├── .gitignore ├── .gitmodules ├── Dockerfile ├── LICENSE ├── README.md ├── clutter.lua ├── clutter.toml ├── clutter ├── arena.mtl ├── arena.obj ├── clutter.pddl ├── clutter.xml ├── clutter_1.xml ├── clutter_10.xml ├── clutter_11.xml ├── clutter_12.xml ├── clutter_13.xml ├── clutter_14.xml ├── clutter_2.xml ├── clutter_2_red.xml ├── clutter_3.xml ├── clutter_4.xml ├── clutter_5.xml ├── clutter_6.xml ├── clutter_7.xml ├── clutter_8.xml ├── clutter_9.xml ├── clutter_full.pddl ├── clutter_meshes.tar.gz ├── clutter_no_red.pddl ├── clutter_no_red.xml ├── clutter_nohit.pddl ├── clutter_pb1.pddl ├── clutter_pb10.pddl ├── clutter_pb11.pddl ├── clutter_pb12.pddl ├── clutter_pb13.pddl ├── clutter_pb14.pddl ├── clutter_pb2.pddl ├── clutter_pb2_red.pddl ├── clutter_pb3.pddl ├── clutter_pb4.pddl ├── clutter_pb5.pddl ├── clutter_pb6.pddl ├── clutter_pb7.pddl ├── clutter_pb8.pddl ├── clutter_pb9.pddl ├── stick_blue.mtl ├── stick_blue.obj ├── stick_green.mtl ├── stick_green.obj ├── stick_red.mtl ├── stick_red.obj ├── table.mtl └── table.obj ├── common ├── autodiff.hh └── common.hh ├── input ├── formula.hh ├── scene.cc ├── scene.hh ├── specification.cc └── specification.hh ├── lua ├── autodiff_prelude.lua ├── normal_prelude.lua └── unsat_prelude.lua ├── meson.build ├── meson_options.txt ├── models ├── meshes │ ├── base_L.mtl │ ├── base_L.obj │ ├── caster_L.mtl │ ├── caster_L.obj │ ├── elbow_flex.mtl │ ├── elbow_flex.obj │ ├── forearm.mtl │ ├── forearm.obj │ ├── forearm_roll_L.mtl │ ├── forearm_roll_L.obj │ ├── gripper_palm.mtl │ ├── gripper_palm.obj │ ├── head_pan_L.mtl │ ├── head_pan_L.obj │ ├── head_tilt_L.mtl │ ├── head_tilt_L.obj │ ├── l_finger.mtl │ ├── l_finger.obj │ ├── l_finger_tip.mtl │ ├── l_finger_tip.obj │ ├── shoulder_lift.mtl │ ├── shoulder_lift.obj │ ├── shoulder_pan.mtl │ ├── shoulder_pan.obj │ ├── tilting_hokuyo_L.mtl │ ├── tilting_hokuyo_L.obj │ ├── torso_lift_L.mtl │ ├── torso_lift_L.obj │ ├── upper_arm.mtl │ ├── upper_arm.obj │ ├── upper_arm_roll_L.mtl │ ├── upper_arm_roll_L.obj │ ├── wrist_flex.mtl │ ├── wrist_flex.obj │ ├── wrist_roll_L.mtl │ └── wrist_roll_L.obj ├── pr2.urdf └── pr2_collision_blacklist.csv ├── output ├── output.cc └── output.hh ├── params.toml ├── planet.cc ├── planner ├── bulletCollision.cc ├── collision.hh ├── compositenn.hh ├── cspace.cc ├── cspace.hh ├── debug.hh ├── discrete_distribution.hh ├── goal.cc ├── goal.hh ├── hash_helpers.hh ├── hashable_statespace.cc ├── hashable_statespace.hh ├── heuristic.cc ├── heuristic.hh ├── initial.cc ├── initial.hh ├── motion.cc ├── motion.hh ├── planner.hh ├── planner_utils.cc ├── planner_utils.hh ├── predicate-impl.cc ├── predicate-impl.hh ├── predicate-types.hh ├── predicate.cc ├── predicate.hh ├── rrt.cc ├── rrt.hh ├── sampler.cc ├── sampler.hh ├── signatures.hh ├── solver.cc ├── solver.hh ├── universe_map.cc ├── universe_map.hh ├── utils.cc ├── world_fn_utils.hh ├── world_functions.cc └── world_functions.hh ├── scripts └── mesh_to_obj └── structures ├── object.hh ├── robot.hh 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