├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── examples ├── doosan │ ├── action │ │ ├── benchmark1 │ │ │ ├── pick │ │ │ │ ├── pick_action_heuristic_test.py │ │ │ │ ├── pick_action_level_1_test.py │ │ │ │ ├── pick_action_level_2_test.py │ │ │ │ ├── pick_action_transition_test.py │ │ │ │ └── pick_action_unit_test.py │ │ │ ├── place │ │ │ │ ├── place_action_heuristic_test.py │ │ │ │ ├── place_action_level_1_test.py │ │ │ │ ├── place_action_transition_test.py │ │ │ │ └── place_action_unit_test.py │ │ │ └── pnp │ │ │ │ ├── pnp_level_1_test.py │ │ │ │ ├── pnp_level_2_manual_test.py │ │ │ │ ├── pnp_level_2_test.py │ │ │ │ └── pnp_transitions_test.py │ │ ├── benchmark2 │ │ │ ├── pick │ │ │ │ ├── pick_action_heuristic_test.py │ │ │ │ ├── pick_action_level_1_test.py │ │ │ │ ├── pick_action_level_2_test.py │ │ │ │ ├── pick_action_transition_test.py │ │ │ │ └── pick_action_unit_test.py │ │ │ ├── place │ │ │ │ ├── place_action_heuristic_test.py │ │ │ │ ├── place_action_level_1_test.py │ │ │ │ ├── place_action_transition_test.py │ │ │ │ └── place_action_unit_test.py │ │ │ └── pnp │ │ │ │ ├── pnp_level_1_test.py │ │ │ │ ├── pnp_level_2_manual_test.py │ │ │ │ ├── pnp_level_2_test.py │ │ │ │ └── pnp_transitions_test.py │ │ ├── benchmark3 │ │ │ ├── pick │ │ │ │ ├── pick_action_heuristic_test.py │ │ │ │ ├── pick_action_level_1_test.py │ │ │ │ ├── pick_action_level_2_test.py │ │ │ │ ├── pick_action_transition_test.py │ │ │ │ └── pick_action_unit_test.py │ │ │ ├── place │ │ │ │ ├── place_action_heuristic_test.py │ │ │ │ ├── place_action_level_1_test.py │ │ │ │ ├── place_action_transition_test.py │ │ │ │ └── place_action_unit_test.py │ │ │ └── pnp │ │ │ │ ├── pnp_level_1_test.py │ │ │ │ ├── pnp_level_2_manual_test.py │ │ │ │ ├── pnp_level_2_test.py │ │ │ │ └── pnp_transitions_test.py │ │ └── benchmark4 │ │ │ ├── pick │ │ │ ├── pick_action_heuristic_test.py │ │ │ ├── pick_action_level_1_test.py │ │ │ ├── pick_action_level_2_test.py │ │ │ ├── pick_action_transition_test.py │ │ │ └── pick_action_unit_test.py │ │ │ ├── place │ │ │ ├── place_action_heuristic_test.py │ │ │ ├── place_action_level_1_test.py │ │ │ ├── place_action_transition_test.py │ │ │ └── place_action_unit_test.py │ │ │ └── pnp │ │ │ ├── pnp_level_1_test.py │ │ │ ├── pnp_level_2_manual_test.py │ │ │ ├── pnp_level_2_test.py │ │ │ └── pnp_transitions_test.py │ ├── benchmark │ │ ├── all_benchmark_renders.py │ │ ├── benchmark1_render.py │ │ ├── benchmark2_render.py │ │ ├── benchmark3_render.py │ │ └── benchmark4_render.py │ ├── heuristic │ │ ├── benchmark1 │ │ │ ├── bench1_heuristic_test.py │ │ │ ├── bench1_plan_test.py │ │ │ ├── bench1_planner │ │ │ │ ├── Episode1 │ │ │ │ │ ├── bai_ucb │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(1)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(1)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(1)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(2)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(2)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(3)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(4)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(4)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(4)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(5)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(5)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(6)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(6)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(6)_2.npy │ │ │ │ │ │ └── benchmark1_test_algo(bai_ucb)_budget(100)_seed(9)_2.npy │ │ │ │ │ ├── random │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(1)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(1)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(1)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(2)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(2)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(2)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(3)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(3)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(3)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(4)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(4)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(4)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(5)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(5)_1.npy │ │ │ │ │ │ └── benchmark1_test_algo(random)_budget(100)_seed(5)_2.npy │ │ │ │ │ └── uct │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(1)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(3)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(6)_2.npy │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(7)_2.npy │ │ │ │ │ │ └── benchmark1_test_algo(uct)_budget(100)_seed(8)_2.npy │ │ │ │ ├── Episode2 │ │ │ │ │ ├── bai_ucb │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(1)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(2)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(3)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(4)_0.npy │ │ │ │ │ │ └── benchmark1_test_algo(bai_ucb)_budget(100)_seed(5)_0.npy │ │ │ │ │ ├── perturb │ │ │ │ │ │ ├── benchmark1_test_algo(perturb)_budget(100)_seed(1)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(perturb)_budget(100)_seed(2)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(perturb)_budget(100)_seed(3)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(perturb)_budget(100)_seed(4)_1.npy │ │ │ │ │ │ └── benchmark1_test_algo(perturb)_budget(100)_seed(5)_1.npy │ │ │ │ │ ├── random │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(1)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(1)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(2)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(2)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(3)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(3)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(4)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(4)_1.npy │ │ │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(5)_0.npy │ │ │ │ │ │ └── benchmark1_test_algo(random)_budget(100)_seed(7)_1.npy │ │ │ │ │ └── uct │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(1)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(2)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(3)_0.npy │ │ │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(4)_0.npy │ │ │ │ │ │ └── benchmark1_test_algo(uct)_budget(100)_seed(5)_0.npy │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(10)_2.npy │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(11)_2.npy │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(12)_1.npy │ │ │ │ ├── benchmark1_test_algo(perturb)_budget(100)_seed(12)_0.npy │ │ │ │ ├── benchmark1_test_algo(perturb)_budget(100)_seed(12)_2.npy │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(15)_2.npy │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(17)_2.npy │ │ │ │ ├── benchmark1_test_algo(random)_budget(100)_seed(19)_2.npy │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(12)_1.npy │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(13)_1.npy │ │ │ │ └── benchmark1_test_algo(uct)_budget(100)_seed(13)_2.npy │ │ │ ├── bench1_sampling_test.py │ │ │ ├── bench1_save_scene.py │ │ │ └── bench1_simulate.py │ │ ├── benchmark2 │ │ │ ├── bench2_heuristic_test.py │ │ │ ├── bench2_plan_test.py │ │ │ ├── bench2_planner │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(15)_2.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(16)_2.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(17)_2.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(17)_3.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(18)_2.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(19)_2.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(20)_2.