├── .clang-format ├── .dockerignore ├── .github ├── ISSUE_TEMPLATE │ ├── bug-error.md │ └── feature_request.md └── workflows │ ├── build.yml │ ├── format.yml │ └── pypi.yml ├── .gitignore ├── .style.yapf ├── CITATION.bib ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── cmake ├── CompilerSettings.cmake ├── Dependencies.cmake ├── FetchInitCPM.cmake ├── Python.cmake ├── macros.cmake ├── vampConfig.cmake.in └── vamp_coreConfig.cmake.in ├── docker ├── ubuntu2004.dockerfile ├── ubuntu2204-conda.dockerfile ├── ubuntu2204.dockerfile └── ubuntu2404.dockerfile ├── environment.yaml ├── licenses ├── SIMDxorshift │ └── LICENSE ├── nanobind │ └── LICENSE ├── nigh │ └── LICENSE └── pdqsort │ └── license.txt ├── pyproject.toml ├── resources ├── README.md ├── baxter │ ├── baxter.srdf │ ├── baxter.urdf │ ├── baxter_spherized.urdf │ ├── meshes │ │ ├── base │ │ │ ├── PEDESTAL.DAE │ │ │ ├── pedestal_link_collision_1.stl │ │ │ └── pedestal_link_collision_2.stl │ │ ├── electric_gripper │ │ │ ├── electric_gripper_base.DAE │ │ │ ├── electric_gripper_w_fingers.DAE │ │ │ └── fingers │ │ │ │ ├── extended_narrow.DAE │ │ │ │ ├── half_round_tip.DAE │ │ │ │ └── paddle_tip.DAE │ │ ├── head │ │ │ ├── H0.DAE │ │ │ └── H1.DAE │ │ ├── lower_elbow │ │ │ └── E1.DAE │ │ ├── lower_forearm │ │ │ └── W1.DAE │ │ ├── lower_shoulder │ │ │ └── S1.DAE │ │ ├── torso │ │ │ ├── base_link.DAE │ │ │ ├── base_link_collision_1.stl │ │ │ ├── base_link_collision_2.stl │ │ │ ├── base_link_collision_3.stl │ │ │ ├── base_link_collision_4.stl │ │ │ ├── base_link_collision_5.stl │ │ │ ├── base_link_collision_6.stl │ │ │ ├── base_link_collision_7.stl │ │ │ └── base_link_headless.stl │ │ ├── upper_elbow │ │ │ └── E0.DAE │ │ ├── upper_forearm │ │ │ └── W0.DAE │ │ ├── upper_shoulder │ │ │ └── S0.DAE │ │ └── wrist │ │ │ └── W2.DAE │ └── problems.tar.bz2 ├── capt_demo.gif ├── fetch │ ├── fetch.srdf │ ├── fetch.urdf │ ├── fetch_spherized.urdf │ ├── meshes │ │ ├── base_link.dae │ │ ├── base_link_collision.STL │ │ ├── base_link_collision_2.stl │ │ ├── base_link_uv.png │ │ ├── bellows_link.STL │ │ ├── bellows_link_collision.STL │ │ ├── elbow_flex_link.dae │ │ ├── elbow_flex_link_collision.STL │ │ ├── elbow_flex_link_collision_2.stl │ │ ├── elbow_flex_uv.png │ │ ├── estop_link.STL │ │ ├── estop_link.dae │ │ ├── forearm_roll_link.dae │ │ ├── forearm_roll_link_collision.STL │ │ ├── forearm_roll_link_collision_2.stl │ │ ├── forearm_roll_uv.png │ │ ├── gripper_link.STL │ │ ├── gripper_link.dae │ │ ├── gripper_link_2.stl │ │ ├── head_pan_link.dae │ │ ├── head_pan_link_collision.STL │ │ ├── head_pan_link_collision_2.stl │ │ ├── head_pan_uv.png │ │ ├── head_tilt_link.dae │ │ ├── head_tilt_link_collision.STL │ │ ├── head_tilt_link_collision_2.stl │ │ ├── head_tilt_uv.png │ │ ├── l_gripper_finger_link.STL │ │ ├── l_gripper_finger_link_2.stl │ │ ├── l_wheel_link.STL │ │ ├── l_wheel_link_collision.STL │ │ ├── laser_link.STL │ │ ├── r_gripper_finger_link.STL │ │ ├── r_gripper_finger_link_2.stl │ │ ├── r_wheel_link.STL │ │ ├── r_wheel_link_collision.STL │ │ ├── shoulder_lift_link.dae │ │ ├── shoulder_lift_link_collision.STL │ │ ├── shoulder_lift_link_collision_2.stl │ │ ├── shoulder_lift_uv.png │ │ ├── shoulder_pan_link.dae │ │ ├── shoulder_pan_link_collision.STL │ │ ├── shoulder_pan_link_collision_2.stl │ │ ├── shoulder_pan_uv.png │ │ ├── torso_fixed_link.STL │ │ ├── torso_fixed_link.dae │ │ ├── torso_fixed_uv.png │ │ ├── torso_lift_link.dae │ │ ├── torso_lift_link_collision.STL │ │ ├── torso_lift_link_split_1.stl │ │ ├── torso_lift_link_split_2.stl │ │ ├── torso_lift_link_split_3.stl │ │ ├── torso_lift_uv.png │ │ ├── upperarm_roll_link.dae │ │ ├── upperarm_roll_link_collision.STL │ │ ├── upperarm_roll_link_collision_2.stl │ │ ├── upperarm_roll_uv.png │ │ ├── wrist_flex_link.dae │ │ ├── wrist_flex_link_collision.STL │ │ ├── wrist_flex_link_collision_2.stl │ │ ├── wrist_flex_uv.png │ │ ├── wrist_roll_link.dae │ │ ├── wrist_roll_link_collision.STL │ │ ├── wrist_roll_link_collision_2.stl │ │ └── wrist_roll_uv.png │ └── problems.tar.bz2 ├── heightfields │ └── maze.png ├── panda │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ └── link6.obj │ ├── panda.srdf │ ├── panda.urdf │ ├── panda_spherized.urdf │ └── problems.tar.bz2 ├── problem_tar_to_pkl_json.py ├── robometrics_to_pkl_json.py └── ur5 │ ├── meshes │ ├── robotiq │ │ ├── inner_finger_coarse.STL │ │ ├── inner_finger_fine.STL │ │ ├── inner_knuckle_coarse.STL │ │ ├── inner_knuckle_fine.STL │ │ ├── outer_finger_coarse.STL │ │ ├── outer_finger_fine.STL │ │ ├── outer_knuckle_coarse.STL │ │ ├── outer_knuckle_fine.STL │ │ ├── robotiq_85_base_link_coarse.STL │ │ └── robotiq_85_base_link_fine.STL │ ├── robotiq_fts300.stl │ └── ur5 │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae │ ├── problems.tar.bz2 │ ├── ur5.srdf │ ├── ur5.urdf │ └── ur5_spherized.urdf ├── scripts ├── README.md ├── attachments.py ├── cpp │ ├── README.md │ ├── ompl_integration.cc │ └── rrtc_example.cc ├── evaluate_mbm.py ├── flying_sphere.py ├── random_dance.py ├── sphere_cage_example.py ├── visualize_mbm.py └── visualize_ompl.py └── src ├── impl └── vamp │ ├── bindings │ ├── environment.cc │ ├── init.hh.in │ ├── python.cc.in │ ├── robot.cc.in │ ├── robot_helper.hh │ └── settings.cc │ ├── collision │ ├── attachments.hh │ ├── capt.hh │ ├── environment.hh │ ├── factory.hh │ ├── filter.hh │ ├── math.hh │ ├── shapes.hh │ ├── shapes_iostream.hh │ ├── sphere_capsule.hh │ ├── sphere_cuboid.hh │ ├── sphere_heightfield.hh │ ├── sphere_sphere.hh │ └── validity.hh │ ├── constants.hh │ ├── planning │ ├── aorrtc.hh │ ├── aorrtc_settings.hh │ ├── aox_nn.hh │ ├── fcit.hh │ ├── nn.hh │ ├── phs.hh │ ├── plan.hh │ ├── prm.hh │ ├── roadmap.hh │ ├── rrtc.hh │ ├── rrtc_settings.hh │ ├── simplify.hh │ ├── simplify_settings.hh │ ├── utils.hh │ └── validate.hh │ ├── random │ ├── distribution.hh │ ├── halton.hh │ ├── rng.hh │ └── xorshift.hh │ ├── robots │ ├── baxter.hh │ ├── fetch.hh │ ├── panda.hh │ ├── sphere.hh │ └── ur5.hh │ ├── utils.hh │ ├── vector.hh │ └── vector │ ├── avx.hh │ ├── eigen.hh │ ├── interface.hh │ ├── math.hh │ ├── neon.hh │ └── utils.hh └── vamp ├── __init__.py ├── __init__.pyi ├── _core └── __init__.py ├── 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