├── .github └── workflows │ ├── publish.yml │ └── static_code_analysis_and_tests.yml ├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── examples ├── 01_create_task.py ├── 02_render_demonstration.py ├── 03_benchmarking_script_example.py └── 04_visualize_robot_poses.py ├── guided_tamp_benchmark ├── benchmark │ ├── __init__.py │ ├── benchmark.py │ └── benchmark_result.py ├── core │ ├── __init__.py │ ├── configuration.py │ ├── path.py │ └── planner.py ├── models │ ├── __init__.py │ ├── data │ │ ├── robots │ │ │ ├── franka_panda │ │ │ │ ├── meshes │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── finger.obj │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ ├── hand.obj │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ ├── link0.obj │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ ├── link1.obj │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ ├── link2.obj │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ ├── link3.obj │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ ├── link4.obj │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ ├── link5.obj │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ ├── link6.mtl │ │ │ │ │ │ ├── link6.obj │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ ├── link7.obj │ │ │ │ │ │ ├── link7.stl │ │ │ │ │ │ └── materials.mtl │ │ │ │ │ └── visual │ │ │ │ │ │ ├── colors.png │ │ │ │ │ │ ├── finger.dae │ │ │ │ │ │ ├── finger.mtl │ │ │ │ │ │ ├── finger.obj │ │ │ │ │ │ ├── hand.dae │ │ │ │ │ │ ├── hand.mtl │ │ │ │ │ │ ├── hand.obj │ │ │ │ │ │ ├── link0.dae │ │ │ │ │ │ ├── link1.dae │ │ │ │ │ │ ├── link1.mtl │ │ │ │ │ │ ├── link1.obj │ │ │ │ │ │ ├── link2.dae │ │ │ │ │ │ ├── link2.mtl │ │ │ │ │ │ ├── link2.obj │ │ │ │ │ │ ├── link3.dae │ │ │ │ │ │ ├── link3.mtl │ │ │ │ │ │ ├── link3.obj │ │ │ │ │ │ ├── link4.dae │ │ │ │ │ │ ├── link4.mtl │ │ │ │ │ │ ├── link4.obj │ │ │ │ │ │ ├── link5.dae │ │ │ │ │ │ ├── link5.mtl │ │ │ │ │ │ ├── link5.obj │ │ │ │ │ │ ├── link6.dae │ │ │ │ │ │ ├── link6.mtl │ │ │ │ │ │ ├── link6.obj │ │ │ │ │ │ └── link7.dae │ │ │ │ ├── panda.srdf │ │ │ │ ├── panda.urdf │ │ │ │ └── panda_pddl.urdf │ │ │ ├── kuka_iiwa │ │ │ │ ├── kuka_iiwa.srdf │ │ │ │ ├── kuka_iiwa.urdf │ │ │ │ └── meshes │ │ │ │ │ ├── collision │ │ │ │ │ ├── link_0.stl │ │ │ │ │ ├── link_1.stl │ │ │ │ │ ├── link_2.stl │ │ │ │ │ ├── link_3.stl │ │ │ │ │ ├── link_4.stl │ │ │ │ │ ├── link_5.stl │ │ │ │ │ ├── link_6.stl │ │ │ │ │ ├── link_7_basic.stl │ │ │ │ │ ├── link_7_electric.stl │ │ │ │ │ └── link_7_pneumatic.stl │ │ │ │ │ └── visual │ │ │ │ │ ├── link_0.stl │ │ │ │ │ ├── link_1.stl │ │ │ │ │ ├── link_2.stl │ │ │ │ │ ├── link_3.stl │ │ │ │ │ ├── link_4.stl │ │ │ │ │ ├── link_5.stl │ │ │ │ │ ├── link_6.stl │ │ │ │ │ ├── link_7_basic.stl │ │ │ │ │ ├── link_7_electric.stl │ │ │ │ │ └── link_7_pneumatic.stl │ │ │ ├── kuka_kmr_iiwa │ │ │ │ ├── kuka_kmr_iiwa.srdf │ │ │ │ ├── kuka_kmr_iiwa.urdf │ │ │ │ ├── kuka_kmr_iiwa_pddl.urdf │ │ │ │ └── meshes │ │ │ │ │ └── visual │ │ │ │ │ └── kmr.stl │ │ │ └── ur5 │ │ │ │ ├── meshes │ │ │ │ ├── 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 │ │ │ │ ├── ur5.srdf │ │ │ │ ├── ur5.urdf │ │ │ │ └── ur5_pddl.urdf │ │ └── ycbv │ │ │ ├── meshes │ │ │ ├── obj_000002.obj │ │ │ ├── obj_000002.obj.mtl │ │ │ ├── obj_000002_texture.png │ │ │ ├── obj_000003.obj │ │ │ ├── obj_000003.obj.mtl │ │ │ ├── obj_000003_texture.png │ │ │ ├── obj_000004.obj │ │ │ ├── obj_000004.obj.mtl │ │ │ ├── obj_000004_texture.png │ │ │ ├── obj_000005.obj │ │ │ ├── obj_000005.obj.mtl │ │ │ ├── obj_000005_texture.png │ │ │ ├── obj_000007.obj │ │ │ ├── obj_000007.obj.mtl │ │ │ ├── obj_000007_texture.png │ │ │ ├── obj_000008.obj │ │ │ ├── obj_000008.obj.mtl │ │ │ ├── obj_000008_texture.png │ │ │ ├── obj_000009.obj │ │ │ ├── obj_000009.obj.mtl │ │ │ ├── obj_000009_texture.png │ │ │ ├── obj_000012.obj │ │ │ ├── obj_000012.obj.mtl │ │ │ ├── obj_000012_texture.png │ │ │ ├── obj_000021.obj │ │ │ ├── obj_000021.obj.mtl │ │ │ └── obj_000021_texture.png │ │ │ └── srdf │ │ │ ├── obj_000002.srdf │ │ │ ├── obj_000003.srdf │ │ │ ├── obj_000004.srdf │ │ │ ├── obj_000005.srdf │ │ │ ├── obj_000007.srdf │ │ │ ├── obj_000008.srdf │ │ │ ├── obj_000009.srdf │ │ │ ├── obj_000012.srdf │ │ │ └── obj_000021.srdf │ ├── furniture │ │ ├── __init__.py │ │ ├── base.py │ │ ├── box.py │ │ ├── shelf.py │ │ ├── table.py │ │ └── tunnel.py │ ├── objects │ │ ├── __init__.py │ │ ├── base.py │ │ ├── cuboid.py │ │ ├── object_ycbv.py │ │ └── tray.py │ ├── robots │ │ ├── __init__.py │ │ ├── base.py │ │ ├── kuka_iiwa_robot.py │ │ ├── kuka_kmr_iiwa_robot.py │ │ ├── panda_robot.py │ │ └── ur5_robot.py │ └── utils.py └── tasks │ ├── __init__.py │ ├── base_task.py │ ├── collisions.py │ ├── data │ ├── ReadMe.md │ ├── shelf_0.pkl │ ├── shelf_0_kmr_iiwa_poses.pkl │ ├── shelf_0_panda_poses.pkl │ ├── shelf_0_ur5_poses.pkl │ ├── shelf_1.pkl │ ├── shelf_1_kmr_iiwa_poses.pkl │ ├── shelf_1_panda_poses.pkl │ ├── shelf_1_ur5_poses.pkl │ ├── shelf_2.pkl │ ├── shelf_2_kmr_iiwa_poses.pkl │ ├── shelf_2_panda_poses.pkl │ ├── shelf_2_ur5_poses.pkl │ ├── test_0.pkl │ ├── test_0_panda_poses.pkl │ ├── tunnel_0.pkl │ ├── tunnel_0_kmr_iiwa_poses.pkl │ ├── tunnel_0_panda_poses.pkl │ ├── tunnel_0_ur5_poses.pkl │ ├── waiter_0.pkl │ └── waiter_0_kmr_iiwa_poses.pkl │ ├── demonstration.py │ ├── renderer.py │ ├── shelf_task.py │ ├── tunnel_task.py │ └── waiter_task.py ├── images ├── robot_poses.png ├── shelf_task.png ├── tunnel_task.png └── waiter_task.png ├── poetry.lock ├── pyproject.toml └── tests ├── test_benchmark.py ├── test_collisions.py ├── test_configs.pkl ├── test_demonstration.py ├── test_imports.py └── test_parsers.py /.github/workflows/publish.yml: -------------------------------------------------------------------------------- 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