MoveIt Task Constructor (MTC) ============================= 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 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 `_. How the documentation is organized ---------------------------------- - :ref:`sec-tutorials` guide you through the initial learning process of setting up a task pipeline. Take a look at the :ref:`first steps ` if you are new to the moveit task constructor. - :ref:`sec-concepts` discuss the architecture and terminology of the moveit task constructor on a fairly high level. - :ref:`sec-howtoguides` help you to solve specific problems and use cases you might encounter. - The :ref:`sec-api` provides technical details of the python package. You may look up definitions here and should already have a basic understanding of the key concepts. .. toctree:: :maxdepth: 2 :hidden: tutorials concepts howtoguides reference