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Override ResetMujocoSim in lab_sim to deactivate all controllers #454

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Merged
kineticsystem merged 1 commit into from
Dec 18, 2025
Merged

Override ResetMujocoSim in lab_sim to deactivate all controllers #454

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30 changes: 30 additions & 0 deletions src/lab_sim/objectives/reset_mujoco_sim.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,30 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Reset MuJoCo Sim">
<!--//////////-->
<BehaviorTree
ID="Reset MuJoCo Sim"
_description="Reset the MuJoCo simulation to the `default` keyframe (if specified in the mujoco model)."
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
ID="SwitchController"
deactivate_controllers="joint_trajectory_admittance_controller;joint_trajectory_controller;velocity_force_controller;servo_controller"
/>
<Action
ID="ResetMujocoKeyframe"
response_timeout="10.000000"
wait_for_server_available_timeout="3.000000"
keyframe_name="default"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Reset MuJoCo Sim">
<MetadataFields>
<Metadata runnable="true" />
<Metadata subcategory="MuJoCo Simulation" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
</root>