The Task-Motion Kit (TMKit) is a framework for Task and Motion Planning. Everyday activities, e.g., setting a table or making coffee, combine discrete decisions about objects and actions with geometric decisions about collision free motion. TMKit jointly reasons about task-level objectives, i.e., choosing actions and objects, and motion-level objectives, i.e., finding collision free paths.
Features
- PDDL Task Domains
- URDF and Scene File Motion Domains
- Incremental, Constraint-Based Planner
- Plan Visualization
- Command-line Planner Interface
Installation
Obtaining
Via git:
git clone https://github.com/kavrakilab/tmkit.git
cd tmsmt && autoreconf -i
Building
./configure && make && make install
DOCUMENTATION
- Manual: http://tmkit.kavrakilab.org/ and
./doc/manual/ - Examples
./demos/