{"id":13762057,"url":"https://github.com/moveit/moveit_task_constructor","last_synced_at":"2025-05-16T04:03:52.628Z","repository":{"id":20473974,"uuid":"84737486","full_name":"moveit/moveit_task_constructor","owner":"moveit","description":"A hierarchical multi-stage manipulation 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MoveIt Task Constructor Framework\n\nThe Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks.\nIt draws on the planning capabilities of [MoveIt](https://moveit.ros.org/) to solve individual subproblems in black-box *planning stages*.\nA common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.\nThe framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.\n\n## Branches\n\nThis repository provides the following branches:\n\n- **master**: ROS 1 development\n- **ros2**: ROS 2 development, compatible with MoveIt 2 `main`\n- **humble**: ROS 2 stable branch for Humble support\n\n## Videos\n\n- Demo video associated with [ICRA 2019 paper](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf)\n\n  [![](https://img.youtube.com/vi/fCORKVYsdDI/0.jpg)](https://www.youtube.com/watch?v=fCORKVYsdDI)\n\n- [Presentation @ ROSCon 2018 (Madrid)](https://vimeo.com/293432325)\n- [Presentation @ MoveIt workshop 2019 (Macau)](https://www.youtube.com/watch?v=a8r7O2bs1Mc)\n\n## Tutorial\n\nWe provide a tutorial for a pick-and-place pipeline without bells \u0026 whistles [as part of the MoveIt tutorials](https://moveit.github.io/moveit_tutorials/doc/moveit_task_constructor/moveit_task_constructor_tutorial.html).\n\n## Roadmap\n\n**Feedback, reports and contributions are very welcome.**\n\nThe current roadmap is to replace MoveIt's old pick\u0026place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.\n\nFurther planned features include\n\n- Entwined planning and execution for early execution, monitoring and code hooks\n- Subsolution blending\n- Parallel planning\n- Iterative solution improvement\n\nIdeas and requests for other interesting/useful features are welcome.\n\n## Citation\n\nIf you use this framework in your project, please cite the associated paper:\n\nMichael Görner*, Robert Haschke*, Helge Ritter, and Jianwei Zhang,\n\"MoveIt! Task Constructor for Task-Level Motion Planning\",\n_International Conference on Robotics and Automation (ICRA)_, 2019, Montreal, Canada.\n[[DOI]](https://doi.org/10.1109/ICRA.2019.8793898) [[PDF]](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).\n\n\n```plain\n@inproceedings{goerner2019mtc,\n  title={{MoveIt! Task Constructor for Task-Level Motion Planning}},\n  author={Görner, Michael* and Haschke, Robert* and Ritter, Helge and Zhang, Jianwei},\n  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},\n  year={2019}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmoveit%2Fmoveit_task_constructor","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmoveit%2Fmoveit_task_constructor","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmoveit%2Fmoveit_task_constructor/lists"}