it to the area of interest-->
+          <Action
+            ID="GetPointCloud"
+            topic_name="/wrist_camera/points"
+            message_out="{point_cloud}"
+            publisher_timeout_sec="5.000000"
+            message_timeout_sec="5.000000"
+          />
+          <Action
+            ID="TransformPointCloudFrame"
+            input_cloud="{point_cloud}"
+            output_cloud="{point_cloud}"
+            target_frame="world"
+          />
+          <Action
+            ID="CreateStampedPose"
+            reference_frame="world"
+            stamped_pose="{roi_frame}"
+            position_xyz="0;12;1.7"
+          />
+          <Action
+            ID="CropPointsInBox"
+            crop_box_centroid_pose="{roi_frame}"
+            point_cloud="{point_cloud}"
+            point_cloud_cropped="{point_cloud}"
+            crop_box_size="5;15;0.2"
+          />
+          <!--Visualize the cropped point cloud-->
+          <Action
+            ID="SendPointCloudToUI"
+            pcd_topic="/pcd_pointcloud_captures"
+            point_cloud="{point_cloud}"
+          />
+        </Control>
+        <Control ID="Sequence" _collapsed="true">
+          <!--Get the centroid of the cropped point cloud and use it to get a contour-->
+          <Action
+            ID="GetCentroidFromPointCloud"
+            output_pose="{centroid}"
+            point_cloud="{point_cloud}"
+          />
+          <Action
+            ID="VisualizePose"
+            marker_lifetime="20"
+            marker_name="centroid"
+            marker_size="0.200000"
+            pose="{centroid}"
+          />
+          <Action
+            ID="GetContourFromPointCloudSlice"
+            contour_path="{contour_path}"
+            max_pose_spacing="0.200000"
+            hull_alpha="-1.000000"
+            input_cloud="{point_cloud}"
+            slice_distance_from_plane="0.100000"
+            slice_plane="{centroid}"
+            contour_crop_angle_span="3.2"
+            contour_crop_angle_start="1.58"
+          />
+          <Action
+            ID="VisualizePath"
+            marker_lifetime="20"
+            marker_name="path"
+            path="{contour_path}"
+            pose_marker_size="0.100000"
+            show_poses="true"
+          />
+        </Control>
+        <Control ID="Sequence" _collapsed="true">
+          <!--Plan and execute a path following the contour at a small distance-->
+          <Action
+            ID="PlanCartesianPath"
+            acceleration_scale_factor="1.000000"
+            blending_radius="0.0050000"
+            ik_cartesian_space_density="0.010000"
+            ik_joint_space_density="0.100000"
+            joint_trajectory_msg="{joint_trajectory_msg}"
+            path="{contour_path}"
+            planning_group_name="manipulator"
+            position_only="false"
+            trajectory_sampling_rate="100"
+            velocity_scale_factor="1.000000"
+            tip_offset="0;0;0.1;0;0;0"
+            debug_solution="{debug_solution}"
+          />
+          <Action
+            ID="ExecuteTrajectory"
+            execution_pipeline="jtc"
+            controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
+          />
+        </Control>
+        <SubTree
+          ID="Move to Waypoint (JTC)"
+          _collapsed="true"
+          waypoint_name="Look at Plane"
+          link_padding="0"
+          acceleration_scale_factor="1.0"
+          _skipIf="true"
+        />
+      </Control>
+    </Decorator>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Plan Path Along Surface - Loop">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Training Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>

From 0029c965519309c8b9c450a7aa59fcabe1394dc4 Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Wed, 25 Mar 2026 08:45:48 +0100
Subject: [PATCH 3/3] bump phoebe_ws to update Objective and pass CI validation

---
 src/external_dependencies/phoebe_ws | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/external_dependencies/phoebe_ws b/src/external_dependencies/phoebe_ws
index a17ab03db..6d29f1d2a 160000
--- a/src/external_dependencies/phoebe_ws
+++ b/src/external_dependencies/phoebe_ws
@@ -1 +1 @@
-Subproject commit a17ab03db2ae31ef5986fcf34a8a1fab54c65874
+Subproject commit 6d29f1d2a8e14f58091affebb02400fdd144d977