MoveIt Task Constructor [MTC]

[simonGoldstein]

Description

With MTC gaining such popularity it is important to create an official tutorial for it. This is a basic tutorial modeled after the MoveIt Grasps tutorial. This links to the MTC repo to use the to be added demo package to show the panda in a simple pick and place scenario. The PR to add the demo can he found here

This shows how the different stage types and ideas are described.

The reason the build fails is because the Edit this page link destination doesn't exist as this is a new tutorial

Checklist

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[rhaschke]

Thanks for this first contribution. I pushed some improvements to the wording.
As suggested in moveit/moveit_task_constructor#104 (review), I suggest to put the corresponding code next to the tutorial.
For the future, I think we should split the MTC tutorial(s) into multiple pages, discussing

• the overall concept and usage (as provided by this PR)
• task pipeline configuration
• property inheritance
• and programmatic extension (programming new stages)

in separate sub tutorials. Would be great, if you could prepare the infrastructure for this.