├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindIpopt.cmake.in ├── FindMatlab.cmake ├── FindVAL.cmake.in ├── Ipopt-CMakeLists.txt.in ├── NLopt-CMakeLists.txt.in ├── VAL-CMakeLists.txt.in ├── ctrl_utils-CMakeLists.txt.in ├── ncollide_cpp-CMakeLists.txt.in ├── ncpu.sh ├── redis_gl-CMakeLists.txt.in └── spatial_dyn-CMakeLists.txt.in ├── include └── logic_opt │ ├── constraints │ ├── cartesian_pose_constraint.h │ ├── collision_constraint.h │ ├── constraint.h │ ├── multi_constraint.h │ ├── pick_constraint.h │ ├── place_constraint.h │ ├── push_constraint.h │ ├── surface_contact_constraint.h │ ├── throw_constraint.h │ ├── touch_constraint.h │ ├── trajectory_constraint.h │ └── workspace_constraint.h │ ├── control │ ├── opspace_controller.h │ └── throw_constraint_scp.h │ ├── optimization │ ├── constraints.h │ ├── ipopt.h │ ├── nlopt.h │ ├── objectives.h │ ├── optimizer.h │ └── variables.h │ ├── planning │ ├── a_star.h │ ├── actions.h │ ├── breadth_first_search.h │ ├── combination_generator.h │ ├── depth_first_search.h │ ├── formula.h │ ├── objects.h │ ├── parameter_generator.h │ ├── pddl.h │ ├── planner.h │ ├── proposition.h │ ├── search.h │ └── validator.h │ └── world.h ├── install_ipopt.sh ├── logicopt └── pddl.py ├── resources ├── franka_panda │ ├── collision │ │ ├── finger.stl │ │ ├── hand.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl │ ├── franka_panda.urdf │ └── visual │ │ ├── finger.dae │ │ ├── hand.dae │ │ ├── link0.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ ├── link6.dae │ │ └── link7.dae ├── hanoi_config.yaml ├── hanoi_domain.pddl ├── hanoi_problem.pddl ├── reach_config.yaml ├── reach_domain.pddl ├── reach_problem.pddl └── robotiq_2f_85 │ ├── collision │ ├── robotiq_arg2f_85_base_link.stl │ ├── robotiq_arg2f_85_inner_finger.dae │ ├── robotiq_arg2f_85_inner_knuckle.dae │ ├── robotiq_arg2f_85_outer_finger.dae │ ├── robotiq_arg2f_85_outer_knuckle.dae │ └── robotiq_arg2f_base_link.stl │ ├── robotiq_2f_85.urdf │ └── visual │ ├── robotiq_arg2f_85_base_link.dae │ ├── robotiq_arg2f_85_inner_finger.dae │ ├── robotiq_arg2f_85_inner_knuckle.dae │ ├── robotiq_arg2f_85_outer_finger.dae │ ├── robotiq_arg2f_85_outer_knuckle.dae │ └── robotiq_arg2f_85_pad.dae └── src ├── constraints ├── cartesian_pose_constraint.cc ├── collision_constraint.cc ├── multi_constraint.cc ├── pick_constraint.cc ├── place_constraint.cc ├── push_constraint.cc ├── surface_contact_constraint.cc ├── throw_constraint.cc ├── touch_constraint.cc ├── trajectory_constraint.cc └── workspace_constraint.cc ├── control └── opspace_controller.cc ├── main.cc ├── matlab ├── logic_opt_mex_function.h └── throw_constraint_scp.cc ├── opspace ├── .gitignore ├── CMakeLists.txt └── src │ └── main.cc ├── optimization ├── ipopt.cc ├── nlopt.cc └── objectives.cc ├── pddl.cc ├── planning ├── actions.cc ├── objects.cc ├── 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