├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── ci.yaml │ ├── format.yaml │ ├── lsan.suppressions │ └── prerelease.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── LICENSE.txt ├── README.md ├── capabilities ├── CHANGELOG.rst ├── CMakeLists.txt ├── capabilities_plugin_description.xml ├── package.xml └── src │ ├── execute_task_solution_capability.cpp │ └── execute_task_solution_capability.h ├── codecov.yaml ├── core ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── Doxyfile │ ├── _templates │ │ ├── custom-class-template.rst │ │ └── custom-module-template.rst │ ├── api.rst │ ├── basics.rst │ ├── concepts.rst │ ├── conf.py │ ├── howto.rst │ ├── index.rst │ ├── requirements.txt │ ├── troubleshooting.rst │ └── tutorials │ │ ├── cartesian.rst │ │ ├── first-steps.rst │ │ ├── index.rst │ │ ├── pick-and-place.rst │ │ └── properties.rst ├── include │ └── moveit │ │ ├── python │ │ └── task_constructor │ │ │ └── properties.h │ │ └── task_constructor │ │ ├── container.h │ │ ├── container_p.h │ │ ├── cost_queue.h │ │ ├── cost_terms.h │ │ ├── fmt_p.h │ │ ├── introspection.h │ │ ├── marker_tools.h │ │ ├── merge.h │ │ ├── moveit_compat.h │ │ ├── properties.h │ │ ├── solvers.h │ │ ├── solvers │ │ ├── cartesian_path.h │ │ ├── joint_interpolation.h │ │ ├── multi_planner.h │ │ ├── pipeline_planner.h │ │ └── planner_interface.h │ │ ├── stage.h │ │ ├── stage_p.h │ │ ├── stages.h │ │ ├── stages │ │ ├── compute_ik.h │ │ ├── connect.h │ │ ├── current_state.h │ │ ├── fix_collision_objects.h │ │ ├── fixed_cartesian_poses.h │ │ ├── fixed_state.h │ │ ├── generate_grasp_pose.h │ │ ├── generate_place_pose.h │ │ ├── generate_pose.h │ │ ├── generate_random_pose.h │ │ ├── limit_solutions.h │ │ ├── modify_planning_scene.h │ │ ├── move_relative.h │ │ ├── move_to.h │ │ ├── noop.h │ │ ├── passthrough.h │ │ ├── pick.h │ │ ├── predicate_filter.h │ │ └── simple_grasp.h │ │ ├── storage.h │ │ ├── task.h │ │ ├── task_p.h │ │ ├── trajectory_execution_info.h │ │ ├── type_traits.h │ │ └── utils.h ├── motion_planning_stages_plugin_description.xml ├── package.xml ├── python │ ├── CMakeLists.txt │ ├── bindings │ │ ├── CMakeLists.txt │ │ └── src │ │ │ ├── core.cpp │ │ │ ├── core.h │ │ │ ├── module.cpp │ │ │ ├── properties.cpp │ │ │ ├── solvers.cpp │ │ │ ├── stages.cpp │ │ │ ├── stages.h │ │ │ └── utils.h │ ├── src │ │ └── moveit │ │ │ ├── __init__.py │ │ │ └── task_constructor │ │ │ ├── __init__.py │ │ │ ├── core.py │ │ │ └── stages.py │ └── test │ │ ├── rostest_mps.py │ │ ├── rostest_mtc.py │ │ ├── rostest_mtc.test │ │ ├── rostest_trampoline.py │ │ └── test_mtc.py ├── rosdoc.yaml ├── setup.py ├── src │ ├── CMakeLists.txt │ ├── container.cpp │ ├── cost_terms.cpp │ ├── introspection.cpp │ ├── marker_tools.cpp │ ├── merge.cpp │ ├── properties.cpp │ ├── solvers │ │ ├── cartesian_path.cpp │ │ ├── joint_interpolation.cpp │ │ ├── multi_planner.cpp │ │ ├── pipeline_planner.cpp │ │ └── planner_interface.cpp │ ├── stage.cpp │ ├── stages │ │ ├── CMakeLists.txt │ │ ├── compute_ik.cpp │ │ ├── connect.cpp │ │ ├── current_state.cpp │ │ ├── fix_collision_objects.cpp │ │ ├── fixed_cartesian_poses.cpp │ │ ├── fixed_state.cpp │ │ ├── generate_grasp_pose.cpp │ │ ├── generate_place_pose.cpp │ │ ├── generate_pose.cpp │ │ ├── generate_random_pose.cpp │ │ ├── limit_solutions.cpp │ │ ├── modify_planning_scene.cpp │ │ ├── move_relative.cpp │ │ ├── move_to.cpp │ │ ├── passthrough.cpp │ │ ├── pick.cpp │ │ ├── plugins.cpp │ │ ├── predicate_filter.cpp │ │ └── simple_grasp.cpp │ ├── storage.cpp │ ├── task.cpp │ └── utils.cpp └── test │ ├── CMakeLists.txt │ ├── gtest_value_printers.cpp │ ├── gtest_value_printers.h │ ├── models.cpp │ ├── models.h │ ├── move_relative.test │ ├── move_to.test │ ├── pick_pa10.cpp │ ├── pick_pa10.test │ ├── pick_pr2.cpp │ ├── pick_pr2.test │ ├── pick_ur5.cpp │ ├── pick_ur5.test │ ├── stage_mockups.cpp │ ├── stage_mockups.h │ ├── test_container.cpp │ ├── test_cost_queue.cpp │ ├── test_cost_terms.cpp │ ├── test_fallback.cpp │ ├── test_interface_state.cpp │ ├── test_limit_solutions.cpp │ ├── test_mockups.cpp │ ├── test_move_relative.cpp │ ├── test_move_to.cpp │ ├── test_properties.cpp │ ├── test_pruning.cpp │ ├── test_serial.cpp │ ├── test_stage.cpp │ ├── test_stage.launch │ └── test_storage.cpp ├── demo ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── mtc.rviz │ └── panda_config.yaml ├── include │ └── moveit_task_constructor_demo │ │ └── pick_place_task.h ├── launch │ ├── demo.launch │ └── pickplace.launch ├── package.xml ├── scripts │ ├── alternatives.py │ ├── cartesian.py │ ├── compute_ik.py │ ├── constrained.py │ ├── current_state.py │ ├── fallbacks.py │ ├── fix_collision_objects.py │ ├── fixed_state.py │ ├── generate_pose.py │ ├── merger.py │ ├── modify_planning_scene.py │ ├── multi_planner.py │ ├── pickplace.py │ └── properties.py ├── src │ ├── alternative_path_costs.cpp │ ├── cartesian.cpp │ ├── fallbacks_move_to.cpp │ ├── ik_clearance_cost.cpp │ ├── modular.cpp │ ├── pick_place_demo.cpp │ └── pick_place_task.cpp └── test │ ├── CMakeLists.txt │ ├── pick_place.test │ └── pick_place_test.cpp ├── msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── action │ └── ExecuteTaskSolution.action ├── msg │ ├── Property.msg │ ├── Solution.msg │ ├── SolutionInfo.msg │ ├── StageDescription.msg │ ├── StageStatistics.msg │ ├── SubSolution.msg │ ├── SubTrajectory.msg │ ├── TaskDescription.msg │ ├── TaskStatistics.msg │ └── TrajectoryExecutionInfo.msg ├── package.xml └── srv │ └── GetSolution.srv ├── rviz_marker_tools ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── rviz_marker_tools │ │ └── marker_creation.h ├── package.xml └── src │ └── marker_creation.cpp └── visualization ├── CHANGELOG.rst ├── CMakeLists.txt ├── icons └── classes │ └── Motion Planning Tasks.svg ├── motion_planning_tasks ├── CMakeLists.txt ├── properties │ ├── CMakeLists.txt │ ├── property_factory.cpp │ ├── property_factory.h │ └── property_from_yaml.cpp ├── src │ ├── CMakeLists.txt │ ├── factory_model.cpp │ ├── factory_model.h │ ├── global_settings.ui │ ├── icons.cpp │ ├── icons.h │ ├── icons │ │ ├── add.png │ │ ├── connectarrow.png │ │ ├── downarrow.png │ │ ├── failed.png │ │ ├── generatearrow.png │ │ ├── new-stage.png │ │ ├── settings.png │ │ ├── success.png │ │ ├── tasks.png │ │ ├── uparrow.png │ │ └── updownarrow.png │ ├── job_queue.cpp │ ├── job_queue.h │ ├── local_task_model.cpp │ ├── local_task_model.h │ ├── meta_task_list_model.cpp │ ├── meta_task_list_model.h │ ├── plugin_init.cpp │ ├── pluginlib_factory.h │ ├── remote_task_model.cpp │ ├── remote_task_model.h │ ├── resources.qrc │ ├── task_display.cpp │ ├── task_display.h │ ├── task_list_model.cpp │ ├── task_list_model.h │ ├── task_panel.cpp │ ├── task_panel.h │ ├── task_panel.ui │ ├── task_panel_p.h │ └── task_view.ui ├── test │ ├── CMakeLists.txt │ ├── test_merge_models.cpp │ ├── test_solution_models.cpp │ ├── test_task_model.cpp │ └── test_task_model.launch └── utils │ ├── CMakeLists.txt │ ├── 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