├── .github └── workflows │ └── build.yml ├── .gitignore ├── .gitmodules ├── .vscode ├── launch.json └── settings.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── benchmark ├── car_first_order_with_1_trailers_0 │ ├── bugtrap_0.yaml │ ├── kink_0.yaml │ ├── parallelpark_0.yaml │ └── visualize.py ├── quadrotor_0 │ ├── empty_0.yaml │ └── visualize.py ├── unicycle_first_order_0 │ ├── bugtrap_0.yaml │ ├── kink_0.yaml │ ├── parallelpark_0.yaml │ └── visualize.py ├── unicycle_first_order_1 │ ├── kink_0.yaml │ └── visualize.py ├── unicycle_first_order_2 │ ├── visualize.py │ └── wall_0.yaml └── unicycle_second_order_0 │ ├── bugtrap_0.yaml │ ├── kink_0.yaml │ ├── parallelpark_0.yaml │ └── visualize.py ├── paper ├── env.g ├── fig1.py ├── fig1 │ ├── result_dbastar_sol0.yaml │ ├── result_dbastar_sol1.yaml │ └── result_opt_sol1.yaml ├── fig1_2.py ├── fig2.py ├── fig2 │ ├── bugtrap.yaml │ ├── kink.yaml │ └── parallelpark.yaml ├── result_dbastar_sol1.yaml └── table1.py ├── runall.sh ├── scripts ├── ablation_study.py ├── benchmark.py ├── benchmark_stats.py ├── checker.py ├── gen_motion_primitive.py ├── gen_motion_primitive_komo.py ├── gen_sbpl_prim.py ├── main_dbastar.py ├── main_komo.py ├── main_ompl.py ├── main_sbpl.py ├── main_scp.py ├── plot_stats.py ├── robots.py ├── sbpl_prim_vis.py ├── scp.py ├── translate_g.py ├── utils_motion_primitives.py ├── utils_optimization.py └── visualize.py ├── src ├── car_with_trailer.g ├── car_with_trailer_base.g ├── drawing_trailer.pdf ├── drawing_trailer.svg ├── fclHelper.hpp ├── fclStateValidityChecker.hpp ├── g_trailer_test.g ├── main_dbastar.cpp ├── main_fcl.cpp ├── main_ompl.cpp ├── main_ompl_geometric.cpp ├── main_rai.cpp ├── main_sbpl.cpp ├── python_bindings.cpp ├── rai │ ├── car_utils.cpp │ ├── car_utils.h │ ├── quadrotor.cpp │ ├── trailer.cpp │ └── unicycle.cpp ├── robotStatePropagator.hpp ├── robots.cpp └── robots.h ├── test ├── car_first_order_with_1_trailers_0 │ └── guess_bugtrap_0_sol0.yaml ├── env_debug_bugtrap_trailer.g ├── test_dynamics.py ├── test_gen_motion_primitive.py ├── test_komo.py ├── test_komo_standalone.py ├── test_scp.py ├── test_trailer_komo.py ├── unicycle_first_order_0 │ ├── bugtrap_0_sst.yaml │ ├── guess_bugtrap_0_sol0.yaml │ ├── guess_bugtrap_0_sol1.yaml │ ├── guess_bugtrap_0_sol2.yaml │ ├── guess_kink_0_sol0.yaml │ ├── guess_parallelpark_0_sol0.yaml │ ├── kink_0_sst.yaml │ ├── parallelpark_0_sst.yaml │ ├── scp_bugtrap_0_sol0.yaml │ ├── scp_kink_0_sol0.yaml │ └── scp_parallelpark_0_sol0.yaml ├── unicycle_first_order_1 │ └── kink_0_sst.yaml ├── unicycle_first_order_2 │ └── wall_0_sst.yaml └── unicycle_second_order_0 │ ├── guess_bugtrap_0_sol0.yaml │ ├── guess_kink_0_sol0.yaml │ ├── guess_parallelpark_0_sol0.yaml │ ├── parallelpark_0_sst.yaml │ ├── scp_bugtrap_0_sol0.yaml │ ├── scp_kink_0_sol0.yaml │ └── scp_parallelpark_0_sol0.yaml └── tuning ├── car_first_order_with_1_trailers_0 └── algorithms.yaml ├── quadrotor_0 └── algorithms.yaml ├── unicycle_first_order_0 ├── algorithms.yaml ├── 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