Science Score: 49.0%
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○CITATION.cff file
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✓codemeta.json file
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✓.zenodo.json file
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✓DOI references
Found 1 DOI reference(s) in README -
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Links to: ieee.org -
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○Scientific vocabulary similarity
Low similarity (13.3%) to scientific vocabulary
Repository
TMIT*
Basic Info
- Host: GitHub
- Owner: wbthomason
- License: mit
- Language: C++
- Default Branch: main
- Size: 31.4 MB
Statistics
- Stars: 20
- Watchers: 2
- Forks: 2
- Open Issues: 1
- Releases: 0
Metadata Files
README.md
tmit-star
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:
bibtex
@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}
}
Building
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.
Usage
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.
Notice
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.
Owner
- Name: Wil Thomason
- Login: wbthomason
- Kind: user
- Location: Houston, TX, USA
- Company: @KavrakiLab
- Website: wbthomason.com
- Twitter: wilthomason
- Repositories: 92
- Profile: https://github.com/wbthomason
Postdoc at @KavrakiLab
GitHub Events
Total
- Watch event: 2
Last Year
- Watch event: 2
Committers
Last synced: 8 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| Wil Thomason | w****n@g****m | 14 |
Issues and Pull Requests
Last synced: 8 months ago
All Time
- Total issues: 1
- Total pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Total issue authors: 1
- Total pull request authors: 0
- Average comments per issue: 1.0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 1
- Pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Issue authors: 1
- Pull request authors: 0
- Average comments per issue: 1.0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- JackBotBuilt (1)