Clients and integrations

Task submission from the CLI and Bluesky, EPICS-to-ROS utilities, and MCP/agent clients. Task-building helpers return JSON for a separate submission step.

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Start here

TaskGoalSender.send_goal — Follow direct submission of task JSON to the orchestrator and the blocking wait for its result.
vision_target — Inspect how beamline target configuration becomes task JSON before a client submits it.
RobotAgent.chat — Follow the agent conversation loop from a model response to MCP or GUI-local tool calls.
MTCExecutionDeviceAsync.set — See how a Bluesky request sends an action goal and completes its status through background ROS callbacks.

Modules

Module	Responsibility	Entries
Task submission client	Submit a task JSON file to the orchestrator and report its progress and final ROS action status.	4
MCP robot tools	Provide MCP tools for robot state, camera observations, pose editing, image analysis, and task construction. Most tools return JSON text; `ping()` returns plain text.	52
Robot agent command line	Run one-shot requests or an interactive robot-agent session.	2
Robot agent client	Use an Anthropic-compatible Hermes client and stdio MCP sessions for a serial tool-use conversation loop. Tool callbacks can dispatch local GUI tools; API requests are synchronous even though chat is async.	9
Blocking Bluesky action device	Submit orchestrator tasks through a blocking Bluesky/Ophyd device.	9
Background Bluesky action device	Submit orchestrator tasks from Bluesky and process completion in a background ROS thread.	14
EPICS value service	Expose an EPICS PV read as a ROS Trigger service. Each request performs caget on demand and returns a string representation rather than a typed measurement; main has no explicit cleanup.	3
EPICS value topic	Monitor one EPICS PV and republish each callback value as ROS Float64 on relative pv_value. Assumes scalar float-convertible data and does not preserve EPICS timestamps/metadata.	3