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

Alternatively you can browse the source code and documentation here :