Behavior Reference

This page provides a comprehensive catalog of all behavior tree components available in the orchestration framework. These behaviors are organized into three main categories: Motion, Perception, and Utility behaviors.

For more details and usage examples, refer to the main isaac_ros_manipulation_orchestration documentation.

Motion Behaviors

Motion behaviors handle robot movement, trajectory execution, and gripper control operations.

Behavior	Purpose	Interface/Package	Key Features
AttachObject	Attaches objects to the robot’s collision geometry for safe motion planning while carrying objects. Sends an action goal specifying the object’s shape, pose, and scale to the object attachment node, which generates collision spheres and incorporates them into the robot’s collision spheres.	Isaac ROS cuMotion Object Attachment	Supports multiple object representations (SPHERE, CUBOID, CUSTOM_MESH) with configurable scaling. The underlying node generates collision spheres using the cuMotion API and optionally clears the object’s ESDF voxels.
CloseGripper	Controls gripper closing and grasping operations	control_msgs.action.GripperCommand	Configures target position and maximum effort for gripper closing.
DetachObject	Removes attached objects from robot’s collision geometry after successful placement	Isaac ROS cuMotion Object Attachment	Sends a detach request to the object attachment node to remove the attached object’s collision spheres from the world collision spheres in XRDF and clear visualization markers.
ExecuteTrajectory	Executes planned trajectories on robot controllers	moveit_msgs.action.ExecuteTrajectory	Retrieves trajectories from the blackboard and sends them to the execute_trajectory action server for execution.
OpenGripper	Controls gripper opening and release operations	control_msgs.action.GripperCommand	Configures target position and maximum effort for gripper opening.
PlanToGrasp	Plans grasp approach and retract trajectories with collision avoidance	Isaac ROS cuMotion	Plans multi-waypoint trajectories (approach → grasp → retract). Supports multiple grasp candidates.
PlanToPose	Plans robot motion to target poses	Isaac ROS cuMotion	Supports Cartesian target specification with collision avoidance.
ReadDropPose	Reads drop pose from object info cache for motion planning, extracting target placement poses from the active object’s cached information	Blackboard data access	Supports both static drop poses and dynamically updated poses from RViz interactions or action call parameters. Updates blackboard with pose data for downstream motion behaviors.
ReadGraspPoses	Loads and transforms pre-computed grasp poses using GraspReaderManager	YAML file parsing with cached pose transformation	Loads grasp poses for the active object’s class ID and transforms them from object-relative to world coordinates using cached estimated object poses. Optionally publishes grasp poses as TF frames for visualization. Enables object-specific grasping strategies.
SwitchControllers	Activates and deactivates robot controllers	controller_manager/switch_controller service	Takes lists of controllers to activate/deactivate and a strictness parameter such as BEST_EFFORT, STRICT, or AUTO to control switching behavior.
UpdateDropPoseToHome	Updates drop pose to home position for recovery scenarios when manipulation fails or workflow needs to reset	Blackboard data update	Retrieves home pose from blackboard configuration and sets it as the target drop pose for the active object.

Perception Behaviors

Perception behaviors manage object detection, pose estimation, and scene understanding operations.

