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MTC功能包
- store "failure" solutions to facilitate debugging - Introspection assigns solution IDs as soon as they are created in a stage Thus, solution IDs represent their creation order. In contrast, the order of publishing (in StageStatistics) should represent the cost order. - Storing failures is disabled if Introspection is not available. |
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| core | ||
| msgs | ||
| rviz_marker_tools | ||
| visualization | ||
| .gitignore | ||
| .travis.yml | ||
| LICENSE.txt | ||
| README.md | ||
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.