Examples and demos

The teaching orchestrator, motion and logging stages, and a Bluesky example. Demo tasks use a separate schema; motion examples can operate the robot.

Start here

PrintStages.run — Start with the logging-only stage to understand the simplest action-to-stage boundary.
OrchestratorServer._execute — Follow the teaching dispatcher through its print/move task list and between-task cancellation checks.
MoveStages.run — Inspect the minimal CurrentState-plus-MoveTo task used for a named robot state.
simple_mtc_plan — See how a sequence of task files becomes ordered Bluesky set/wait operations.

Module	Responsibility	Entries
Demo message stage	Logging-only demo stage used by PrintActionServer; no MTC or hardware initialization.	2
Demo print server	Thin message logging action server using the demo BaseActionServer lifecycle and PrintStages.	3
Demo named-state motion	Implement a demo arm movement to a named SRDF state.	1
Demo motion server	Thin MTC named-state motion action server using the demo BaseActionServer lifecycle and MoveStages.	3
Demo motion-stage base	Build and execute MTC tasks for the teaching motion demo.	4
Demo action-server base	Share goal admission, stage execution, and result handling between the demo print and motion servers.	5
Demo task orchestrator	Dispatch demo print and named-state motion tasks in sequence.	9
Demo task client	Submit JSON task sequences to the teaching orchestrator.	4
Demo server launch	Launch the three Python demo servers with OMPL/KDL parameters supplied to move_server. Does not itself launch the robot driver or MoveIt move_group.	1
Example topic listener	Minimal ROS 2 chatter subscriber used by the launch-script examples; importing defines the node, while the entry point initializes and spins ROS.	3
Bluesky CLI adapter	Run task files from a Bluesky plan through the existing EROBS command-line client.	4