This repo provides an implementation of TMIT*, a practical almost-surely asymptotically optimal integrated task and motion planner, as initially presented in "Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning".

If you use this software in your research, please cite the following publication:

@article{thomason_tmit_star_2022,
  author={Thomason, Wil and Strub, Marlin P. and Gammell, Jonathan D.},
  journal={IEEE Robotics and Automation Letters}, 
  title={Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning}, 
  year={2022},
  volume={7},
  number={4},
  pages={11370-11377},
  doi={10.1109/LRA.2022.3199676}
}

You'll need to manually install the following dependencies (also listed in meson.build):

• The Meson build system
• CMake
• A modern C++ compiler (we use C++20 features; clang++ 14.0.6 is known to work)
• Boost
• Glew (for debug visualizer)
• GLFW3 (for debug visualizer)
• GLM (for debug visualizer)
• LuaJIT
• NLopt
• Z3

All other dependencies are automatically downloaded and configured in subprojects/ using Meson's Wrap system.

Once all dependencies are installed, run the ./build.sh script with zsh. For the basic optimized build, use ./build.sh release --lto; the script also supports debug, sanitizer, and PGO builds (see the script source for relevant args).

This will result in a binary build/tmit-star.

You can run the planner directly, but the run.sh script provides a more convenient interface. For basic usage, run ./run.sh {PATH_TO_PROBLEM_SPECIFICATION} {ADDITIONAL PLANNER ARGS}. The script also supports running with perf record, lldb, and rr for debugging. To see a listing of planner args, run ./run.sh --help. Example problem specifications live in the problems/ directory - try ./run.sh problems/clutter/problems/clutter_pb_3.json for a basic example. Example Lua predicate implementations are provides in lua/predicates.lua - you can easily tailor these to your needs. PDDL files, robot, and object/obstacle geometry models for the example problems are provided in the problems and models subdirectories.

This software is provided as-is, with no guarantees of correctness, continued maintenance, etc. Feel free to file an issue/PR if you find a problem or would like to contribute.