Skip to content
An approach to hierarchical, multi-stage manipulation planning
C++ CMake
Branch: master
Clone or download
Pull request Compare This branch is 82 commits behind ros-planning:master.
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
capabilities
core
msgs
rviz_marker_tools
visualization
.gitignore
.rosinstall
.travis.yml
LICENSE.txt
README.md

README.md

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.

You can’t perform that action at this time.