├── .flake8 ├── .github └── workflows │ ├── build_and_test.yaml │ ├── check_format.yaml │ ├── check_mpl_requirement.yaml │ ├── check_pypi_install.yaml │ └── release.yaml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE-BSD3 ├── README.md ├── cpp ├── .gitignore ├── LICENSE-MPL2 ├── add_header.sh └── plainmp │ ├── bindings │ ├── bindings.hpp │ ├── constraint.cpp │ ├── kdtree.cpp │ ├── kinematics.cpp │ ├── ompl_wrapper.cpp │ ├── primitive.cpp │ └── python.cpp │ ├── collision │ ├── kdtree.cpp │ ├── kdtree.hpp │ └── primitive_sdf.hpp │ ├── constraints │ ├── composite_constraint.hpp │ ├── primitive.hpp │ ├── primitive_com_in_polytope.cpp │ ├── primitive_com_in_polytope.hpp │ ├── primitive_config_point.cpp │ ├── primitive_config_point.hpp │ ├── primitive_fixed_zaxis.cpp │ ├── primitive_fixed_zaxis.hpp │ ├── primitive_link_pose.cpp │ ├── primitive_link_pose.hpp │ ├── primitive_link_position_bound.cpp │ ├── primitive_link_position_bound.hpp │ ├── primitive_relative_pose.cpp │ ├── primitive_relative_pose.hpp │ ├── primitive_sphere_collision.cpp │ ├── primitive_sphere_collision.hpp │ ├── sequential_constraint.cpp │ └── sequential_constraint.hpp │ ├── kinematics │ ├── algorithm.cpp │ ├── data_structure.hpp │ ├── kinematic_model_wrapper.cpp │ ├── kinematic_model_wrapper.hpp │ ├── kinematics.cpp │ ├── kinematics.hpp │ └── transform.hpp │ └── ompl │ ├── .gitignore │ ├── algorithm_selector.cpp │ ├── algorithm_selector.hpp │ ├── custom_goal_samplable_region.cpp │ ├── custom_goal_samplable_region.hpp │ ├── generate_sequence.py │ ├── motion_validator.cpp │ ├── motion_validator.hpp │ ├── ompl_thin_wrap.hpp │ ├── unidirectional_modified.cpp │ └── unidirectional_modified.hpp ├── example ├── attach_box_ik_and_plan.py ├── bench │ ├── .gitignore │ ├── fetch_plan.py │ └── panda_plan.py ├── beta │ ├── humanoid_lift_and_place_box.py │ └── humanoid_planning.py ├── fetch_ik.py ├── fetch_plan.py ├── misc │ ├── fetch_visualize_coll_spheres.py │ ├── panda_visualize_coll_spheres.py │ └── pr2_visualize_coll_spheres.py ├── openarm │ ├── openarm_dualarm.py │ ├── openarm_larm.py │ └── openarm_rarm.py ├── panda_plan.py ├── pr2_dualarm_ik_and_plan.py ├── pr2_rarm_ik_and_plan.py └── pr2_with_mobile_base.py ├── format.sh ├── pyproject.toml ├── src └── plainmp │ ├── __init__.py │ ├── assets │ └── openarm_v10.urdf │ ├── conf │ ├── fetch.yaml │ ├── jaxon.yaml │ ├── openarm_v10 │ │ ├── collision_spheres.yaml │ │ ├── openarm_v10_dual.yaml │ │ ├── openarm_v10_larm.yaml │ │ └── openarm_v10_rarm.yaml │ ├── panda.yaml │ ├── pr2_base_only.yaml │ ├── pr2_common │ │ ├── aux.yaml │ │ ├── collision_spheres.yaml │ │ └── end_effectors.yaml │ ├── pr2_dualarm.yaml │ ├── pr2_larm.yaml │ └── pr2_rarm.yaml │ ├── constraint.py │ ├── constraint.pyi │ ├── ik.py │ ├── kdtree.py │ ├── kdtree.pyi │ ├── kinematics.py │ ├── kinematics.pyi │ ├── manifold_rrt │ ├── __init__.py │ ├── _manifold_rrt_algorithms.py │ └── manifold_rrt_solver.py │ ├── nlp_solver │ ├── __init__.py │ ├── osqp_sqp.py │ └── sqp_based_solver.py │ ├── ompl_solver.py │ ├── parallel.py │ ├── problem.py │ ├── psdf.py │ ├── psdf.pyi │ ├── robot_spec.py │ ├── script │ └── bubblify_to_plainmp.py │ ├── trajectory.py │ └── utils.py ├── tests ├── test_constraints.py ├── test_ik.py ├── test_kdtree.py ├── test_kinematics.py ├── test_manifold_rrt.py ├── test_ompl_solver.py ├── test_psdf.py └── test_robot_spec.py └── third ├── ompl-ertconnect ├── CMakeLists.txt ├── README.md └── ertconnect │ ├── ERT.h │ ├── ERTConnect.h │ ├── ert │ └── PlannerData.h │ └── src │ ├── ERT.cpp │ └── ERTConnect.cpp └── urdf_parser ├── .gitignore ├── CMakeLists.txt ├── README.md ├── include ├── LICENSE ├── urdf_exception │ └── exception.h ├── urdf_model │ ├── color.h │ ├── joint.h │ ├── link.h │ ├── model.h │ ├── pose.h │ ├── types.h │ └── utils.h ├── urdf_parser │ ├── exportdecl.h │ └── urdf_parser.h └── urdf_world │ └── types.h ├── src ├── joint.cpp ├── link.cpp ├── model.cpp └── pose.cpp └── tinyxml ├── CMakeLists.txt ├── tinystr.cpp ├── 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