Add Python Behavior examples and demo Objective to lab_sim

[noah-wardlow]

[written by AI]

needs: moveit_pro/#20781

Motivation

Paired with moveit_pro#20781, which adds support for writing Behaviors in Python with no compilation step. That PR ships the loader and the example Behaviors; this one turns them on in lab_sim so the feature is reachable from the demo config and exercised by an Objective.

Brief description

• lab_sim/config/config.yaml: adds moveit_pro::behaviors::PythonBehaviorsLoader to behavior_loader_plugins. That one line is the whole opt-in.
• lab_sim/python_behaviors/: the example Behaviors, copied from the ones moveit_pro#20781 installs under share/moveit_pro_python_behavior/examples/. A config package owning its own Behaviors is the layout the feature is built around, and keeping them here means they can be edited in place to try the feature out.
  • example_python_behaviors.py — ScaleValue, SummarizeJointState, MakePose, CountTicks
  • example_ros_sdk_behavior.py — ComputeToolPose, which reads the robot description over ROS and computes forward kinematics with the MoveIt Pro Python SDK
  • _behavior_math.py — a helper module, which demonstrates that a Behavior can import ordinary modules sitting next to it
• lab_sim/objectives/python_behavior_demo.xml: an Objective wiring them together. It deliberately includes MakePose → IsPoseNearIdentity, a Python Behavior writing a geometry_msgs/msg/PoseStamped that a C++ Behavior consumes — the pairing that proves the message path rather than just exercising Python.
• .gitignore: ignores __pycache__/ and *.py[cod]. Python Behaviors live in a config package's source tree, so running them writes bytecode caches there.

How it was tested

Ran locally against lab_sim in MuJoCo sim with the paired moveit_pro branch built into the container. Python Behavior Demo returns SUCCEEDED via /do_objective, and all five Behaviors appear in the Behavior catalog with their declared port types. Offsetting MakePose's z by 1.0 m makes IsPoseNearIdentity fail the Objective, confirming the pose values genuinely cross the language boundary.

Release notes

None

[github-actions]

⚠️ This PR modifies 1 file(s) that also exist in PickNikRobotics/moveit_pro_empty_ws.

Consider whether the change should land upstream in moveit_pro_empty_ws first so downstream forks pick it up on the next sync.

Overlapping files

• .gitignore

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs