Task execution

Task validation, pose resolution, batching, action dispatch, and execution controls. Includes run recording and performance tracing.

Start here

parse_task_script — Understand which task fields are validated and how grid macros and named poses are expanded before execution.
group_into_batches — Check which adjacent tasks become one planning unit and where a task creates a new execution boundary.
MTCOrchestratorServer._execute — Trace the orchestrator from a validated request through tool setup, task dispatch, and final result handling.

Module	Responsibility	Entries
Task parsing and validation	Validate task scripts, expand configured grid targets, and resolve named poses. Device readiness, planning, and execution occur later.	9
Task batching	Group adjacent moveto and end_effector tasks for one MTC plan while preserving task order. Every other task type forms a single unit.	1
Task orchestrator	Validate task scripts and coordinate tool setup, motion batches, child actions, cached replay, pause, and cancellation.	30
Shared action server	Provide shared ROS action-server startup, goal admission, and execution callbacks. A busy reservation limits each server to one goal. Child actions reject cancellation by default.	6
Mapping capture sequence	Sequence individual orchestrator goals and optional Zivid captures for a separately running Octomap pipeline.	8
Traced task runner	Run a traced task and clean up the launched processes. Normal execution submits a task to the orchestrator and can move hardware.	1
Callback timing reports	Generate Markdown timing reports from recorded ROS callback traces using pandas and tracetools_analysis.	5