├── .clang-format ├── .clang-tidy ├── .github └── workflows │ └── citation-validate.yml ├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── experiment_specs ├── 100_trial_experiment.json ├── 3_trial_experiment.json └── short_timeout.json ├── experiments ├── experiments.cc └── experiments.hh ├── input ├── input.cc ├── input.hh ├── pddl.cc ├── pddl.hh ├── scene.cc └── scene.hh ├── itstar ├── AITstar.cpp ├── AITstar.h └── aitstar │ ├── ImplicitGraph.h │ └── src │ └── ImplicitGraph.cpp ├── lua ├── inspect.lua ├── predicates.lua └── tmit-star.lua ├── meson.build ├── models ├── arena.mtl ├── arena.obj ├── checker_blue.png ├── meshes │ ├── base_L.mtl │ ├── caster_L.mtl │ ├── elbow_flex.mtl │ ├── forearm.mtl │ ├── forearm_roll_L.mtl │ ├── gripper_palm.mtl │ ├── head_pan_L.mtl │ ├── head_tilt_L.mtl │ ├── l_finger.mtl │ ├── l_finger_tip.mtl │ ├── shoulder_lift.mtl │ ├── shoulder_pan.mtl │ ├── tilting_hokuyo_L.mtl │ ├── torso_lift_L.mtl │ ├── upper_arm.mtl │ ├── upper_arm_roll_L.mtl │ ├── wrist_flex.mtl │ └── wrist_roll_L.mtl ├── plane.mtl ├── plane.urdf ├── plane100.obj ├── plane100.urdf ├── pr2.urdf ├── pr2_collision_blocklist.csv ├── pr2_collision_blocklist_big.csv ├── pr2_description │ ├── cmake │ │ ├── pr2_descriptionConfig-version.cmake │ │ └── pr2_descriptionConfig.cmake │ ├── documents │ │ ├── 090224_link_data_with_motor_info.xls │ │ ├── 100416_floating_link.ppt │ │ └── head_pan_and_tilt_mass_props.zip │ ├── gazebo │ │ └── gazebo.urdf.xacro │ ├── materials │ │ └── textures │ │ │ ├── pr2_caster_texture.png │ │ │ ├── pr2_wheel_left.png │ │ │ └── pr2_wheel_right.png │ ├── meshes │ │ ├── base_v0 │ │ │ ├── .gitignore │ │ │ ├── base.dae │ │ │ ├── base.stl │ │ │ ├── base_L.stl │ │ │ ├── base_color.tif │ │ │ ├── base_normals.tif │ │ │ ├── caster.stl │ │ │ ├── caster_L.stl │ │ │ ├── pr2_wheel.stl │ │ │ ├── wheel.dae │ │ │ ├── wheel.stl │ │ │ ├── wheel_color.tif │ │ │ ├── wheel_h.dae │ │ │ ├── wheel_h_color.tif │ │ │ └── wheel_normals.tif │ │ ├── forearm_v0 │ │ │ ├── .gitignore │ │ │ ├── forearm.dae │ │ │ ├── forearm.jpg │ │ │ ├── forearm.stl │ │ │ ├── forearm_color.tif │ │ │ ├── forearm_normals.tif │ │ │ ├── wrist_color.tif │ │ │ ├── wrist_flex.dae │ │ │ ├── wrist_flex.stl │ │ │ ├── wrist_normals.tif │ │ │ ├── wrist_roll.stl │ │ │ └── wrist_roll_L.stl │ │ ├── gripper_v0 │ │ │ ├── .gitignore │ │ │ ├── finger_H_Color_100430.tif │ │ │ ├── finger_H_UV_100430.dae │ │ │ ├── finger_tip_H_UV_100430.dae │ │ │ ├── finger_tip_l.stl │ │ │ ├── finger_tip_pad2_l.stl │ │ │ ├── finger_tip_pad2_r.stl │ │ │ ├── finger_tip_r.stl │ │ │ ├── fingertip_H_Color_100430.tif │ │ │ ├── float_H_Color_100430.tif │ │ │ ├── float_H_UV_100430.dae │ │ │ ├── gripper_palm.dae │ │ │ ├── gripper_palm.stl │ │ │ ├── gripper_palm_color.tif │ │ │ ├── gripper_palm_normals.tif │ │ │ ├── l_finger.dae │ │ │ ├── l_finger.stl │ │ │ ├── l_finger_color.tif │ │ │ ├── l_finger_normals.tif │ │ │ ├── l_finger_tip.dae │ │ │ ├── l_finger_tip.stl │ │ │ ├── l_finger_tip_color.tif │ │ │ ├── l_finger_tip_normals.tif │ │ │ ├── l_float.dae │ │ │ ├── l_float_color.tif │ │ │ ├── l_float_normals.tif │ │ │ ├── l_floating.stl │ │ │ ├── palm_H_Color_100430.tif │ │ │ ├── palm_H_UV_100430.dae │ │ │ ├── upper_finger_l.stl │ │ │ └── upper_finger_r.stl │ │ ├── head_v0 │ │ │ ├── .gitignore │ │ │ ├── head_pan.dae │ │ │ ├── head_pan.stl │ │ │ ├── head_pan_L.stl │ │ │ ├── head_pan_color.tif │ │ │ ├── head_pan_normals.tif │ │ │ ├── head_tilt.dae │ │ │ ├── head_tilt.stl │ │ │ ├── head_tilt_L.stl │ │ │ ├── head_tilt_color.tif │ │ │ ├── head_tilt_color_red.tif │ │ │ ├── head_tilt_color_yellow.tif │ │ │ ├── head_tilt_green.tif │ │ │ └── head_tilt_normals.tif │ │ ├── sensors │ │ │ ├── kinect2_v0 │ │ │ │ └── kinect2_assembly.STL │ │ │ ├── kinect_prosilica_v0 │ │ │ │ ├── 115x100_swept_back--coarse.STL │ │ │ │ ├── 115x100_swept_back_no_sensors--coarse.STL │ │ │ │ ├── 115x100_swept_fwd--coarse.STL │ │ │ │ ├── 115x100_swept_fwd_no_sensors--coarse.STL │ │ │ │ ├── 68-04546_Kinect_Sensor--coarse.STL │ │ │ │ └── Prosilica_w_Lens--coarse.STL │ │ │ └── kinect_v0 │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.tga │ │ │ │ ├── kinect_color.tga │ │ │ │ └── kinect_mount.stl │ │ ├── shoulder_v0 │ │ │ ├── .gitignore │ │ │ ├── shoulder_lift.dae │ │ │ ├── shoulder_lift.stl │ │ │ ├── shoulder_lift_color.tif │ │ │ ├── shoulder_lift_normals.tif │ │ │ ├── shoulder_pan.dae │ │ │ ├── shoulder_pan.stl │ │ │ ├── shoulder_pan_color.tif │ │ │ ├── shoulder_pan_normals.tif │ │ │ ├── shoulder_yaw.stl │ │ │ ├── upper_arm_roll.dae │ │ │ ├── upper_arm_roll.stl │ │ │ ├── upper_arm_roll_L.stl │ │ │ ├── upper_arm_roll_color.tif │ │ │ └── upper_arm_roll_normals.tif │ │ ├── tilting_laser_v0 │ │ │ ├── .gitignore │ │ │ ├── hok_tilt.stl │ │ │ ├── tilting_hokuyo.dae │ │ │ ├── tilting_hokuyo.stl │ │ │ ├── tilting_hokuyo_L.stl │ │ │ ├── tilting_hokuyo_color.tif │ │ │ └── tilting_hokuyo_normals.tif │ │ ├── torso_v0 │ │ │ ├── .gitignore │ │ │ ├── torso.stl │ │ │ ├── torso_lift.dae │ │ │ ├── torso_lift.stl │ │ │ ├── torso_lift_L.stl │ │ │ ├── torso_lift_color.tif │ │ │ └── torso_lift_normals.tif │ │ └── upper_arm_v0 │ │ │ ├── .gitignore │ │ │ ├── elbow_flex.dae │ │ │ ├── elbow_flex.stl │ │ │ ├── elbow_flex_color.tif │ │ │ ├── elbow_flex_normals.tif │ │ │ ├── forearm_roll.stl │ │ │ ├── forearm_roll_L.stl │ │ │ ├── upper_arm.dae │ │ │ ├── upper_arm.jpg │ │ │ ├── upper_arm.stl │ │ │ ├── upper_arm_color.tif │ │ │ └── upper_arm_normals.tif │ ├── package.xml │ ├── robots │ │ ├── README │ │ ├── pr2.urdf.xacro │ │ ├── pr2_no_arms.urdf.xacro │ │ ├── pr2_no_kinect.urdf.xacro │ │ ├── pr2_se.urdf.xacro │ │ └── upload_pr2.launch │ └── urdf │ │ ├── base_v0 │ │ ├── base.gazebo.xacro │ │ ├── base.transmission.xacro │ │ └── base.urdf.xacro │ │ ├── common.xacro │ │ ├── forearm_v0 │ │ ├── forearm.gazebo.xacro │ │ ├── forearm.transmission.xacro │ │ └── forearm.urdf.xacro │ │ ├── gripper_v0 │ │ ├── gripper.gazebo.xacro │ │ ├── gripper.transmission.xacro │ │ └── gripper.urdf.xacro │ │ ├── head_v0 │ │ ├── head.gazebo.xacro │ │ ├── head.transmission.xacro │ │ └── head.urdf.xacro │ │ ├── materials.urdf.xacro │ │ ├── sensors │ │ ├── double_stereo_camera.gazebo.xacro │ │ ├── double_stereo_camera.urdf.xacro │ │ ├── head_sensor_package.gazebo.xacro │ │ ├── head_sensor_package.urdf.xacro │ │ ├── hokuyo_lx30_laser.gazebo.xacro │ │ ├── hokuyo_lx30_laser.urdf.xacro │ │ ├── kinect2.gazebo.xacro │ │ ├── kinect2.urdf.xacro │ │ ├── kinect_camera.gazebo.xacro │ │ ├── kinect_camera.urdf.xacro │ │ ├── kinect_prosilica_camera.gazebo.xacro │ │ ├── kinect_prosilica_camera.urdf.xacro │ │ ├── microstrain_3dmgx2_imu.gazebo.xacro │ │ ├── microstrain_3dmgx2_imu.urdf.xacro │ │ ├── projector_wg6802418.gazebo.xacro │ │ ├── projector_wg6802418.urdf.xacro │ │ ├── prosilica_gc2450_camera.gazebo.xacro │ │ ├── prosilica_gc2450_camera.urdf.xacro │ │ ├── stereo_camera.gazebo.xacro │ │ ├── stereo_camera.urdf.xacro │ │ ├── wge100_camera.gazebo.xacro │ │ └── wge100_camera.urdf.xacro │ │ ├── shoulder_v0 │ │ ├── shoulder.gazebo.xacro │ │ ├── shoulder.transmission.xacro │ │ └── shoulder.urdf.xacro │ │ ├── tilting_laser_v0 │ │ ├── tilting_laser.gazebo.xacro │ │ ├── tilting_laser.transmission.xacro │ │ └── tilting_laser.urdf.xacro │ │ ├── torso_v0 │ │ ├── torso.gazebo.xacro │ │ ├── torso.transmission.xacro │ │ └── torso.urdf.xacro │ │ └── upper_arm_v0 │ │ ├── upper_arm.gazebo.xacro │ │ ├── upper_arm.transmission.xacro │ │ └── upper_arm.urdf.xacro ├── pr2_original.urdf ├── pr2_right_arm.urdf ├── pr2_xacro.urdf ├── pr2_xacro_collision_blocklist.csv ├── pr2_xacro_original.urdf ├── shelves.mtl ├── stick_blue.mtl ├── stick_blue.obj ├── stick_green.mtl ├── stick_green.obj ├── stick_red.mtl ├── stick_red.obj ├── table.mtl └── table.obj ├── output ├── output.cc └── output.hh ├── planner ├── bounds.hh ├── collisions.cc ├── collisions.hh ├── cspace.cc ├── cspace.hh ├── expression_tree.cc ├── expression_tree.hh ├── goal.cc ├── goal.hh ├── lua_env.cc ├── lua_env.hh ├── mode.cc ├── mode.hh ├── mode_atlas.cc ├── mode_atlas.hh ├── mode_sampler.hh ├── motion_validation.cc ├── motion_validation.hh ├── nearest_neighbors.hh ├── optimization_objective.cc ├── optimization_objective.hh ├── plan_context.hh ├── plan_context_fwd.hh ├── predicate.hh ├── sampler.cc ├── sampler.hh ├── scenegraph.cc ├── scenegraph.hh ├── solver.cc ├── solver.hh ├── state.hh ├── symbolic.cc ├── symbolic.hh ├── task_plan.cc ├── task_plan.hh ├── task_plan_propagator.cc └── task_plan_propagator.hh ├── problems ├── clutter │ ├── pddl │ │ ├── domain.pddl │ │ ├── pb_1.pddl │ │ ├── pb_10.pddl │ │ ├── pb_11.pddl │ │ ├── pb_12.pddl │ │ ├── pb_13.pddl │ │ ├── pb_14.pddl │ │ ├── pb_2.pddl │ │ ├── pb_3.pddl │ │ ├── pb_4.pddl │ │ ├── pb_5.pddl │ │ ├── pb_6.pddl │ │ ├── pb_7.pddl │ │ ├── pb_8.pddl │ │ ├── pb_9.pddl │ │ ├── pb_full.pddl │ │ └── pb_trivial.pddl │ ├── problems │ │ ├── clutter_pb_1.json │ │ ├── clutter_pb_10.json │ │ ├── clutter_pb_11.json │ │ ├── clutter_pb_12.json │ │ ├── clutter_pb_13.json │ │ ├── clutter_pb_14.json │ │ ├── clutter_pb_2.json │ │ ├── clutter_pb_3.json │ │ ├── clutter_pb_4.json │ │ ├── clutter_pb_5.json │ │ ├── clutter_pb_6.json │ │ ├── clutter_pb_7.json │ │ ├── clutter_pb_8.json │ │ ├── clutter_pb_9.json │ │ ├── clutter_pb_trivial.json │ │ ├── clutter_testing.json │ │ └── clutter_testing_xacro.json │ └── scenes │ │ ├── pb_10_initial_scene.json │ │ ├── pb_11_initial_scene.json │ │ ├── pb_12_initial_scene.json │ │ ├── pb_13_initial_scene.json │ │ ├── pb_14_final_example_scene.json │ │ ├── pb_14_initial_scene.json │ │ ├── pb_1_initial_scene.json │ │ ├── pb_2_initial_scene.json │ │ ├── pb_3_initial_scene.json │ │ ├── pb_4_initial_scene.json │ │ ├── pb_5_initial_scene.json │ │ ├── pb_6_final_example_scene.json │ │ ├── pb_6_initial_scene.json │ │ ├── pb_7_initial_scene.json │ │ ├── pb_8_initial_scene.json │ │ ├── pb_9_initial_scene.json │ │ └── pb_trivial_initial_scene.json ├── debug │ ├── pddl │ │ ├── all_sticks_no_moves.pddl │ │ ├── domain.pddl │ │ └── no_moves.pddl │ ├── problems │ │ └── all_sticks_no_moves.json │ └── scenes │ │ └── all_sticks_scene.json └── shelves │ ├── pddl │ ├── domain.pddl │ ├── make_problems.zsh │ ├── pb_10.pddl │ ├── pb_11.pddl │ ├── pb_12.pddl │ ├── pb_13.pddl │ ├── pb_14.pddl │ ├── pb_15.pddl │ ├── pb_16.pddl │ ├── pb_17.pddl │ ├── pb_18.pddl │ ├── pb_19.pddl │ ├── pb_2.pddl │ ├── pb_20.pddl │ ├── pb_3.pddl │ ├── pb_4.pddl │ ├── pb_5.pddl │ ├── pb_6.pddl │ ├── pb_7.pddl │ ├── pb_8.pddl │ └── pb_9.pddl │ ├── problems │ ├── shelves_pb_10.json │ ├── shelves_pb_11.json │ ├── shelves_pb_12.json │ ├── shelves_pb_13.json │ ├── shelves_pb_14.json │ ├── shelves_pb_15.json │ ├── shelves_pb_16.json │ ├── shelves_pb_17.json │ ├── shelves_pb_18.json │ ├── shelves_pb_19.json │ ├── shelves_pb_2.json │ ├── shelves_pb_20.json │ ├── shelves_pb_3.json │ ├── shelves_pb_4.json │ ├── shelves_pb_5.json │ ├── shelves_pb_6.json │ ├── shelves_pb_7.json │ ├── shelves_pb_8.json │ └── shelves_pb_9.json │ └── scenes │ ├── generate_scenes.py │ ├── pb_10_initial_scene.json │ ├── pb_11_initial_scene.json │ ├── pb_12_initial_scene.json │ ├── pb_13_initial_scene.json │ ├── pb_14_initial_scene.json │ ├── pb_15_initial_scene.json │ ├── pb_16_initial_scene.json │ ├── pb_17_initial_scene.json │ ├── pb_18_initial_scene.json │ ├── pb_19_initial_scene.json │ ├── pb_20_initial_scene.json │ ├── pb_21_initial_scene.json │ ├── pb_22_initial_scene.json │ ├── pb_2_initial_scene.json │ ├── pb_3_initial_scene.json │ ├── pb_4_initial_scene.json │ ├── pb_5_initial_scene.json │ ├── pb_6_initial_scene.json │ ├── pb_7_initial_scene.json │ ├── pb_8_initial_scene.json │ └── pb_9_initial_scene.json ├── run.sh ├── subprojects ├── autodiff.wrap ├── cxxopts.wrap ├── date.wrap ├── dbg.wrap ├── eigen.wrap ├── filestl.wrap ├── fmt.wrap ├── lazycsv.wrap ├── nlohmann_json.wrap ├── ompl.wrap ├── packagefiles │ ├── date │ │ └── meson.build │ ├── dbg │ │ └── meson.build │ ├── filestl │ │ └── meson.build │ ├── lazycsv │ │ └── meson.build │ ├── robin_hood │ │ └── meson.build │ └── tinyobjloader 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