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README.md
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# MoveIt Task Constructor Framework
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The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of *multiple interdependent* subtasks.
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The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks.
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It draws on the planning capabilities of [MoveIt](https://moveit.ros.org/) to solve individual subproblems in black-box *planning stages*.
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A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.
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The framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.
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For more details, please refer to the associated [ICRA 2019 publication](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
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## Video
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[](https://www.youtube.com/watch?v=fCORKVYsdDI)
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## Roadmap
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**Feedback and contributions are very welcome.**
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**Feedback, reports and contributions are very welcome.**
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The current roadmap is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.
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Further planned features include
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- Entwined planning and execution for early execution, monitoring and code hooks
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- Support custom cost terms
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- Subsolution blending
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- Parallel planning
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- Iterative solution improvement
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Ideas and requests for other interesting/useful features are welcome.
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## Citation
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If you use this framework in your project, please cite the associated paper:
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Michael Görner*, Robert Haschke*, Helge Ritter, and Jianwei Zhang,
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MoveIt! Task Constructor for Task-Level Motion Planning,
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International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada.
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[[DOI]](https://doi.org/10.1109/ICRA.2019.8793898) [PDF](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
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```plain
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@inproceedings{goerner2019mtc,
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title={{MoveIt! Task Constructor for Task-Level Motion Planning}},
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author={Görner, Michael* and Haschke, Robert* and Ritter, Helge and Zhang, Jianwei},
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booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
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year={2019}
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}
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```
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