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Scripts

Utility scripts for maintaining the PickNik website, in particular the Behaviors Hub.

How to update the Behavior Hub data source

These steps allow you to get the updated behaviors.xml, which should happen every release.

# In moveitpro repo when your REST API is running, get the generated XML data
curl -X GET http://localhost:3200/behaviors/data > behaviors_raw.xml

enrich_behaviors_with_usage.py

Enhances behaviors_raw.xml with usage information (Metadata fields with used_in attribute) showing which Objectives use each behavior.

Run this script in moveit_pro_example_ws workspace.

Prerequisites

  1. Save behaviors_raw.xml (downloaded from REST API) to the scripts/ directory in moveit_pro_example_ws workspace.

Usage

# From moveit_pro_example_ws root directory
python3 scripts/enrich_behaviors_with_usage.py --xml scripts/behaviors_raw.xml --workspace . --output scripts/behaviors_with_usage.xml

# Example with custom workspace path
python3 scripts/enrich_behaviors_with_usage.py --xml scripts/behaviors_raw.xml --workspace /path/to/workspace --output scripts/behaviors_with_usage.xml

What it does

  • Discovers all robot configs in the workspace
  • Extracts which Objectives use which behaviors by parsing Objective XML files
  • Preserves all existing XML data (ports, metadata, etc.)
  • Adds Metadata elements with used_in attribute to each behavior's MetadataFields showing:
    • Which configs use the behavior
    • Which Objectives use the behavior
    • The file path of each Objective
    • The usage type (Action, Control, Decorator, SubTree)
  • The used_in attribute contains a JSON array of usage objects
  • Outputs enhanced XML file ready for conversion to JSON

Requirements

  • Python 3
  • PyYAML (pip install pyyaml)
  • behaviors_raw.xml file (from REST API endpoint)
  • moveit_pro_example_ws workspace with robot configs

update_behaviors_from_xml.py

Updates _data/behaviors.json with port information and metadata extracted from behaviors_with_usage.xml.

Run this script in the PickNik website repository.

Usage

# From project root
python scripts/update_behaviors_from_xml.py [path_to_behaviors_with_usage.xml]

# Example with default path
python scripts/update_behaviors_from_xml.py

# Example with custom XML path
python scripts/update_behaviors_from_xml.py /path/to/behaviors_with_usage.xml

What it does

  • Extracts port information (input, output, input/output) from XML Action and SubTree elements
  • Extracts metadata (subcategory, description, deprecated status)
  • Extracts used_in information from Metadata elements with used_in attribute (if present)
  • Updates existing behaviors in JSON or adds new ones
  • Preserves existing data like links and other fields
  • Updates the export date

Complete Workflow

# 1. In moveitpro repo - Get behaviors.xml from REST API and save to scripts/ directory
curl -X GET http://localhost:3200/behaviors/data > scripts/behaviors_raw.xml

# 2. In moveit_pro_example_ws root - Enhance XML with usage information
python3 scripts/enrich_behaviors_with_usage.py --xml scripts/behaviors_raw.xml --workspace . --output scripts/behaviors_with_usage.xml

# 3. In PickNik website repo - Convert to JSON
python scripts/update_behaviors_from_xml.py _data/behaviors_with_usage.xml