ROS action contracts

EROBS clients submit task scripts through MTCExecution. This reference lists its fields and those of the task action servers. A ROS action carries a goal, progress feedback, and a terminal result.

Fields and comments come from the .action definitions. Use the task reference for JSON inputs and the execution guide for runtime behavior. Tutorial actions use separate interfaces.

EndEffectorAction

Source: src/beambot_interfaces/action/EndEffectorAction.action.

Default endpoint: /beambot_endeffector.

Goal

Type	Field	Contract notes
`string`	`gripper_group`	MoveIt group; empty skips the operation.
`string`	`end_effector_action`	Named SRDF state for the group.
`string`	`robot_model_revision`	Orchestrator-managed; empty disables cross-goal model reuse

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—

Feedback

Type	Field	Contract notes
—	—	No fields declared.

MTCExecution

Source: src/beambot_interfaces/action/MTCExecution.action.

Default endpoint: /beambot_execution.

Goal

Type	Field	Contract notes
`string`	`full_json`	Task script JSON.
`bool`	`dry_run`	Plan-only preview; moveto/end_effector only.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—
`int32`	`completed_steps`	—
`int32`	`total_steps`	—
`float64[]`	`detected_position`	XYZ (m).
`float64[]`	`detected_orientation`	Quaternion [x,y,z,w].

Feedback

Type	Field	Contract notes
`int32`	`current_step`	—
`string`	`current_action`	—
`float32`	`progress_percentage`	—
`string`	`status_message`	—
`string`	`current_gripper`	—

MoveToAction

Source: src/beambot_interfaces/action/MoveToAction.action.

Default endpoint: /beambot_moveto.

Goal

Type	Field	Contract notes
`string`	`target`	Pose key or SRDF state.
`string`	`planning_type`	“”/auto/joint: auto; cartesian; pilz: LIN; pilz_ptp: PTP.
`string`	`direction`	IK frame: forward/backward/left/right/up/down; x/-x/y/-y/z/-z.
`float64`	`distance`	Relative distance (m); finite and > 0.
`float64[]`	`cartesian_target`	XYZ (m), optionally followed by roll/pitch/yaw (deg).
`string`	`frame_id`	Cartesian frame; empty = base_link.
`string`	`poses_json`	Pose name: six joint angles (deg).
`string`	`constraints_json`	Empty = no constraints.
`string`	`robot_model_revision`	Model cache key; empty disables cross-goal reuse.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—

Feedback

Type	Field	Contract notes
—	—	No fields declared.

PickSampleAction

Source: src/beambot_interfaces/action/PickSampleAction.action.

Default endpoint: /beambot_pick_sample.

Goal

Type	Field	Contract notes
`bool`	`use_vision`	False uses named joint poses.
`string`	`detection_type`	marker (default) or sample_roi.
`int32`	`tag_id`	ArUco ID.
`int32`	`sample_index`	Reserved; unused.
`float64`	`z_offset`	base_link Z offset (m); 0 = gripper default.
`string`	`scan_pose`	Scan/retreat pose key.
`float64`	`marker_offset_x`	—
`float64`	`marker_offset_y`	—
`float64`	`marker_offset_z`	—
`string`	`offset_direction`	Flange-frame direction.
`float64`	`offset_distance`	Offset (m); > 0 when direction is set.
`string`	`ik_frame`	Empty = auto-detect.
`string`	`strategy`	sample_roi; empty = farthest_edge.
`float64`	`edge_inset_mm`	sample_roi; 0 = 6.5 mm.
`string`	`approach_pose`	Approach/retreat pose key.
`string`	`target_pose`	Grasp pose key.
`string`	`gripper_group`	MoveIt gripper group.
`string`	`gripper_states_json`	Maps grasp/release to SRDF states.
`string`	`poses_json`	Pose name: six joint angles (deg).
`string`	`constraints_json`	Empty = no constraints.
`string`	`robot_model_revision`	Model cache key; empty disables cross-goal reuse.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—
`bool`	`vacuum_ok`	True if detected or unchecked; only valid on success.
`float64[]`	`detected_position`	XYZ (m).
`float64[]`	`detected_orientation`	Quaternion [x,y,z,w].

Feedback

Type	Field	Contract notes
`string`	`current_stage`	Not currently published.

PipettorAction

Source: src/beambot_interfaces/action/PipettorAction.action.

Default endpoint: /beambot_pipettor.

Goal

Type	Field	Contract notes
`string`	`operation`	SUCK, EXPEL, EJECT_TIP, SET_LED.
`float64`	`volume_pct`	Currently ignored by the pipettor driver.
`std_msgs/ColorRGBA`	`led_color`	SET_LED color.
`string`	`poses_json`	Unused.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—

Feedback

Type	Field	Contract notes
—	—	No fields declared.

PlaceSampleAction

Source: src/beambot_interfaces/action/PlaceSampleAction.action.

Default endpoint: /beambot_place_sample.

Goal

Type	Field	Contract notes
`bool`	`use_vision`	False uses named joint poses.
`string`	`detection_type`	Always uses marker detection.
`int32`	`tag_id`	ArUco ID.
`float64`	`z_offset`	base_link Z offset (m); 0 = gripper default.
`string`	`scan_pose`	Scan/retreat pose key.
`float64`	`marker_offset_x`	—
`float64`	`marker_offset_y`	—
`float64`	`marker_offset_z`	—
`string`	`offset_direction`	Flange-frame direction.
`float64`	`offset_distance`	Offset (m); > 0 when direction is set.
`string`	`ik_frame`	Empty = auto-detect.
`string`	`approach_pose`	Approach/retreat pose key.
`string`	`target_pose`	Place pose key.
`string`	`gripper_group`	MoveIt gripper group.
`string`	`gripper_states_json`	Maps grasp/release to SRDF states.
`string`	`poses_json`	Pose name: six joint angles (deg).
`string`	`constraints_json`	Empty = no constraints.
`string`	`robot_model_revision`	Model cache key; empty disables cross-goal reuse.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—
`float64[]`	`detected_position`	XYZ (m).
`float64[]`	`detected_orientation`	Quaternion [x,y,z,w].

