Executes a policy as continuous, self-collision-checked motion on the arm and optional gripper. More...

#include <execute_policy.hpp>

Inheritance diagram for moveit_pro::behaviors::ExecutePolicy:

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Collaboration diagram for moveit_pro::behaviors::ExecutePolicy:

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Classes
struct	Deps

struct	SceneAndState
	Planning scene snapshot plus the current positions of the commanded joints. More...

Public Types
using	JTACClientInterface = jtac_client::JTACClientInterface

using	GripperClientInterface = gripper_client::GripperClientInterface

using	TrajectoryChunkValidator = chunked_trajectory_executor::TrajectoryChunkValidator

Public Member Functions
	ExecutePolicy (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, Deps deps={})
	Constructor for the ExecutePolicy Behavior.

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 ()
	Input ports that configure the chunk execution.

static BT::KeyValueVector	metadata ()
	Metadata for the MoveIt Pro Developer Tool.

Protected Member Functions
virtual tl::expected< SceneAndState, std::string >	acquireSceneAndInitialState (const std::vector< std::string > &joint_names)
	Snapshot the planning scene and read the commanded joints' current positions.

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

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

Detailed Description

Executes a policy as continuous, self-collision-checked motion on the arm and optional gripper.

The Behavior gathers the current observation (joint positions and camera images), asks a policy for the next chunk over the GetActionChunk service, and feeds it to a ChunkedTrajectoryExecutor that blends it onto the running motion at the seam, checks it against the commanded joints' position, velocity, and acceleration limits and for self-collision, and stitches it onto the controller. It requests the next chunk before the committed motion drains so the robot does not pause at chunk boundaries, and stops cleanly once total_action_steps points have run, when the policy reports no more actions, or when the Behavior is halted.

The policy is any node that serves the GetActionChunk ROS 2 service (moveit_pro_ml_msgs/srv/GetActionChunk); the serving node can wrap an in-process model adapter, a local GPU server, or a remote one. Every chunk is blended onto the running motion at the seam regardless of the policy; the seam blend is never delegated to the producer. When the policy runs real-time chunking (policy_uses_real_time_chunking), the Behavior additionally sends it the previous chunk's unexecuted tail and the state that chunk was anchored to, so it continues the committed motion and the blend has less to correct.

The arm and the gripper are driven on separate paths from the same chunk. The arm joints are streamed to the trajectory controller; the gripper, when gripper_command_action_name is set, is the one joint in the chunk beyond the arm group (only single-DOF grippers are supported) and is commanded through a GripperCommand action server, streamed step by step across each committed chunk so it tracks the policy's gripper motion rather than holding one value per chunk. Leaving the port empty runs the arm only and leaves the gripper to a separate Behavior. Each gripper target is checked for finiteness and clamped to the gripper joint's position limits. The gripper's links are part of the self-collision check at their current (snapshot) pose, so the gripper geometry is considered, but the commanded gripper opening itself is not re-validated per step the way the arm chunk is. A halt cancels both the arm controller goals and any in-flight gripper goal; a position controller may still hold its last gripper setpoint after a cancel, so a halt is not guaranteed to reopen the gripper.

Data Port Name	Port Type	Object Type
policy_service_name	input	std::string
joint_group_name	input	std::string
total_action_steps	input	int
prompt	input	std::string
committed_action_steps	input	int
dt	input	double
num_interpolation_points	input	int
goal_path_tolerance	input	double
policy_tracking_weight	input	double
policy_uses_real_time_chunking	input	bool
controller_action_name	input	std::string
absolute_force_torque_threshold	input	std::vector<double>
policy_call_timeout	input	double
image_names	input	std::vector<std::string>
image_topics	input	std::vector<std::string>
joint_states_topic	input	std::string
gripper_command_action_name	input	std::string

Member Typedef Documentation

◆ GripperClientInterface

using moveit_pro::behaviors::ExecutePolicy::GripperClientInterface = gripper_client::GripperClientInterface

◆ JTACClientInterface

using moveit_pro::behaviors::ExecutePolicy::JTACClientInterface = jtac_client::JTACClientInterface

◆ TrajectoryChunkValidator

using moveit_pro::behaviors::ExecutePolicy::TrajectoryChunkValidator = chunked_trajectory_executor::TrajectoryChunkValidator

Constructor & Destructor Documentation

◆ ExecutePolicy()

moveit_pro::behaviors::ExecutePolicy::ExecutePolicy	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		Deps	deps = `{}`
	)

Constructor for the ExecutePolicy Behavior.

Parameters

name	Behavior instance name, set by the behavior tree factory.
config	Behavior tree configuration, set by the behavior tree factory.
shared_resources	Resources shared between Behaviors, such as the node and the robot model.
deps	Injected collaborators for testing. Each null entry is built from the ports at run start: the producer as a GetActionChunk service client, the jtac_client as a default JTACClient, the validator as a self-collision validator from a planning scene snapshot, the observation_source as a topic subscriber, and the gripper_client as a GripperClient created only when gripper_command_action_name is set.

Member Function Documentation

◆ acquireSceneAndInitialState()

tl::expected< ExecutePolicy::SceneAndState, std::string > moveit_pro::behaviors::ExecutePolicy::acquireSceneAndInitialState ( const std::vector< std::string > & joint_names )

protectedvirtual

Snapshot the planning scene and read the commanded joints' current positions.

Production behavior monitors the planning scene through a PlanningSceneMonitor. Tests override this to supply a canned snapshot so they need no live scene.

Parameters

joint_names Commanded joints, defining the order of initial_joint_positions.

Returns: The snapshot and initial positions, or an error if the scene could not be fetched.

◆ metadata()

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

static

Metadata for the MoveIt Pro Developer Tool.

Returns: The Behavior metadata.

◆ providedPorts()

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

static

Input ports that configure the chunk execution.

Returns: The list of ports.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members