MTC功能包
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Robert Haschke b6959170db derive WrapperBase from ContainerBase
While ParallelContainers can directly promote their child solutions as
their own, a Wrapper needs to modify those solutions. Hence, Wrappers
should be derived directly from Container.
2018-02-04 09:01:45 +01:00
core derive WrapperBase from ContainerBase 2018-02-04 09:01:45 +01:00
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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.