Behaviors Hub

Name	Category	Node Type	Description
3 Waypoints Pick and Place	Application - Basic Examples	Objective	Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position
ActivateControllers Deprecated	Motion - Controls	Behavior	Send a request to the /ensure_controller_is_active service to activate one or more controllers. This service is advertised by a node from MoveIt Pro's EnsureControllersAreActive MoveGroup plugin. This Behavior won't work correctly unless that specific node is up and running. The service type is moveit_studio_agent_msgs::srv::SetStringArray. Given a string of controller names delimited by semicolons (for example, "first_controller;second_controller"), this Behavior sends the request to the /ensure_controller_is_active service to activate the controllers with those names. If this Behavior receives a response from the service indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: If no input is passed in. An invalid controller name is passed in. The service response is received, but its success field is set to False. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
Add Poses to MTC Task	Motion - Task Planning	Objective	Initializes a new MTC task with the current state and adds a sequence of target poses.
Add Table to Planning Scene	Perception - Planning Scene	Objective
Add Waypoints to MTC Task	Motion - Task Planning	Objective	Retrieves waypoints and adds them to an MTC task for motion planning.
AddBottlesToPlanningScene	Perception - Planning Scene	Objective	Detects flasks using ML and adds them as collision objects to the planning scene
AddCollisionBoxInFrontOfEndEffector	Perception - Planning Scene	Objective	Adds a collision box in front of the end effector with the specified ID, dimensions and offset.
AddCollisionObjectToPlanningScene	Perception - Planning Scene	Objective	Adds a collision box to the planning scene with the specified ID and pose.
AddPointCloudToVector	Perception - 3D Point Cloud	Objective	Takes a point cloud from a topic and adds it to a vector of point clouds.
AddPoseStampedToVector	Vector Handling	Behavior	Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard.
AddSubframeToObject Deprecated	Grasping	Behavior	Accepts a GraspableObject message and a Subframe message via input data ports. Returns the GraspableObject with the new ObjectSubframe added to the Subframes section.
AddToVector	Vector Handling	Objective	Add an element to the end of a vector.
AddToolToScene Deprecated	Grasping	Behavior	DEPRECATED: Use AddURDF instead. This Behavior adds a tool to the planning scene as a collision object at the specified pose. The tool is given as a URDF file, which describes the kinematics and collision geometry. See also AttachTool for attaching a tool.
AddURDF	Planning Scene	Behavior	This Behavior adds a URDF object to the planning scene as a collision object at the specified pose. The object is given as a URDF file, which describes the kinematics and collision geometry. If the URDF contains joints and those are reported in the /joint_states topic, the object collision shapes will update their state accordingly. See also AttachURDF for attaching a URDF object to the robot.
AddVirtualObjectToPlanningScene	Perception - Planning Scene	Behavior	Add a virtual collision object to the planning scene. A virtual collision object is not a physical object, but an object placed in the robot's representation of the environment to forbid planning into that space. Note: The id of the virtual object is expected to start with `virtual_` to indicate that it is a virtual collision object. If the id does not start with `virtual_`, it is prepended onto the object id.
AdjustPoseWithIMarker	User Input	Behavior	Requests a user to manually adjust a collection of poses using interactive markers in the UI. The UI will have a service server running that spawns interactive markers at the initial poses for users to adjust. These IMarkers will spawn one at a time. The input list of prompts must be the same length as the input list of initial poses. The output is a list of adjusted stamped poses.
AlwaysFailure	Control Flow	Behavior	Return FAILURE.
AlwaysSuccess	Control Flow	Behavior	Return SUCCESS.
AppendOrientationConstraint Deprecated	Motion - Planning	Behavior	Appends a moveit_msgs/OrientationConstraint to an existing moveit_msgs/Constraints. The orientation constraint parameters are defined from an input yaml file.
AttachTool Deprecated	Grasping	Behavior	DEPRECATED: Use AttachURDF instead. This Behavior attaches a tool to a robot for motion planning purposes. The tool is attached to the robot at the specified link and relative pose. The tool is given as a URDF file, which describes the kinematics and collision geometry. Once attached, the tool will move with the link it is attached to. If the tool contains joints and those are reported in the /joint_states topic, the tool collision shapes will update their state accordingly. If the tool is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port. See also DetachOrRemoveTool for detaching a tool.
AttachURDF	Planning Scene	Behavior	This Behavior attaches a URDF object to a robot for motion planning purposes. The URDF object is attached to the robot at the specified link and relative pose. The URDF object is given as a URDF file, which describes the kinematics and collision geometry. Once attached, the URDF object will move with the link it is attached to. If the URDF object contains joints and those are reported in the /joint_states topic, the URDF object collision shapes will update their state accordingly. If the URDF object is allowed to collide with some other links (e.g. the link it is attached to), these links can be specified in the allowed_collision_links port. See also DetachURDF for detaching a URDF object.
AveragePoseStamped	Pose Handling	Behavior	Calculates the running average of incoming Pose Stamped ROS messages. It can be configured to terminate after a finite number of samples or continuously calculate the average using a rolling window of a fixed size denoted by `num_samples`. If the current sample exceeds "max_distance" or "max_rotation" (specified as input ports) from the current average pose the behavior will return FAILURE.
AveragePoseStampedVector	Pose Handling	Behavior	Returns the average PoseStamped from a vector of PoseStamped.
BiasedCoinFlip	Utility	Behavior	Simulates flipping a biased coin with the specified probability of success.
BreakpointSubscriber	User Input	Behavior	Subscribes to a topic that can be used for pausing an Objective during execution to allow introspection. This Behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an Objective.
CalculatePoseOffset	Pose Handling	Behavior	Calculates the offset transform from source_pose to destination_pose.
CalibrateCameraPose	Perception – Camera Calibration	Behavior	Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector.
CallTriggerService	Control Flow	Behavior	Send a request to a std_srvs::srv::Trigger service server and wait until the server sends a response. Given the name of a service server which advertises a service with type std_srvs::srv::Trigger, this Behavior composes a std_srvs::srv::Trigger::Request message, sends the request to the server, and waits for the server to return a service response message. If this Behavior receives a response from the service server indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No service server is available with the specified name. The service server does not return a response before the configured timeout duration has elapsed (default is 3 seconds, use a negative value for infinite timeout). The service response is received, but its success field is set to False. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
CheckCuboidSimilarity	Perception - Planning Scene	Behavior	Check if an input object is similar to another object. Succeeds if the objects are similar within the provided criteria and fails if they are not similar.
Classical Pick and Place	Application - Basic Examples	Objective	Pick and place using classical (non-ML) algorithms to identify cuboid objects.
Clear Previous Obstacles	Perception - Scene Constraints	Objective	Clear previous scene obstacles
ClearSnapshot	Perception - 3D Point Cloud	Objective	Clear the point cloud snapshot
Close Gripper	Grasping	Objective	Close the gripper
ComputeInverseKinematics	Motion - Planning	Behavior	Computes Inverse Kinematics for a given planning group and set of target poses, using the PoseIK solver. The planning group can be either a kinematic chain or a kinematic tree. In the most common case (e.g. kinematic chains), `target_poses` and `tip_links` will contain a single element each. In more complex cases (e.g. kinematic trees, like a humanoid torso), `target_poses` and `tip_links` may contain multiple elements, therefore solving the IK problem simultaneously for multiple end-effectors. The Behavior also takes a Planning Scene as input, which will be used to check for collisions during the IK computation. The IK solution, if found, is guaranteed to be collision-free with respect to the obstacles in the given Planning Scene. This Behavior returns the IK solution as a `moveit_studio_agent_msgs::msg::RobotJointState`, which can be used as input in motion planning Behaviors, e.g. `PlanToJointGoal`.
ComputeLinkPoseForwardKinematics	Motion - Planning	Behavior	Computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states.
ComputeVelocityToAlignWithTarget	Motion - Controls	Behavior	This Behavior can be used to compute a Cartesian velocity to move a given 'end-effector' frame directly towards a 'target'. The target state of motion (its position and velocity) is required as input. State estimation Behaviors can be used to get this motion estimate. This Behavior will then compute a Cartesian velocity that decreases the pose error between the 'end-effector' and the 'target', while at the same time tracking the target's velocity. It can be used in combination with a Cartesian Velocity controller (e.g. VFC) or Servo to reach objects in motion.
Constrained Pick and Place Subtree	Motion - Execute	Objective	Takes in waypoints to run a constrained pick and place operation.
ConvertMtcSolutionToJointTrajectory	Motion - Task Planning	Behavior	Extracts joint space trajectories from an MTC solution and adds time parameterization using TOTG.
ConvertTransformStampedToPoseStamped	Conversions	Behavior	Converts a geometry_msgs::msg::TransformStamped message into a geometry_msgs::msg::PoseStamped message.
Create Point Cloud Vector From Masks	Perception - ML	Objective	Create point cloud vector From masks
Create Pose Vector	Vector Handling	Objective	Creates a sequence of stamped poses and adds them to a vector
CreateAccelMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Accel message.
CreateAccelStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::AccelStamped message.
CreateAccelWithCovarianceMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::AccelWithCovariance message.
CreateAccelWithCovarianceStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::AccelWithCovarianceStamped message.
CreateAdmittanceParametersMessage	Conversions	Behavior	Create behavior for a moveit_pro_controllers_msgs::msg::AdmittanceParameters message.
CreateAgentInfoMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::AgentInfo message.
CreateAllowedCollisionEntryMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::AllowedCollisionEntry message.
CreateAllowedCollisionMatrixMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::AllowedCollisionMatrix message.
CreateAttachedCollisionObjectMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::AttachedCollisionObject message.
CreateBatteryStateMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::BatteryState message.
CreateBehaviorParameterDescriptionMessage	Conversions	Behavior	Create behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameterDescription message.
CreateBehaviorParameterMessage	Conversions	Behavior	Create behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameter message.
CreateBoolMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Bool message.
CreateBoundingVolumeMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::BoundingVolume message.
CreateByteMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Byte message.
CreateByteMultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::ByteMultiArray message.
CreateCameraInfoMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::CameraInfo message.
CreateCartesianPointMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::CartesianPoint message.
CreateCartesianSelectionVectorMessage	Conversions	Behavior	Create behavior for a moveit_pro_controllers_msgs::msg::CartesianSelectionVector message.
CreateCartesianTrajectoryMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::CartesianTrajectory message.
CreateCartesianTrajectoryPointMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::CartesianTrajectoryPoint message.
CreateChannelFloat32Message	Conversions	Behavior	Create behavior for a sensor_msgs::msg::ChannelFloat32 message.
CreateCharMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Char message.
CreateClientInfoMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::ClientInfo message.
CreateCollisionObjectFromSolidPrimitive	Perception - Planning Scene	Behavior	Creates a CollisionObject from a SolidPrimitive, pose, and object ID.
CreateCollisionObjectMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::CollisionObject message.
CreateCollisionSpheresAtClosestPoints	Perception - Point Cloud Downsampling to Spheres	Behavior	This behavior receives a point cloud, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message.
CreateColorRGBAMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::ColorRGBA message.
CreateCompressedImageMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::CompressedImage message.
CreateConstraintEvalResultMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::ConstraintEvalResult message.
CreateConstraintsMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::Constraints message.
CreateContactInformationMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::ContactInformation message.
CreateCostSourceMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::CostSource message.
CreateDisplayRobotStateMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::DisplayRobotState message.
CreateDisplayTrajectoryMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::DisplayTrajectory message.
CreateDurationMessage	Conversions	Behavior	Create behavior for a builtin_interfaces::msg::Duration message.
CreateEmptyMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Empty message.
CreateEndEffectorMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::EndEffector message.
CreateEventMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::Event message.
CreateFaultStatusMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::FaultStatus message.
CreateFloat32Message	Conversions	Behavior	Create behavior for a std_msgs::msg::Float32 message.
CreateFloat32MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Float32MultiArray message.
CreateFloat64Message	Conversions	Behavior	Create behavior for a std_msgs::msg::Float64 message.
CreateFloat64MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Float64MultiArray message.
CreateFluidPressureMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::FluidPressure message.
CreateGenericTrajectoryMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::GenericTrajectory message.
CreateGraspInfoMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::GraspInfo message.
CreateGraspMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::Grasp message.
CreateGraspableFaceMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::GraspableFace message.
