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* Improve general description of stage and container types * Clarify purpose of `CurrentState` stage * Add troubleshooting section
32 lines
1.3 KiB
ReStructuredText
32 lines
1.3 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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Organization of the documentation
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---------------------------------
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- :ref:`sec-tutorials` provide examples how to setup your task pipeline.
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Start with :ref:`subsec-tut-firststeps` if you are new to MTC.
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- :ref:`sec-concepts` discuss the architecture and terminology of MTC on a fairly high level.
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- :ref:`sec-howtoguides` help solving specific problems and use cases.
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- The :ref:`sec-api` provides quick access to available classes, functions, and their parameters.
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.. toctree::
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:maxdepth: 2
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:hidden:
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tutorials/index
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concepts
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howto
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api
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troubleshooting
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