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# moveit_task_constructor # MoveIt! Task Constructor Framework
An approach to forward multi-step manipulation planning
**The framework is currently under development. The API is unstable and incomplete.** The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of *multiple interdependent* subtasks.
It draws on the planning capabilities of [MoveIt!](https://moveit.ros.org/) to solve individual subproblems in black-box *planning stages*.
A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.
The framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.
For more details, please refer to the associated [ICRA 2019 publication](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
**Feedback is very welcome.** **The framework is still under development. The API is unstable and incomplete.**
This project enables the user to specify and plan *complex manipulation actions* in terms of successive *planning stages*. **Feedback and contributions are very welcome.**
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. The current aim is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.
The software repository is compatible to MoveIt's Melodic branch, which also works on Kinetic (when compiled from source).