Feedback

Type	Field	Contract notes
`string`	`current_stage`	Not currently published.

ToolExchangeAction

Source: src/beambot_interfaces/action/ToolExchangeAction.action.

Default endpoint: /beambot_toolexchange.

Goal

Type	Field	Contract notes
`string`	`operation`	load or dock.
`string`	`gripper`	Configured gripper to load/dock.
`string`	`current_attached_gripper`	Current gripper; none if detached.
`int32`	`dock_number`	Physical dock number; range not validated.
`string`	`approach_pose`	Approach joint-pose key.
`string`	`poses_json`	Pose name: six joint angles (deg).
`string`	`robot_model_revision`	Model cache key; empty disables cross-goal reuse.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—

Feedback

Type	Field	Contract notes
—	—	No fields declared.

VisionScanAction

Source: src/beambot_interfaces/action/VisionScanAction.action.

Default endpoint: /beambot_vision_scan.

Goal

Type	Field	Contract notes
`float64[]`	`scan_positions_flat`	Flattened six-joint poses (rad).
`int32`	`num_scan_positions`	Must match flattened pose count.
`int32`	`scans_per_position`	Captures per pose; <= 0 uses 3.
`float64`	`timeout`	Per-capture timeout (s); <= 0 uses 10.
`string`	`poses_json`	Unused by scan server.
`string`	`robot_model_revision`	Model cache key; empty disables cross-goal reuse.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—
`int32`	`tags_detected`	Unique tags cached.

Feedback

Type	Field	Contract notes
`string`	`status`	Not currently published.

VisionTaskAction

Source: src/beambot_interfaces/action/VisionTaskAction.action.

Default endpoint: /beambot_vision_task.

Goal

Type	Field	Contract notes
`string`	`detector`	marker (default), sample_roi, spincoater_pocket, spincoater_sample.
`string`	`goal_computer`	approach_pose (default) or j6_snap.
`int32`	`tag_id`	ArUco ID or sample_roi anchor.
`int32`	`sample_index`	Reserved; unused.
`float64`	`timeout`	marker/sample_roi timeout (s).
`string`	`strategy`	sample_roi; empty = farthest_edge.
`float64`	`edge_inset_mm`	sample_roi inset; 0 = no inset.
`float64[]`	`scan_positions_flat`	marker scans: flattened six-joint poses (rad).
`int32`	`num_scan_positions`	0 = single-position detection.
`float64`	`z_offset`	base_link Z offset (m); 0 = gripper default.
`float64`	`marker_offset_x`	—
`float64`	`marker_offset_y`	—
`float64`	`marker_offset_z`	—
`string`	`offset_direction`	Flange-frame direction.
`float64`	`offset_distance`	Offset (m); > 0 when direction is set.
`string`	`target_pose`	Joint-pose key; joint 6 is corrected.
`float64`	`k_offset`	Calibration offset (deg).
`float64`	`forward_distance`	Forward move after positioning (m); 0 = none.
`string`	`scan_pose`	Pre-detection pose key; empty skips the move.
`string`	`terminal_action`	grasp/release or SRDF state; empty = none.
`string`	`gripper_group`	MoveIt gripper group.
`string`	`gripper_states_json`	Maps grasp/release to SRDF states.
`bool`	`pre_open`	Open gripper before the scan_pose move.
`string`	`retreat_pose`	approach_pose retreat key; empty = none.
`string`	`ik_frame`	approach_pose IK frame; empty = auto-detect.
`string`	`poses_json`	Pose name: six joint angles (deg).
`string`	`constraints_json`	Empty = no constraints.
`bool`	`detect_only`	Skips approach_pose execution, not scans; ignored by j6_snap.
`string`	`robot_model_revision`	Model cache key; empty disables cross-goal reuse.

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—
`bool`	`vacuum_ok`	True if detected or unchecked; only valid on success.
`float64[]`	`detected_position`	XYZ (m).
`float64[]`	`detected_orientation`	Quaternion [x,y,z,w].
`string`	`motion_kind`	NONE or CARTESIAN_POSE (also reported for joint moves).

Feedback

Type	Field	Contract notes
—	—	No fields declared.

MoveToNamedState

Source: src/demos/hello_orchestrator_py_interfaces/action/MoveToNamedState.action.

Tutorial interface: inspect the demo server/client for its endpoint and behavior.

Goal

Type	Field	Contract notes
`string`	`target_pose`	—

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—

Feedback

Type	Field	Contract notes
—	—	No fields declared.

OrchestratorTask

Source: src/demos/hello_orchestrator_py_interfaces/action/OrchestratorTask.action.

Tutorial interface: inspect the demo server/client for its endpoint and behavior.

Goal

Type	Field	Contract notes
`string`	`task_json`	—

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—
`int32`	`completed_steps`	—

Feedback

Type	Field	Contract notes
`int32`	`current_step`	—
`int32`	`total_steps`	—
`string`	`current_action`	—

PrintMessage

Source: src/demos/hello_orchestrator_py_interfaces/action/PrintMessage.action.

Tutorial interface: inspect the demo server/client for its endpoint and behavior.

Goal

Type	Field	Contract notes
`string`	`message`	—

Result

Type	Field	Contract notes
`bool`	`success`	—
`string`	`error_message`	—

Feedback

Type	Field	Contract notes
—	—	No fields declared.