Task execution flow
The orchestrator prepares a robot model, processes execution units through MTC or child actions, and returns a final action result.
EROBS / SEQUENCE
Task execution flow
LOOP
for each execution unit
JSON GOAL
ENSURE MODEL
MODEL READY
DISPATCH UNIT
PLAN / EXECUTE
OUTCOME
UNIT RESULT
FINAL RESULT
Task client
MTCExecution
Orchestrator
validate · group
MoveIt lifecycle
model readiness
Task execution
batch / action
MTC / controllers
plan · execute
Successful motion with fresh planning. Cached replay and dry-run preview change the execution step.