tmsmt − Task-Motion Planner
tmsmt [OPTIONS] INPUT...
Compute a task−motion plan
−t TASK_FILE
Task Domain or Facts (PDDL) file
−l SCRIPT_FILE
Load script file
−s SCENE_FILE
Start scene file
−g SCENE_FILE
Goal scene file
−o OUTPUT_PLAN_FILE
Output plan file
−q PLAN_FILE
Initial configuration
−s MAX_STEPS
Maximum number of task steps
−m MOTION_TIMEOUT
Initial motion planning timeout
−r RESOLUTION
Discretization resolution
|
−−gui |
Enable graphical interface |
−−load−plan=PLAN_FILE
Load plan from file
−−write−facts=FILE
Write inititial task facts to FILE
−−python−shell
Start an interactive (CL)Python shell
−v,−−verbose
Be verbose
−h,−?,−−help
Display this help and exit
−−version
Output version information and exit
ROS_PACKAGE_PATH
Location of ROS packages, necessary to load URDF
TMSMT_LISP
Debugging option: Lisp command (default: sbcl)
TMSMT_NO_CORE
Debugging option: Reload all code instead of saved core
tmsmt start.robray ops.pddl script.py −g goal.robray −o plan.tmp
Plan and write to plan.tmp
tmsmt package://baxter_description/urdf/baxter.urdf...
Use a URDF scene
tmsmt scene.robray plan.tmp −−gui
Visualize plan
tmsmt ops.pddl facts.pddl −o plan.tmp
Compute a pure task plan
Written by Neil T. Dantam
Copyright © 2015−2016, Rice University All rights reserved.
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