Add MTC to concepts #809
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Add MTC to concepts #809
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sea-bass
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Nov 1, 2023
doc/concepts/moveit_task_constructor/moveit_task_constructor.rst
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5 tasks
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I would prefer if you would augment the existing MTC documentation here instead of starting a new one. |
rhaschke
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Nov 30, 2023
Yep, I will do that today. Just organizing my thoughts here and addressing some reviews before I open a PR to MTC. |
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sea-bass
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doc/concepts/moveit_task_constructor/moveit_task_constructor.rst
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Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Sebastian Castro <[email protected]>
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adlarkin
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Jan 12, 2024
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| state.setToDefaultValues(state.getJointModelGroup("left_arm"), "home"); | ||
| state.setToDefaultValues(state.getJointModelGroup("right_arm"), "home"); | ||
| state.update(); | ||
| spawnObject(scene); // Add a CollisionObject to planning scene |
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Is this a user-defined function? If so, it'd be worth clarifying this so that readers don't try to call spawnObject without implementing it and then wonder why they're getting errors 🤔
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doc/concepts/moveit_task_constructor/moveit_task_constructor.rst
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Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
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MTC does not have a lot of docs and here is an attempt to make MTC easier to get started with.
This doc will go over what is an MTC task and the different kinds of stages and containers that can be added to an MTC task (with code examples).
I also want to add a detailed section on how to debug MTC tasks and MTC stage solutions.