├── .gitignore ├── LICENSE ├── README.md ├── assets ├── experiments-demo-img │ ├── active_diffco_example1.png │ ├── active_diffco_example2.png │ ├── active_diffco_example3.png │ ├── active_fcl_example1.png │ ├── active_fcl_example2.png │ ├── active_fcl_example3.png │ ├── compare_example1.png │ ├── correlate_example1.png │ ├── correlate_example1_dataset.png │ ├── dataset_example1.png │ ├── dataset_example2.png │ ├── trajopt_example1.png │ ├── trajopt_example2.png │ ├── trajopt_example3.png │ └── trajopt_example4.png ├── object_meshes │ └── teapot.stl └── readme-img │ ├── rrtconnect+optimize.gif │ └── rrtconnect.gif ├── diffco ├── __init__.py ├── collision_checkers.py ├── collision_interfaces │ ├── __init__.py │ ├── curobo_interface.py │ ├── env_interface.py │ ├── rigid_body.py │ ├── robot_interface_base.py │ ├── ros_interface.py │ ├── se3_so3_util.py │ ├── spatial_vector_algebra.py │ └── urdf_interface.py ├── deprecated │ ├── DiffCo.py │ ├── DiffCoBeta.py │ ├── FCLChecker.py │ ├── MultiDiffCo.py │ └── Obstacles.py ├── envs │ ├── __init__.py │ ├── collision_env.py │ ├── moveit │ │ ├── baxter │ │ │ ├── rviz_configs │ │ │ │ └── baxter_visualize_path.rviz │ │ │ └── scene_objects │ │ │ │ ├── baxter_2objontable.scene │ │ │ │ ├── baxter_complex.scene │ │ │ │ ├── baxter_floating.scene │ │ │ │ ├── baxter_medium.scene │ │ │ │ ├── baxter_scene.scene │ │ │ │ ├── cat.obj │ │ │ │ ├── cat_scene.scene │ │ │ │ └── table.obj │ │ └── panda │ │ │ ├── rviz_configs │ │ │ └── pandarvizconfig.rviz │ │ │ └── scene_objects │ │ │ ├── bookshelves.scene │ │ │ ├── bookshelves_small.scene │ │ │ ├── narrow.scene │ │ │ └── raised_shelves.scene │ └── rtb │ │ ├── __init__.py │ │ └── panda_envs.py ├── kernel.py ├── kernel_perceptrons.py ├── model.py ├── optim.py ├── robot_data │ ├── 2link_robot.urdf │ ├── __init__.py │ ├── allegro │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link_left.STL │ │ │ ├── link_0.0.STL │ │ │ ├── link_1.0.STL │ │ │ ├── link_12.0_left.STL │ │ │ ├── link_12.0_right.STL │ │ │ ├── link_13.0.STL │ │ │ ├── link_14.0.STL │ │ │ ├── link_15.0.STL │ │ │ ├── link_15.0_tip.STL │ │ │ ├── link_2.0.STL │ │ │ ├── link_3.0.STL │ │ │ ├── link_3.0_tip.STL │ │ │ └── link_4.0.STL │ │ └── urdf │ │ │ ├── allegro_hand_description_left.urdf │ │ │ └── allegro_hand_description_left_small_damping.urdf │ ├── fetch_description │ │ ├── meshes │ │ │ ├── base_link.dae │ │ │ ├── base_link_collision.STL │ │ │ ├── base_link_uv.png │ │ │ ├── bellows_link.STL │ │ │ ├── bellows_link_collision.STL │ │ │ ├── elbow_flex_link.dae │ │ │ ├── elbow_flex_link_collision.STL │ │ │ ├── elbow_flex_uv.png │ │ │ ├── estop_link.STL │ │ │ ├── forearm_roll_link.dae │ │ │ ├── forearm_roll_link_collision.STL │ │ │ ├── forearm_roll_uv.png │ │ │ ├── gripper_link.STL │ │ │ ├── gripper_link.dae │ │ │ ├── gripper_uv.png │ │ │ ├── head_pan_link.dae │ │ │ ├── head_pan_link_collision.STL │ │ │ ├── head_pan_uv.png │ │ │ ├── head_tilt_link.dae │ │ │ ├── head_tilt_link_collision.STL │ │ │ ├── head_tilt_uv.png │ │ │ ├── l_gripper_finger_link.STL │ │ │ ├── l_wheel_link.STL │ │ │ ├── l_wheel_link_collision.STL │ │ │ ├── laser_link.STL │ │ │ ├── r_gripper_finger_link.STL │ │ │ ├── r_wheel_link.STL │ │ │ ├── r_wheel_link_collision.STL │ │ │ ├── shoulder_lift_link.dae │ │ │ ├── shoulder_lift_link_collision.STL │ │ │ ├── shoulder_lift_uv.png │ │ │ ├── shoulder_pan_link.dae │ │ │ ├── shoulder_pan_link_collision.STL │ │ │ ├── shoulder_pan_uv.png │ │ │ ├── torso_fixed_link.STL │ │ │ ├── torso_fixed_link.dae │ │ │ ├── torso_fixed_uv.png │ │ │ ├── torso_lift_link.dae │ │ │ ├── torso_lift_link_collision.STL │ │ │ ├── torso_lift_uv.png │ │ │ ├── upperarm_roll_link.dae │ │ │ ├── upperarm_roll_link_collision.STL │ │ │ ├── upperarm_roll_uv.png │ │ │ ├── wrist_flex_link.dae │ │ │ ├── wrist_flex_link_collision.STL │ │ │ ├── wrist_flex_uv.png │ │ │ ├── wrist_roll_link.dae │ │ │ ├── wrist_roll_link_collision.STL │ │ │ └── wrist_roll_uv.png │ │ └── urdf │ │ │ ├── FETCH_MODIFICATIONS.md │ │ │ ├── fetch.urdf │ │ │ ├── fetch_arm_no_gripper.urdf │ │ │ └── fetch_arm_no_gripper_small_damping.urdf │ ├── kinova_description │ │ ├── meshes │ │ │ ├── arm.SLDPRT │ │ │ ├── arm.STL │ │ │ ├── arm.dae │ │ │ ├── arm_half_1.STL │ │ │ ├── arm_half_1.dae │ │ │ ├── arm_half_2.STL │ │ │ ├── arm_half_2.dae │ │ │ ├── arm_mico.STL │ │ │ ├── arm_mico.dae │ │ │ ├── base.STL │ │ │ ├── base.dae │ │ │ ├── finger_distal.STL │ │ │ ├── finger_distal.dae │ │ │ ├── finger_proximal.STL │ │ │ ├── finger_proximal.dae │ │ │ ├── forearm.STL │ │ │ ├── forearm.dae │ │ │ ├── forearm_mico.STL │ │ │ ├── forearm_mico.dae │ │ │ ├── hand_2finger.STL │ │ │ ├── hand_2finger.dae │ │ │ ├── hand_3finger.STL │ │ │ ├── hand_3finger.dae │ │ │ ├── ring_big.STL │ │ │ ├── ring_big.dae │ │ │ ├── ring_small.STL │ │ │ ├── ring_small.dae │ │ │ ├── shoulder.STL │ │ │ ├── shoulder.dae │ │ │ ├── wrist.STL │ │ │ ├── wrist.dae │ │ │ ├── wrist_spherical_1.STL │ │ │ ├── wrist_spherical_1.dae │ │ │ ├── wrist_spherical_2.STL │ │ │ └── wrist_spherical_2.dae │ │ └── urdf │ │ │ ├── jaco.urdf │ │ │ └── jaco_clean.urdf │ ├── kuka_iiwa │ │ ├── meshes │ │ │ └── iiwa7 │ │ │ │ └── collision │ │ │ │ ├── link_0.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.stl │ │ │ │ └── link_7.stl │ │ └── urdf │ │ │ ├── iiwa7.urdf │ │ │ └── iiwa7_allegro.urdf │ ├── panda_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── meshes │ │ │ └── collision │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── meshes │ │ │ └── collision │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ ├── panda.srdf │ │ │ ├── panda.urdf │ │ │ ├── panda_no_gripper.urdf │ │ │ ├── panda_no_gripper_simple_collision.urdf │ │ │ └── panda_simple_collision.urdf │ ├── rope_description │ │ └── rope.urdf │ └── trifinger_edu_description │ │ ├── meshes │ │ └── stl │ │ │ ├── edu │ │ │ ├── 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 │ │ │ └── trifinger_table_without_border.stl │ │ └── trifinger_edu.urdf ├── robot_fkine.py ├── routines.py └── utils.py ├── examples └── tests │ ├── test_fkine_diffco.py │ ├── test_rope.py │ ├── test_urdf_robot.py │ └── test_urdf_robot_vs_shapeenv.py ├── experiments.md ├── misc ├── csv_dataset_to_pt.py ├── fcl-test-extracting-contacts.py ├── fcl-test-group.py ├── fcl-test.py ├── fix_exp.py ├── module_test.py ├── profile_reading.py ├── rbf_regression.py ├── recover_data.py ├── robopy-test.py ├── rrt_star.py ├── small_test.py ├── speed_compare_plot.ipynb └── viewer.ipynb ├── notebook_tutorials └── trajectory_optimization_tutorial.ipynb ├── requirements.txt ├── scripts ├── 2d_data_generation.py ├── 2d_escape.py ├── 2d_line_data_generation.py ├── 2d_trajopt.py ├── 3d_data_generation.py ├── 3d_trajopt.py ├── active.py ├── collision_landscape.py ├── compare_plot_planning.py ├── compare_sampling.py ├── escape.py ├── generate_batch_data_2d.py ├── generate_batch_data_se2.py ├── generate_test_configs.py ├── line_query_eval.py ├── manual_trajopt_se2.py ├── manual_trajopt_se3.py ├── motion_planner.py ├── record_moveit_path.py ├── se3_data_generation.py ├── simple_temporal_active.py ├── speed_compare.py ├── speed_compare_plot.py ├── temporal1d_data_generation.py ├── test_correlation.py ├── trajectory_optim.py └── visualize_trajectory_2d.py └── setup.py /.gitignore: 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