From 3a9bbb28f8525bf6b2f84d41e2a72e6c9826d13e Mon Sep 17 00:00:00 2001 From: v4hn Date: Fri, 8 Dec 2017 21:29:48 +0100 Subject: [PATCH] provide a minimalistic README.md --- README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 00000000..6b2f1783 --- /dev/null +++ b/README.md @@ -0,0 +1,14 @@ +# moveit_task_constructor +An approach to forward multi-step manipulation planning + +**The framework is currently under development. The API is unstable and incomplete.** + +**Feedback is very welcome.** + +This project enables the user to specify and plan *complex manipulation actions* in terms of successive *planning stages*. + +Individual stages compute robot trajectories relative to their expected start *or end*. +The resulting planning pipeline, i.e. Task, extends different candidate trajectories from key states (Generator stages) +until it generated feasible trajectories that extend through all stages. + +The current aim is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.