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15 lines
754 B
Markdown
15 lines
754 B
Markdown
# moveit_task_constructor
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An approach to forward multi-step manipulation planning
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**The framework is currently under development. The API is unstable and incomplete.**
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**Feedback is very welcome.**
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This project enables the user to specify and plan *complex manipulation actions* in terms of successive *planning stages*.
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Individual stages compute robot trajectories relative to their expected start *or end*.
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The resulting planning pipeline, i.e. Task, extends different candidate trajectories from key states (Generator stages)
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until it generated feasible trajectories that extend through all stages.
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The current aim 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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