├── .gitignore ├── assets ├── box_rearrangement.gif ├── box_rearrangement.mp4 ├── box_stacking_four.gif ├── box_stacking_four_in_use.mp4 ├── crl_four_no_bug.mp4 ├── goal_specifications.png ├── mobile_four_dep.gif ├── mobile_four_dep.mp4 ├── modes │ ├── bottles_modes.gif │ ├── box_stacking_modes.gif │ ├── crl_two_modes.gif │ ├── handover_2d_modes.gif │ ├── piano_modes.gif │ ├── random_2d_modes.gif │ ├── triple_waypoints_modes.gif │ └── welding_modes.gif ├── other_hallway_sum.mp4 └── random_2d.mp4 ├── configs ├── defaults │ ├── aitstar.json │ ├── birrtstar.json │ ├── composite_prm.json │ ├── eitstar.json │ ├── prioritized.json │ ├── rrtstar.json │ └── short_horizon.json ├── demo │ ├── mobile_wall.json │ ├── mobile_wall_dep.json │ ├── other_hallway.json │ └── simple_2d_sampling_based.json ├── experiments-iros │ ├── ablations │ │ ├── box_stacking_sampling.json │ │ ├── box_stacking_shortcutting.json │ │ ├── hallway_sampling.json │ │ ├── hallway_shortcutting.json │ │ ├── hallwway_benchmark_connection_strategy_sum.json │ │ └── stacking_benchmark_connection_strategy_max.json │ ├── box_stacking_dep.json │ ├── hallway_benchmark.json │ ├── mobile_wall_four_dep.json │ └── random_2d_benchmark.json ├── experiments-ral │ ├── ablations │ │ ├── connection │ │ │ ├── hallway_benchmark_connection_strategy_sum.json │ │ │ └── stacking_benchmark_connection_strategy_max.json │ │ ├── mode_sampling │ │ │ ├── box_stacking_mode_sampling.json │ │ │ └── hallway_mode_sampling.json │ │ ├── sampling │ │ │ ├── box_stacking_sampling.json │ │ │ └── hallway_sampling.json │ │ └── shortcutting │ │ │ ├── box_stacking_shortcutting.json │ │ │ └── hallway_shortcutting.json │ ├── box_stacking.json │ ├── hallway_benchmark.json │ ├── mobile_wall_four_dep.json │ └── unassigned_cleanup.json ├── experiments-tirza-paper │ ├── box_stacking_dep.json │ ├── box_stacking_dep_batch_size.json │ ├── box_stacking_dep_mode_sampling.json │ ├── box_stacking_dep_mode_validation.json │ ├── other_hallway.json │ ├── unassigned_cleanup.json │ ├── unassigned_cleanup_batch_size.json │ ├── unassigned_cleanup_mode_sampling.json │ ├── unassigned_cleanup_mode_validation.json │ └── unordered_box_reorientation.json └── experiments │ └── hallway_benchmark.json ├── cpp ├── CMakeLists.txt └── main.cpp ├── examples ├── compare_costs.py ├── compute_confidence_intervals.py ├── disp_path_2d.py ├── display_path_evolution.py ├── display_single_path.py ├── make_plots.py ├── paper_2.mplstyle ├── run_experiment.py ├── run_planner.py ├── show_problems.py └── tmp.py ├── pyproject.toml ├── readme.md ├── run_seq_configs.sh ├── src └── multi_robot_multi_goal_planning │ ├── __init__.py │ ├── assets │ ├── desc │ │ ├── _box_reorientation_tasks.txt │ │ ├── box_poses.json │ │ ├── box_reorientation_tasks.txt │ │ ├── cube_four.json │ │ ├── extreme_beam_test.json │ │ ├── spiral_tower_four.json │ │ ├── spiral_tower_two.json │ │ ├── three_robot_truss.json │ │ └── truss_bridge.json │ └── models │ │ ├── mujoco │ │ ├── mj_hallway.xml │ │ ├── mj_manip.xml │ │ ├── mj_piano.xml │ │ ├── mj_two_dim.xml │ │ ├── mujoco_1_ur10_world_closer_movable_obj.xml │ │ ├── mujoco_4_ur10_world_closer.xml │ │ ├── mujoco_4_ur10_world_closer_movable_obj.xml │ │ └── mujoco_ur10 │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── assets │ │ │ ├── base_0.obj │ │ │ ├── base_1.obj │ │ │ ├── forearm_0.obj │ │ │ ├── forearm_1.obj │ │ │ ├── forearm_2.obj │ │ │ ├── forearm_3.obj │ │ │ ├── shoulder_0.obj │ │ │ ├── shoulder_1.obj │ │ │ ├── shoulder_2.obj │ │ │ ├── upperarm_0.obj │ │ │ ├── upperarm_1.obj │ │ │ ├── upperarm_2.obj │ │ │ ├── upperarm_3.obj │ │ │ ├── wrist1_0.obj │ │ │ ├── wrist1_1.obj │ │ │ ├── wrist1_2.obj │ │ │ ├── wrist2_0.obj │ │ │ ├── wrist2_1.obj │ │ │ ├── wrist2_2.obj │ │ │ └── wrist3.obj │ │ │ ├── scene.xml │ │ │ ├── ur10e.png │ │ │ └── ur10e.xml │ │ ├── pinocchio │ │ ├── 2d_handover.urdf │ │ ├── middle_obstacle_two_agents.urdf │ │ ├── other_hallway.urdf │ │ ├── piano.urdf │ │ ├── random_2d.urdf │ │ ├── ur10e │ │ │ ├── forearm.dae │ │ │ ├── ur10_spherized.urdf │ │ │ ├── ur10e_meshes.urdf │ │ │ ├── ur10e_primitives.urdf │ │ │ └── ur_description │ │ │ │ └── meshes │ │ │ │ └── ur10e │ │ │ │ ├── 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 │ │ └── ur5e │ │ │ ├── tmp_org.g │ │ │ ├── ur5.urdf │ │ │ ├── ur5e.urdf │ │ │ ├── ur5e_constrained.urdf │ │ │ ├── ur5e_constrained_coll_primitives.urdf │ │ │ └── ur_description │ │ │ └── meshes │ │ │ └── ur5e │ │ │ ├── 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 │ │ └── rai │ │ ├── abb_robot │ │ ├── abb_crb15000_dual_support │ │ │ ├── meshes │ │ │ │ ├── collision │ │ │ │ │ ├── base_link.stl │ │ │ │ │ ├── link_1.stl │ │ │ │ │ ├── link_2.stl │ │ │ │ │ ├── link_3.stl │ │ │ │ │ ├── link_4.stl │ │ │ │ │ ├── link_5.stl │ │ │ │ │ └── link_6.stl │ │ │ │ └── visual │ │ │ │ │ ├── base_link.stl │ │ │ │ │ ├── link_1.stl │ │ │ │ │ ├── link_2.stl │ │ │ │ │ ├── link_3.stl │ │ │ │ │ ├── link_4.stl │ │ │ │ │ ├── link_5.stl │ │ │ │ │ └── link_6.stl │ │ │ └── urdf │ │ │ │ ├── abb_crb15000_dual_cell.urdf │ │ │ │ ├── abb_crb15000_dual_cell.xacro │ │ │ │ ├── crb15000_5_95_macro.xacro │ │ │ │ ├── tmp.g │ │ │ │ └── z.log.global │ │ ├── dual_cell.g │ │ ├── single_robot.g │ │ └── z.log.global │ │ ├── bottle.g │ │ ├── husky │ │ ├── husky.g │ │ ├── husky_clean.g │ │ └── meshes │ │ │ ├── a03b2e43-8123-41dd-95f1-fe54526b1ad3.ply │ │ │ ├── a03c43ad-56c1-436a-a22d-94e90ce820f6.ply │ │ │ ├── a144a0a7-2692-422c-be4e-905972ec5e1d.ply │ │ │ ├── a153639d-a5ed-4cc9-9d3c-3a75e9784440.ply │ │ │ ├── a16773bd-309f-49ea-b6fa-ba2025e54766.ply │ │ │ ├── a1727dff-d250-4f8a-a4bb-69ff886bca8a.ply │ │ │ ├── a219ae26-fd33-4947-aead-f410cbf9c3b8.ply │ │ │ ├── a21d3ef6-8028-4360-b318-27f35bf07fdc.ply │ │ │ ├── a27abe8d-d23b-499d-9b05-8f43f27a3f97.ply │ │ │ ├── a2e3f1f6-afeb-4689-a199-532371d48482.ply │ │ │ ├── a3129030-0ee2-482e-a141-8000e3793edb.ply │ │ │ ├── a3cfa681-3099-4ead-bc34-c3d719778945.ply │ │ │ ├── a3e757c7-6a8e-4754-a0d5-b7f7a58108f2.ply │ │ │ ├── a405d8c1-eaa4-4b9a-90b5-ecbb973b2d73.ply │ │ │ ├── a4121ac3-da3d-42ff-a2bf-81e44e9ad06f.ply │ │ │ ├── a4581d6b-a5af-4725-bc99-3f21b2baf56a.ply │ │ │ ├── a458fbfa-9064-4c66-b98b-2af9d2b0015d.ply │ │ │ ├── a46a7bad-ab96-41d1-88ac-255549404ef5.ply │ │ │ ├── a46b8969-564a-405f-9ec4-846d452cc440.ply │ │ │ ├── a496f2e4-e2ad-4371-bcd7-81eb6243c74b.ply │ │ │ ├── a4abf024-3146-4066-8c74-d84d04f781d1.ply │ │ │ ├── a4ce417d-d397-4378-ac60-692f48ff10f2.ply │ │ │ ├── a4d9f643-1530-466f-94da-fcaab70240ea.ply │ │ │ ├── a4dfc027-5dc3-44a1-9215-10af937e550b.ply │ │ │ ├── a4ea35c6-7642-40f2-a1ff-a49baed68fe7.ply │ │ │ ├── a4edf404-8171-4560-a4f6-0a24395660b9.ply │ │ │ ├── a59a05f1-73ee-4fe3-ae0c-9ffc12b9bc54.ply │ │ │ ├── a59bd5cb-efe7-4e43-b324-e3c9e32e9972.ply │ │ │ ├── a5a36b91-8243-4e97-b34b-97f308b427ec.ply │ │ │ ├── a5c635c7-9a04-4adc-9b8d-b283f4d04bed.ply │ │ │ ├── a5d224f9-6877-4732-8ab5-266b8c01448d.ply │ │ │ ├── a5ef86ef-7c3f-48c4-a203-540cc4566d67.ply │ │ │ ├── a63d862f-22e5-420d-ac36-fb60e08b73c4.ply │ │ │ ├── a63df3c2-1605-4679-9b88-c2d9898e18f1.ply │ │ │ ├── a6742b82-b314-42de-ba96-efbbec8c403c.ply │ │ │ ├── a6c965c8-addb-4ceb-a96d-a7cdd8186646.ply │ │ │ ├── a716d647-8b8a-4bc9-90ed-14afe02b3830.ply │ │ │ ├── a749513d-b679-4ff5-b198-f0aa4f5ddbde.ply │ │ │ ├── a7c198f7-5291-474d-9a53-ed6facf67e04.ply │ │ │ ├── a7ddb5f7-52cd-4106-9849-aa4fc3c6a52f.ply │ │ │ ├── a8090800-6b5b-4f74-be7c-4d6717a2ae98.ply │ │ │ ├── a8094666-453c-4602-91cb-704ea4591393.ply │ │ │ ├── a82132d0-fa0d-4f09-9743-1e5c9fc821d6.ply │ │ │ ├── a8460b18-9ca9-4676-9e59-4f46c48d6247.ply │ │ │ ├── a854bb2d-3f12-4901-b493-044c41afbd32.ply │ │ │ ├── a89311e8-09c3-4176-9d45-01ef725a2ffc.ply │ │ │ ├── a8c807f1-755c-46c8-a5bf-e1e7091dffc4.ply │ │ │ ├── a9079fcc-992e-45e1-a419-04de6ba07d87.ply │ │ │ ├── a90e3498-82e5-4b02-93f6-700ea31d9ebe.ply │ │ │ ├── a9c99866-fc2d-4d0f-ba7a-21245da4a63b.ply │ │ │ ├── aa304d6d-5835-4cfa-99fc-6c84926370a8.ply │ │ │ ├── aa69cb3c-03f3-4975-9690-25156a833af8.ply │ │ │ ├── aa840c12-03bb-45d8-ac44-ddb9629ef560.ply │ │ │ ├── aa92b902-15df-40a0-810e-d0032a61f374.ply │ │ │ ├── aaaa75a0-ac82-4501-890e-89af7861f3c1.ply │ │ │ ├── aad79360-f197-4588-8d01-2b156aeb44b7.ply │ │ │ ├── ab5ff28a-848f-4de2-99c3-ca007628ef2a.ply │ │ │ ├── ab8c36f5-1b2a-4916-9bdb-837eff257679.ply │ │ │ ├── abca9468-b094-44c9-a860-02a0a66f415c.ply │ │ │ ├── abed9603-b01f-4ed5-ac40-059b636d0f12.ply │ │ │ ├── ac07808e-4eb5-4f67-8936-a85adf44296f.ply │ │ │ ├── ac2006d6-8770-43f6-a555-fb39e8b6ea35.ply │ │ │ ├── ac3b0a83-1365-42e8-9e85-e749f6d74145.ply │ │ │ ├── ac728c8d-040c-491c-985a-6082c62ef6ab.ply │ │ │ ├── ac72c3f5-69c0-46e9-b1ba-597bb3074a76.ply │ │ │ ├── ac7aa384-7ad8-41dc-acf1-ed7c023affb2.ply │ │ │ ├── ad4299af-9174-4ed5-b59f-6b739dda16c3.ply │ │ │ ├── ad436d8f-aba7-47b0-9c0e-d9a2ee7cbc73.ply │ │ │ ├── add2f79e-7702-4ff3-88dd-cf2a8533abbc.ply │ │ │ ├── ae110a78-28d3-4138-9428-134cb71c2a02.ply │ │ │ ├── ae46edce-75c3-4e0c-b684-0b314b714d0b.ply │ │ │ ├── ae782557-c93a-4d46-8d65-1675c4dad278.ply │ │ │ ├── ae9bdea4-da9f-4924-aa47-168036dcb20e.ply │ │ │ ├── aef0e0b9-5288-4cbd-9dfc-b0fde0d55464.ply │ │ │ ├── af79e550-26c7-4e0c-ab02-b01958c3f079.ply │ │ │ ├── b0aa9428-40b2-4d98-afd2-a6c7a8aeb6dd.ply │ │ │ ├── b1a9e547-b7b4-4743-8cb0-e12599813e47.ply │ │ │ ├── b234cd95-a6b3-4310-bc1b-99bd0d7daf85.ply │ │ │ ├── b3793697-6356-408c-b638-057e86d86bea.ply │ │ │ ├── b4b48a18-cf5e-4c7f-b84b-c3c335adef0e.ply │ │ │ ├── b7ce39e7-6156-454b-891c-6dbba832b175.ply │ │ │ ├── b8f5e4fd-3996-471f-bd9e-b0052f7a1799.ply │ │ │ ├── bada5948-1329-4078-ae23-ec3e7740dfae.ply │ │ │ ├── base_link_1.ply │ │ │ ├── bcb4c4e8-8044-4521-bceb-e7175f990c48.ply │ │ │ ├── bdbc9ee6-bb1c-4e4e-80e0-b82f28e90673.ply │ │ │ ├── be60a99d-837c-47ab-9997-d14ae0b36f22.ply │ │ │ ├── c0947504-2eb0-40b5-96cb-aeb4be61838f.ply │ │ │ ├── c5352eb6-4753-443f-9ad9-6c9114da0aa2.ply │ │ │ ├── c8f76a06-bbb8-4e0a-8c2d-c1ccab518042.ply │ │ │ ├── cd676679-5b79-4e11-909d-b7417a60387c.ply │ │ │ ├── cea18b59-5d9a-4bc0-9e81-71cda6ec11fc.ply │ │ │ ├── d28c80b9-b33b-4c8c-a8e0-eebfe14506ed.ply │ │ │ ├── d4152ff3-aefb-4d2f-b230-e9d68df3e1b6.ply │ │ │ ├── d447b66a-f146-4920-bce2-b91c5a290111.ply │ │ │ ├── d590f8c1-0bef-42a8-a903-cca585817cec.ply │ │ │ ├── d6ba603b-a1ec-4fb2-b7bb-362986dfd34e.ply │ │ │ ├── da54ad3c-3af0-4408-8cf8-d587bef69203.ply │ │ │ ├── daa3aa93-2b02-41c9-8a18-7bc6d78c769b.ply │ │ │ ├── dba76d0d-1246-4983-8703-8cd42539816f.ply │ │ │ ├── dual_arm_bulkhead_link_0.ply │ │ │ ├── dual_arm_bulkhead_link_1.ply │ │ │ ├── e29b402e-df9c-49c1-9206-fbcc30aba2e2.ply │ │ │ ├── e3b92ab3-21e7-4209-9c34-9a14bc8c1bc2.ply │ │ │ ├── e47e6b23-86b1-4abf-b2d7-13f48695a31b.ply │ │ │ ├── e86697f1-4fa0-4718-82d1-8287e9898cba.ply │ │ │ ├── e9345825-b5a7-4e8d-9c85-b6050b348fcc.ply │ │ │ ├── e999b06e-b5c0-4f7b-9ee5-26c3ea642380.ply │ │ │ ├── ead8b11e-4218-4b9c-a9b1-7b10b5dee66d.ply │ │ │ ├── eb037fcc-8255-4a54-8b17-64df65ccb799.ply │ │ │ ├── f150d093-cd57-49df-ad6e-8dcd00a54ea7.ply │ │ │ ├── f5c63694-c180-4f83-ab7c-8082d923f7e1.ply │ │ │ ├── f77b4424-c3dd-48c6-8d17-7a4732b3f00e.ply │ │ │ ├── fc07f1fd-4497-4d7d-8e12-bdacf76f2d26.ply │ │ │ ├── fdf9d407-8220-4c87-a77d-ebc7c810b989.ply │ │ │ ├── fe66d07c-92cf-41de-ac22-67af37eac5fa.ply │ │ │ ├── front_bumper_extension_link_1.ply │ │ │ ├── front_bumper_link_1.ply │ │ │ ├── front_left_wheel_link_1.ply │ │ │ ├── front_right_wheel_link_1.ply │ │ │ ├── rear_bumper_link_1.ply │ │ │ ├── rear_left_wheel_link_1.ply │ │ │ ├── rear_right_wheel_link_1.ply │ │ │ └── top_chassis_link_1.ply │ │ ├── kuka_drake │ │ ├── HOWTO_kuka.sh │ │ ├── HOWTO_wsg.sh │ │ ├── iiwa14_primitive_collision.urdf │ │ ├── kuka.g │ │ ├── kuka_meshes │ │ │ ├── collision │ │ │ │ ├── link_6_x.tri │ │ │ │ ├── link_7_polytope_x.tri │ │ │ │ └── link_7_x.tri │ │ │ └── visual │ │ │ │ ├── link_0_x.tri │ │ │ │ ├── link_1_x.tri │ │ │ │ ├── link_2_x.tri │ │ │ │ ├── link_3_x.tri │ │ │ │ ├── link_4_x.tri │ │ │ │ ├── link_5_x.tri │ │ │ │ ├── link_6_x.tri │ │ │ │ └── link_7_x.tri │ │ ├── kuka_mobile.g │ │ ├── kuka_no_box.g │ │ ├── kuka_two_finger.g │ │ ├── kuka_vacuum.g │ │ ├── setup.g │ │ ├── test.g │ │ ├── wsg.g │ │ ├── wsg_50_mesh_collision.urdf │ │ └── wsg_meshes │ │ │ ├── GUIDE_WSG50_110.off │ │ │ ├── WSG-FMF.off │ │ │ └── WSG50_110.off │ │ ├── mobile-manipulator-restricted.g │ │ ├── mobile_manipulator_additional_gripper_rot.g │ │ ├── robotiq │ │ ├── meshes │ │ │ └── visual │ │ │ │ ├── robotiq_arg2f_85_base_link.ply │ │ │ │ ├── robotiq_arg2f_85_base_link_x.ply │ │ │ │ ├── robotiq_arg2f_85_inner_finger.ply │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.ply │ │ │ │ ├── robotiq_arg2f_85_outer_finger.ply │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.ply │ │ │ │ ├── robotiq_arg2f_85_pad.ply │ │ │ │ ├── robotiq_ft300.ply │ │ │ │ └── robotiq_gripper_coupling.ply │ │ ├── robotiq.g │ │ └── robotiq_clean.g │ │ ├── rollcage.g │ │ ├── strut_assemblies │ │ ├── bridge.json │ │ ├── florian_strut.json │ │ ├── roboarch.json │ │ ├── tower.json │ │ ├── yijiang_strut.json │ │ └── z_shape.json │ │ └── ur10 │ │ ├── tmp.g │ │ ├── ur10.g │ │ ├── ur10_clean.g │ │ ├── ur10_clean_unrestricted.g │ │ ├── ur10_two_finger.g │ │ ├── ur10_vacuum.g │ │ ├── ur10_vacuum_upside_down.g │ │ ├── ur_description │ │ └── meshes │ │ │ └── ur10 │ │ │ └── visual │ │ │ ├── Base.ply │ │ │ ├── Forearm.ply │ │ │ ├── Shoulder.ply │ │ │ ├── UpperArm.ply │ │ │ ├── Wrist1.ply │ │ │ ├── Wrist2.ply │ │ │ └── Wrist3.ply │ │ └── ur_welding.g │ ├── planners │ ├── __init__.py │ ├── baseplanner.py │ ├── composite_prm_planner.py │ ├── itstar_base.py │ ├── mode_validation.py │ ├── planner_aitstar.py │ ├── planner_birrtstar.py │ ├── planner_eitstar.py │ ├── planner_rrtstar.py │ ├── prioritized_planner.py │ ├── receding_horizon_wrapper.py │ ├── rrtstar_base.py │ ├── sampling_informed.py │ ├── shortcutting.py │ └── termination_conditions.py │ └── problems │ ├── __init__.py │ ├── abstract_env.py │ ├── configuration.py │ ├── constraints.py │ ├── dependency_graph.py │ ├── goals.py │ ├── mujoco_env.py │ ├── pinocchio_env.py │ ├── planning_env.py │ ├── rai_base_env.py │ ├── rai_config.py │ ├── rai_envs.py │ ├── rai_envs_constrained.py │ ├── rai_free_envs.py │ ├── rai_single_goal_envs.py │ ├── rai_unordered_envs.py │ ├── registry.py │ └── util.py └── tests ├── plot_bechmark_results.py ├── test.py ├── test_batch_config_benchmark.py ├── test_config.py ├── 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