Sets MuJoCo simulation state to specified joint positions. More...

#include <set_mujoco_state.hpp>

Inheritance diagram for moveit_pro::behaviors::SetMujocoState:

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Collaboration diagram for moveit_pro::behaviors::SetMujocoState:

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Public Member Functions
	SetMujocoState (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SetMujocoState behavior.

	SetMujocoState (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_internal_msgs::srv::SetMujocoJointStates > > client_interface)

Public Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< moveit_studio_internal_msgs::srv::SetMujocoJointStates >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_internal_msgs::srv::SetMujocoJointStates > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

	~ServiceClientBehaviorBase () override=default

Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Defines the input/output ports for this behavior.

static BT::KeyValueVector	metadata ()
	Provides metadata about the behavior for the behavior tree editor.

Additional Inherited Members
Static Public Attributes inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< moveit_studio_internal_msgs::srv::SetMujocoJointStates >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_pro::behaviors::ServiceClientBehaviorBase< moveit_studio_internal_msgs::srv::SetMujocoJointStates >
virtual tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service response.

virtual tl::expected< std::chrono::duration< double >, std::string >	getWaitForServerAvailableTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service server to be available.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.

Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Sets MuJoCo simulation state to specified joint positions.

This behavior reads a RobotJointState from an input port and calls /mujoco_system/set_joint_states to apply those positions in the simulation. Note: Does NOT handle controller management - use ListControllers and SwitchController to save/restore controller states if needed.

Data Port Name	Port Type	Object Type
service_name	Input	std::string
joint_state	Input	moveit_studio_agent_msgs::msg::RobotJointState

Constructor & Destructor Documentation

◆ SetMujocoState() [1/2]

moveit_pro::behaviors::SetMujocoState::SetMujocoState	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Constructor for SetMujocoState behavior.

Parameters

name	Name of the behavior node.
config	BehaviorTree node configuration.
shared_resources	Shared resources for the behavior (ROS node, planning scene, etc.).

◆ SetMujocoState() [2/2]

moveit_pro::behaviors::SetMujocoState::SetMujocoState	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< moveit_studio_internal_msgs::srv::SetMujocoJointStates > >	client_interface
	)

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_pro::behaviors::SetMujocoState::metadata ( )

static

Provides metadata about the behavior for the behavior tree editor.

Returns: Key-value pairs describing subcategory and description.

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::SetMujocoState::providedPorts ( )

static

Defines the input/output ports for this behavior.

Returns: List of ports with their types and descriptions.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions