MTC功能包
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Robert Haschke f45a4e3e2c improve validation
- postpone pruning / interface auto-detection to top task-level
  only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
  only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
core improve validation 2018-02-19 01:05:56 +01:00
msgs Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties' 2018-02-12 23:35:01 +01:00
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visualization rviz plugin: fix segfault 2018-02-16 16:01:05 +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.