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- create tutorial, how-to-guide, topic and reference chapters
- move implementation examples from api documentation into
how-to-guides
- create a documentation overview on the first page
41 lines
1.5 KiB
ReStructuredText
41 lines
1.5 KiB
ReStructuredText
MoveIt Task Constructor (MTC)
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=============================
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The Task Constructor framework provides a flexible and transparent way
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to define and plan actions that consist of multiple interdependent subtasks.
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It draws on the planning capabilities of MoveIt to solve individual subproblems
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in black-box planning stages.
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A common interface, based on MoveIt’s PlanningScene is used to pass solution
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hypotheses between stages. The framework enables the hierarchical organization of
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basic stages using containers, allowing for sequential as well as parallel compositions.
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For more details, please refer to the associated `ICRA 2019 publication <https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf>`_.
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How the documentation is organized
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----------------------------------
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- :ref:`sec-tutorials` guide you
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through the initial learning process of setting up a task pipeline.
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Take a look at the :ref:`first steps <subsec-tut-firststeps>` if you
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are new to the moveit task constructor.
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- :ref:`sec-concepts` discuss the architecture and terminology
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of the moveit task constructor on a fairly high level.
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- :ref:`sec-howtoguides` help you to solve
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specific problems and use cases you might encounter.
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- The :ref:`sec-api` provides
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technical details of the python package. You may
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look up definitions here and should already
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have a basic understanding of the key concepts.
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.. toctree::
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:maxdepth: 2
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:hidden:
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tutorials
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concepts
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howtoguides
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reference
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