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(20)_3.npy │ │ │ │ ├── benchmark2_test_algo(bai_perturb)_budget(300)_seed(24)_3.npy │ │ │ │ ├── benchmark2_test_algo(bai_ucb)_budget(100)_seed(31)_2.npy │ │ │ │ └── benchmark2_test_algo(bai_ucb)_budget(100)_seed(31)_3.npy │ │ │ ├── bench2_sampling_test.py │ │ │ ├── bench2_save_scene.py │ │ │ └── bench2_simulate.py │ │ ├── benchmark3 │ │ │ ├── bench3_plan_test.py │ │ │ ├── bench3_planner │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(1)_0.npy │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(11)_0.npy │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(11)_1.npy │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(12)_0.npy │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(21)_0.npy │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(22)_0.npy │ │ │ │ ├── benchmark3_test_algo(bai_perturb)_budget(100)_seed(23)_0.npy │ │ │ │ └── benchmark3_test_algo(bai_ucb)_budget(100)_seed(24)_2.npy │ │ │ ├── bench3_sampling_test.py │ │ │ ├── bench3_save_scene.py │ │ │ └── bench3_simulate.py │ │ ├── benchmark4 │ │ │ ├── bench4_heuristic_test.py │ │ │ ├── bench4_planner │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(1)_0.npy │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(11)_0.npy │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(15)_0.npy │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(16)_0.npy │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(17)_0.npy │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(21)_0.npy │ │ │ │ ├── benchmark4_test_algo(bai_perturb)_budget(100)_seed(30)_0.npy │ │ │ │ └── benchmark4_test_algo(bai_perturb)_budget(100)_seed(40)_0.npy │ │ │ ├── bench4_sampling_test.py │ │ │ └── bench4_save_scene.py │ │ └── make_video.py │ └── mcts │ │ ├── benchmark1_test.py │ │ ├── benchmark2_test.py │ │ ├── benchmark3_test.py │ │ ├── benchmark4_test.py │ │ └── benchmark_unit_test │ │ ├── benchmark1_render_each_scene.py │ │ ├── benchmark1_unit_test.py │ │ ├── benchmark1_video_save.py │ │ ├── benchmark2_save_trajectory.py │ │ ├── benchmark2_unit_test.py │ │ ├── benchmark3_save_trajectory.py │ │ ├── benchmark3_unit_test.py │ │ ├── benchmark4_save_trajectory.py │ │ └── benchmark4_unit_test.py ├── panda │ ├── action │ │ ├── benchmark1 │ │ │ ├── pick │ │ │ │ ├── pick_action_heuristic_test.py │ │ │ │ ├── pick_action_level_1_test.py │ │ │ │ ├── pick_action_level_2_test.py │ │ │ │ ├── pick_action_transition_test.py │ │ │ │ └── pick_action_unit_test.py │ │ │ ├── place │ │ │ │ ├── place_action_heuristic_test.py │ │ │ │ ├── place_action_level_1_test.py │ │ │ │ ├── place_action_unit_test.py │ │ │ │ └── place_transition_test.py │ │ │ └── pnp │ │ │ │ ├── pnp_level_1_test.py │ │ │ │ ├── pnp_level_2_manual_test.py │ │ │ │ ├── pnp_level_2_test.py │ │ │ │ └── pnp_transitions_test.py │ │ ├── bn2_shelf_scene │ │ │ ├── pick_bottle_test.py │ │ │ ├── place_bottle_shelf_test.py │ │ │ ├── place_bottle_test.py │ │ │ └── pnp_bottle_test.py │ │ └── bn4_hanoi_scene │ │ │ └── pick │ │ │ ├── grasp_pose_test.py │ │ │ ├── pick_hanoi_level_1_test.py │ │ │ ├── pick_hanoi_level_2_test.py │ │ │ ├── pick_hanoi_level_3_test.py │ │ │ ├── pick_hanoi_nut_test.py │ │ │ └── pick_hanoi_unit_test.py │ └── benchmark │ │ ├── bench_load.py │ │ ├── benchmark1_render.py │ │ ├── benchmark2_render.py │ │ ├── benchmark3_render.py │ │ └── benchmark4_render.py └── scene │ ├── gripper │ ├── gripper_open_and_close.py │ ├── robotiq140_gripper_info.py │ ├── scene_attach_detach_test.py │ ├── scene_attach_transform_test.py │ └── scene_gripper_info.py │ ├── planning │ ├── cartesian_planning_test.py │ ├── cartesian_planning_test_fanuc.py │ ├── rrt_star_planning.py │ └── rrt_star_planning_fanuc.py │ ├── render │ ├── scene_baxter_render.py │ ├── scene_doosan_render.py │ ├── scene_iiwa14_render.py │ ├── scene_iiwa7_render.py │ ├── scene_panda_render.py │ ├── scene_sawyer_render.py │ └── scene_ur5e_render.py │ ├── scene_collision_test.py │ └── scene_info.py ├── img ├── Benchmark1_Init.png ├── Benchmark1_result.png ├── Benchmark2_Init.png ├── Benchmark2_result.png ├── Benchmark3_Init.png ├── Benchmark3_result.png ├── Benchmark4_Init.png ├── Benchmark4_result_2.png ├── all_robot.png ├── baxter_collision.png ├── baxter_mesh.png ├── baxter_scene.png ├── benchmark1.png ├── benchmark2.png ├── benchmark3.png ├── benchmark4.png ├── cartesian_planning.gif ├── doosan_scene.png ├── iiwa14_scene.png ├── panda_scene.png ├── panda_visual.png ├── pnp_arranged.gif ├── pnp_stacked.gif ├── rrt_planning.gif ├── sawyer_scene.png └── ur5e_scene.png ├── pytamp ├── __init__.py ├── _version.py ├── action │ ├── __init__.py │ ├── activity.py │ ├── pick.py │ └── place.py ├── benchmark │ ├── __init__.py │ ├── benchmark.py │ ├── benchmark1.py │ ├── benchmark2.py │ ├── benchmark3.py │ └── benchmark4.py ├── planners │ ├── __init__.py │ ├── cartesian_planner.py │ ├── planner.py │ └── rrt_star_planner.py ├── scene │ ├── __init__.py │ ├── object.py │ ├── render.py │ ├── scene.py │ └── scene_manager.py ├── search │ ├── __init__.py │ ├── mcts.py │ ├── node_data.py │ └── planner.py └── utils │ ├── __init__.py │ ├── heuristic_utils.py │ └── sampler.py ├── results ├── benchmark1 │ ├── benchmark1_result_level_2.ipynb │ ├── benchmark1_save_trajectory.py │ ├── benchmark1_search.py │ ├── benchmark1_simulate.py │ ├── benchmark1_success_rate_test.py │ ├── benchmark1_trajectory │ │ └── final_trajectory │ │ │ ├── fail │ │ │ ├── bai_perturb │ │ │ │ └── benchmark1_test_algo(bai_perturb)_budget(100)_seed(13)_1.npy │ │ │ ├── bai_ucb │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(100)_0.npy │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(100)_2.npy │ │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(100)_3.npy │ │ │ │ └── benchmark1_test_algo(bai_ucb)_budget(100)_seed(100)_4.npy │ │ │ └── uct │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(1)_0.npy │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(1)_2.npy │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(100)_0.npy │ │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(30)_0.npy │ │ │ │ └── benchmark1_test_algo(uct)_budget(100)_seed(40)_1.npy │ │ │ └── success │ │ │ ├── bai_perturb │ │ │ ├── benchmark1_test_algo(bai_perturb)_budget(100)_seed(15)_1.npy │ │ │ ├── benchmark1_test_algo(bai_perturb)_budget(100)_seed(16)_2.npy │ │ │ ├── benchmark1_test_algo(bai_perturb)_budget(100)_seed(21)_0.npy │ │ │ ├── benchmark1_test_algo(bai_perturb)_budget(100)_seed(21)_2.npy │ │ │ ├── benchmark1_test_algo(bai_perturb)_budget(100)_seed(22)_0.npy │ │ │ └── benchmark1_test_algo(perturb)_budget(100)_seed(12)_2.npy │ │ │ ├── bai_ucb │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(100)_1.npy │ │ │ ├── benchmark1_test_algo(bai_ucb)_budget(100)_seed(20)_0.npy │ │ │ └── benchmark1_test_algo(bai_ucb)_budget(100)_seed(21)_0.npy │ │ │ └── uct │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(1)_1.npy │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(100)_1.npy │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(21)_0.npy │ │ │ ├── benchmark1_test_algo(uct)_budget(100)_seed(40)_0.npy │ │ │ └── benchmark1_test_algo(uct)_budget(100)_seed(40)_2.npy │ ├── benchmark1_unit_result.ipynb │ └── benchmark1_unit_simulate.py ├── benchmark2 │ ├── benchmark2_result_level_2.ipynb │ ├── benchmark2_simulate.py │ └── benchmark2_unit_result.ipynb ├── benchmark3 │ ├── benchmark3_result_level_2.ipynb │ ├── benchmark3_simulate.py │ └── benchmark3_unit_result.ipynb ├── benchmark4 │ ├── benchmark4_result_level_2.ipynb │ ├── benchmark4_simulate.py │ └── benchmark4_unit_result.ipynb ├── plot_result_level_1.py └── plot_result_level_2.py ├── scripts ├── run_benchmark1.sh ├── run_benchmark2.sh ├── run_benchmark3.sh └── run_benchmark4.sh └── setup.py /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jdj2261/pytamp/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jdj2261/pytamp/HEAD/.gitignore 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