README

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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/`