MTC功能包
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Robert Haschke 18bf5246ed cleanup PlannerInterface
- remove group + timeout properties: they are passed as arguments to plan()
- move max_velocity_scaling_factor, max_acceleration_scaling_factor to PlannerInterface base class
2018-10-21 00:02:10 +02:00
capabilities fixup! a move_group capability to execute Task Solutions 2018-09-25 22:17:42 +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.