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.
- Command-line planner command
- Task-motion plan visualization
- General, constraint-based task planning
Via git:
git clone https://github.com/kavrakilab/tmkit.git
cd tmsmt && autoreconf -i
./configure && make && make install
- Manual: http://tmkit.kavrakilab.org/ and
./doc/manual/ - Examples
./demos/