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/