MTC功能包
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Rajendra Singh de79dedbfc
Generalised code for object_name
Previous code was generating the error on changing object_name in config/panda_config.yaml file because of this bug as here we are overwriting the object_name as "object" which brought the inconsistency in code.
2020-01-16 19:05:53 +05:30
capabilities avoid deprecation warnings of MoveIt master branch 2019-12-13 11:29:02 +01:00
core Task: don't publish solutions by default 2020-01-11 09:00:34 +01:00
demo Generalised code for object_name 2020-01-16 19:05:53 +05:30
msgs Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
rviz_marker_tools Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
visualization TaskPanel: execute selected solution 2020-01-11 09:15:11 +01:00
.clang-format Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
.gitignore add gitignore for vim swp 2017-02-28 11:12:18 +01:00
.rosinstall Demo package for tutorial (#104) 2019-10-08 17:30:45 +02:00
.travis.yml Travis: re-enable master build, enable code-coverage (#109) 2019-12-03 14:22:01 +01:00
LICENSE.txt add full license information 2017-12-12 21:24:32 +01:00
README.md README: clarify that the MTC is usable (#88) 2019-05-02 14:55:34 +02:00

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. For more details, please refer to the associated ICRA 2019 publication.

Roadmap

Feedback 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.