From 70b498858346ff162c3160c4a542c7c9bef899f8 Mon Sep 17 00:00:00 2001
From: Griswald Brooks <griswald.brooks@gmail.com>
Date: Thu, 15 Oct 2026 15:15:02 -0400
Subject: [PATCH 1/2] fix(script): restore double-quoted string literals

The 4.9 tokenizer only recognized single quotes, so existing Script and
precondition expressions failed on their opening double quote. Recognize
both delimiters and require the closing quote to match the opening one.

Cover the reported Objective expressions, quote parity and malformed
strings, and XML Script/precondition attributes using &quot;.

Refs https://github.com/PickNikRobotics/moveit_pro/issues/23851
---
 src/script_tokenizer.cpp     |  6 +--
 tests/script_parser_test.cpp | 98 ++++++++++++++++++++++++++++++++++++
 2 files changed, 101 insertions(+), 3 deletions(-)

diff --git a/src/script_tokenizer.cpp b/src/script_tokenizer.cpp
index 591f1e4ee..98e3c4174 100644
--- a/src/script_tokenizer.cpp
+++ b/src/script_tokenizer.cpp
@@ -239,11 +239,11 @@ std::vector<Token> tokenize(const std::string& source)
 
     const size_t start = i;
 
-    // Single-quoted string literal
-    if(c == '\'')
+    // String literal: the closing quote must match the opening quote.
+    if(c == '\'' || c == '"')
     {
       ++i;
-      while(i < len && source[i] != '\'')
+      while(i < len && source[i] != c)
       {
         ++i;
       }
diff --git a/tests/script_parser_test.cpp b/tests/script_parser_test.cpp
index 2e2c5559d..64ed0b1c2 100644
--- a/tests/script_parser_test.cpp
+++ b/tests/script_parser_test.cpp
@@ -85,6 +85,104 @@ TEST(ParserTest, AnyTypes)
   EXPECT_EQ(result.value().cast<int>(), 0);
 }
 
