MTC功能包
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Robert Haschke 962fe2a42d reworked TaskSolution visualization
- code simplification
- allow slider interaction at any time
- keep last frame visible if animation finished
- animating_ is true iff animation is running
  (previously it was also used to indicate the end of an animation cycle)
2018-04-15 11:25:01 +02:00
core minor improvements: variable names, comments 2018-04-10 01:52:40 +02:00
msgs Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties' 2018-02-12 23:35:01 +01:00
rviz_marker_tools rviz marker tools 2018-02-04 09:00:54 +01:00
visualization reworked TaskSolution visualization 2018-04-15 11:25:01 +02:00
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.prepare_overlay.sh fix travis: build not yet released dependencies 2018-03-25 05:53:17 +02:00
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LICENSE.txt add full license information 2017-12-12 21:24:32 +01:00
README.md provide a minimalistic README.md 2017-12-08 21:29:48 +01:00

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.