https://github.com/ros-planning/moveit_task_constructor

A hierarchical multi-stage manipulation planner
https://github.com/ros-planning/moveit_task_constructor

Last synced: 2 months ago
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A hierarchical multi-stage manipulation planner

• Host: GitHub
• URL: https://github.com/ros-planning/moveit_task_constructor
• Owner: ros-planning
• License: bsd-3-clause
• Created: 2017-03-12T15:47:58.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2024-04-02T08:40:29.000Z (2 months ago)
• Last Synced: 2024-04-02T09:55:09.108Z (2 months ago)
• Language: C++
• Homepage: https://ros-planning.github.io/moveit_task_constructor
• Size: 2.76 MB
• Stars: 158
• Watchers: 31
• Forks: 140
• Open Issues: 106
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.txt

Lists

• awesome-ros-deliberation - MoveIt Task Constructor - MoveIt add-on package that performs skeleton-based task and motion planning. (Packages)

README

        
# 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](https://moveit.ros.org/) 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.

## Branches

This repository provides the following branches:

- **master**: ROS 1 development

- **ros2**: ROS 2 development, compatible with MoveIt 2 `main`

- **humble**: ROS 2 stable branch for Humble support

## Videos

- Demo video associated with [ICRA 2019 paper](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf)

  [![](https://img.youtube.com/vi/fCORKVYsdDI/0.jpg)](https://www.youtube.com/watch?v=fCORKVYsdDI)

- [Presentation @ ROSCon 2018 (Madrid)](https://vimeo.com/293432325)

- [Presentation @ MoveIt workshop 2019 (Macau)](https://www.youtube.com/watch?v=a8r7O2bs1Mc)

## Tutorial

We provide a tutorial for a pick-and-place pipeline without bells & whistles [as part of the MoveIt tutorials](https://ros-planning.github.io/moveit_tutorials/doc/moveit_task_constructor/moveit_task_constructor_tutorial.html).

## Roadmap

**Feedback, reports 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.

Further planned features include

- Entwined planning and execution for early execution, monitoring and code hooks

- Subsolution blending

- Parallel planning

- Iterative solution improvement

Ideas and requests for other interesting/useful features are welcome.

## Citation

If you use this framework in your project, please cite the associated paper:

Michael Görner*, Robert Haschke*, Helge Ritter, and Jianwei Zhang,

"MoveIt! Task Constructor for Task-Level Motion Planning",

_International Conference on Robotics and Automation (ICRA)_, 2019, Montreal, Canada.

[[DOI]](https://doi.org/10.1109/ICRA.2019.8793898) [[PDF]](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).

```plain

@inproceedings{goerner2019mtc,

  title={{MoveIt! Task Constructor for Task-Level Motion Planning}},

  author={Görner, Michael* and Haschke, Robert* and Ritter, Helge and Zhang, Jianwei},

  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},

  year={2019}

}

```