Task-Motion Kit

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

• TMKit supports:
  • Task Domains defined in the de-facto standard PDDL format.
  • Motion Domains defined in URDF or compact Scene Files.
  • Task-Motion Interaction defined using custom functions.
• TMKit provides:
  • A command-line planner interface.
  • Plain text plan output.
  • Integrated visualization.
• TMKit uses:
  • A new, incremental planning algorithm.
  • The Z3 theorem prover.
  • The Open Motion Planning Library (OMPL).

Getting Started

• Download
• Installation
• Tutorial
• License: 3-clause BSD (permissive)
• Citations