CreateGraspableObject	Grasping	Behavior	Creates a collision object (a cuboid) and adds it to the planning scene. The cuboid will be centered at the specified PoseStamped with the same frame. The cuboid will have width of dx, length of dy, and height of dz. Returns the generated cuboid graspable object on the output port.
CreateGraspableObjectMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::GraspableObject message.
CreateGripperTranslationMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::GripperTranslation message.
CreateHeaderMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Header message.
CreateIlluminanceMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::Illuminance message.
CreateImageMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::Image message.
CreateImuMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::Imu message.
CreateInertiaMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Inertia message.
CreateInertiaStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::InertiaStamped message.
CreateInt16Message	Conversions	Behavior	Create behavior for a std_msgs::msg::Int16 message.
CreateInt16MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Int16MultiArray message.
CreateInt32Message	Conversions	Behavior	Create behavior for a std_msgs::msg::Int32 message.
CreateInt32MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Int32MultiArray message.
CreateInt64Message	Conversions	Behavior	Create behavior for a std_msgs::msg::Int64 message.
CreateInt64MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Int64MultiArray message.
CreateInt8Message	Conversions	Behavior	Create behavior for a std_msgs::msg::Int8 message.
CreateInt8MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::Int8MultiArray message.
CreateJointConstraintMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::JointConstraint message.
CreateJointLimitsMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::JointLimits message.
CreateJointState	Motion - Planning	Behavior	Creates a moveit_studio_agent_msgs/RobotJointState message and writes it to the blackboard. This Behavior takes the current JointState of the robot and overwrites the positions, velocities and efforts of those joints indicated in the 'joint_names' input port. `joint_names` and `positions` are mandatory, and their sizes have to match. Otherwise an error will be returned. `velocities` and `efforts` are optional. If specified, their size needs to match with the size of `joint_names`.
CreateJointStateMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::JointState message.
CreateJointTrajectoryMessage	Conversions	Behavior	Create behavior for a trajectory_msgs::msg::JointTrajectory message.
CreateJointTrajectoryPointMessage	Conversions	Behavior	Create behavior for a trajectory_msgs::msg::JointTrajectoryPoint message.
CreateJointVelocityControllerStateMessage	Conversions	Behavior	Create behavior for a moveit_pro_controllers_msgs::msg::JointVelocityControllerState message.
CreateJoyFeedbackArrayMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::JoyFeedbackArray message.
CreateJoyFeedbackMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::JoyFeedback message.
CreateJoyMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::Joy message.
CreateJsonMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::Json message.
CreateKinematicSolverInfoMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::KinematicSolverInfo message.
CreateLaserEchoMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::LaserEcho message.
CreateLaserScanMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::LaserScan message.
CreateLicenseInfoMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::LicenseInfo message.
CreateLinkPaddingMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::LinkPadding message.
CreateLinkScaleMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::LinkScale message.
CreateLogMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::Log message.
CreateMagneticFieldMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::MagneticField message.
CreateMask2DMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::Mask2D message.
CreateMask3DMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::Mask3D message.
CreateMotionPlanDetailedResponseMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MotionPlanDetailedResponse message.
CreateMotionPlanRequestMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MotionPlanRequest message.
CreateMotionPlanResponseMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MotionPlanResponse message.
CreateMotionSequenceItemMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MotionSequenceItem message.
CreateMotionSequenceRequestMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MotionSequenceRequest message.
CreateMotionSequenceResponseMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MotionSequenceResponse message.
CreateMoveItErrorCodesMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::MoveItErrorCodes message.
CreateMtcTaskDataMessage	Conversions	Behavior	Create behavior for a moveit_studio_internal_msgs::msg::MtcTaskData message.
CreateMultiArrayDimensionMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::MultiArrayDimension message.
CreateMultiArrayLayoutMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::MultiArrayLayout message.
CreateMultiDOFJointStateMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::MultiDOFJointState message.
CreateMultiDOFJointTrajectoryMessage	Conversions	Behavior	Create behavior for a trajectory_msgs::msg::MultiDOFJointTrajectory message.
CreateMultiDOFJointTrajectoryPointMessage	Conversions	Behavior	Create behavior for a trajectory_msgs::msg::MultiDOFJointTrajectoryPoint message.
CreateMultiEchoLaserScanMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::MultiEchoLaserScan message.
CreateNavSatFixMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::NavSatFix message.
CreateNavSatStatusMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::NavSatStatus message.
CreateObjectColorMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::ObjectColor message.
CreateObjectDetectionArrayMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::ObjectDetectionArray message.
CreateObjectDetectionMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::ObjectDetection message.
CreateObjectSubframeMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::ObjectSubframe message.
CreateObjectiveServerStatusMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::ObjectiveServerStatus message.
CreateOrientationConstraintMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::OrientationConstraint message.
CreateOrientedBoundingBoxMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::OrientedBoundingBox message.
CreatePipelineStateMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PipelineState message.
CreatePlaceLocationMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlaceLocation message.
CreatePlannerInterfaceDescriptionMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlannerInterfaceDescription message.
CreatePlannerParamsMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlannerParams message.
CreatePlanningGroupMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::PlanningGroup message.
CreatePlanningOptionsMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlanningOptions message.
CreatePlanningSceneComponentsMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlanningSceneComponents message.
CreatePlanningSceneMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlanningScene message.
CreatePlanningSceneWorldMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PlanningSceneWorld message.
CreatePoint32Message	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Point32 message.
CreatePointCloud2Message	Conversions	Behavior	Create behavior for a sensor_msgs::msg::PointCloud2 message.
CreatePointCloudMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::PointCloud message.
CreatePointCloudPCDMessage	Conversions	Behavior	Create behavior for a moveit_studio_vision_msgs::msg::PointCloudPCD message.
CreatePointFieldMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::PointField message.
CreatePointMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Point message.
CreatePointStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::PointStamped message.
CreatePolygonMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Polygon message.
CreatePolygonStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::PolygonStamped message.
CreatePose2DMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Pose2D message.
CreatePoseArrayMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::PoseArray message.
CreatePoseMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Pose message.
CreatePoseStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::PoseStamped message.
CreatePoseWithCovarianceMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::PoseWithCovariance message.
CreatePoseWithCovarianceStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::PoseWithCovarianceStamped message.
CreatePositionConstraintMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PositionConstraint message.
CreatePositionIKRequestMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::PositionIKRequest message.
CreateQuaternionMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Quaternion message.
CreateQuaternionStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::QuaternionStamped message.
CreateRangeMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::Range message.
CreateRegionOfInterestMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::RegionOfInterest message.
CreateRelativeHumidityMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::RelativeHumidity message.
CreateRequestStatusMessage	Conversions	Behavior	Create behavior for a moveit_studio_sdk_msgs::msg::RequestStatus message.
CreateRobotJointStateMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::RobotJointState message.
CreateRobotStateMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::RobotState message.
CreateRobotTrajectoryMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::RobotTrajectory message.
CreateServoStatusMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::ServoStatus message.
CreateSolidPrimitiveBox	Perception - Planning Scene	Behavior	Creates a box-shaped SolidPrimitive.
CreateStampedPose	Pose Handling	Behavior	Creates a geometry_msgs/PoseStamped message and writes it to the blackboard. Example usecase: manually creating a target pose for a robot to plan to.
CreateStampedTwist	Pose Handling	Behavior	Creates a geometry_msgs/TwistStamped message and writes it to the blackboard.
CreateStampedWrench	Pose Handling	Behavior	Creates a geometry_msgs/WrenchStamped message and writes it to the blackboard.
CreateStationaryTrajectory	Motion - Planning	Behavior	This behavior create a stationary trajectory of specified duration at the provided JointState ROS message.
CreateStringMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::String message.
CreateTF2ErrorMessage	Conversions	Behavior	Create behavior for a tf2_msgs::msg::TF2Error message.
CreateTFMessageMessage	Conversions	Behavior	Create behavior for a tf2_msgs::msg::TFMessage message.
CreateTeleoperationModeMessage	Conversions	Behavior	Create behavior for a moveit_studio_sdk_msgs::msg::TeleoperationMode message.
CreateTemperatureMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::Temperature message.
CreateTimeMessage	Conversions	Behavior	Create behavior for a builtin_interfaces::msg::Time message.
CreateTimeReferenceMessage	Conversions	Behavior	Create behavior for a sensor_msgs::msg::TimeReference message.
CreateTrajectoryConstraintsMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::TrajectoryConstraints message.
CreateTransformMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Transform message.
CreateTransformStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::TransformStamped message.
CreateTwistMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Twist message.
CreateTwistStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::TwistStamped message.
CreateTwistWithCovarianceMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::TwistWithCovariance message.
CreateTwistWithCovarianceStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::TwistWithCovarianceStamped message.
CreateUInt16Message	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt16 message.
CreateUInt16MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt16MultiArray message.
CreateUInt32Message	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt32 message.
CreateUInt32MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt32MultiArray message.
CreateUInt64Message	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt64 message.
CreateUInt64MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt64MultiArray message.
CreateUInt8Message	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt8 message.
CreateUInt8MultiArrayMessage	Conversions	Behavior	Create behavior for a std_msgs::msg::UInt8MultiArray message.
CreateVector	Vector Handling	Objective	Create a new vector of any type.
CreateVector3Message	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Vector3 message.
CreateVector3StampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Vector3Stamped message.
CreateVelocityForceCommandMessage	Conversions	Behavior	Create behavior for a moveit_pro_controllers_msgs::msg::VelocityForceCommand message.
CreateVelocityForceControllerStateMessage	Conversions	Behavior	Create behavior for a moveit_pro_controllers_msgs::msg::VelocityForceControllerState message.
CreateVelocityStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::VelocityStamped message.
CreateVisibilityConstraintMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::VisibilityConstraint message.
CreateWaypointMessage	Conversions	Behavior	Create behavior for a moveit_studio_agent_msgs::msg::Waypoint message.
CreateWorkspaceParametersMessage	Conversions	Behavior	Create behavior for a moveit_msgs::msg::WorkspaceParameters message.
CreateWrenchMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::Wrench message.
CreateWrenchStampedMessage	Conversions	Behavior	Create behavior for a geometry_msgs::msg::WrenchStamped message.
CropPointsInBox	Perception - 3D Point Cloud	Behavior	Given a point cloud and a box-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
CropPointsInSphere	Perception - 3D Point Cloud	Behavior	Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
CropPosesInBox	Perception - 3D Point Cloud	Behavior	Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
Cycle Between Waypoints	Application - Basic Examples	Objective	Example of repeatedly moving between two saved poses.
Delay	Control Flow	Decorator	This node can only have 1 child.Sleep for a given duration of time and then tick the child node.
DetachTool Deprecated	Grasping	Behavior	DEPRECATED: Use DetachURDF or RemoveURDFFromScene instead. Detach a tool from the robot or remove it from the planning scene. The tool with the given tool_name will be detached from the robot or removed from the planning scene depending on which service is specified. If detached, the tool will no longer move with the robot and will not be considered in motion planning calculations. If removed, the tool will no longer be able to be attached to the robot until it is added to the planning scene again.
DetachURDF	Planning Scene	Behavior	Detach a URDF object from the robot. The URDF object with the given urdf_name will be detached from the robot. Once detached, the object will no longer move with the robot and will not be considered in motion planning calculations.
DetectAprilTags	Perception - 2D Image	Behavior	Detects AprilTag markers from an image.
DiffusionPolicy	Perception - Machine Learning	Behavior	Run a diffusion policy with a scene and wrist camera.
DoTeleoperateAction	User Input	Behavior	Enables teleoperation mode, allowing the user to manually control the robot. The output ports are the values reported by The UI via the ROS 2 topic /do_teleoperate/_action/feedback
EditWaypoint	User Input	Behavior	Uses the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase".
