Abstract
This paper describes a software infrastructure for developing and composing task and motion planners. The functionality of motion planners is well defined and they provide a basic primitive on top of which it is possible to develop planners for addressing higher level tasks. It is more challenging, however, to identify a common interface for task planners, given the variety of challenges that they can be used for. The proposed software platform follows a hierarchical, object-oriented structure and identifies key abstractions that help in integrating new task planners with popular sampling-based motion planners. Examples of use cases that can be implemented within this common software framework include robotics applications such as planning among dynamic obstacles, object manipulation and rearrangement, as well as decentralized motion coordination. The described platform has been used to plan for a Baxter robot rearranging similar objects in an environment in an efficient way.