From task requests to robot motion
Task clients send JSON goals to the orchestrator, which runs batch stages or child action servers; direct clients can also call child actions.
EROBS / ARCHITECTURE
From task requests to robot motion
CLIENTS
TASK EXECUTION
MOTION / DEVICES
GOAL
PLAN
DISPATCH
DIRECT ACTION
EXECUTE
Task clients
GUI · JSON · MCP
Direct clients
actions · surveys
Orchestrator
beambot_execution
Batch stages
moveto ·
end_effector
Task action servers
vision · tool ·
devices
MTC / MoveIt
plan and execute
Robot and tools
controllers /
device I/O
Solid arrows show principal calls. Device actions may bypass MoveIt; perception details are shown separately.