ErrorCheckVectorSize	Vector Handling	Objective	Assert that the input vector is the expected length, and if not show a UI error and return FAILURE
ExecuteFollowJointTrajectory	Motion - Planning	Behavior	Execute a given joint trajectory by sending a request to an action server. The corresponding joint trajectory controller needs to be active, which can be done with the ActivateControllers Behavior. Given the name of an action server advertising an action with type control_msgs::action::FollowJointTrajectory and a trajectory_msgs::msg::JointTrajectory message, this Behavior composes a FollowJointTrajectory::Request message using the joint trajectory message. It sends the action request to the server and waits for the server to return the action result. If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The joint trajectory message has no data. The given position or time tolerances are invalid (negative). The action result is received, but its contents indicate that the action server failed execute the solution. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
ExecuteMTCTask	Motion - Task Planning	Behavior	Execute the lowest-cost trajectory in a given MTC Solution by sending a request to an action server named execute_task_solution. This Behavior composes an ExecuteTaskSolution::Request message using the moveit_task_constructor_msgs::msg::Solution supplied through the input data port. It sends the action request to the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server and waits for the server to return the action result. If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server named execute_task_solution is available. The Behavior failed to get the solution from the input data port. The action result is received, but its contents indicate that the action server failed execute the solution. Planning scene modifications by MTC stages are applied to global planning scene as its corresponding sub-solution in the MTC solution is executed. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
ExecuteTrajectoryWithAdmittance	Motion - Planning	Behavior	Execute a given joint trajectory by sending a request to a Joint Trajectory With Admittance controller (JTAC). The corresponding JTAC needs to be active, which can be done with the ActivateControllers Behavior. Given the name of an action server advertising an action with type moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance and a trajectory_msgs::msg::JointTrajectory message, this Behavior composes a FollowJointTrajectoryWithAdmittance::Request message using the joint trajectory message. It sends the action request to the server and waits for the server to return the action result. If the server completes the action successfully, this Behavior succeeds. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No action server is available with the specified name. The given arguments are invalid, e.g. empty trajectory, invalid tolerances, etc. The action result is received, but its contents indicate that the action server failed execute the solution. This Behavior is derived from the ActionClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
ExtractGraspableObjectPose	Grasping	Behavior	Accepts a GraspableObject message via an input data port. Returns the GraspableObject's Pose and Header as a PoseStamped.
Fallback	Control Flow	Control Node	The FallbackNode is used to try different strategies, until one succeeds. If any child returns RUNNING, previous children will NOT be ticked again.If all the children return FAILURE, this node returns FAILURE.If a child returns RUNNING, this node returns RUNNING.If a child returns SUCCESS, stop the loop and return SUCCESS.
Find Nearest Pose In Path	Vector Handling	Objective	Find the pose in the path with the lowest Euclidean distance to the given search pose. Requires ConverterBehaviorsLoader.
FindMaskedObjects	Perception - 3D Point Cloud	Behavior	Given a point cloud and one or more image masks, create an object corresponding to each masked region.
FindSingularCuboids	Perception - 3D Point Cloud	Behavior	Analyze a point cloud and create GraspableObjects for objects found in the cloud. Assume that all objects are cuboids and that all objects are resting on the same flat surface. This Behavior uses the following sequence of operations: Perform a TF lookup to get the transform from the base frame to the point cloud's frame. Crop points within the region specified in the input config options. The crop region is defined relative to the world base frame. Filter the points to remove the ones with all-zero and NaN coordinates. Find the largest plane in the cloud. This plane will be used as the supporting surface. Perform Euclidean clustering on the points which are not part of this plane to create a list of clusters of points which are all separated from each other by a minimum distance threshold. Each cluster represents a separate object. For each cluster: Project the cluster onto the plane. Find the minimal oriented bounding box around these points relative to the plane. Find the height of the cluster relative to the plane. Use the bounding box and height to create a GraspableObject that defines a cuboid enclosing the points. This Behavior makes several key assumptions about the environment: The input point cloud must include a large flat surface, such as a tabletop or floor. The cropping and filtering steps are expected to remove all points which are far away from that surface, so that all remaining clusters of points can be assumed to represent objects which are supported by that surface. If this Behavior completes all analysis steps successfully, it will output a vector of GraspableObjects to the output data port and exit with a SUCCESS status code. After the GraspableObjects are written to the output port, this Behavior publishes a visualization_msgs::msg::MarkerArray message onto the "/visual_markers" topic. This message can be used by RViz to display the objects which were detected in the point cloud. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: The TF lookup to find the transform from the base frame to the point cloud frame does not succeed. After cropping the point cloud to the region of interest and filtering the point cloud to remove NaN and all-zero points, the point cloud is empty. No large flat surface is found within the point cloud. No cuboids are be found in the point cloud after the supporting plane is removed.
FitLineSegmentToMask3D	Perception - 3D Point Cloud	Behavior	Fits a line segment to the points in a 3D mask, ignoring outliers. The line parameters are estimated with the RANSAC algorithm. The RANSAC iterative process hypothesizes line models from random point subsets, selecting the hypothesis that explains the most points in the set. A point is considered explained by a line hypothesis (a.k.a. "inlier") if it is closer than a distance threshold to it. The output segment is contained in the resulting line, and is the shortest segment containing all inlier points.
ForEach	Vector Handling	Decorator	Iterate through a vector of BT::Any objects. Note: all vectors are converted to vectors of BT::Any objects when they are placed on the blackboard. Adds the object with its index to the blackboard before ticking child nodes and moving to next iteration.
ForEachUntilSuccess	Vector Handling	Decorator	Iterate through a vector of BT::Any objects. Returns Running while checking elements. Returns Success if there are no elements. Returns Success as soon as one succeeds. Returns Failure if all elements fail. Note: all vectors are converted to vectors of BT::Any objects when they are placed on the blackboard. Adds the object with its index to the blackboard before ticking child nodes and moving to next iteration.
Force Relaxation	Motion - Controls	Objective	Relaxes the force sensed at the force/torque sensor by moving the robot tip in the direction of the sensed force.
ForceExceedsThreshold	Motion - Controls	Behavior	Monitors a wrench topic and returns SUCCESS when ticked if the magnitude of the force components has exceeded a specified threshold for some number of consecutive observations.
ForceFailure	Control Flow	Decorator	This node can only have 1 child.If the child returns RUNNING, this node returns RUNNING too.Otherwise, it returns always FAILURE.
ForceSuccess	Control Flow	Decorator	This node can only have 1 child.If the child returns RUNNING, this node returns RUNNING too.Otherwise, it returns always SUCCESS.
FrankaGraspAction	Grasping	Behavior	TODO
Fuse Multiple Views Subtree	Perception - 3D Point Cloud	Objective	Moves to three different waypoints, captures point clouds, returns the merged point cloud.
GenerateCoveragePath	Motion - Planning	Behavior	Creates a zig-zag path for a robot to follow to cover a given area. The zig-zag path is generated by starting at the bottom right corner of the area, moving to the bottom left corner, then moving up the stride distance, back to the right, and so on until the top left corner is reached. The path is generated by moving along the x-axis first, then the y-axis. The width and height parameters define the size of the area to be covered, and the stride distance parameter defines the distance between each zig-zag path, all dimensions given in meters. If the stride distance doesn't add up exactly to the height, the last stride won't be included, i.e. the actual area covered will be less than the given height.
GenerateCuboidGraspPoses	Motion - Task Planning	Behavior	Generate cuboid grasp poses for a target GraspableObject.
GenerateObjectsInBox Deprecated	Grasping	Behavior	Randomly positions cuboid graspable objects inside a bounding box for mocking perception.
GeneratePointToPointTrajectory	Motion - Planning	Behavior	Generate a joint-space trajectory to move the robot from the start joint state to the end joint state. The output joint_trajectory_msg is a timed joint-space trajectory that can be collision-checked with the ValidateTrajectory Behavior, and executed with ExecuteFollowJointTrajectory. The first point in the trajectory will have a time_from_start equal to the value specified on the start_time input port and will be sampled at the rate specified on the trajectory_sampling_rate input port. velocity_scale_factor, acceleration_scale_factor, and jerk_scale_factor control the desired joint-space motion as a fraction ([0,1]) of the maximum joint velocities, accelerations, and jerks defined in the MoveIt configs. The Behavior succeeds if the entire path could be resolved, or fails otherwise.
GenerateVacuumGraspPoses	Motion - Task Planning	Behavior	Generate vacuum grasp poses for a target GraspableObject.
Get AprilTag Pose from Image	Perception - 2D Image	Objective	Takes an image snapshot from the wrist camera and attempts to detect an april tag for pose estimation.
Get Candidate Grasps Subtree	Perception - ML	Objective	Infer grasp poses from camera image.
Get Collision Free Grasp Subtree	Grasping	Objective	Takes a set of grasp poses and returns the first collision free pose.
Get Grasp from Text Prompt Subtree	Perception - ML	Objective	Identifies an object and returns a collision free grasp pose.
Get IMarker Pose From Mesh Visualization	Visualization	Objective	Visualize a mesh in the UI and use an IMarker to get a grasp pose based on that mesh
Get Transform Frame Pose	Pose Handling	Objective	Returns the pose of the requested frame in the world frame.
GetCameraInfo	Perception - 2D Image	Behavior	Wait for a sensor_msgs::msg::CameraInfo message to be published on a specified ROS topic for 5 seconds and copy it to an output data port. Given the name of a topic where sensor_msgs::msg::CameraInfo messages are being published, this Behavior subscribes to that topic and waits until a new message is published to the topic. When the Behavior's subscriber receives a new message, this Behavior copies it to an output data port and then finishes with a SUCCESS status. Afterwards, other Behaviors which take sensor_msgs::msg::Image messages as inputs can use this message for further processing or analysis. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No publisher is found on the topic. Creating a subscription on the topic does not succeed. A publisher was found on the topic, but no message is published on the topic before a 5-second timeout duration has passed. This Behavior is derived from the GetMessageFromTopic class defined in the moveit_studio_behavior_interface package.
GetCenterFromMask2D	Perception - 2D Image	Behavior	Calculate the center point of a 2D mask. The center point can be used for mask refinement with point based segmentation methods.
GetCentroidFromPointCloud	Perception - 3D Point Cloud	Behavior	Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud.
GetClosestObjectToPose	Perception - Planning Scene	Behavior	Given a collection of CollisionObjects, find the one closest to the provided pose.
GetContourFromPointCloudSlice	Perception - 3D Point Cloud	Behavior	Creates a planar contour path around a point cloud slice: Slices a point cloud given the slice_plane and slice_distance_from_plane. Projects these sliced points onto the slice_plane. Outputs a path of approximately evenly spaced poses at desired_pose_spacing along the contour.
GetCurrentPlanningScene	Perception - Planning Scene	Behavior	Get the current planning scene.
GetDetectionPose	Pose Handling	Behavior	Gets the stamped pose of an object detection given a label or ID, if one exists.
GetElementOfVector	Vector Handling	Behavior	Get the element of a vector at the given index. Negative indexes start backwards from the last element.
GetFilenamesFromDirectory	User Created Behaviors	Behavior	Gets a vector of all filenames in a given directory (optionally with a given filetype)
GetGraspAndTwistSubframes Deprecated	Grasping	Behavior	Given an input PoseStamped representing a grasp pose selected on an object, output three Subframes that define a screw motion to twist the grasp pose like a handle. Assumes that the z-axis of the grasp pose matches the normal vector of the front face of the grasp point.
GetGraspPoseFromPointCloud	Grasping	Behavior	Generate a vector of grasps from a point cloud using the L2G network.
GetGraspableObjectsFromMasks3D	Perception - 3D Point Cloud	Behavior	Outputs a graspable object for each point cloud fragment represented by a 3D mask.
GetImage	Perception - 2D Image	Behavior	Wait for an image message to be published on a specified ROS topic and copy it to an output data port. Given the name of a topic where sensor_msgs::msg::Image messages are being published, this Behavior subscribes to that topic and waits until a new message is published to the topic. When the Behavior's subscriber receives a new message, this Behavior copies it to an output data port and then finishes with a SUCCESS status. Afterwards, other Behaviors which take sensor_msgs::msg::Image messages as inputs can use this message for further processing or analysis. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No publisher is found on the topic. Creating a subscription on the topic does not succeed. A publisher was not advertising the topic before the timeout duration has passed. A publisher was found on the topic, but no message is published on the topic before the timeout duration has passed. This Behavior is derived from the GetMessageFromTopic class defined in the moveit_studio_behavior_interface package.
GetLatestTransform	Pose Handling	Behavior	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior.
GetMasks2DFromPointQuery	Perception - ML	Behavior	Segments a ROS image message with the SAM2 model, using the provided points represented as a vector of geometry_msgs/PointStamped messages.
GetMasks2DFromTextQuery	Perception - ML	Behavior	Segments a ROS image message with the CLIPSeg model, using the text prompts provided as a vector of std::string.
GetMasks3DFromMasks2D	Perception - 3D Point Cloud	Behavior	Given a point cloud of a scene and 2D masks from an image of the scene, output a point cloud mask for each image mask.
