Add Collect Training Data with Behaviors Objective to lab_sim

[marioprats]

[written by AI]

Closes PickNikRobotics/moveit_pro#21510

Problem

The Collect Training Data with Behaviors guide walks the reader through building a recording-wrapper Objective in lab_sim, but the Objective itself does not ship with the config — QA has to rebuild it by hand and users have no reference to open.

Changes

• New Collect Training Data with Behaviors Objective (src/lab_sim/objectives/collect_training_data_with_behaviors.xml), matching the guide exactly: a Fallback whose first Sequence runs RecordEpisode (dataset_name=behavior_bottle_pick, config_name=lab_sim, num_episodes=1) → 2 s settle → the collapsed Pick April Tag Labeled Object Subtree → SaveEpisode → 1 s settle → StopRecording → ConvertDataset. The second Sequence (StopRecording → AlwaysFailure) discards an unsaved failed attempt and preserves the failed result, so a failed pick is never labeled as a successful demonstration.
• Pick from Pose: replaced the deprecated PlanCartesianPath position_only="false" port with the equivalent cartesian_constraint="[{constraint_type: position_and_orientation}]". The wrapped task uses this Subtree for its retract move, and the deprecated port made every run of the new Objective emit a deprecation warning.

Verification

• All node IDs and port names were checked against the Behavior sources in moveit_pro (providedPorts() of RecordEpisode, SaveEpisode, StopRecording, ConvertDataset, PlanCartesianPath) rather than written from memory; the cartesian_constraint YAML form matches the parser's accepted syntax.
• The Objective was run in lab_sim before the Pick from Pose port migration; that run surfaced the position_only deprecation warning this PR removes. It has not yet been re-run on top of the migration — worth one QA pass before merge.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 7b878371-35b8-453c-9c7e-25e802161b5d

📥 Commits

Reviewing files that changed from the base of the PR and between a7e40d7 and 30c7bec.

📒 Files selected for processing (1)

• src/lab_sim/test/objectives_integration_test.py

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📝 Walkthrough

Summary by CodeRabbit

• New Features

  • Added a training-data collection workflow that records successful bottle-picking episodes and converts them into the LeRobotDataset v3.0 format.
  • Failed attempts are automatically discarded, while successful recordings are preserved.
  • Added recording and save-settlement delays to help ensure complete, reliable episodes.

• Bug Fixes

  • Improved robot retraction planning by enforcing both position and orientation constraints for more consistent motion.

Walkthrough

Adds a lab simulation behavior tree for recording bottle-pick training data. Successful episodes are saved and converted to LeRobotDataset v3.0. Failed attempts are discarded. Retract planning now applies position and orientation constraints.

Changes

Training data collection

Layer / File(s)	Summary
Retract path constraints src/lab_sim/objectives/pick_from_pose.xml	The retract PlanCartesianPath action now uses explicit position and orientation Cartesian constraints.
Behavior-tree recording workflow src/lab_sim/objectives/collect_training_data_with_behaviors.xml, src/lab_sim/test/objectives_integration_test.py	Adds recording setup, startup and save delays, the AprilTag bottle-pick task, successful episode saving, recording shutdown, dataset conversion, failed-attempt cleanup, and integration-test exclusion for the recording objective.

Possibly related PRs

• PickNikRobotics/moveit_pro_example_ws#752: Modifies the same retract action trajectory configuration.

Suggested reviewers: griswaldbrooks

Merge Risk: ⚪ Minimal · up to 30c7b

This PR adds the documented training-data objective and updates a deprecated planning port without any supplied merge-blocking correctness or operational risk; no actionable merge-blocking risk remains beyond normal checks and review.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description directly explains the new lab_sim Objective and the related PlanCartesianPath update.
Linked Issues check	✅ Passed	The PR adds the Objective requested by issue #21510 and matches the described VLA data-collection workflow.
Out of Scope Changes check	✅ Passed	The changes support the new Objective, including its deprecated-port migration and CI exclusion.
Human Review Check	✅ Passed	The PR diff is limited to two lab_sim Objective XML changes and one integration-test skip; it adds no auth, infra, public API, tutorial, launch-script, or core behavior package changes.

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: view HTML report — 1 failed, 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed