MTC功能包
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v4hn 13ad4d58f1 fixup! rename "goal" to "direction"
"Goal" implies a motion to a target configuration.
MoveRelative explicitly does not do that.

"Direction" is usually not used for rotations,
but perfectly valid to describe them.

I merged 544f574166
together with the first version of this rename
that got force-pushed because it was incomplete.
2018-10-22 17:07:00 +02:00
capabilities fixup! a move_group capability to execute Task Solutions 2018-09-25 22:17:42 +02:00
core fixup! rename "goal" to "direction" 2018-10-22 17:07:00 +02:00
msgs modified ExecuteTaskSolution.action 2018-09-25 22:17:42 +02:00
rviz_marker_tools fix cylinder markers 2018-09-25 22:16:45 +02:00
visualization fix compiler warnings in release mode 2018-10-17 01:55:28 +02:00
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moveit_task_constructor

An approach to forward multi-step manipulation planning

The framework is currently under development. The API is unstable and incomplete.

Feedback is very welcome.

This project enables the user to specify and plan complex manipulation actions in terms of successive planning stages.

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.