GetMeshNormalPoses	Grasping	Behavior	Given the name of a link in the robot model that has a visual mesh, calculate the surface normals of the mesh and set them to an output data port. The base frame of each mesh normal pose will be the origin frame of the robot link. If calculation of mesh normals succeeds, this Behavior sets the normals to an output data port as a vector of geometry_msgs::msg::PoseStamped ROS messages and finally exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: The provided link name does not correspond to a link in the robot model. The robot model link does not have a visual mesh resource file. The discretization step size is negative. This Behavior is derived from the AsyncBehaviorBase class defined in the moveit_studio_behavior_interface package.
GetMoveAlongArcSubframes Deprecated	Motion - Planning	Behavior	Given a PoseStamped for a grasp pose, and 2 PoseStampeds for the axis of the arc, calculates the subframes needed for a MoveAlongArc where the arc radius is the distance between the grasp point and the arc (hinge) axis. Assumes that the z-axis of the two poses on the hinge axis are oriented facing into the surface of the object. The direction of the door relative to the surface normal is determined by calculating the vector cross product of the vector from the hinge origin pose to the grasp pose and the vector from the hinge origin pose to the hinge axis pose, and then calculating the dot product of the resulting vector and the z-axis of the hinge origin pose. If the dot product is positive, the hinge origin and hinge axis poses are correctly ordered. If the dot product is negative, the hinge origin and hinge axis poses need to be reversed for positive door rotation to open the door towards the viewpoint.
GetOdom	Navigation	Behavior	Subscribe to an odometry message and store it on the blackboard.
GetOrientedBoundingBoxFromPointCloud	Perception - 3D Point Cloud	Behavior	Given an input point cloud, finds the oriented bounding box (OBB) using pcl::MomentOfInertiaEstimation and outputs the center pose and box dimensions. The OBB orientation is disambiguated by choosing the orientation closest to the reference_pose.
GetPointCloud	Perception - 3D Point Cloud	Behavior	Wait for a point cloud message to be published on a specified ROS topic and copy it to an output data port. Given the name of a topic where sensor_msgs::msg::PointCloud2 messages are being published, this Behavior subscribes to that topic and waits until a new point cloud message is published to the topic. When the Behavior's subscriber receives a new point cloud message, this Behavior copies it to an output data port and then finishes with a SUCCESS status. Afterwards, other Behaviors which take sensor_msgs::msg::PointCloud2 messages as inputs can use this point cloud for further processing or analysis. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No publisher is found on the topic. Creating a subscription on the topic does not succeed. A publisher was found on the topic, but no message is published on the topic before a 5-second timeout duration has passed. This Behavior is derived from the GetMessageFromTopic class defined in the moveit_studio_behavior_interface package.
GetPointCloudFromMask3D	Perception - 3D Point Cloud	Behavior	Returns a point cloud with the points selected by a 3D mask.
GetPointsFromUser	User Input	Behavior	Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI. The list of point prompts can either contain a single element, meaning the same prompt is displayed for each requested point, or it can be the same size as the list of point names, meaning a different prompt is displayed for each point. The output is a list of stamped points, whose X and Y coordinates are normalized pixel coordinates in the range [0..1]. The requested name of each point is contained in the frame ID of its header.
GetPoseFromPixelCoords	Perception - 3D Point Cloud	Behavior	Given an ordered point cloud and a vector of normalized pixel XY coordinates, outputs a vector of stamped poses corresponding to points normal to the selected coordinates. This assumes that the pixel XY coordinates are normalized, i.e., have values in the range [0..1] relative to the image's height and width. Additionally, the output poses always align the Z axis with the normal of the plane by using the smallest eigenvalue of a planar patch with radius `neighbor_radius` around each selected point. These Z axes point towards the origin of the point cloud frame.
GetPoseFromUser	User Input	Behavior	Request a Pose from the user via interaction from the UI. Returns a PoseStamped.
GetRobotJointState	ROS Messaging	Behavior	This behavior extracts a ROS sensor_msgs/JointState message from a a planning scene object.
GetSizeOfVector	Vector Handling	Behavior	Get the size of the vector.
GetSyncedImageAndPointCloud	Perception - Planning Scene	Behavior	Get data from time-synchronized image and point cloud topics and populate them in output ports.
GetSyncedImages	Perception - 2D Image	Behavior	Get data from time-synchronized image topics and populate them in output ports.
GetTextFromUser	User Input	Behavior	Gets text from user by sending a list of prompts with default values for each prompt. The prompts, values, and text_output ports should all be a vector of the same length.
GetTrajectoryStateAtTime	Motion - Planning	Behavior	Get the JointState of a JointTrajectory at a specified time_from_reference either from the start or end of the trajectory. If from_start is true, then the trajectory will be queried at the time_from_reference from its start, otherwise it will be queried at the time_from_reference from its end. If time_from_reference doesn't exactly match a state in the trajectory, but is still within the bounds of the trajectory then the behavior will interpolate between states. The behavior will fail if the time_from_reference is outside the bounds of the trajectory.
Grasp Planning	Motion - Planning	Objective	Find a feasible grasp pose out of a set of manually-defined grasp candidates, and move there
Grasp Pose Tuning With April Tag	Application - Advanced Examples	Objective	Moves the gripper to the April Tag and then prompts the user to teleop to a grasp pose. Saves the resulting pose to a YAML file.
Grasp Pose Using Yaml	Application - Advanced Examples	Objective	Reads a YAML file for grasp pose offset and picks up an object that has an AprilTag marker.
IfThenElse	Control Flow	Control Node	IfThenElse must have exactly 2 or 3 children.The first child is the "statement" of the if.If that return SUCCESS, then the second child is executed.Instead, if it returned FAILURE, the third child is executed.If you have only 2 children, this node will return FAILURE whenever the statement returns FAILURE.This is equivalent to add AlwaysFailure as 3rd child.
InitializeMTCTask	Motion - Task Planning	Behavior	Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this task), and sets it as an output data port.
InitializeMotionConstraints Deprecated	Motion - Planning	Behavior	Creates a shared pointer to a new moveit_msgs/Constraints message.
InsertInVector	Vector Handling	Behavior	Insert an element into a vector at the given index. Negative indexes start backwards from the last element.
Inspector	Application - Basic Examples	Objective	Multi-view inspection routine: Captures images and point clouds from multiple viewpoints for 3D reconstruction or quality inspection
Interpolate to Joint State	Motion - Execute	Objective	Move to a specified joint state using joint interpolation
Inverter	Control Flow	Decorator	This node can only have 1 child.Tick the child once and return SUCCESS if the child failed or FAILURE if the child succeeded.If the child returns RUNNING, this node returns RUNNING too.
IsAnyObjectAttached	Perception - Planning Scene	Behavior	Checks a PlanningScene to determine if any object is attached to the robot. Returns SUCCESS if there is an attached CollisionObject, FAILURE otherwise.
IsCollisionObjectInPlanningScene	Perception - Planning Scene	Behavior	Checks a PlanningScene to see if a CollisionObject with a specific ID exists. Returns SUCCESS if the CollisionObject is found, FAILURE otherwise.
IsObjectAttachedTo	Perception - Planning Scene	Behavior	Checks a PlanningScene to determine if the given CollisionObject name is attached to the specified robot link.Returns SUCCESS if the object and link are attached; FAILURE otherwise.
IsPoseNearIdentity	Pose Handling	Behavior	Succeeds if the pose position norm is below the position tolerance and the absolute rotation is below the rotation tolerance. Useful for evaluating an error pose.
IsUserAvailable	User Input	Behavior	Checks for the presence of a user interface by checking if the "/trajectory_bridge" ROS node exists.
IsVisibilityConstraintSatisfied	Perception - Planning Scene	Behavior	Check if the robot's current state satisfies a kinematic visibility constraint.
Joint Diagnostic	Application - Basic Examples	Objective	Example of cycling through the min and max limits of a single joint, for hardware testing
JointJog	Motion - Execute	Behavior	Forward JointJog commands to a Joint Velocity Controller
KeepRunningUntilFailure	Control Flow	Decorator	This node can only have 1 child.Tick the child until it returns FAILURE, then return FAILURE.
Load Mesh as Green Point Cloud	Perception - 3D Point Cloud	Objective	Loads a point cloud from a file and colors it green.
Load Mesh as Red Point Cloud	Perception - 3D Point Cloud	Objective	Loads a mesh from a file and colors it red.
Load and Execute Joint Trajectory	Application - Basic Examples	Objective	Load a trajectory that was saved as a YAML file
LoadHeaderFromYaml	YAML Handling	Behavior	Loads a std::msg Header message from a YAML file.
LoadHeaderVectorFromYaml	YAML Handling	Behavior	Loads a vector of std::msg Header messages from a YAML file.
LoadImageFromFile	Perception - 2D Image	Behavior	Loads an image from a file, converts it to a ROS sensor_msgs/Image message, and writes it to an output data port.
LoadJointTrajectoryFromYaml	YAML Handling	Behavior	Loads a joint trajectory message from a YAML file name and outputs a JointTrajectory ROS message object created from the file contents.
LoadObjectSubframeFromYaml	YAML Handling	Behavior	Loads a moveit_studio_vision_msgs::msg ObjectSubframe message from a YAML file.
LoadObjectiveParameters Deprecated	Utility	Behavior	Loads the configuration parameters for a given Objective. The configuration file name is given as an input port parameters to this Behavior. The parameters are loaded once per Objective execution. To reload the parameter from the file, just execute the Objective again.
LoadPointCloudFromFile	Perception - 3D Point Cloud	Behavior	Loads a point cloud from a .pcd or .stl file, converts it to a ROS sensor_msgs/PointCloud2 message, and writes it to an output data port.
LoadPointStampedFromYaml	YAML Handling	Behavior	Loads a PointStamped message from a YAML file.
LoadPointStampedVectorFromYaml	YAML Handling	Behavior	Loads a vector of PointStamped messages from a YAML file.
LoadPoseFromYaml	YAML Handling	Behavior	Loads a Pose message from a YAML file.
LoadPoseStampedFromYaml	YAML Handling	Behavior	Loads a PoseStamped message from a YAML file.
LoadPoseStampedVectorFromYaml	YAML Handling	Behavior	Loads a vector of PoseStamped messages from a YAML file.
LoadPoseVectorFromYaml	YAML Handling	Behavior	Loads a vector of Pose messages from a YAML file.
LoadQuaternionFromYaml	YAML Handling	Behavior	Loads a Quaternion message from a YAML file.
LoadSubframesFromYaml	YAML Handling	Behavior	Loads a vector of Subframes from a file, converts it and their names in the file to a vector of ROS moveit_studio_vision_msgs::msg::ObjectSubframe messages, and writes that to an output data port.
LoadTransformFromYaml	YAML Handling	Behavior	Loads a Transform message from a YAML file.
LoadTransformStampedFromYaml	YAML Handling	Behavior	Loads a TransformStamped message from a YAML file.
LoadVector3FromYaml	YAML Handling	Behavior	Loads a Vector3 message from a YAML file.
LogMessage	Utility	Behavior	Log a message to the UI.
Look at Table	Application - Basic Examples	Objective	Move the arm to a position that faces the table surface
ML Auto Grasp Object from Clicked Point	Application - ML (GPU Recommended)	Objective	Asks user to click on object to auto grasp and asks for approval before attempting pick.
ML Segment Image	Application - ML (GPU Recommended)	Objective	Run an ML model to find all objects and visualize the masks with bounding boxes, from a text prompt.
ML Segment Point Cloud	Application - ML (GPU Recommended)	Objective	Captures a point cloud and segments out all possible objects from a text prompt
ML Segment Point Cloud from Clicked Point	Application - ML (GPU Recommended)	Objective	Captures a point cloud and requests the user to click on three objects in the image to be segmented. The point cloud is then filtered to only include the selected objects.
MPC Pose Tracking With Point Cloud Avoidance	Application - MPC Examples	Objective
MPCPointCloudClearance	Motion - Execute	Behavior	This behavior uses Model Predictive Control (MPC) to track a target pose while avoiding a point cloud real-time. The behavior optimizes two residuals simultaneous to achieve effective tracking: target pose and point cloud clearance. Target Pose: The target pose is provided through `target_pose` and `target_twist` input ports. The target pose must be in world frame. The target pose is tracked by a site defined in the MuJoCo model, e.g. `end_effector`. Point Cloud Clearance: The `point_cloud` input port supplies the point cloud to avoid, and the `link_sites` input port specifies the MuJoCo sites to monitor for proximity. The `safe_distance` input port defines the minimum allowed distance between each site and the point cloud. If a site is farther than `safe_distance` from the point cloud, the residual is zero and does not affect the optimization. As a site approaches the point cloud, the residual increases, encouraging the optimizer to maintain clearance.Optimization Problem: The optimization problem aims to minimize the following cost: l(x, u) = sum(w_i * \|\|r_i(x, u)\|\|) where w_i is a non-negative weight for each residual functions, and r_i(x, u) is the residual function. The goal of the optimization is to minimize the sum of the weighted residual norms. This site tracking behavior optimizes the following residuals: 1) Cartesian velocity, 2) Cartesian acceleration, 3) Joint velocity, 4) Joint acceleration, 5) Force/torque constraints, and 6) Site tracking errors. For further details on the residual functions, please refer to the documentation of each residual function. Tuning Tips: 1) adjust the weights of the residual functions to prioritize specific constraints and 2) as a starting point, the cost of position error should be 10x that of the velocity error, and the velocity error should be 10x that of the acceleration error.
MPCPoseTracking	Application - MPC Examples	Objective	This behavior uses Model Predictive Control (MPC) to track a target pose in real-time. The behavior optimizes several residuals simultaneous to achieve effective tracking. Target Pose: The target pose is provided through the `target_pose` and `target_twist` input ports. The target pose must be in world frame. The target pose is tracked by a site defined in the MuJoCo model, e.g. `end_effector`. Optimization Problem: The optimization problem aims to minimize the following cost: l(x, u) = sum(w_i * \|\|r_i(x, u)\|\|) where w_i is a non-negative weight for each residual functions, and r_i(x, u) is the residual function. The goal of the optimization is to minimize the sum of the weighted residual norms. This site tracking behavior optimizes the following residuals: 1) Cartesian velocity, 2) Cartesian acceleration, 3) Joint velocity, 4) Joint acceleration, 5) Force/torque constraints, and 6) Site tracking errors. For further details on the residual functions, please refer to the documentation of each residual function. Tuning Tips: 1) adjust the weights of the residual functions to prioritize specific constraints and 2) as a starting point, the cost of position error should be 10x that of the velocity error, and the velocity error should be 10x that of the acceleration error.
MergePointClouds	Perception - 3D Point Cloud	Behavior	Merges a number of input point clouds into a single one. All point clouds must be expressed in the same reference frame. The input point clouds are projected onto a voxel grid with the given resolution. Each voxel produces a point in the output cloud that is the average of all input points projected on that voxel. If align_point_clouds is true, the input clouds are incrementally aligned using the Iterative Closest Point (ICP) algorithm.
ModifyObjectInPlanningScene	Perception - Planning Scene	Behavior	Add a collision object to the planning scene.
Move Along Square	Application - Basic Examples	Objective	Move along a square path
Move Flasks to Burners	Application - Advanced Examples	Objective	Example of picking and placing objects with orientation constraints enforced on the arm's motion
Move to Joint State	Motion - Execute	Objective	Plan and execute motion to a set of joint angles specified in a ROS message type.
Move to Pose	Motion - Execute	Objective	Plan and execute motion to a Cartesian coordinate pose in a ROS message type, using inverse kinematics.
Move to Waypoint	Motion - Execute	Objective	Plan and execute motion to a MoveIt Pro-created named Waypoint, which is saved in joint space to the file system.
MoveGripperAction	Grasping	Behavior	Calls a control_msgs::action::GripperCommand action server that actuates the gripper to a target position using a position controller. The gripper controller uses the target velocity and effort values specified in the URDF. If the gripper is blocked by an obstacle or makes a successful grasp before reaching the target position, the Behavior will end successfully, but the gripper will continue to apply force indefinitely. This Behavior will fail to execute if the GripperCommand action server is not running.
Octomap Example	Perception - 3D Point Cloud	Objective	Takes a snapshot of the scene camera and then updates the planning scene in RViz with an ocotomap based on the `sensors_3d.yaml` file settings.
Open Gripper	Grasping	Objective	Open the gripper
Parallel	Control Flow	Control Node	The ParallelNode executes all its children concurrently, but not in separate threads!Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports). If any of the thresholds are reached, and other children are still running, they will be halted.
Pick 1 Pill Bottle	Application - ML (GPU Recommended)	Objective	Captures and segments objects from a point cloud based on a text prompt. Then grasps the first object returned from the segmentation.
Pick All Pill Bottles	Application - ML (GPU Recommended)	Objective	Uses ML models to repeatedly identify and grasp plan to pick up objects.
Pick And Place Example	Application - Advanced Examples	Objective	Picks up a cube and then places it.
Pick April Tag Labeled Object	Application - Advanced Examples	Objective	Picks up an object that has an AprilTag marker.
Pick April Tag Labeled Object With Approval	Application - Advanced Examples	Objective	Picks up an object that has an AprilTag marker.
Pick from Pose	Application - Basic Examples	Objective	Takes a grasp pose as input and picks up the object at that pose
Pick from Pose With Approval	Application - Basic Examples	Objective	Takes a set of grasp poses as input and picks up the object at one of those poses. Asks for approval before executing the trajectory.
Pick object	Motion - Execute	Objective	Opens the gripper, defines a target pose for the object and performs a motion for picking it.
Pick up Cube	Application - Basic Examples	Objective	Pick up a cube from a manually defined location
Place Object	Application - Basic Examples	Objective	Place an object in the gripper at a manually specified location
Place at Pose	Application - Basic Examples	Objective	Takes a place pose as input and places the object at that pose
Place at Pose with Approval	Application - Basic Examples	Objective	Takes a place pose as input and places the object at that pose. Asks for approval before executing the trajectory.
Plan Move To Pose	Motion - Planning	Objective	Plan an MTC task, but do not execute it
Plan and Save Trajectory	Application - Basic Examples	Objective	Use a series of waypoints to plan and MTC task, convert the solution to a Joint Trajectory message, and save it to disk in YAML format
PlanCartesianPath	Motion - Planning	Behavior	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path. The path to follow is given by path, which can contain waypoints in different frames. The CreateStampedPose and AddPoseStampedToVector Behaviors can be used to create the Cartesian path. The kinematics are solved for the given tip_links of the given planning group (planning_group_name). The output joint_trajectory_msg is a timed joint-space trajectory that can be checked for self and environment collisions with the ValidateTrajectory Behavior, and executed with ExecuteFollowJointTrajectory. The Behavior succeeds if the entire path could be resolved, or fails otherwise. In any case, joint_trajectory_msg is filled in with the portion of the path that could be solved. The debug_solution output port will contain an MTCSolution message that can be used with the WaitForUserTrajectoryApproval behavior for visualization. In the case multiple `tip_links` are specified, the first waypoint of the path will be used as the reference frame for all the tips, i.e. the tips will move relative to the given reference path, based on their current relative pose to that first waypoint, with tip_offset applied.
PlanMTCTask	Motion - Task Planning	Behavior	Solve a MoveIt Task Constructor (MTC) Task to create a Solution. Given an input std::shared_ptr which was created by the InitializeMTCTask Behavior and populated with MTC Stages by other Behaviors, attempt to find a solution that connects all the Stages in the Task into a single continuous and collision-free robot trajectory. If a Solution is found, this Behavior sets it to the output data port and then performs a service request to store the Solution in the Solution Manager Node, which allows the user to explore the Solution in detail. If these processes all succeed without any errors, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No Task was set to the input port. The input Task does not contain any Stages. MTC fails to initialize the Stages in the Task prior to planning the Task. MTC fails to plan the Task. An exception is thrown while planning the Task. The service request to the Solution Manager Node fails. This Behavior is derived from the AsyncBehaviorBase class defined in the moveit_studio_behavior_interface package.
PlanToJointGoal	Motion - Planning	Behavior	Given a joint-space goal, plan a joint-space trajectory to move to the goal.
Playback Square Trajectory	Application - Basic Examples	Objective	Loads and plays a JointTrajectory of the end-effector moving in a square trajectory.
PoseJog	Motion - Execute	Behavior	Guarded velocity control with collision monitoring
Precondition	Control Flow	Decorator	This node can only have 1 child.Executes its child node only if a condition is met.If the precondition is met, the child node will be run and this node will return the status returned from the child.If the precondition is not met, this node will return the BT::NodeStatus value specified in "return_on_mismatch".
PublishEmpty	ROS Messaging	Behavior	Publish a std_msgs::msg::Empty message to a topic.
PublishMarkers	Visualization	Behavior	Publishes a set of markers to the UI for visualization. This Behavior composes a visualization_msgs::msg::MarkerArray message which contains one or more markers of the specified type. One marker will be created for each pose that is provided. The marker scale parameter will be applied uniformly to all the markers. If all inputs are valid, this Behavior will publish the visualization_msgs::msg::MarkerArray message it creates to a ROS topic named visual_markers and then finally exit with a SUCCESS status code. If an invalid marker type is provided or the marker scale vector does not contain exactly three values, exit with a FAILURE status code.
PublishMask2D	Perception - 2D Image	Behavior	Publishes an image with the provided vector of masks overlaid for visualization. Bounding boxes for visualization will be added if labes or detection class are provided to input ports.
PublishPointCloud	Perception - 3D Point Cloud	Behavior	Publishes a point cloud on a ROS topic (typically used for debugging purposes).
PublishStaticFrame	ROS Messaging	Behavior	Publishes a static transform to the tf2 buffer for use in other Behaviors and for visualization. Use the CreateStampedPose behavior to create the input pose.
PublishString	ROS Messaging	Behavior	Publish a std_msgs::msg::String message to a topic.
PublishVelocityForceCommand	Motion - Execute	Behavior	Publishes a velocity force command to the velocity force controller command topic at the desired rate.
Push Button	Application - Advanced Examples	Objective	An example for how to use the VFC to move with a velocity / force reference until it collides
Push Button With a Trajectory	Motion - Execute	Objective	An example for how to use the JTAC to execute a trajectory with compliance.
PushBackVector	Vector Handling	Behavior	Push an element to the back of a vector.
PushToSolutionQueue	Motion - Task Planning	Behavior	Push an MTC solution to a queue.
ReactiveFallback	Control Flow	Control Node	The ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last:If a child returns RUNNING, continue to the next sibling.If a child returns FAILURE, continue to the next sibling.If a child returns SUCCESS, stop and return SUCCESS.If all the children fail, then this node returns FAILURE.IMPORTANT: to work properly, this node should not have more than a single asynchronous child.
ReactiveSequence	Control Flow	Control Node	The ReactiveSequence is similar to a ParallelNode. All the children are ticked from first to last:If a child returns RUNNING, halt the remaining siblings in the sequence and return RUNNING.If a child returns SUCCESS, tick the next sibling.If a child returns FAILURE, stop and return FAILURE.If all the children return SUCCESS, this node returns SUCCESS.
ReadTextFileAsString	Utility	Behavior	Read the contents of a text file, within your Objectives folder, into a std::string.
Record Square Trajectory	Application - Advanced Examples	Objective	Executes a square trajectory, records it, and saved the recording to a YAML file.
Record Teleop Trajectory	User Input	Objective	Call the start service to start recording the teleoperated trajectory. Upon calling the stop service, the trajectory will be saved to the file.
Record and Replay Scanning Motion	Application - Advanced Examples	Objective	Build a trajectory from a series of waypoints and MTC tasks to scan the environment, then save the trajectory to disk. If the trajectory is approved, it will be saved and then executed.
RecordJointTrajectory	Motion - Planning	Behavior	Records a JointTrajectory message being published to a topic for a given planning group. The Behavior will record joint values for a given planning group. This Behavior doesn't start recording until the start recording service is called. To stop recording, the stop recording service must be called. If the stop recording service is called before the start recording service, the Behavior will fail. It is possible to downsample the JointTrajectory based on a joint space step.
Reflect Poses Subtree	Vector Handling	Objective	Takes a set of poses, transforms each pose around an axis, and returns the combined set.
Register CAD Part	Application - Advanced Examples	Objective	Load an STL from disk and use registration to align the pointcloud with a matching shape in the environment
Register CAD Part Subtree	Perception - 3D Point Cloud	Objective	Load an STL from disk and use registration to align the pointcloud with a matching shape in the environment. Return the pose of the object in the world frame.
