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Separate planning approaches (using MoveIt pipeline or computeCartesianPath) from stages. This allows to reuse planning in various stages without code duplication. Reworked stages: Move -> Connect Gripper + CartesianPositionMotion -> MoveTo CartesianPositionMotion -> MoveRelative |
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| .. | ||
| demo | ||
| include/moveit/task_constructor | ||
| src | ||
| test | ||
| CMakeLists.txt | ||
| motion_planning_stages_plugin_description.xml | ||
| package.xml | ||