Behavior	Purpose	Interface/Package	Key Features
AssignObjectName	Assigns unique frame names to detected objects	AssignNameToObject service	Retrieves the object_frame_name from the object info cache and updates the server so FoundationPose can publish poses in the correct coordinate frame. Essential for multi-object workflows where each object needs a distinct TF frame. Requires ObjectInfoServer
DetectObject	Requests object detection from perception servers	Isaac ROS Object Detection (RT-DETR)	Filters detections by confidence threshold and updates the object_info_cache with detected objects, setting their initial status to NOT_READY. Forms the foundation of perception-driven workflows.
FilterDetections	Filters detected objects based on supported class IDs from the supported_objects_config blackboard variable	Blackboard data filtering	Removes objects with unsupported class IDs or missing class_id information. Updates object_info_cache with only valid, manipulable objects to prevent workflow failures on unsupported targets.
MeshAssigner	Assigns collision meshes to detected objects based on class IDs	AddMeshToObject service	Looks up mesh file paths from the mesh_file_paths blackboard variable using the object’s class_id, then associates the mesh with the object for accurate collision detection and pose estimation. Critical for FoundationPose workflows that require object mesh models. Requires ObjectInfoServer and mesh file paths configuration
ObjectSelector	Selects objects from detected candidates using configurable selection policies (FIRST, RANDOM, HIGHEST_SCORE)	GetSelectedObject	Evaluates filtered detections and chooses the best candidate based on the configured strategy. Updates selected_object_id in blackboard and transitions the chosen object status to SELECTED for subsequent pose estimation.
PoseEstimation	Estimates 6DOF poses of detected objects	Isaac ROS Pose Estimation (FoundationPose)	Estimates object poses in camera frame, transforms them to base frame coordinates, and updates the object cache.
PublishStaticPlanningSceneBehavior	Loads and publishes static workspace obstacles to the motion planning system	MoveIt scene file loading	This behavior reads MoveIt scene files (.scene format) that define fixed obstacles in the robot’s workspace - such as tables, walls, support structures, and equipment - as geometric shapes (boxes, cylinders, meshes). These obstacle definitions are then loaded into the Isaac ROS cuMotion motion planner’s collision avoidance system, ensuring the robot generates safe paths that navigate around these known static obstacles during Pick and Place operations. Requires Isaac ROS cuMotion and .scene files

Utility Behaviors

Utility behaviors provide workflow coordination, state management, and system integration functions.

Behavior	Purpose	Interface/Package	Key Features
InteractiveMarker	Creates a visual gripper model in RViz that users can directly manipulate to specify where objects should be dropped	RViz interactive markers	The interactive marker displays as a 3D gripper mesh with colored control handles that allow users to drag the gripper to different positions (move along X, Y, Z axes) and rotate it around all three axes (X, Y, Z rotations). As users move these controls, the system continuously updates the target drop pose, enabling real-time visual feedback and precise placement specification during manipulation workflows.
MarkObjectAsActive	Transitions objects from the next_object_id queue to active motion status	Blackboard data management	Pops from the next_object_id deque, sets active_obj_id, and updates object status to IN_MOTION in the object_info_cache. Essential for coordinating multi-object workflows and preventing concurrent motion attempts.
MarkObjectAsDone	Marks completed objects as DONE and clears the active motion status	Blackboard data management	Updates object status in object_info_cache, resets active_obj_id to None, and adds completion message to workflow_feedback_queue for real-time feedback. Enables the workflow to proceed to the next object in multi-object scenarios and provides completion tracking for monitoring and debugging.
MarkObjectAsFailed	Marks failed objects as FAILED and clears the active motion status	Blackboard data management	Updates object status in object_info_cache, resets active_obj_id to None, and adds failure message to workflow_feedback_queue for real-time feedback. Enables error recovery by preventing repeated attempts on problematic objects and allows workflows to continue with remaining objects.
UpdateDropPoseFromRViz	Updates drop poses for all objects that have not been completed or failed	Blackboard data synchronization	Reads rviz_drop_pose (PoseStamped) from blackboard and sets the goal_drop_pose field for objects with status not DONE or FAILED. Enables dynamic pose adjustment during manipulation workflows and supports interactive workflow debugging and refinement.
UpdateDropPoseFromTargets	Sets object drop poses based on target poses provided in action call parameters	Blackboard data management	In SINGLE_BIN mode, assigns the single target pose to all objects with status not DONE or FAILED. In MULTI_BIN mode, maps target poses to objects based on their class_ids, requiring unique class_ids and matching array lengths. Essential for programmatic workflow control and automated multi-object manipulation scenarios.
ReportGeneration	Generates comprehensive human-readable status reports from object processing outcomes	Blackboard data analysis	Analyzes object_info_cache to count objects by status (DONE, FAILED, IN_MOTION, etc.). Creates detailed tabular reports showing object IDs, class IDs, statuses, and drop pose coordinates. Updates workflow_summary blackboard variable for action feedback and logging.
UpdateWorkflowStatus	Determines overall workflow completion status based on individual object outcomes	Blackboard data analysis and MultiObjectPickAndPlace.Result enum	Examines all objects to determine final workflow outcome. Maps individual object statuses to overall result: all completed → SUCCESS, all failed → FAILED, mixed outcomes → PARTIAL_SUCCESS, processing ongoing → UNKNOWN. Sets workflow_status for action server result determination and workflow termination logic.