Although ROS MoveIt! evolved to a quasi-standard for basic robot
planning, it lacks a modular and flexible framework to compose and
plan complex task sequences as they arise frequently in maniulation
tasks. The task constructor framework introduced in the talk is aiming
to fill this gap. It allows for hierarchical organization of basic
planning stages using containers. Both, serial and parallel containers
are supported to describe traditional sequential tasks as well as
alternatives or fallbacks respectively. The power of the framework is
illustrated in various pick-and-place scenarios, including bimanual
tasks. An interactive GUI to inspect solutions and failures as well as
to setup a task description rounds off the software.