# 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*. 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). ## Roadmap **Feedback and contributions are very welcome.** The current roadmap is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.