The MoveIt Task Constructor Demo

The MoveIt Task Constructor is a framework that allows for the definition and planning of actions that consist of multiple interdependent subtasks. It uses the planning capabilities of MoveIt to solve individual subproblems in black-box planning stages and enables the hierarchical organization of basic stages using containers, allowing for sequential as well as parallel compositions. To get started, you can install MoveIt Task Constructor from source and run the pick-and-place demo. The framework is based on a common interface, using MoveIt's PlanningScene to pass solution hypotheses between stages. For more details, please refer to the associated documentation.