├── .github └── workflows │ ├── conda.yml │ ├── cpp-py.yml │ └── pre-commit.yml ├── .gitmodules ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── LICENSE ├── MANIFEST.in ├── README.md ├── benchmark ├── CMakeLists.txt ├── envs │ ├── ballworld2 │ │ ├── bugtrap.json │ │ ├── empty.json │ │ ├── one_obs.json │ │ └── random1.json │ └── pinocchio │ │ ├── kuka.json │ │ ├── planarquad_column.json │ │ ├── point_mass_cables.json │ │ ├── se3_window.json │ │ ├── unicycle1_bugtrap.json │ │ ├── unicycle1_park.json │ │ ├── ur5_bin.json │ │ └── ur5_two_arms.json └── main.cpp ├── binder ├── _environment.bak └── _requirements.txt ├── bindings └── python │ ├── CMakeLists.txt │ ├── py.cpp │ └── pybind11_json.hpp ├── cmake └── dynorrtConfig.cmake.in ├── example_cpplib ├── CMakeLists.txt ├── main.cc └── main_pin.cc ├── examples ├── collisions_pin.py ├── finger.py ├── ik_kuka.py ├── interactive_pin.py ├── pin_col_manager.py ├── pin_col_manager_time.py ├── play_kuka.py ├── plot.py ├── plot_all.py ├── plot_all_pin.py ├── plot_birrt.py ├── plot_kino.py ├── plot_rrt_star.py ├── simple_path_planning.py ├── test_rrt.py └── viewer_pin.py ├── examplesPIN ├── 0_introduction_to_numerical_robotics.py ├── my_rrt.py ├── tp4 │ ├── __init__.py │ ├── collision_wrapper.py │ ├── example_qp.py │ ├── robot_hand.py │ ├── solution_pd.py │ └── traj_ref.py └── utils │ ├── __init__.py │ ├── datastructures │ ├── bucketkdtree.py │ ├── mtree │ │ ├── OLD__init__.py │ │ ├── __init__.py │ │ ├── faster.py │ │ ├── functions.py │ │ └── heap_queue.py │ ├── pathtree.py │ ├── storage.py │ └── tree.py │ ├── generate.py │ ├── load_ur5_parallel.py │ ├── load_ur5_with_obstacles.py │ ├── meshcat_viewer_wrapper │ ├── __init__.py │ ├── colors.py │ ├── tests.py │ ├── transformations.py │ └── visualizer.py │ └── tests.py ├── include ├── dynoRRT │ ├── birrt.h │ ├── collision_manager.h │ ├── dynorrt_macros.h │ ├── eigen_conversions.hpp │ ├── kinorrt.h │ ├── lazyprm.h │ ├── options.h │ ├── pin_col_manager.h │ ├── pin_ik_solver.h │ ├── prm.h │ ├── rrt.h │ ├── rrt_base.h │ ├── rrtconnect.h │ ├── rrtstar.h │ ├── shortcut.h │ ├── sststar.h │ ├── toml_extra_macros.h │ └── utils.h └── thread-pool │ ├── BS_thread_pool.hpp │ └── BS_thread_pool_utils.hpp ├── install_all_docker.sh ├── notebooks ├── tutorial0.ipynb └── tutorial0.py ├── old_scripts └── my_rrt2.py ├── planner_config ├── PIN_all.toml ├── circleworld_2d_all.toml ├── lazyprm_v0.toml ├── prm_v0.toml ├── rrt_v0.toml └── rrt_v0_PIN.toml ├── pyproject.toml ├── setup.py ├── src ├── pin_col_manager.cpp ├── pin_ik_solver.cpp └── python │ └── pydynorrt │ ├── __init__.py │ ├── ballworld_2d.py │ ├── data │ ├── models │ │ ├── iiwa.urdf │ │ ├── kuka.srdf │ │ ├── meshes │ │ │ ├── kuka │ │ │ │ ├── 5674K57_flange_mount_ball_transfer.stl │ │ │ │ ├── assembled_ee.stl │ │ │ │ ├── case_shell.stl │ │ │ │ ├── iiwa_base.stl │ │ │ │ ├── iiwa_link_1.stl │ │ │ │ ├── iiwa_link_2.stl │ │ │ │ ├── iiwa_link_3.stl │ │ │ │ ├── iiwa_link_4.stl │ │ │ │ ├── iiwa_link_5.stl │ │ │ │ ├── iiwa_link_6.stl │ │ │ │ ├── iiwa_link_7.stl │ │ │ │ ├── kuka_to_sensor_mount.stl │ │ │ │ ├── sensor_to_case_mount.stl │ │ │ │ └── tennis_ball_smaller.obj │ │ │ └── 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 │ │ ├── planar_quadrotor_column.srdf │ │ ├── planar_quadrotor_column.urdf │ │ ├── point_payload_two_robots.srdf │ │ ├── point_payload_two_robots.urdf │ │ ├── se3_window.srdf │ │ ├── se3_window.urdf │ │ ├── unicycle_bugtrap.srdf │ │ ├── unicycle_bugtrap.urdf │ │ ├── unicycle_parallel_park.srdf │ │ ├── unicycle_parallel_park.urdf │ │ ├── ur5.srdf │ │ ├── ur5_robot.urdf │ │ ├── ur5_robot_with_box.urdf │ │ ├── ur5_two_robots.srdf │ │ ├── ur5_two_robots.urdf │ │ └── ur5_with_box.srdf │ └── nyu_fingers │ │ ├── meshes │ │ ├── base_back.stl │ │ ├── base_front.stl │ │ ├── base_side_left.stl │ │ ├── base_side_right.stl │ │ ├── base_top.stl │ │ ├── frame_wall.stl │ │ ├── lower_link.stl │ │ ├── middle_link.stl │ │ └── upper_link.stl │ │ ├── nyu_finger_double.urdf │ │ ├── nyu_finger_double0.urdf │ │ ├── nyu_finger_double_w_collision.srdf │ │ └── nyu_finger_double_w_collision.urdf │ ├── pin_more.py │ └── test │ ├── __init__.py │ ├── test_basic.py │ ├── test_cols.py │ ├── test_ik.py │ └── test_planners.py ├── test ├── pin_col.cpp ├── pin_ur5_example.cpp ├── pin_ur5_with_obs.cpp ├── play_toml.cpp ├── test_ddp.cpp ├── test_dyno.cpp ├── test_main.cpp └── test_pin.cpp └── wheels_build.sh /.github/workflows/conda.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/quimortiz/dynoRRT/HEAD/.github/workflows/conda.yml 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