You can download here the first version of TAF for the generation of test cases, including world and mission in the context of robot simulation.
The tool is opensource, in python3 , multiplatform (osx, linux, windows), and only requires to install the solver z3.
All details for installation, with examples, tutorial videos, etc. can be found in the docs folder after cloning the repository with git (in your favorite terminal or with a git tool):
git clone https://redmine.laas.fr/laas/taf.git
Alternatively you can browse the source code and documentation here :
The full manual is here : TAF_User_Manual.pdf
Download Release 1.0 (2021)
Old releases of TAF are stored as git branchs on the redmine repository.
If you want to use the first release of TAF, you need to checkout the taf-v1 branch :git checkout taf-v1