RegisterPointClouds	Perception - 3D Point Cloud	Behavior	Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Iterative Closest Point (ICP) algorithm.
RemoveCollisionObjectFromPlanningScene	Perception - Planning Scene	Behavior	Removes a collision object from the planning scene.
RemoveFromVector	Vector Handling	Behavior	Remove an element from a vector at the given index. Negative indexes start backwards from the last element.
RemovePointsInBox	Perception - 3D Point Cloud	Behavior	Given a point cloud and a box-shaped region, create a new point cloud which has the points inside the box-shaped region removed. The dimensions and size of the region to remove are defined relative to its centroid.
RemoveToolFromScene Deprecated	Grasping	Behavior	DEPRECATED: Use DetachURDF or RemoveURDFFromScene instead. Detach a tool from the robot or remove it from the planning scene. The tool with the given tool_name will be detached from the robot or removed from the planning scene depending on which service is specified. If detached, the tool will no longer move with the robot and will not be considered in motion planning calculations. If removed, the tool will no longer be able to be attached to the robot until it is added to the planning scene again.
RemoveURDFFromScene	Planning Scene	Behavior	Remove a URDF object from the planning scene. The URDF object with the given urdf_name will be removed from the planning scene. Once removed, the object will no longer be able to be attached to the robot until it is added to the planning scene again.
Repeat	Control Flow	Decorator	This node can only have 1 child.Tick the child up to N times (within one of this decorator's ticks), where N is passed as an Input Port, as long as the child returns SUCCESS.Interrupt the loop if the child returns FAILURE and, in that case, return FAILURE too.If the child returns RUNNING, this node returns RUNNING too.WARNING: If the decorator is attached to something that will always be successful and repeats infinitely many times (`num_attempts` = -1), MoveIt Pro will deadlock. See our Behavior Tree Troubleshooting doc for more information.
ReplaceInVector	Vector Handling	Behavior	Replace an element in a vector at the given index. Negative indexes start backwards from the last element.
Request Teleoperation	User Input	Objective	Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective.
Reset MuJoCo Sim	MuJoCo Simulation	Objective	Reset the MuJoCo simulation to the `default` keyframe (if specified in the mujoco model).
Reset Planning Scene	Perception - Planning Scene	Objective	Remove all runtime additions to the planning scene
ResetMujocoKeyframe	MuJoCo Simulation	Behavior	Resets the MuJoCo simulation to a specified keyframe state. The keyframe must be defined in the MuJoCo scene model. This behavior will call a service to perform the reset operation. Service Interface: The behavior calls a ResetMujocoKeyframe service that takes the keyframe name as a request parameter.
ResetPlanningSceneObjects	Perception - Planning Scene	Behavior	Removes all objects which were added to the planning scene during runtime.
ResetPoseStampedVector	Vector Handling	Behavior	Reset a vector containing PoseStamped messages.
ResetVector	Vector Handling	Behavior	Reset a vector containing BT::Any messages.
RetrieveJointStateParameter	Utility	Behavior	Send a request to the /retrieve_joint_state service to retrieve the joint states of the robot and set the joint_state output port to the retrieved joint states. Given the name of the joint, this behavior sends a service request to the /retrieve_joint_state service which is advertised by the MoveIt Pro Parameter Manager Node. The service type is moveit_studio_agent_msgs::srv::RetrieveJointState. The joint_state output port is of type sensor_msgs::msg::JointState. If this Behavior receives a response from the service server indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No service server is available with the specified name. If no parameter is retrieved within the provided "timeout_sec" parameter. The service response is received, but its success field is set to False. Leaving the timeout_sec input empty makes this Behavior wait indefinitely to retrieve the parameter. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
RetrievePoseParameter	Pose Handling	Behavior	Send a request to the /retrieve_pose service to retrieve the pose of a target and set the pose output port to the retrieved stamped pose. Given a target pose, this behavior sends a service request to the /retrieve_pose service which is advertised by the MoveIt Pro Parameter Manager Node. The service type is moveit_studio_agent_msgs::srv::RetrievePose. The pose output port is of type geometry_msgs::msg::PoseStamped. If this Behavior receives a response from the service server indicating that the request succeeded, this Behavior exits with a SUCCESS status code. If any of the following failure states occur, this Behavior will exit with a FAILURE status code: No service server is available with the specified name. If no pose is retrieved within the provided "timeout_sec" parameter. If there is no pose stored by the MoveIt Pro parameter manager node. The service response is received, but its success field is set to False. Leaving the timeout_sec input empty makes this Behavior wait indefinitely to retrieve the parameter. This Behavior is derived from the ServiceClientBehaviorBase class defined in the moveit_studio_behavior_interface package.
RetrieveWaypoint	Motion - Planning	Behavior	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint.
RetryUntilSuccessful	Control Flow	Decorator	This node can only have 1 child.Tick the child up to N times, where N is passed as Input Port `num_attempts`, as long as the child returns FAILURE.Return FAILURE after the N attempts in the case that the child always returned FAILURE.Interrupt the loop if the child returns SUCCESS and, in that case, return SUCCESS too.If the child returns RUNNING, this node returns RUNNING too and the attempts will continue without incrementing on the next tick of the RetryUntilSuccessful node.WARNING: If the decorator is attached to something that will always be failure and repeats infinitely many times (`num_attempts` = -1), MoveIt Pro will deadlock. See our Behavior Tree Troubleshooting doc for more information.
ReversePoseStampedVector	Vector Handling	Behavior	Reverses the order of a `PoseStamped` vector and stores the reversed sequence to the blackboard.
SaveCurrentState	Perception - Planning Scene	Behavior	Use the /get_planning_scene service to save the robot's current state.
SaveHeaderToYaml	YAML Handling	Behavior	Write a Header message given as a `std_msgs::msg::Header` message to a YAML file.
SaveImageToFile	Perception - 2D Image	Behavior	Save the contents of an image on the blackboard to a file. Filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png
SaveJointTrajectoryToYaml	YAML Handling	Behavior	Accepts a JointTrajectory ROS message object, a namespace, and a file name. Converts and saves the joint trajectory message as a YAML file in the objectives directory at the provided file name and under the provided namespace within the file.
SavePointCloudToFile	Perception - 3D Point Cloud	Behavior	Save the contents of a point cloud on the blackboard to a pcd file using the pcl::PointXYZRGB point type. Filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd
SavePointStampedToYaml	YAML Handling	Behavior	Write a point stamped given as a `geometry_msgs::msg::PoseStamped` message to a YAML file.
SavePoseForUrdf	Utility	Behavior	Saves a PoseStamped in xyz rpy URDF format to file.
SavePoseStampedToYaml	YAML Handling	Behavior	Write a pose given as a `geometry_msgs::msg::PoseStamped` message to a YAML file.
SavePoseToYaml	YAML Handling	Behavior	Write a pose given as a `geometry_msgs::msg::Pose` message to a YAML file.
SaveQuaternionToYaml	YAML Handling	Behavior	Write a Quaternion given as a `geometry_msgs::msg::Quaternion` message to a YAML file.
SaveTransformStampedToYaml	YAML Handling	Behavior	Write a Transform given as a `geometry_msgs::msg::TransformStamped` message to a YAML file.
SaveTransformToYaml	YAML Handling	Behavior	Write a Transform given as a `geometry_msgs::msg::Transform` message to a YAML file.
SaveVector3ToYaml	YAML Handling	Behavior	Write a Vector3 given as a `geometry_msgs::msg::Vector3` message to a YAML file.
Scan Multiple Views	Perception - 3D Point Cloud	Objective	Take multiple snapshots from the wrist camera and merge them into a single point cloud.
Script	Control Flow	Behavior	Introduced in BT.CPP 4 to integrate scripting language within XMLAllows users to read from and write to variables in the blackboardCan perform operation like assignment, comparison, etc.
Segment Image from No Negative Text Prompt Subtree	Perception - ML	Objective	Run text based segmentation and visualize the masks.
Segment Image from Point Subtree	Perception - ML	Objective	Captures an image and segments it using three user provided prompt points.
Segment Image from Text Prompt Subtree	Perception - ML	Objective	Run text based segmentation and visualize the masks.
Segment Point Cloud from Clicked Point Subtree	Perception - ML	Objective	Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object.
Segment Point Cloud from Text Prompt Subtree	Perception - ML	Objective	Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object.
SendPointCloudToUI	Perception - 3D Point Cloud	Behavior	Given a point cloud, transform it to the given frame, convert it to Binary Compressed PCD format, and publish it on a topic for the UI to visualize.
Sequence	Control Flow	Control Node	The SequenceNode is used to tick children in an ordered sequence. If any child returns RUNNING, previous children will NOT be ticked again.If all the children return SUCCESS, this node returns SUCCESS.If a child returns RUNNING, this node returns RUNNING. Loop is NOT restarted, the same running child will be ticked again.If a child returns FAILURE, stop the loop and return FAILURE. Restart the loop only if (reset_on_failure == true)
SequenceStar	Control Flow	Control Node	The SequenceStarNode is used to tick children in an ordered sequence. If any child returns RUNNING, previous children are not ticked again.If all the children return SUCCESS, this node returns SUCCESS.If a child returns RUNNING, this node returns RUNNING. Loop is NOT restarted, the same running child will be ticked again.If a child returns FAILURE, stop the loop and return FAILURE. Loop is NOT restarted, the same running child will be ticked again.
ServoTowardsPose Deprecated	Motion - Execute	Behavior	Move the tip towards the Cartesian target_pose using the specified gains and velocity limits. This Behavior is intended to be used in a Parallel node. With every tick, the error between the current tip pose (for planning_group_name) and the given target_pose is computed. That error is also the direction along which the tip has to move to decrease the error. Therefore, with every tick, this Behavior will send a twist to Servo, to move along the direction that points towards the target. The Cartesian velocity sent to Servo is proportional (with translational_gain and rotational_gain) to the distance to the target, but capped at the given max_translational_vel and max_rotational_vel translational and rotational velocities. Twist messages are published to Servo at the given publish_rate. The Behavior will run indefinitely until cancelled or until the distance to the target falls below the given exit_threshold_translation and exit_threshold_rotation in the 3D translational and rotational axes, for at least the given exit_threshold_time amount of seconds.
SetAdmittanceParameters	Motion - Planning	Behavior	Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior. A set of parameters will be loaded from a YAML file and displayed in the UI for the user to modify. Any modifications will be stored back to the YAML file. If the given YAML file doesn't exist, a default set of parameters will be created. The parameters will be returned in an output port as an 'AdmittanceParameters' message, which can be used as input to the 'ExecuteTrajectoryWithAdmittance' Behavior (JTAC controller). Deprecated: Alternatively, this behavior can be used to set admittance parameters for a ros2_control admittance controller. In this case, 'controller_name' in the UI needs to be set to the controller to update. Parameters will be set via the parameter server and no output message will be created. This mode of operation is deprecated and only kept for compatibility with older setups that use the ros2_control admittance controller.
SetBlackboard	Utility	Behavior	Write a value into the behavior tree blackboard.
SetupMTCApproachGrasp Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object.This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.The stage names are: 'Allow collision (object, everything-but-the-robot)', 'Move to Pre-Approach Pose', 'allow collision 1 (hand,octomap)', 'Approach', and 'allow collision 2 (hand,octomap)'.
SetupMTCAttachObject	Motion - Task Planning	Behavior	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage, named 'attach object () to frame ()' to attach a GraspableObject which was previously added to the planning scene. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCBatchPoseIK	Motion - Task Planning	Behavior	Given an existing MTC Task object and a vector of poses, appends an MTC stage, named 'pose IK', to compute IK solutions for those poses.
SetupMTCCartesianMoveToJointState	Motion - Task Planning	Behavior	Given an existing MTC Task object and a joint state, appends MTC stage, named 'cartesian plan', to describe a cartesian motion plan to that joint state.
SetupMTCCartesianSequence	Motion - Task Planning	Behavior	Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses. The stage names are: 'move to pose ', 'generate pose ', and 'pose IK '.
SetupMTCConnectWithProRRT	Motion - Task Planning	Behavior	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner.
SetupMTCConnectWithTrajectory Deprecated	Motion - Task Planning	Behavior	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory. The planning interface to use can be chosen via the 'planner_interface' input port. The available options are 'moveit_default', 'moveit_all_planners', and 'pro_rrt'. 'moveit_default' uses the default MoveIt pipeline (OMPL RRTConnect), 'moveit_all_planners' uses all available MoveIt planners (OMPL, PILZ, STOMP), and 'pro_rrt' uses the MoveIt Pro RRTConnect planner.