+TEST(ParserTest, StringLiteralQuotes)
+{
+  struct TestCase
+  {
+    const char* script;
+    const char* expected;
+  };
+  const TestCase cases[] = {
+    { "'hello world '", "hello world " },
+    { R"("hello world ")", "hello world " },
+    { "''", "" },
+    { R"("")", "" },
+    { R"('say "hello"')", "say \"hello\"" },
+    { R"("it's ready")", "it's ready" },
+    { R"('path\to\file')", R"(path\to\file)" },
+    { R"("path\to\file")", R"(path\to\file)" },
+    { "'first\nsecond'", "first\nsecond" },
+    { "\"first\nsecond\"", "first\nsecond" },
+    { R"('single'.."double")", "singledouble" },
+  };
+  BT::Ast::Environment env = { BT::Blackboard::create(), {} };
+  for(const auto& test : cases)
+  {
+    SCOPED_TRACE(test.script);
+    auto result = BT::ParseScriptAndExecute(env, test.script);
+    ASSERT_TRUE(result.has_value());
+    EXPECT_EQ(result.value().cast<std::string>(), test.expected);
+  }
+
+  EXPECT_FALSE(BT::ValidateScript("'unterminated"));
+  EXPECT_FALSE(BT::ValidateScript(R"("unterminated)"));
+  EXPECT_FALSE(BT::ValidateScript(R"("mismatched')"));
+  EXPECT_FALSE(BT::ValidateScript(R"('mismatched")"));
+}
+
+TEST(ParserTest, DoubleQuotedObjectiveExpressions)
+{
+  BT::Ast::Environment env = { BT::Blackboard::create(), {} };
+  env.vars->set("viz_idx", 3);
+  env.vars->set("index", 2);
+  env.vars->set("prompt", std::string("bottles"));
+  env.vars->set("tool_object_name", std::string("tool"));
+  env.vars->set("execute_trajectories", std::string("true"));
+
+  EXPECT_EQ(GetScriptResult(env, R"(viz_marker_name:="place_pose_"..viz_idx)")
+                .cast<std::string>(),
+            "place_pose_3");
+  EXPECT_EQ(GetScriptResult(env, R"(mask_label:="mask "..index)").cast<std::string>(),
+            "mask 2");
+  EXPECT_EQ(
+      GetScriptResult(env, R"(header := "SAM3 prompt="..prompt)").cast<std::string>(),
+      "SAM3 prompt=bottles");
+  EXPECT_EQ(env.vars->get<std::string>("viz_marker_name"), "place_pose_3");
+  EXPECT_EQ(env.vars->get<std::string>("mask_label"), "mask 2");
+  EXPECT_EQ(env.vars->get<std::string>("header"), "SAM3 prompt=bottles");
+
+  EXPECT_EQ(GetScriptResult(env, R"(tool_object_name!="")").cast<int>(), 1);
+  EXPECT_EQ(GetScriptResult(env, R"(execute_trajectories == "true")").cast<int>(), 1);
+  GetScriptResult(env, R"(tool_object_name=""; execute_trajectories="false")");
+  EXPECT_EQ(GetScriptResult(env, R"(tool_object_name!="")").cast<int>(), 0);
+  EXPECT_EQ(GetScriptResult(env, R"(execute_trajectories == "true")").cast<int>(), 0);
+}
+
+TEST(ParserTest, DoubleQuotedXmlScriptAndPreconditions)
+{
+  BT::BehaviorTreeFactory factory;
+  const std::string xml_text = R"(
+  <root BTCPP_format="4">
+    <BehaviorTree ID="Main">
+      <Sequence>
+        <Script code="viz_marker_name:=&quot;place_pose_&quot;..viz_idx;
+                      mask_label:=&quot;mask &quot;..index;
+                      header := &quot;SAM3 prompt=&quot;..prompt"/>
+        <AlwaysSuccess _failureIf="tool_object_name!=&quot;&quot;"/>
+        <AlwaysFailure _successIf="execute_trajectories == &quot;true&quot;"/>
+      </Sequence>
+    </BehaviorTree>
+  </root>)";
+  auto blackboard = BT::Blackboard::create();
+  blackboard->set("viz_idx", 3);
+  blackboard->set("index", 2);
+  blackboard->set("prompt", std::string("bottles"));
+  blackboard->set("tool_object_name", std::string(""));
+  blackboard->set("execute_trajectories", std::string("true"));
+  auto tree = factory.createTreeFromText(xml_text, blackboard);
+
+  EXPECT_EQ(tree.tickWhileRunning(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(blackboard->get<std::string>("viz_marker_name"), "place_pose_3");
+  EXPECT_EQ(blackboard->get<std::string>("mask_label"), "mask 2");
+  EXPECT_EQ(blackboard->get<std::string>("header"), "SAM3 prompt=bottles");
+
+  blackboard->set("execute_trajectories", std::string("false"));
+  EXPECT_EQ(tree.tickWhileRunning(), BT::NodeStatus::FAILURE);
+  blackboard->set("execute_trajectories", std::string("true"));
+  blackboard->set("tool_object_name", std::string("tool"));
+  EXPECT_EQ(tree.tickWhileRunning(), BT::NodeStatus::FAILURE);
+}
+
 TEST(ParserTest, AnyTypes_Failing)
 {
   EXPECT_FALSE(BT::ValidateScript("0X100g"));

From 4be6540330338ee296550b0d660ddcc4c2b6a05f Mon Sep 17 00:00:00 2001
From: Griswald Brooks <griswald.brooks@gmail.com>
Date: Thu, 15 Oct 2026 15:27:59 -0400
Subject: [PATCH 2/2] no-mistakes(document): Drop stale lexy references from
 CLAUDE.md

---
 CLAUDE.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 4459bce1e..990bb2e3f 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -110,7 +110,7 @@ include/behaviortree_cpp/
 ├── controls/          # Control node headers
 ├── decorators/        # Decorator node headers
 ├── loggers/           # Logger headers
-├── scripting/         # Script parser (lexy-based)
+├── scripting/         # Script parser
 └── contrib/           # Third-party contributions
 ```
 
@@ -122,7 +122,7 @@ include/behaviortree_cpp/
 
 ### Vendored Dependencies
 
-All in `3rdparty/`: TinyXML2, cppzmq, flatbuffers, lexy, minicoro, minitrace. Controlled via `USE_VENDORED_*` CMake options.
+All in `3rdparty/`: TinyXML2, cppzmq, flatbuffers, minicoro, minitrace. Controlled via `USE_VENDORED_*` CMake options.
 
 ## Contributing