diff --git a/README.md b/README.md index 50a6f45b..9a61ef1e 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,14 @@ -# MoveIt! Task Constructor Framework +# MoveIt Task Constructor Framework 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*. +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). -**The framework is still under development. The API is unstable and incomplete.** +## Roadmap **Feedback and contributions are very welcome.** -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 roadmap 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).