SetupMTCCurrentState	Motion - Task Planning	Behavior	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task, named 'current state'.
SetupMTCDetachObject	Motion - Task Planning	Behavior	Given an existing MTC Task object, appends an MTC ModifyPlanningScene stage, named 'detach object () from frame ()', to detach a GraspableObject which was previously attached to a robot frame. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCFixedJointState	Motion - Task Planning	Behavior	Given an existing MTC Task object, appends an MTC FixedJointState Stage to the Task, named 'fixed state'. Creates an MTC FixedState stage representing an expected future robot and planning scene state, and appends the stage to an MTC Task. The expected planning scene and robot states are provided through input data ports. This allows planning trajectories that do not start at the robot's current state. It is important to move the robot to the joint state used to create the FixedState stage before executing a trajectory that starts at that joint state.
SetupMTCFromSolution	Motion - Task Planning	Behavior	Given an existing MTC Task object, appends an MTC Stage, named 'Initial state', to the Task that initializes it with the final planning scene of a given solution.
SetupMTCGenerateCuboidGrasps Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target object, appends MTC stages, named 'generate pose' and, 'pose IK', to generate cuboid grasp poses.
SetupMTCGenerateVacuumGrasps Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target object, appends MTC stages, named 'generate pose' and, 'pose IK', to generate vacuum grasp poses.
SetupMTCIgnoreCollisionsBetweenObjects	Motion - Task Planning	Behavior	Add an MTC Stage, named ' collision (group of objects)', to an MTC Task that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCInterpolateToJointState	Motion - Task Planning	Behavior	Given an existing MTC Task object and a joint state, appends MTC stages, named 'Interpolate to a joint state', to describe a joint-interpolated motion plan to that joint state.
SetupMTCMoveAlongFrameAxis	Motion - Task Planning	Behavior	Given an existing MTC Task object, append a MTC MoveRelative stage, named 'Cartesian Motion', to perform a cartesian motion along an axis.
SetupMTCMoveToJointState Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and a joint state, appends an MTC stage, named 'plan to joint state', to describe a freespace motion plan to that joint state. The planning interface to use can be chosen via the 'planner_interface' input port. The available options are 'moveit_default', 'moveit_all_planners', and 'pro_rrt'. 'moveit_default' uses the default MoveIt pipeline (OMPL RRTConnect), 'moveit_all_planners' uses all available MoveIt planners (OMPL, PILZ, STOMP), and 'pro_rrt' uses the MoveIt Pro RRTConnect planner.
SetupMTCMoveToNamedState Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and the name of a known state, appends an MTC stage, named 'plan to named state', to describe a freespace motion plan to that state.The planning interface to use can be chosen via the 'planner_interface' input port. The available options are 'moveit_default', 'moveit_all_planners', and 'pro_rrt'.'moveit_default' uses the default MoveIt pipeline (OMPL RRTConnect), 'moveit_all_planners' uses all available MoveIt planners (OMPL, PILZ, STOMP), and 'pro_rrt' uses the MoveIt Pro RRTConnect planner.
SetupMTCMoveToPose Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose. The planning interface to use can be chosen via the 'planner_interface' input port. The available options are 'moveit_default', 'moveit_all_planners', and 'pro_rrt'. 'moveit_default' uses the default MoveIt pipeline (OMPL RRTConnect), 'moveit_all_planners' uses all available MoveIt planners (OMPL, PILZ, STOMP), and 'pro_rrt' uses the MoveIt Pro RRTConnect planner.
SetupMTCMultiEEFMoveAlongAxis	Motion - Task Planning	Behavior	Given an existing MTC Task object, appends MTC Stages, named 'move ', that execute cartesian motion on multiple end-effectors. Each end-effector will move in a cartesian motion along an axis defined in the given IK frame. The direction of motion is defined by the normalized vector formed by the axis_x, axis_y, and axis_z vector elements (E.g. axis_x={1.0;0.0} axis_y={0.0;0.0} and axis_z={0.0;1.0} will move the first link in the ik_frames vector along its X axis, and the second link in the ik_frames vector along its Z axis. All input vectors must be the same size!
SetupMTCPathIK	Motion - Task Planning	Behavior	Given an existing MTC Task object, append a MTC Path IK stage, named 'Path IK', to perform a cartesian motion along a path.
SetupMTCPlanToJointState	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target pose, appends an MTC Stage, named 'plan to joint state pro rrt' to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner.
SetupMTCPlanToPose	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect planner.
SetupMTCRetractFromGrasp Deprecated	Motion - Task Planning	Behavior	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object.This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.The stage names are: 'allow collision 3 (hand,octomap)', 'allow collision 3 (hand,object)', 'close hand', 'Attach object', 'allow collision 3 (object, octomap)', 'Lift', 'Retreat', 'Detach object', 'forbid collision (hand,octomap)', 'forbid collision (hand,object)', and 'Remove target object from the planning scene'.
SetupMTCUpdateGroupCollisionRule	Motion - Task Planning	Behavior	Add an MTC Stage, named ' collision (, group_name)', to an MTC Task that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SetupMTCUpdateObjectCollisionRule	Motion - Task Planning	Behavior	Add an MTC Stage, named ' collision (, )', to an MTC Task that makes following stages either allow or prohibit collision between a GraspableObject and another entity. The other entity can be either a named collision object in the planning scene or the links of a named robot planning group. This Behavior will add stage(s) that will modify the global planning scene when executed via `ExecuteMTCTask`.
SolveIKQueries	Motion - Planning	Behavior	Calculate whether or not the robot's end effector can reach a list of target poses. The robot's current joint state is used as the initial random seed for determining target reachability. The target poses can be defined in any frame, as long as a transform exists between the specified frame and the robot's base frame.
SplitMTCSolution	Motion - Task Planning	Behavior	Split an MTC Solution message in two by dividing its vector of subtrajectories at the specified index.
Stack Blocks with ICP	Training Examples	Objective	Solution to the advanced exercise in the ICP section of the Perception & ML tutorial
Stationary Admittance	Application - Advanced Examples	Objective	Puts the arm into Cartesian admittance mode
StopwatchBegin	Utility	Behavior	Saves the current epoch time as a timepoint to an output data port.
StopwatchEnd	Utility	Behavior	Log the time elapsed since a timepoint provided on an input data port.
StringToInt	String Handling	Behavior	Convert a String to an Int
SwitchController	Motion - Controls	Behavior	This Behavior switches controllers in a ros2_control controller manager. Given a list of controllers to activate/deactivate, a service request is dispatched to switch the active ros2_control controllers accordingly. If automatic_deactivation is set to true, the Behavior will automatically deactivate controllers that are in conflict with the ones to activate.
SwitchUIPrimaryView	User Input	Behavior	Switches the primary view in the MoveIt Studio Developer Tool. This can be "Visualization", "Behavior Tree", or the name of any valid camera topic available in the view drop-down menu in the UI. If the view name is not available, this Behavior returns FAILURE.
Take Scene Camera Snapshot	Application - Basic Examples	Objective	Take a pointcloud snapshot of the scene with a depth camera
Take Wrist Camera Image	Perception - 2D Image	Objective	Loads wrist camera parameters and records color image.
Take Wrist Camera Snapshot	Application - Basic Examples	Objective	Capture and visualise a pointcloud with the wrist camera
Teleoperate	User Input	Objective	Handles the different variations of teleoperation from the web UI. Can be used standalone.
TeleoperateJointJog	User Input	Behavior	This is a special Behavior to run human-in-the-loop teleoperation using MoveIt Servo through the Objective Server. When started, this Behavior will run INDEFINITELY until it is halted. This will happen either when the root node of the behavior tree is halted as the Objective is canceled, or when this Behavior's parent control node halts it. When this Behavior first transitions from IDLE to RUNNING, it starts and unpauses Servo control using the services advertised by the Servo server node. While this Behavior is RUNNING, it subscribes to JointJog command messages that originate in the user interface, and republishes these messages to the command topics advertised by the Servo server node. When this Behavior is halted, it pauses Servo control using the server's services.
TeleoperateTwist Deprecated	User Input	Behavior	This is a special Behavior to run human-in-the-loop teleoperation using MoveIt Servo through the Objective Server. When started, this Behavior will run INDEFINITELY until it is halted. This will happen either when the root node of the behavior tree is halted as the Objective is canceled, or when this Behavior's parent control node halts it. When this Behavior first transitions from IDLE to RUNNING, it starts and unpauses Servo control using the services advertised by the Servo server node. While this Behavior is RUNNING, it subscribes to TwistStamped command messages that originate in the user interface, and republishes these messages to the command topics advertised by the Servo server node. When this Behavior is halted, it pauses Servo control using the server's services.
Timeout	Utility	Decorator	Halt the child node after a given timeout.
Track Moving Frame	Motion - Execute	Objective	Moves a given end-effector link to track a moving frame, e.g. to control the robot arm with a teleoperation device.
TransformPointCloud	Perception - 3D Point Cloud	Behavior	Transforms a point cloud given an input pose in the same frame as the point cloud. The frame IDs of the input point cloud and transform pose must match, or this Behavior will fail. The output point cloud will similarly be with respect to this frame.
TransformPointCloudFrame	Perception - 3D Point Cloud	Behavior	Transforms a point cloud to a target coordinate frame.
TransformPose	Pose Handling	Behavior	Transforms a stamped pose given an input translation and orientation.
TransformPoseFrame	Pose Handling	Behavior	Transforms a stamped pose into a different frame ID.
TransformPoseFromYaml Deprecated	Pose Handling	Behavior	Transforms a stamped pose given a yaml file that contains position and orientation.
TransformPoseWithPose	Pose Handling	Behavior	Transforms a stamped pose with a transform defined by another pose in the same frame.
UnpackAccelMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Accel message.
UnpackAccelStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::AccelStamped message.
UnpackAccelWithCovarianceMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::AccelWithCovariance message.
UnpackAccelWithCovarianceStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::AccelWithCovarianceStamped message.
UnpackAdmittanceParametersMessage	Conversions	Behavior	Unpack behavior for a moveit_pro_controllers_msgs::msg::AdmittanceParameters message.
UnpackAgentInfoMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::AgentInfo message.
UnpackAllowedCollisionEntryMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::AllowedCollisionEntry message.
UnpackAllowedCollisionMatrixMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::AllowedCollisionMatrix message.
UnpackAttachedCollisionObjectMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::AttachedCollisionObject message.
UnpackBatteryStateMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::BatteryState message.
UnpackBehaviorParameterDescriptionMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameterDescription message.
UnpackBehaviorParameterMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_sdk_msgs::msg::BehaviorParameter message.
UnpackBoolMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Bool message.
UnpackBoundingVolumeMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::BoundingVolume message.
UnpackByteMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Byte message.
UnpackByteMultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::ByteMultiArray message.
UnpackCameraInfoMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::CameraInfo message.
UnpackCartesianPointMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::CartesianPoint message.
UnpackCartesianSelectionVectorMessage	Conversions	Behavior	Unpack behavior for a moveit_pro_controllers_msgs::msg::CartesianSelectionVector message.
UnpackCartesianTrajectoryMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::CartesianTrajectory message.
UnpackCartesianTrajectoryPointMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::CartesianTrajectoryPoint message.
UnpackChannelFloat32Message	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::ChannelFloat32 message.
UnpackCharMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Char message.
UnpackClientInfoMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::ClientInfo message.
UnpackCollisionObjectMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::CollisionObject message.
UnpackColorRGBAMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::ColorRGBA message.
UnpackCompressedImageMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::CompressedImage message.
UnpackConstraintEvalResultMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::ConstraintEvalResult message.
UnpackConstraintsMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::Constraints message.
UnpackContactInformationMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::ContactInformation message.
UnpackCostSourceMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::CostSource message.
UnpackDisplayRobotStateMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::DisplayRobotState message.
UnpackDisplayTrajectoryMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::DisplayTrajectory message.
UnpackDurationMessage	Conversions	Behavior	Unpack behavior for a builtin_interfaces::msg::Duration message.
UnpackEmptyMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Empty message.
UnpackEndEffectorMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::EndEffector message.
UnpackEventMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::Event message.
UnpackFaultStatusMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::FaultStatus message.
UnpackFloat32Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Float32 message.
