├── .gitignore ├── README.md ├── sbpl_collision_checking ├── CMakeLists.txt ├── include │ └── sbpl_collision_checking │ │ ├── allowed_collisions_interface.h │ │ ├── attached_bodies_collision_model.h │ │ ├── attached_bodies_collision_state.h │ │ ├── base_collision_models.h │ │ ├── base_collision_states.h │ │ ├── body_collision_model.h │ │ ├── collision_model_config.h │ │ ├── collision_space.h │ │ ├── conversions.h │ │ ├── debug.h │ │ ├── robot_collision_model.h │ │ ├── robot_collision_state.h │ │ ├── robot_motion_collision_model.h │ │ ├── self_collision_model.h │ │ ├── shape_visualization.h │ │ ├── shapes.h │ │ ├── types.h │ │ ├── voxel_operations.h │ │ ├── voxelize_collision_object.h │ │ ├── voxelize_collision_object_msg.h │ │ ├── voxelize_world_object.h │ │ ├── world_collision_detector.h │ │ └── world_collision_model.h ├── package.xml └── src │ ├── attached_bodies_collision_model.cpp │ ├── attached_bodies_collision_state.cpp │ ├── base_collision_models.cpp │ ├── base_collision_states.cpp │ ├── collision_model_config.cpp │ ├── collision_operations.cpp │ ├── collision_operations.h │ ├── collision_space.cpp │ ├── conversions.cpp │ ├── robot_collision_model.cpp │ ├── robot_collision_state.cpp │ ├── robot_motion_collision_model.cpp │ ├── self_collision_model.cpp │ ├── shape_visualization.cpp │ ├── transform_functions.h │ ├── types.cpp │ ├── voxel_operations.cpp │ ├── world_collision_detector.cpp │ └── world_collision_model.cpp ├── sbpl_collision_checking_test ├── CMakeLists.txt ├── config │ ├── baxter_left_arm_model.yaml │ ├── collision_model_pr2.yaml │ ├── collision_model_ur5.yaml │ ├── hdt_arm.yaml │ └── ubr1_model.yaml ├── launch │ ├── benchmark.launch │ ├── test_baxter_left_arm.launch │ ├── test_collision_model.launch │ ├── test_hdt_arm.launch │ ├── test_left_arm.launch │ ├── test_pr2.launch │ ├── test_pr2_left_arm.launch │ ├── test_pr2_right_arm.launch │ └── test_right_arm.launch ├── package.xml └── src │ ├── benchmark_cc.cpp │ ├── pr2_allowed_collision_pairs.h │ ├── test_collision_model.cpp │ └── test_collision_space.cpp ├── sbpl_kdl_robot_model ├── CMakeLists.txt ├── include │ └── sbpl_kdl_robot_model │ │ └── kdl_robot_model.h ├── package.xml └── src │ ├── kdl_robot_model.cpp │ └── test_kdl_robot_model.cpp ├── sbpl_pr2_robot_model ├── CMakeLists.txt ├── include │ └── sbpl_pr2_robot_model │ │ ├── orientation_solver.h │ │ ├── pr2_kdl_robot_model.h │ │ ├── sbpl_math.h │ │ └── ubr1_kdl_robot_model.h ├── package.xml └── src │ ├── orientation_solver.cpp │ ├── pr2_kdl_robot_model.cpp │ ├── sbpl_math.cpp │ └── ubr1_kdl_robot_model.cpp ├── smpl ├── CMakeLists.txt ├── include │ └── smpl │ │ ├── angles.h │ │ ├── bfs3d │ │ └── bfs3d.h │ │ ├── collision_checker.h │ │ ├── config.h.in │ │ ├── console │ │ ├── ansi.h │ │ ├── console.h │ │ ├── detail │ │ │ ├── ansi.hpp │ │ │ ├── console_ros.h │ │ │ └── console_std.h │ │ └── nonstd.h │ │ ├── csv_parser.h │ │ ├── debug │ │ ├── colors.h │ │ ├── marker.h │ │ ├── marker_utils.h │ │ └── visualize.h │ │ ├── distance_map │ │ ├── chessboard_distance_map.h │ │ ├── detail │ │ │ ├── distance_map.hpp │ │ │ └── distance_map_common.h │ │ ├── distance_map.h │ │ ├── distance_map_interface.h │ │ ├── edge_euclid_distance_map.h │ │ ├── euclid_distance_map.h │ │ └── sparse_distance_map.h │ │ ├── extension.h │ │ ├── forward.h │ │ ├── geometry │ │ ├── bounding_spheres.h │ │ ├── detail │ │ │ ├── measure_similarity.hpp │ │ │ ├── mesh_utils.hpp │ │ │ ├── shortcut.hpp │ │ │ └── voxelize.hpp │ │ ├── discretize.h │ │ ├── intersect.h │ │ ├── measure_similarity.h │ │ ├── mesh_utils.h │ │ ├── shortcut.h │ │ ├── triangle.h │ │ ├── utils.h │ │ ├── voxel_grid.h │ │ └── voxelize.h │ │ ├── graph │ │ ├── action_space.h │ │ ├── adaptive_graph_extension.h │ │ ├── adaptive_workspace_lattice.h │ │ ├── cost_function.h │ │ ├── experience_graph.h │ │ ├── experience_graph_extension.h │ │ ├── goal_constraint.h │ │ ├── manip_lattice.h │ │ ├── manip_lattice_action_space.h │ │ ├── manip_lattice_egraph.h │ │ ├── motion_primitive.h │ │ ├── robot_planning_space.h │ │ ├── simple_workspace_lattice_action_space.h │ │ ├── workspace_lattice.h │ │ ├── workspace_lattice_action_space.h │ │ ├── workspace_lattice_base.h │ │ ├── workspace_lattice_egraph.h │ │ └── workspace_lattice_types.h │ │ ├── grid │ │ ├── detail │ │ │ ├── grid.hpp │ │ │ ├── sparse_binary_grid.hpp │ │ │ └── sparse_grid.hpp │ │ ├── grid.h │ │ ├── sparse_binary_grid.h │ │ └── sparse_grid.h │ │ ├── heap │ │ ├── detail │ │ │ └── intrusive_heap.hpp │ │ └── intrusive_heap.h │ │ ├── heuristic │ │ ├── attractor_heuristic.h │ │ ├── bfs_heuristic.h │ │ ├── egraph_bfs_heuristic.h │ │ ├── egraph_heuristic.h │ │ ├── euclid_dist_heuristic.h │ │ ├── generic_egraph_heuristic.h │ │ ├── joint_dist_heuristic.h │ │ ├── multi_frame_bfs_heuristic.h │ │ ├── robot_heuristic.h │ │ ├── soft_bfs_heuristic.h │ │ ├── sparse_egraph_dijkstra_heuristic.h │ │ └── zero_heuristic.h │ │ ├── occupancy_grid.h │ │ ├── octree │ │ ├── detail │ │ │ ├── octree.hpp │ │ │ ├── octree_base.h │ │ │ └── octree_base.hpp │ │ └── octree.h │ │ ├── planning_params.h │ │ ├── post_processing.h │ │ ├── robot_model.h │ │ ├── search │ │ ├── adaptive_planner.h │ │ ├── arastar.h │ │ ├── awastar.h │ │ ├── detail │ │ │ └── mhastar_base.hpp │ │ ├── experience_graph_planner.h │ │ ├── fmhastar.h │ │ ├── lazy_arastar.h │ │ ├── lazy_mhastar.h │ │ ├── lazy_search_interface.h │ │ ├── meta_mhastar_dts.h │ │ ├── mhastar_base.h │ │ ├── mhastarpp.h │ │ ├── smhastar.h │ │ └── umhastar.h │ │ ├── spatial.h │ │ ├── steer │ │ └── steer.h │ │ ├── stl │ │ ├── algorithm.h │ │ └── memory.h │ │ ├── time.h │ │ ├── types.h │ │ └── unicycle │ │ ├── dubins.h │ │ ├── pose_2d.h │ │ └── unicycle.h ├── package.xml ├── smpl-config-version.cmake.in ├── smpl-config.cmake.in └── src │ ├── bfs3d │ └── bfs3d.cpp │ ├── collision_checker.cpp │ ├── console │ ├── ansi.cpp │ └── console.cpp │ ├── csv_parser.cpp │ ├── debug │ ├── colors.cpp │ ├── marker_utils.cpp │ └── visualize.cpp │ ├── distance_map │ ├── chessboard_distance_map.cpp │ ├── distance_map_common.cpp │ ├── edge_euclid_distance_map.cpp │ ├── euclid_distance_map.cpp │ └── sparse_distance_map.cpp │ ├── geometry │ ├── bounding_spheres.cpp │ ├── intersect.cpp │ ├── mesh_utils.cpp │ └── voxelize.cpp │ ├── graph │ ├── action_space.cpp │ ├── adaptive_workspace_lattice.cpp │ ├── experience_graph.cpp │ ├── manip_lattice.cpp │ ├── manip_lattice_action_space.cpp │ ├── manip_lattice_egraph.cpp │ ├── robot_planning_space.cpp │ ├── simple_workspace_lattice_action_space.cpp │ ├── workspace_lattice.cpp │ ├── workspace_lattice_base.cpp │ └── workspace_lattice_egraph.cpp │ ├── heuristic │ ├── attractor_heuristic.cpp │ ├── bfs_heuristic.cpp │ ├── egraph_bfs_heuristic.cpp │ ├── euclid_dist_heuristic.cpp │ ├── generic_egraph_heuristic.cpp │ ├── joint_dist_heuristic.cpp │ ├── multi_frame_bfs_heuristic.cpp │ ├── robot_heuristic.cpp │ ├── soft_bfs_heuristic.cpp │ ├── sparse_egraph_dijkstra_heuristic.cpp │ └── zero_heuristic.cpp │ ├── occupancy_grid.cpp │ ├── planning_params.cpp │ ├── post_processing.cpp │ ├── profiling.h │ ├── robot_model.cpp │ ├── search │ ├── adaptive_planner.cpp │ ├── arastar.cpp │ ├── awastar.cpp │ ├── experience_graph_planner.cpp │ ├── fmhastar.cpp │ ├── lazy_arastar.cpp │ ├── lazy_mhastar.cpp │ ├── meta_mhastar_dts.cpp │ ├── mhastarpp.cpp │ ├── smhastar.cpp │ └── umhastar.cpp │ ├── steer │ └── steer.cpp │ └── unicycle │ ├── dubins.cpp │ └── unicycle.cpp ├── smpl_moveit_interface ├── CMakeLists.txt ├── collision_detection_sbpl_plugin_description.xml ├── include │ └── smpl_moveit_interface │ │ ├── interface │ │ ├── ik_command_interactive_marker.h │ │ ├── joint_variable_command_widget.h │ │ ├── robot_command_model.h │ │ ├── teleop_command.h │ │ └── utils.h │ │ └── planner │ │ └── moveit_robot_model.h ├── move_group_command_panel_plugin_description.xml ├── package.xml ├── sbpl_interface_plugin_description.xml └── src │ ├── collision │ ├── collision_common_sbpl.cpp │ ├── collision_common_sbpl.h │ ├── collision_detector_allocator_sbpl.cpp │ ├── collision_detector_allocator_sbpl.h │ ├── collision_plugin_sbpl.cpp │ ├── collision_plugin_sbpl.h │ ├── collision_robot_sbpl.cpp │ ├── collision_robot_sbpl.h │ ├── collision_world_sbpl.cpp │ └── collision_world_sbpl.h │ ├── config.h │ ├── interface │ ├── ik_command_interactive_marker.cpp │ ├── joint_variable_command_widget.cpp │ ├── move_group_command_model.cpp │ ├── move_group_command_model.h │ ├── move_group_command_panel.cpp │ ├── move_group_command_panel.h │ ├── robot_command_model.cpp │ ├── teleop_command.cpp │ └── utils.cpp │ └── planner │ ├── moveit_collision_checker.cpp │ ├── moveit_collision_checker.h │ ├── moveit_robot_model.cpp │ ├── planner_family_manager.cpp │ ├── planner_family_manager.h │ ├── sbpl_planner_manager.cpp │ ├── sbpl_planner_manager.h │ ├── sbpl_planning_context.cpp │ └── sbpl_planning_context.h ├── smpl_ompl_interface ├── CMakeLists.txt ├── include │ └── smpl_ompl_interface │ │ └── ompl_interface.h ├── package.xml └── src │ ├── ompl_interface.cpp │ └── smpl_ompl.cpp ├── smpl_ros ├── CMakeLists.txt ├── include │ └── smpl │ │ ├── debug │ │ ├── marker_conversions.h │ │ └── visualizer_ros.h │ │ └── ros │ │ ├── factories.h │ │ ├── planner_interface.h │ │ └── propagation_distance_field.h ├── package.xml └── src │ ├── debug │ ├── marker_conversions.cpp │ └── visualizer_ros.cpp │ └── ros │ ├── factories.cpp │ ├── planner_interface.cpp │ └── propagation_distance_field.cpp ├── smpl_test ├── CMakeLists.txt ├── config │ ├── pr2.mprim │ ├── pr2_both_arms.yaml │ ├── pr2_left_arm.yaml │ ├── pr2_right_arm.yaml │ ├── rosconsole.properties │ ├── smpl_visual.ini │ ├── ubr1.yaml │ ├── xy_24_connected.mprim │ └── xy_8_connected.mprim ├── env │ ├── tabletop.env │ └── tabletop_ubr1.env ├── experiments │ ├── baxter_goal.yaml │ ├── pr2_goal.yaml │ └── ubr1_goal.yaml ├── launch │ ├── call_ompl_planner.launch │ ├── goal_pr2.launch │ ├── goal_ubr1.launch │ └── grid_world_test.launch ├── package.xml └── src │ ├── call_ompl_planner.cpp │ ├── call_planner.cpp │ ├── collision_space_scene.cpp │ ├── collision_space_scene.h │ ├── csv_parser_test.cpp │ ├── debug_vis_demo.cpp │ ├── distance_map_test.cpp │ ├── egraph_test.cpp │ ├── heap_test.cpp │ ├── occupancy_grid_test.cpp │ ├── octree_tests.cpp │ ├── pr2_allowed_collision_pairs.h │ ├── sparse_binary_grid_test.cpp │ ├── sparse_grid_test.cpp │ ├── visualizer_test.cpp │ └── xytheta.cpp └── smpl_urdf_robot_model ├── CMakeLists.txt ├── include └── smpl_urdf_robot_model │ ├── array_range.h │ ├── robot_model.h │ ├── robot_state.h │ ├── robot_state_bounds.h │ ├── robot_state_visualization.h │ ├── smpl_urdf_robot_model.h │ └── urdf_robot_model.h ├── package.xml └── src ├── robot_model.cpp ├── robot_model_test.cpp ├── robot_state.cpp ├── robot_state_bounds.cpp ├── robot_state_visualization.cpp └── urdf_robot_model.cpp /.gitignore: -------------------------------------------------------------------------------- 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