moveit_studio::behaviors::DiffusionPolicy Class Reference

Behavior for executing a pretrained diffusion policy in MoveIt Pro. More...

#include <diffusion_policy.hpp>

Inheritance diagram for moveit_studio::behaviors::DiffusionPolicy:

Collaboration diagram for moveit_studio::behaviors::DiffusionPolicy:

Public Types
using	DiffusionPolicyObservationRecorderInterface = moveit_pro_ml_ros::DiffusionPolicyObservationRecorderInterface
using	JTACClientInterface = jtac_client::JTACClientInterface

Public Member Functions
	DiffusionPolicy (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< DiffusionPolicyInterface > diffusion_policy_interface=std::make_unique< DiffusionPolicyInterface >(), std::unique_ptr< DiffusionPolicyObservationRecorderInterface > observation_recorder=nullptr, std::unique_ptr< JTACClientInterface > jtac_client=nullptr)
	Constructor for the DiffusionPolicy behavior.
Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
virtual	~AsyncBehaviorBase ()=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_studio::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 ()
	Implementation of the required providedPorts() function for the DiffusionPolicy Behavior.
static BT::KeyValueVector	metadata ()
	Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Behavior for executing a pretrained diffusion policy in MoveIt Pro.

Member Typedef Documentation

DiffusionPolicyObservationRecorderInterface

using moveit_studio::behaviors::DiffusionPolicy::DiffusionPolicyObservationRecorderInterface = moveit_pro_ml_ros::DiffusionPolicyObservationRecorderInterface

JTACClientInterface

using moveit_studio::behaviors::DiffusionPolicy::JTACClientInterface = jtac_client::JTACClientInterface

Constructor & Destructor Documentation

DiffusionPolicy()

moveit_studio::behaviors::DiffusionPolicy::DiffusionPolicy	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< DiffusionPolicyInterface >	diffusion_policy_interface = std::make_unique<DiffusionPolicyInterface>(),
		std::unique_ptr< DiffusionPolicyObservationRecorderInterface >	observation_recorder = nullptr,
		std::unique_ptr< JTACClientInterface >	jtac_client = nullptr
	)

Constructor for the DiffusionPolicy behavior.

Parameters

name	The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
config	This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.
diffusion_policy_interface	An implementation of the DiffusionPolicyInterface. The default argument uses a default-constructed DiffusionPolicyInterface.
observation_recorder	An implementation of the DiffusionPolicyObservationRecorderInterface. If nullptr, the behavior will create a default instance of DiffusionPolicyObservationRecorder.
jtac_client	The JTAC action client for sending the trajectories. If nullptr, the behavior will create a default instance of JTACClient.

Member Function Documentation

metadata()

BT::KeyValueVector moveit_studio::behaviors::DiffusionPolicy::metadata ( )

static

Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Returns

A BT::KeyValueVector containing the Behavior metadata.

providedPorts()

BT::PortsList moveit_studio::behaviors::DiffusionPolicy::providedPorts ( )

static

Implementation of the required providedPorts() function for the DiffusionPolicy Behavior.

Returns

Input ports to configure the diffusion policy execution.

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

• diffusion_policy.hpp
• diffusion_policy.cpp