TMKit Lisp API

Table of Contents

• The TMSMT dictionary
  • TM-OP
  • TM-OP-ACTION
  • TM-OP-ACTION
  • TM-OP-MOTION
  • TM-OP-MOTION
  • TM-OP-NOP
  • TM-OP-NOP
  • TM-OP-REPARENT
  • TM-OP-REPARENT
  • TM-PLAN
  • TM-PLAN
  • TM-PLAN-ENDPOINT
  • TM-PLAN-MOTION-PLANS
  • TMP-DRIVER
  • TMP-REFINE

SMT-based planner

The TMSMT dictionary

TM-OP

[standard class]

Abstract type for a task-motion operator

TM-OP-ACTION

[standard class]

Operator type for a task action.

TM-OP-ACTION

[function]

TM-OP-ACTION: (action scene-graph config) => result

Construct an operator for a task action.

TM-OP-MOTION

[standard class]

Operator type for a motion plan.

TM-OP-MOTION

[function]

TM-OP-MOTION: (motion-plan) => result

Construct a TM-OP for a motion plan.

TM-OP-NOP

[standard class]

Operator type for a No-Op.

TM-OP-NOP

[function]

TM-OP-NOP: (scene config) => result

Construct a no-op.

TM-OP-REPARENT

[standard class]

Operator type for a reparent.

TM-OP-REPARENT

[function]

TM-OP-REPARENT: (scenegraph new-parent frame &key configuration-map) => result

Construct an operator for a reparent.

TM-PLAN

[standard class]

Container for a task-motion-plan.

TM-PLAN

[function]

TM-PLAN: (&rest ops) => result

Construct a TM-PLAN for the given operators.

TM-PLAN-ENDPOINT

[function]

TM-PLAN-ENDPOINT: (tm-plan) => result

Return the final configuration in TM-PLAN.

TM-PLAN-MOTION-PLANS

[function]

TM-PLAN-MOTION-PLANS: (tm-plan) => result

Return a list of the motion plans contained in tm-plan.

TMP-DRIVER

[function]

TMP-DRIVER: (&key start-scene goal-scene pddl gui scripts verbose max-steps output write-facts motion-timeout start-plan start prefix-cache constraints) => result

High-level frontend for the Task-Motion Planner.

START-SCENE: The initial scene graph (or list of scene graphs).
Passed directly to SCENE-GRAPH, so files will be automatically loaded.

GOAL-SCENE: The goal scene graph (or list of scene graphs).
Passed directly to SCENE-GRAPH, so files will be automatically loaded.

PDDL: List of PDDL files to load.  Only a single domain file may be
provided, but multiple (or zero) facts files may be given, all of
which will be merged together.

GUI: Whether to visualize the result via a GUI.

SCRIPTS: Domain semantics scripts to load.

MAX-STEPS: Maximum number of task steps to consider for bounded task
planning.

WRITE-FACTS: If not nil, a file to which the initial facts will be written.

OUTPUT: A stream or filename to output the computed plan.

MOTION-TIMEOUT: The initial motion planning timeout.

START-PLAN: Plan file to give the initial configuration.

START: Initial configurtion

PREFIX-CACHE: Whether to use the prefix cache

CONSTRAINTS: What type of incremental constraints to use to generate alternate plans.

TMP-REFINE

[function]

TMP-REFINE: (task-plan init-graph start &key prefix-cache) => result

Attempt to refine a task plan into corresponding motion plans.

Returns the task-motion plan or throws an error.

TASK-PLAN: The candidate task plan, given as a list of operators

INIT-GRAPH: The initial scene graph

START: the start configuration

PREFIX-CACHE: Cache of plan prefixes