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Removed project title from README.md.
…me/fbot_manipulator into feat/mtc_implementation
luizlost01
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Feb 21, 2026
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for me it's all good, just need to test the points mentioned, and test in the robot computer
| stage->setMonitoredStage(attach_object_stage); | ||
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| auto wrapper = std::make_unique<mtc::stages::ComputeIK>("place pose IK", std::move(stage)); | ||
| wrapper->setMaxIKSolutions(4); |
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I think we should add more solution because during testing this is very volatile and has a lot of errors, somewhere between 10
Of course we need to test this on the robot computer to see if there is too much stress, but I think it's ok
| stage->setMonitoredStage(current_state); | ||
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| auto wrapper = std::make_unique<mtc::stages::ComputeIK>("grasp pose IK", std::move(stage)); | ||
| wrapper->setMaxIKSolutions(2); |
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only 2 is very susceptible to errors, we should probably add more
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This PR introduces a full MoveIt Task Constructor (MTC) based manipulation pipeline, replacing the previous task primitives with a structure task architecture.
Changes
New Features
manipulation_task_server.cpp): ROS 2 action server that receivesManipulationTaskaction goals and dispatches to the appropriate MTC task (pick, place, or pick-and-place)MtcTask,MtcPickTask,MtcPlaceTask, andMtcPickAndPlaceTaskwith full MTC stage pipelinesManipulationTask.action): Defined goal/result/feedback interface for the manipulation task servermtc_config.yaml): Added configuration for grasp offsets and MTC planning parametersRemoved
task_primitives.hpp,tasks/pick_task.*, andtasks/task.hppreplaced by the new MTC structureDocs