├── .clang-format ├── .clang-tidy ├── .codespell_words ├── .docker ├── Dockerfile ├── ros_entrypoint.sh └── upstream.repos ├── .github └── workflows │ └── format.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── demo ├── CMakeLists.txt ├── config │ ├── constrained_planning.rviz │ ├── panda_benchmarks.sqlite │ ├── testbench_config.rviz │ └── testbench_moveit_cpp.yaml ├── launch │ ├── constrained_planning_demo.launch.py │ └── pipeline_testbench.launch.py ├── pipeline_testbench.rst └── src │ ├── constrained_planning_demo.cpp │ └── pipeline_testbench_main.cpp ├── docker-compose.yaml ├── include ├── ktopt_interface │ ├── ktopt_interface.hpp │ └── ktopt_planning_context.hpp └── moveit │ └── drake │ └── conversions.hpp ├── moveit_drake.repos ├── package.xml ├── parameters └── ktopt_moveit_parameters.yaml ├── plugin_descriptions.xml ├── scripts └── convert_stl_to_obj.py └── src ├── add_toppra_time_parameterization.cpp ├── conversions.cpp ├── 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