UnpackFloat32MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Float32MultiArray message.
UnpackFloat64Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Float64 message.
UnpackFloat64MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Float64MultiArray message.
UnpackFluidPressureMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::FluidPressure message.
UnpackGenericTrajectoryMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::GenericTrajectory message.
UnpackGraspInfoMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::GraspInfo message.
UnpackGraspMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::Grasp message.
UnpackGraspableFaceMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::GraspableFace message.
UnpackGraspableObjectMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::GraspableObject message.
UnpackGripperTranslationMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::GripperTranslation message.
UnpackHeaderMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Header message.
UnpackIlluminanceMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::Illuminance message.
UnpackImageMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::Image message.
UnpackImuMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::Imu message.
UnpackInertiaMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Inertia message.
UnpackInertiaStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::InertiaStamped message.
UnpackInt16Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int16 message.
UnpackInt16MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int16MultiArray message.
UnpackInt32Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int32 message.
UnpackInt32MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int32MultiArray message.
UnpackInt64Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int64 message.
UnpackInt64MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int64MultiArray message.
UnpackInt8Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int8 message.
UnpackInt8MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::Int8MultiArray message.
UnpackJointConstraintMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::JointConstraint message.
UnpackJointLimitsMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::JointLimits message.
UnpackJointStateMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::JointState message.
UnpackJointTrajectoryMessage	Conversions	Behavior	Unpack behavior for a trajectory_msgs::msg::JointTrajectory message.
UnpackJointTrajectoryPointMessage	Conversions	Behavior	Unpack behavior for a trajectory_msgs::msg::JointTrajectoryPoint message.
UnpackJointVelocityControllerStateMessage	Conversions	Behavior	Unpack behavior for a moveit_pro_controllers_msgs::msg::JointVelocityControllerState message.
UnpackJoyFeedbackArrayMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::JoyFeedbackArray message.
UnpackJoyFeedbackMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::JoyFeedback message.
UnpackJoyMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::Joy message.
UnpackJsonMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::Json message.
UnpackKinematicSolverInfoMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::KinematicSolverInfo message.
UnpackLaserEchoMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::LaserEcho message.
UnpackLaserScanMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::LaserScan message.
UnpackLicenseInfoMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::LicenseInfo message.
UnpackLinkPaddingMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::LinkPadding message.
UnpackLinkScaleMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::LinkScale message.
UnpackLogMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::Log message.
UnpackMagneticFieldMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::MagneticField message.
UnpackMask2DMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::Mask2D message.
UnpackMask3DMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::Mask3D message.
UnpackMotionPlanDetailedResponseMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MotionPlanDetailedResponse message.
UnpackMotionPlanRequestMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MotionPlanRequest message.
UnpackMotionPlanResponseMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MotionPlanResponse message.
UnpackMotionSequenceItemMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MotionSequenceItem message.
UnpackMotionSequenceRequestMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MotionSequenceRequest message.
UnpackMotionSequenceResponseMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MotionSequenceResponse message.
UnpackMoveItErrorCodesMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::MoveItErrorCodes message.
UnpackMtcTaskDataMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_internal_msgs::msg::MtcTaskData message.
UnpackMultiArrayDimensionMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::MultiArrayDimension message.
UnpackMultiArrayLayoutMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::MultiArrayLayout message.
UnpackMultiDOFJointStateMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::MultiDOFJointState message.
UnpackMultiDOFJointTrajectoryMessage	Conversions	Behavior	Unpack behavior for a trajectory_msgs::msg::MultiDOFJointTrajectory message.
UnpackMultiDOFJointTrajectoryPointMessage	Conversions	Behavior	Unpack behavior for a trajectory_msgs::msg::MultiDOFJointTrajectoryPoint message.
UnpackMultiEchoLaserScanMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::MultiEchoLaserScan message.
UnpackNavSatFixMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::NavSatFix message.
UnpackNavSatStatusMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::NavSatStatus message.
UnpackObjectColorMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::ObjectColor message.
UnpackObjectDetectionArrayMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::ObjectDetectionArray message.
UnpackObjectDetectionMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::ObjectDetection message.
UnpackObjectSubframeMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::ObjectSubframe message.
UnpackObjectiveServerStatusMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::ObjectiveServerStatus message.
UnpackOrientationConstraintMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::OrientationConstraint message.
UnpackOrientedBoundingBoxMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::OrientedBoundingBox message.
UnpackPipelineStateMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PipelineState message.
UnpackPlaceLocationMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlaceLocation message.
UnpackPlannerInterfaceDescriptionMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlannerInterfaceDescription message.
UnpackPlannerParamsMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlannerParams message.
UnpackPlanningGroupMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::PlanningGroup message.
UnpackPlanningOptionsMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlanningOptions message.
UnpackPlanningSceneComponentsMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlanningSceneComponents message.
UnpackPlanningSceneMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlanningScene message.
UnpackPlanningSceneWorldMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PlanningSceneWorld message.
UnpackPoint32Message	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Point32 message.
UnpackPointCloud2Message	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::PointCloud2 message.
UnpackPointCloudMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::PointCloud message.
UnpackPointCloudPCDMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_vision_msgs::msg::PointCloudPCD message.
UnpackPointFieldMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::PointField message.
UnpackPointMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Point message.
UnpackPointStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::PointStamped message.
UnpackPolygonMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Polygon message.
UnpackPolygonStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::PolygonStamped message.
UnpackPose2DMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Pose2D message.
UnpackPoseArrayMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::PoseArray message.
UnpackPoseMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Pose message.
UnpackPoseStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::PoseStamped message.
UnpackPoseWithCovarianceMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::PoseWithCovariance message.
UnpackPoseWithCovarianceStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::PoseWithCovarianceStamped message.
UnpackPositionConstraintMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PositionConstraint message.
UnpackPositionIKRequestMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::PositionIKRequest message.
UnpackQuaternionMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Quaternion message.
UnpackQuaternionStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::QuaternionStamped message.
UnpackRangeMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::Range message.
UnpackRegionOfInterestMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::RegionOfInterest message.
UnpackRelativeHumidityMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::RelativeHumidity message.
UnpackRequestStatusMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_sdk_msgs::msg::RequestStatus message.
UnpackRobotJointStateMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::RobotJointState message.
UnpackRobotStateMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::RobotState message.
UnpackRobotTrajectoryMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::RobotTrajectory message.
UnpackServoStatusMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::ServoStatus message.
UnpackStringMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::String message.
UnpackTF2ErrorMessage	Conversions	Behavior	Unpack behavior for a tf2_msgs::msg::TF2Error message.
UnpackTFMessageMessage	Conversions	Behavior	Unpack behavior for a tf2_msgs::msg::TFMessage message.
UnpackTeleoperationModeMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_sdk_msgs::msg::TeleoperationMode message.
UnpackTemperatureMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::Temperature message.
UnpackTimeMessage	Conversions	Behavior	Unpack behavior for a builtin_interfaces::msg::Time message.
UnpackTimeReferenceMessage	Conversions	Behavior	Unpack behavior for a sensor_msgs::msg::TimeReference message.
UnpackTrajectoryConstraintsMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::TrajectoryConstraints message.
UnpackTransformMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Transform message.
UnpackTransformStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::TransformStamped message.
UnpackTwistMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Twist message.
UnpackTwistStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::TwistStamped message.
UnpackTwistWithCovarianceMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::TwistWithCovariance message.
UnpackTwistWithCovarianceStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::TwistWithCovarianceStamped message.
UnpackUInt16Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt16 message.
UnpackUInt16MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt16MultiArray message.
UnpackUInt32Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt32 message.
UnpackUInt32MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt32MultiArray message.
UnpackUInt64Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt64 message.
UnpackUInt64MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt64MultiArray message.
UnpackUInt8Message	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt8 message.
UnpackUInt8MultiArrayMessage	Conversions	Behavior	Unpack behavior for a std_msgs::msg::UInt8MultiArray message.
UnpackVector3Message	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Vector3 message.
UnpackVector3StampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Vector3Stamped message.
UnpackVelocityForceCommandMessage	Conversions	Behavior	Unpack behavior for a moveit_pro_controllers_msgs::msg::VelocityForceCommand message.
UnpackVelocityForceControllerStateMessage	Conversions	Behavior	Unpack behavior for a moveit_pro_controllers_msgs::msg::VelocityForceControllerState message.
UnpackVelocityStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::VelocityStamped message.
UnpackVisibilityConstraintMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::VisibilityConstraint message.
UnpackWaypointMessage	Conversions	Behavior	Unpack behavior for a moveit_studio_agent_msgs::msg::Waypoint message.
UnpackWorkspaceParametersMessage	Conversions	Behavior	Unpack behavior for a moveit_msgs::msg::WorkspaceParameters message.
UnpackWrenchMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::Wrench message.
UnpackWrenchStampedMessage	Conversions	Behavior	Unpack behavior for a geometry_msgs::msg::WrenchStamped message.
UpdatePlanningSceneService	Perception - 3D Point Cloud	Behavior	Updates the planning scene's collision octree using the provided point cloud, and waits until the octree has finished updating.
ValidateTrajectory	Motion - Planning	Behavior	Checks if a joint trajectory is valid, given a model of the scene. This Behavior checks that `joint_trajectory_msg` is collision-free at a given density (`joint_space_step` and `cartesian_space_step`). The model of the scene is constructed from the contents of `planning_scene_msg`. Use the `GetCurrentPlanningScene` Behavior to obtain the current scene model around the robot. The Behavior succeeds if the trajectory is valid on the given scene, or fails otherwise. If any case, the `debug_solution` output port will contain an MTCSolution message that can be used with the `WaitForUserTrajectoryApproval' Behavior for visualization.
Vector Subtrees Example	Vector Handling	Objective	Demonstrates CreateVector, AddToVector, and Find Nearest Pose in Path subtree Objectives. Requires ConverterBehaviorsLoader.
Vector and String Example	Vector Handling	Objective	Showcases creating, inserting, replacing, and removing strings from a vector, as well as reading strings from file and publishing them to ROS.
Visualize Segmented Point Cloud	Perception - ML	Objective	Publish segmented point cloud to the UI.
VisualizeMesh	Visualization	Behavior	Publishes a marker that contains a mesh path to the UI for visualization. This Behavior composes a visualization_msgs::msg::Marker message which contains the path to the mesh to visualize. If all inputs are valid, this Behavior will publish the visualization_msgs::msg::Marker message it creates to a ROS topic named moveit_pro/mesh_publisher and then finally exit with a SUCCESS status code. Note: To view the marker in RViz, the mesh_path must be prepended with and relative to package://package_name/.
VisualizePath	Visualization	Behavior	Visualizes a path, given as a vector of stamped poses.
VisualizePose	Visualization	Behavior	Visualizes a pose, given as a PoseStamped message.
Wait for Trajectory Approval if User Available	User Input	Objective	Preview a shared pointer to an MTC Solution object via an input data port if a user is available.
WaitAndPopSolutionQueue	Motion - Task Planning	Behavior	Wait for an MTC solution queue to contain values, pop queue and write the next solution to output port.
WaitForDuration	Utility	Behavior	Wait for a specified duration before succeeding.
WaitForUserTrajectoryApproval	User Input	Behavior	Takes a shared pointer to an MTC Solution object via an input data port, and publishes the lowest-cost trajectory in that Solution on the "/preview_solution" topic. Creates a SetBool service server on the "/execute_behavior_solution" topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting.
WhichObjectIsAttached	Perception - Planning Scene	Behavior	Checks a PlanningScene to determine if an object is attached from a given vector of object names.
WhileDoElse	Control Flow	Control Node	WhileDoElse must have exactly 2 or 3 children. It is a REACTIVE node of IfThenElseNode.The first child is the "statement" that is executed at each tickIf result is SUCCESS, the second child is executed.If result is FAILURE, the third child is executed.If the 2nd or 3d child is RUNNING and the statement changes, the RUNNING child will be stopped before starting the sibling.
WriteCalibratedPoseToYaml Deprecated	YAML Handling	Behavior	Write pose (x,y,z, roll, pitch, yaw) to YAML file. This behavior is meant to be called after the Calibrate Pose Action. Note: The behavior saves the calibrated_pose into the ~/.config/moveit_studio/calibration folder
_Scan Scene	Uncategorized	Objective	Move robot out of scene to enable full snapshot of scene.
show grasp_link	Application - Advanced Examples	Objective

Behaviors Hub

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