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15 lines
930 B
Markdown
15 lines
930 B
Markdown
# MoveIt Task Constructor Framework
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The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of *multiple interdependent* subtasks.
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It draws on the planning capabilities of [MoveIt](https://moveit.ros.org/) to solve individual subproblems in black-box *planning stages*.
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A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.
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The framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.
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For more details, please refer to the associated [ICRA 2019 publication](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
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## Roadmap
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**Feedback and contributions are very welcome.**
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The current roadmap is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.
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