Add MujocoBehaviorsLoader and mujoco_objectives to all robot configs

[davetcoleman]

Summary

Add MujocoBehaviorsLoader and mujoco_objectives library path to MuJoCo-enabled robot configs, enabling the Reset Simulation feature in the UI for all MuJoCo sim configs.

Changes per config:

• Add mujoco_objectives entry pointing to moveit_pro_objectives/objectives/mujoco
• Add MujocoBehaviorsLoader to behavior_loader_plugins (only for configs that don't inherit it)
• Add mujoco_keyframe: "default" to hardware params where missing
• Add/fix default keyframe in scene.xml where missing or broken

Testing status

Config	Status	Notes
hangar_sim	✅ Tested	Added MujocoBehaviorsLoader + mujoco_objectives
april_tag_sim	✅ Tested	Added mujoco_objectives + fixed keyframe qpos (was 82 values, model needs 57). Inherits MujocoBehaviorsLoader from lab_sim.
dual_arm_sim	✅ Tested
factory_sim	✅ Tested	Added default keyframe to scene.xml
grinding_sim	✅ Tested
kitchen_sim	✅ Tested	Renamed keyframe from "home" to "default"
lab_sim	✅ Tested
kinova_sim	✅ Tested	Already had MujocoBehaviorsLoader on main
space_satellite_sim	✅ Tested	Fixed: removed broken behavior_loader_plugins override that replaced inherited loaders from kinova_sim
space_satellite_sim_camera_cal	✅ Tested	Fixed: same override issue as space_satellite_sim

Configs NOT changed

Config	Reason
lunar_sim	❌ Reset Simulation not working — needs further investigation
multi_arm_sim	🚫 Uses mock/mimic sim, not MuJoCo — MujocoBehaviorsLoader not applicable

Key learnings

• Configs using based_on_package (e.g., april_tag_sim → lab_sim, space_satellite_sim → kinova_sim) should not add a behavior_loader_plugins section unless they need to extend the list — adding one overrides the inherited loaders entirely.
• Keyframe qpos values must exactly match the model's total DOF count (nq). The old april_tag_sim keyframe had 82 values from a previous model revision; the current model needs 57.

Test plan

• Verify Reset Simulation works in the UI for each tested config
• Verify no regressions in objective execution
• CI passes

🤖 Generated with Claude Code

[marioprats]

I tested this in factory_sim, and the Mujoco Objectives show up, and also the menu button to "Reset Simulation".
But unfortunately Mujoco doesn't define a "default" keyframe, so for things to work we would have to define a "default" Mujoco keyframe in all the configs as well :(

[marioprats]

I think this is still missing adding the "default" keyframe to the Mujoco scene.xml, i.e. all scene.xml files need to have a keyframe section, with a "default" keyframe, like this:

moveit_pro_example_ws/src/lab_sim/description/scene.xml

Line 76 in f3798f8

name="default"

[davetcoleman]

@marioprats i tested running 1 objective in every robot_config, then ran reset sim, and it all worked

[marioprats]

Perfect, thanks!