Open-source manipulation planning
Plan the whole mission. Move one phase at a time.
LongTAMP is a Python library for long-horizon, multi-arm task and motion planning. It turns a goal into a validated plan, refines each step into collision-aware HPP motion, and runs it on a simulator or robot while recording everything it does.
How it works · interactive tour
Eight short chapters. Step through one mission from instruction to motion, see why planning grows linearly, and watch a failure climb the recovery ladder.