From 53e528aa8e3bead744f52c7f63d6444944d9c98e Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Tue, 24 Mar 2026 07:19:50 +0100 Subject: [PATCH 1/2] Add MujocoBehaviorsLoader and mujoco_objectives to all robot configs Every robot config except hangar_sim now loads the MuJoCo behaviors plugin and mujoco objectives library, ensuring MuJoCo simulation objectives are available across all configurations. Co-Authored-By: Claude Opus 4.6 (1M context) --- src/april_tag_sim/config/config.yaml | 6 ++++++ src/dual_arm_sim/config/config.yaml | 4 ++++ src/factory_sim/config/config.yaml | 4 ++++ src/grinding_sim/config/config.yaml | 4 ++++ src/kitchen_sim/config/config.yaml | 4 ++++ src/lunar_sim/config/config.yaml | 9 +++++++++ .../franka_base_config/config/config.yaml | 9 +++++++++ .../kinova_gen3_base_config/config/config.yaml | 4 ++++ .../kinova_gen3_site_config/config/config.yaml | 6 ++++++ .../space_satellite_sim/config/config.yaml | 6 ++++++ .../space_satellite_sim_camera_cal/config/config.yaml | 6 ++++++ src/moveit_pro_ur_configs/mock_sim/config/config.yaml | 6 ++++++ .../multi_arm_sim/config/config.yaml | 4 ++++ .../picknik_ur_base_config/config/config.yaml | 4 ++++ .../picknik_ur_site_config/config/config.yaml | 5 +++++ 15 files changed, 81 insertions(+) diff --git a/src/april_tag_sim/config/config.yaml b/src/april_tag_sim/config/config.yaml index f495a9560..f697cc9e6 100644 --- a/src/april_tag_sim/config/config.yaml +++ b/src/april_tag_sim/config/config.yaml @@ -22,7 +22,13 @@ hardware: objectives: # Specify source folder for objectives # [Required] + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "april_tag_sim" relative_path: "objectives" diff --git a/src/dual_arm_sim/config/config.yaml b/src/dual_arm_sim/config/config.yaml index 6065534fe..7aba77b96 100644 --- a/src/dual_arm_sim/config/config.yaml +++ b/src/dual_arm_sim/config/config.yaml @@ -86,6 +86,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -101,6 +102,9 @@ objectives: visualization_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/visualization" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" custom_objectives: package_name: "dual_arm_sim" relative_path: "objectives" diff --git a/src/factory_sim/config/config.yaml b/src/factory_sim/config/config.yaml index 2da457cc7..f12730250 100644 --- a/src/factory_sim/config/config.yaml +++ b/src/factory_sim/config/config.yaml @@ -124,6 +124,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -139,6 +140,9 @@ objectives: visualization_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/visualization" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "factory_sim" relative_path: "objectives" diff --git a/src/grinding_sim/config/config.yaml b/src/grinding_sim/config/config.yaml index f144365aa..af9217f43 100644 --- a/src/grinding_sim/config/config.yaml +++ b/src/grinding_sim/config/config.yaml @@ -115,6 +115,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -130,6 +131,9 @@ objectives: visualization_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/visualization" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "grinding_sim" relative_path: "objectives" diff --git a/src/kitchen_sim/config/config.yaml b/src/kitchen_sim/config/config.yaml index 7a0bc2e3d..2c94925ae 100644 --- a/src/kitchen_sim/config/config.yaml +++ b/src/kitchen_sim/config/config.yaml @@ -52,6 +52,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -67,6 +68,9 @@ objectives: visualization_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/visualization" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "kitchen_sim" relative_path: "objectives" diff --git a/src/lunar_sim/config/config.yaml b/src/lunar_sim/config/config.yaml index e0063d763..c62136a02 100644 --- a/src/lunar_sim/config/config.yaml +++ b/src/lunar_sim/config/config.yaml @@ -11,3 +11,12 @@ hardware: urdf_params: - mujoco_model_package: lunar_sim - mujoco_model: mjcf/scene.xml + +objectives: + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" + objective_library_paths: + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" diff --git a/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml b/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml index 1e13e4fe7..1eb776590 100644 --- a/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml +++ b/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml @@ -45,3 +45,12 @@ moveit_params: allowed_execution_duration_scaling: 2.0 allowed_goal_duration_margin: 5.0 allowed_start_tolerance: 0.01 + +objectives: + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" + objective_library_paths: + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml index cce8afd35..b0f497024 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml @@ -109,6 +109,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: core_objectives: package_name: "moveit_pro_objectives" @@ -119,6 +120,9 @@ objectives: perception_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/perception" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "kinova_gen3_base_config" relative_path: "objectives" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml index bfb525f8a..1fb2d098c 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml @@ -60,7 +60,13 @@ moveit_params: allowed_start_tolerance: 0.01 objectives: + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" hardware_objectives: package_name: "kinova_gen3_site_config" relative_path: "objectives" diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml index f2863422d..86ca8b05c 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml @@ -51,6 +51,9 @@ ros2_control: objectives: # Specify source folder for objectives # [Required] + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: core_objectives: package_name: "moveit_pro_objectives" @@ -61,6 +64,9 @@ objectives: perception_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/perception" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "space_satellite_sim" relative_path: "objectives" diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml index 8a98ea618..ca9709e40 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml @@ -31,7 +31,13 @@ hardware: # Configuration for loading behaviors and objectives. objectives: + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "space_satellite_sim_camera_cal" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/mock_sim/config/config.yaml b/src/moveit_pro_ur_configs/mock_sim/config/config.yaml index 809afee02..681cf0ad2 100644 --- a/src/moveit_pro_ur_configs/mock_sim/config/config.yaml +++ b/src/moveit_pro_ur_configs/mock_sim/config/config.yaml @@ -13,12 +13,18 @@ hardware: path: "config/moveit/picknik_ur_machine_tending.srdf" objectives: + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" waypoints_file: package_name: "mock_sim" relative_path: "waypoints/machine_tending_waypoints.yaml" objective_library_paths: # You must use a unique key for each package. # The picknik_ur_base_config uses "core" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" mock_hardware_objectives: package_name: "mock_sim" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml b/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml index f37c1c91a..173396ae8 100644 --- a/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml +++ b/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml @@ -162,6 +162,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -174,6 +175,9 @@ objectives: perception_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/perception" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" sim_objectives: package_name: "multi_arm_sim" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml index 1219089aa..1c4a2ec0b 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml @@ -161,6 +161,7 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -176,6 +177,9 @@ objectives: visualization_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/visualization" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" simulation_objectives: package_name: "picknik_ur_base_config" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml index cbdec9809..00854dd11 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml +++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml @@ -2,11 +2,16 @@ based_on_package: "picknik_ur_base_config" objectives: behavior_loader_plugins: + core: + - "moveit_pro::behaviors::MujocoBehaviorsLoader" trigger_pstop_reset_service: - "trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader" objective_library_paths: # You must use a unique key for each package. # The picknik_ur_base_config uses "core" + mujoco_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/mujoco" custom_objectives: package_name: "picknik_ur_site_config" relative_path: "objectives" From 59d5b26b4e4d1edd8fc53b01c8e9926c5823e4a9 Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Tue, 24 Mar 2026 07:23:25 +0100 Subject: [PATCH 2/2] Remove mujoco loader from non-MuJoCo base/site configs These configs use mock or real hardware and don't need the MuJoCo behaviors plugin or mujoco objectives. Co-Authored-By: Claude Opus 4.6 (1M context) --- .../franka_base_config/config/config.yaml | 9 --------- .../kinova_gen3_base_config/config/config.yaml | 4 ---- .../kinova_gen3_site_config/config/config.yaml | 6 ------ src/moveit_pro_ur_configs/mock_sim/config/config.yaml | 6 ------ .../picknik_ur_base_config/config/config.yaml | 4 ---- .../picknik_ur_site_config/config/config.yaml | 5 ----- 6 files changed, 34 deletions(-) diff --git a/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml b/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml index 1eb776590..1e13e4fe7 100644 --- a/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml +++ b/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml @@ -45,12 +45,3 @@ moveit_params: allowed_execution_duration_scaling: 2.0 allowed_goal_duration_margin: 5.0 allowed_start_tolerance: 0.01 - -objectives: - behavior_loader_plugins: - core: - - "moveit_pro::behaviors::MujocoBehaviorsLoader" - objective_library_paths: - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml index b0f497024..cce8afd35 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml @@ -109,7 +109,6 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" - - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: core_objectives: package_name: "moveit_pro_objectives" @@ -120,9 +119,6 @@ objectives: perception_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/perception" - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" sim_objectives: package_name: "kinova_gen3_base_config" relative_path: "objectives" diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml index 1fb2d098c..bfb525f8a 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml @@ -60,13 +60,7 @@ moveit_params: allowed_start_tolerance: 0.01 objectives: - behavior_loader_plugins: - core: - - "moveit_pro::behaviors::MujocoBehaviorsLoader" objective_library_paths: - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" hardware_objectives: package_name: "kinova_gen3_site_config" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/mock_sim/config/config.yaml b/src/moveit_pro_ur_configs/mock_sim/config/config.yaml index 681cf0ad2..809afee02 100644 --- a/src/moveit_pro_ur_configs/mock_sim/config/config.yaml +++ b/src/moveit_pro_ur_configs/mock_sim/config/config.yaml @@ -13,18 +13,12 @@ hardware: path: "config/moveit/picknik_ur_machine_tending.srdf" objectives: - behavior_loader_plugins: - core: - - "moveit_pro::behaviors::MujocoBehaviorsLoader" waypoints_file: package_name: "mock_sim" relative_path: "waypoints/machine_tending_waypoints.yaml" objective_library_paths: # You must use a unique key for each package. # The picknik_ur_base_config uses "core" - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" mock_hardware_objectives: package_name: "mock_sim" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml index 1c4a2ec0b..1219089aa 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml @@ -161,7 +161,6 @@ objectives: - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" - - "moveit_pro::behaviors::MujocoBehaviorsLoader" # Specify source folder for objectives # [Required] objective_library_paths: @@ -177,9 +176,6 @@ objectives: visualization_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/visualization" - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" simulation_objectives: package_name: "picknik_ur_base_config" relative_path: "objectives" diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml index 00854dd11..cbdec9809 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml +++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml @@ -2,16 +2,11 @@ based_on_package: "picknik_ur_base_config" objectives: behavior_loader_plugins: - core: - - "moveit_pro::behaviors::MujocoBehaviorsLoader" trigger_pstop_reset_service: - "trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader" objective_library_paths: # You must use a unique key for each package. # The picknik_ur_base_config uses "core" - mujoco_objectives: - package_name: "moveit_pro_objectives" - relative_path: "objectives/mujoco" custom_objectives: package_name: "picknik_ur_site_config" relative_path: "objectives"