Note that while this ensures other stages outside the Fallbacks container can compute as well, it does not solve the problem internally. A new incoming state will only ever be considered once the current stage cannot compute any more. We have no way of telling a child to compute for *a specific state* for now. So once we copied a state to its interface we have to let it compute until all possibilities are exhausted to detect whether or not it could generate a solution for it. If we wouldn't do so, there were no way of knowing when to fall back to the next child as long as the stage can still compute on *any* copied solution. |
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| .github/workflows | ||
| capabilities | ||
| core | ||
| demo | ||
| msgs | ||
| rviz_marker_tools | ||
| visualization | ||
| .clang-format | ||
| .clang-tidy | ||
| .gitignore | ||
| .pre-commit-config.yaml | ||
| codecov.yaml | ||
| LICENSE.txt | ||
| README.md | ||
MoveIt Task Constructor Framework
The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks. It draws on the planning capabilities of MoveIt to solve individual subproblems in black-box planning stages. A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages. The framework enables the hierarchical organization of basic stages using containers, allowing for sequential as well as parallel compositions.
Video
Tutorial
We provide a tutorial for a pick-and-place pipeline without bells & whistles as part of the MoveIt tutorials.
Roadmap
Feedback, reports and contributions are very welcome.
The current roadmap is to replace MoveIt's old pick&place pipeline and provide a transparent mechanism to enable and debug complex motion sequences.
Further planned features include
- Entwined planning and execution for early execution, monitoring and code hooks
- Subsolution blending
- Parallel planning
- Iterative solution improvement
Ideas and requests for other interesting/useful features are welcome.
Citation
If you use this framework in your project, please cite the associated paper:
Michael Görner*, Robert Haschke*, Helge Ritter, and Jianwei Zhang, MoveIt! Task Constructor for Task-Level Motion Planning, International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada. [DOI] [PDF].
@inproceedings{goerner2019mtc,
title={{MoveIt! Task Constructor for Task-Level Motion Planning}},
author={Görner, Michael* and Haschke, Robert* and Ritter, Helge and Zhang, Jianwei},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2019}
}
