├── .clang-format ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE.GPL2 ├── README.md ├── assets ├── SimpleSofa.mazeconf ├── Sofa.m ├── Sofa.mazeconf ├── cube.1.edge ├── cube.1.ele ├── cube.1.face ├── cube.1.mat ├── cube.1.node ├── cube.1.smesh ├── cube.2.edge ├── cube.2.ele ├── cube.2.face ├── cube.2.node ├── cube.2.v.cell ├── cube.2.v.edge ├── cube.2.v.face ├── cube.2.v.node ├── cube.ply ├── diamond.1.edge ├── diamond.1.ele ├── diamond.1.face ├── diamond.1.node ├── diamond.1.smesh ├── diamond.ply ├── diamond2.ply ├── involute-stick.part.mazeconf ├── involute.mazeconf ├── m.ele ├── m.node ├── mazeconf └── sphere.ply ├── bin └── .gitignore ├── cmake ├── FindOpenVDB.cmake ├── FindSUITESPARSE.cmake ├── bundles.cmake ├── extra_directories.cmake ├── extra_functions.cmake ├── extra_packages.cmake ├── gpu_apps.cmake ├── libosr.cmake ├── pybinds.cmake ├── sanchecks.cmake └── symlinks.cmake ├── doc ├── .gitignore ├── Makefile ├── bs-pipelines.md ├── choose-a-planner.md ├── clearance-bound │ ├── .gitignore │ ├── Makefile │ ├── README │ ├── acmcopyright.sty │ ├── acmsiggraph.bst │ ├── acmsiggraph.cls │ ├── bound.tex │ ├── images │ │ ├── ferrari_laferrari.eps │ │ ├── samplefigure.eps │ │ └── sampleteaser.eps │ ├── template.bib │ └── template.tex ├── direction-survey.md ├── formula.tex ├── hist_csv.py ├── interop-with-ompl.md ├── mkobs3d.md ├── never-interpolate-in-non-ompl-c-space.md ├── p2d_csv.py ├── pdsrdt-g9mescreened-4m.csv ├── scalable-rdt-forest-performance.md └── workflow.md ├── lib ├── advplyio │ ├── ply_write_vfc.cc │ └── ply_write_vfc.h ├── ccdxx │ ├── EigenCCD.cc │ └── EigenCCD.h ├── erocol │ ├── hs.cc │ └── hs.h ├── fat │ ├── fat.cc │ └── fat.h ├── geopick │ ├── pick2d.cc │ └── pick2d.h ├── goct │ ├── gbuilder.h │ ├── goctree.h │ ├── nullvisualizer.cc │ └── nullvisualizer.h ├── heatio │ ├── readheat.cc │ └── readheat.h ├── mazeinfo │ ├── 2d.cc │ └── 2d.h ├── meshbool │ ├── join.cc │ └── join.h ├── numerical │ └── stability.h ├── omplaux │ ├── bounding_sphere.cc │ ├── bounding_sphere.h │ ├── bvh_helper.h │ ├── clearance.h │ ├── clearance1.h │ ├── clearance2.h │ ├── convex.cc │ ├── convex.h │ ├── geo.cc │ ├── geo.h │ ├── map.cc │ ├── map.h │ ├── path.h │ ├── scene_bounding_box.cc │ └── scene_bounding_box.h ├── osr │ ├── bbox.h │ ├── camera.cc │ ├── camera.h │ ├── cdmodel.cc │ ├── cdmodel.h │ ├── geometry.h │ ├── gtgenerator.cc │ ├── gtgenerator.h │ ├── mesh.cc │ ├── mesh.h │ ├── mesh_renderer.cc │ ├── mesh_renderer.h │ ├── node.cc │ ├── node.h │ ├── ode_data.cc │ ├── ode_data.h │ ├── osr_init.cc │ ├── osr_init.h │ ├── osr_render.cc │ ├── osr_render.h │ ├── osr_rt_texture.cc │ ├── osr_rt_texture.h │ ├── osr_state.cc │ ├── osr_state.h │ ├── osr_util.cc │ ├── osr_util.h │ ├── pngimage.cc │ ├── pngimage.h │ ├── quickgl.cc │ ├── quickgl.h │ ├── scene.cc │ ├── scene.h │ ├── scene_renderer.cc │ ├── scene_renderer.h │ ├── shader │ │ ├── bary.frag │ │ ├── bary.geom │ │ ├── bary.vert │ │ ├── default.geom │ │ ├── default.vert │ │ ├── depth.frag │ │ └── rgb.frag │ ├── uniform.h │ ├── unit_world.cc │ └── unit_world.h ├── pycutec2 │ ├── cutec2.cc │ ├── mesh2d.cc │ ├── mesh_io.cc │ ├── module.cc │ ├── pycutec2.cc │ └── pycutec2.h ├── pygeokey │ └── module.cc ├── pyosr │ └── module.cc ├── pyse3ompl │ ├── config_planner.cc │ ├── config_planner.h │ ├── ompldriver.cc │ ├── ompldriver.h │ └── pyse3ompl.cc ├── pyvistexture │ ├── pyvistexture.cc │ ├── texture_viewer.cc │ └── texture_viewer.h ├── rectpack │ ├── FreeRectangleManager.cc │ ├── FreeRectangleManager.h │ ├── MaxRectsBinPackReal.cc │ ├── MaxRectsBinPackReal.h │ ├── RectReal.cc │ ├── RectReal.h │ └── sc │ │ ├── Makefile │ │ ├── main.cc │ │ └── sc ├── renderer │ ├── camera.cc │ ├── camera.h │ ├── camera_config.h │ ├── gui.cc │ ├── gui.h │ ├── image.h │ ├── material.h │ ├── quickgl.cc │ ├── quickgl.h │ ├── render_pass.cc │ └── render_pass.h ├── strman │ └── suffix.h ├── tetio │ ├── read.hpp │ ├── readtet.cc │ ├── readtet.h │ ├── readvoronoi.cc │ ├── readvoronoi.h │ ├── writetet.cc │ └── writetet.h ├── tritri │ ├── Moller97.cc │ ├── Moller97d.cc │ ├── tritri.cc │ ├── tritri.h │ ├── tritri_cop.h │ ├── tritri_cop.hh │ ├── tritri_igl.h │ └── tritri_igl.hh └── vecio │ ├── arrayvecio.cc │ ├── arrayvecio.h │ ├── matio.h │ ├── vecin.cc │ ├── vecin.h │ ├── vecout.cc │ └── vecout.h ├── res ├── .gitignore ├── alpha │ ├── alpha-1.0.org.obj │ ├── alpha-1.0.wt.obj │ ├── alpha-1.0.wt.tcp.obj │ ├── alpha-1.1.path │ ├── alpha-1.2.org.obj │ ├── alpha-1.2.org.path │ ├── alpha-1.2.org.tunnel-more.npz │ ├── alpha-1.2.org.tunnel.npz │ ├── alpha-1.2.org.w-first.npz │ ├── alpha-1.2.org.w-first.path │ ├── alpha-1.2.wt.1.edge │ ├── alpha-1.2.wt.1.ele │ ├── alpha-1.2.wt.1.face │ ├── alpha-1.2.wt.1.node │ ├── alpha-1.2.wt.1.smesh │ ├── alpha-1.2.wt.obj │ ├── alpha-1.2.wt.ply │ ├── alpha-1.2.wt.tcp.ply │ ├── alpha-1.2.wt.tcp.png │ ├── alpha-1.2.wt.tcp2.obj │ ├── alpha-1.2.wt.tcp2.png │ ├── alpha-1.2.wt2.obj │ ├── alpha-1.2.wt2.tcp.artificial.png │ ├── alpha-1.2.wt2.tcp.auto-mean-weighted.png │ ├── alpha-1.2.wt2.tcp.auto-mean.png │ ├── alpha-1.2.wt2.tcp.obj │ ├── alpha-1.2.wt2.tcp.obj.mtl │ ├── alpha-1.2.wt2.tcp.png │ ├── alpha.env │ ├── alpha.query │ ├── alpha_env-1.0.org.obj │ ├── alpha_env-1.0.wt.obj │ ├── alpha_env-1.0.wt.tcp.obj │ ├── alpha_env-1.2.org.obj │ ├── alpha_env-1.2.wt.1.edge │ ├── alpha_env-1.2.wt.1.ele │ ├── alpha_env-1.2.wt.1.face │ ├── alpha_env-1.2.wt.1.node │ ├── alpha_env-1.2.wt.1.smesh │ ├── alpha_env-1.2.wt.obj │ ├── alpha_env-1.2.wt.ply │ ├── alpha_env-1.2.wt2.obj │ ├── alpha_env-1.2.wt2.tcp.auto-mean.png │ ├── alpha_env-1.2.wt2.tcp.obj │ ├── alpha_env-1.2.wt2.tcp.png │ ├── blank2k.png │ ├── cvx │ │ ├── env-1.2.cvx.0.obj │ │ ├── env-1.2.cvx.1.obj │ │ ├── env-1.2.cvx.10.obj │ │ ├── env-1.2.cvx.11.obj │ │ ├── env-1.2.cvx.12.obj │ │ ├── env-1.2.cvx.2.obj │ │ ├── env-1.2.cvx.3.obj │ │ ├── env-1.2.cvx.4.obj │ │ ├── env-1.2.cvx.5.obj │ │ ├── env-1.2.cvx.6.obj │ │ ├── env-1.2.cvx.7.obj │ │ ├── env-1.2.cvx.8.obj │ │ └── env-1.2.cvx.9.obj │ ├── double-alpha-1.2.blend │ ├── double-alpha-1.2.wt.obj │ ├── double-alpha-1.2.wt.tcp.ply │ ├── double-alpha-1.2.wt.tcp.png │ ├── double-alpha-1.2.wt.tcp3.obj │ ├── double-alpha-1.2.wt.tcp3.png │ ├── double-alpha-1.2.wt2.obj │ ├── double-alpha-1.2.wt2.tcp.obj │ ├── double-alpha-1.2.wt2.tcp.png │ ├── double-alpha.wt.tcp3-gt.png │ ├── env-1.1.ply │ ├── env-1.2.obj │ ├── obstacle.obj │ ├── rob-1.2.obj │ ├── robot.obj │ ├── robot.ply │ └── ver1.2.path ├── fake3d │ ├── cube1.obj │ ├── cube2.obj │ ├── deadend-1.maze │ ├── deadend-1.obj │ ├── deadend-2.maze │ ├── deadend-2.obj │ ├── deadend-3.maze │ ├── deadend-3.obj │ ├── deadend.maze │ └── deadend.obj └── simple │ ├── EclipsedBarrel.obj │ ├── ElkMeetsCube.blend │ ├── FullTorus.obj │ ├── LongStick.obj │ ├── Torus.obj │ ├── boxreference.path │ ├── boxwithhole2.obj │ ├── cvx │ ├── ElkMeetsCube.cvx.0.obj │ ├── ElkMeetsCube.cvx.1.obj │ ├── ElkMeetsCube.cvx.10.obj │ ├── ElkMeetsCube.cvx.11.obj │ ├── ElkMeetsCube.cvx.12.obj │ ├── ElkMeetsCube.cvx.13.obj │ ├── ElkMeetsCube.cvx.14.obj │ ├── ElkMeetsCube.cvx.15.obj │ ├── ElkMeetsCube.cvx.16.obj │ ├── ElkMeetsCube.cvx.17.obj │ ├── ElkMeetsCube.cvx.18.obj │ ├── ElkMeetsCube.cvx.19.obj │ ├── ElkMeetsCube.cvx.2.obj │ ├── ElkMeetsCube.cvx.20.obj │ ├── ElkMeetsCube.cvx.21.obj │ ├── ElkMeetsCube.cvx.22.obj │ ├── ElkMeetsCube.cvx.23.obj │ ├── ElkMeetsCube.cvx.24.obj │ ├── ElkMeetsCube.cvx.25.obj │ ├── ElkMeetsCube.cvx.26.obj │ ├── ElkMeetsCube.cvx.27.obj │ ├── ElkMeetsCube.cvx.28.obj │ ├── ElkMeetsCube.cvx.29.obj │ ├── ElkMeetsCube.cvx.3.obj │ ├── ElkMeetsCube.cvx.4.obj │ ├── ElkMeetsCube.cvx.5.obj │ ├── ElkMeetsCube.cvx.6.obj │ ├── ElkMeetsCube.cvx.7.obj │ ├── ElkMeetsCube.cvx.8.obj │ ├── ElkMeetsCube.cvx.9.obj │ ├── FullTorus.cvx.0.obj │ ├── FullTorus.cvx.1.obj │ ├── FullTorus.cvx.10.obj │ ├── FullTorus.cvx.11.obj │ ├── FullTorus.cvx.12.obj │ ├── FullTorus.cvx.13.obj │ ├── FullTorus.cvx.14.obj │ ├── FullTorus.cvx.15.obj │ ├── FullTorus.cvx.2.obj │ ├── FullTorus.cvx.3.obj │ ├── FullTorus.cvx.4.obj │ ├── FullTorus.cvx.5.obj │ ├── FullTorus.cvx.6.obj │ ├── FullTorus.cvx.7.obj │ ├── FullTorus.cvx.8.obj │ ├── FullTorus.cvx.9.obj │ ├── boxwithhole.cvx.0.obj │ ├── boxwithhole.cvx.1.obj │ ├── boxwithhole.cvx.10.obj │ ├── boxwithhole.cvx.11.obj │ ├── boxwithhole.cvx.12.obj │ ├── boxwithhole.cvx.13.obj │ ├── boxwithhole.cvx.14.obj │ ├── boxwithhole.cvx.15.obj │ ├── boxwithhole.cvx.16.obj │ ├── boxwithhole.cvx.17.obj │ ├── boxwithhole.cvx.18.obj │ ├── boxwithhole.cvx.19.obj │ ├── boxwithhole.cvx.2.obj │ ├── boxwithhole.cvx.3.obj │ ├── boxwithhole.cvx.4.obj │ ├── boxwithhole.cvx.5.obj │ ├── boxwithhole.cvx.6.obj │ ├── boxwithhole.cvx.7.obj │ ├── boxwithhole.cvx.8.obj │ └── boxwithhole.cvx.9.obj │ ├── env.mtl │ ├── env.obj │ ├── env2.obj │ ├── mFixedElkMeetsCube.obj │ ├── mediumstick.obj │ ├── naive.path │ ├── naive2.path │ ├── naiveelk.path │ ├── robot.mtl │ ├── robot.obj │ └── tet │ ├── boxwithhole2.1.edge │ ├── boxwithhole2.1.ele │ ├── boxwithhole2.1.face │ ├── boxwithhole2.1.node │ ├── boxwithhole2.1.smesh │ ├── mFixedElkMeetsCube.1.edge │ ├── mFixedElkMeetsCube.1.ele │ ├── mFixedElkMeetsCube.1.face │ ├── mFixedElkMeetsCube.1.node │ └── mFixedElkMeetsCube.1.smesh ├── samples ├── Makefile.build ├── Makefile.mkobs └── RL │ ├── dir1-higher-res-0.sh │ ├── dir1-higher-res-1.sh │ ├── dir2-avi-0.sh │ ├── dir2-avi-1.sh │ ├── dir3-larger-amag.sh │ ├── dir4-more-iterations-0.sh │ ├── dir4-more-iterations-1.sh │ ├── dir5-resnet.sh │ ├── dir6-gradb.sh │ ├── dirs-0.sh │ ├── dirs-1.sh │ ├── eva-ch0.sh │ ├── eva-ch1.sh │ ├── eva.sh │ ├── gen.sh │ ├── iceva.sh │ ├── jobs.sh │ ├── misp.sh │ ├── todo-a12-r5-relu.sh │ ├── todo-a12-r5.sh │ ├── todo-a4.sh │ ├── todo-all.sh │ ├── todo-cmt.sh │ ├── todo-e4.sh │ ├── todo-efn.sh │ ├── todo-evgg.sh │ ├── todo-fn.sh │ ├── todo-idmv.sh │ ├── todo-vgg-a4.sh │ └── todo.sh ├── sancheck ├── ccd │ ├── EigenCCD.cc │ ├── EigenCCD.h │ └── main.cc ├── fatten │ ├── main.cc │ ├── sancheck.cc │ └── sancheck.h ├── fclcontacts │ ├── Moller97.cc │ └── main.cc ├── laplacian │ └── main.cc ├── ode │ └── main.cc └── osr │ └── main.cc ├── scripts ├── aa-gt.sh ├── aa-train.sh ├── aagt.condor ├── aapath-walker.sh ├── all-in-one.sh ├── calibrate-distance.sh ├── corridor.sh ├── corridor2d.sh ├── curiosty-rl.sh ├── datan.sh ├── di-run.sh ├── ecat-run.sh ├── etr-run.sh ├── func.sh ├── ldi-run.sh ├── mtdriver-run.sh ├── octogui.sh ├── osr_test.py ├── path-walker.sh ├── path2wfirst.py ├── pretrain-d.sh ├── pretrain.sh ├── puzzle_visualization │ ├── blender_a.sh │ ├── blender_abc.sh │ ├── blender_ag.sh │ ├── blender_aj.sh │ ├── blender_az.sh │ ├── blender_claw.sh │ ├── blender_da.sh │ ├── blender_enigma.sh │ ├── blender_g1.sh │ ├── blender_g2.sh │ ├── blender_g4.sh │ ├── blender_g9.sh │ ├── blender_key1.sh │ ├── blender_mobius.sh │ ├── duet_cylinder_tooth.obj │ ├── ger-aj.npz │ ├── gerkey-aj.npz │ ├── mobius_cylinder_tooth.obj │ ├── pf_g9.sh │ ├── pf_mobius.sh │ └── tracekey_aj.sh ├── puzzlegui.sh ├── reanimator.sh ├── reproduce │ └── train_network.sh ├── rl-precalcmap.sh ├── rl-reanimator.sh ├── rl-run.sh ├── rl-verifymap.sh ├── saforce.condor ├── sancheck_objautouv-1.sh ├── ta3c-run.sh ├── tcat-run.sh ├── test_collide-run.sh ├── ttr-run.sh ├── ttrmt-run.sh ├── ut-icm.sh └── vbmatrix.condor ├── src ├── AAE │ ├── LICENSE │ ├── README.md │ ├── ResNet.py │ ├── main.py │ ├── ops.py │ └── utils.py ├── Bcond │ └── main.cc ├── GP │ ├── BTexVis.py │ ├── GERVis.py │ ├── README.md │ ├── SolVis.py │ ├── aa-gt.py │ ├── aapath-walker.py │ ├── aniconf10.py │ ├── aniconf12.py │ ├── aniconf12_2.py │ ├── assaforcevm.py │ ├── asvm.py │ ├── atex2green.py │ ├── atlas.py │ ├── aux.py │ ├── calibrate-distance.py │ ├── clawconf.py │ ├── condor-visibility-matrix.py │ ├── condor-visibility-matrix2.py │ ├── condor.py │ ├── condor_saforce.py │ ├── condor_touch_configuration.py │ ├── condor_visibility_mc.py │ ├── condor_vm.py │ ├── disjoint_set.py │ ├── dualconf.py │ ├── dualconf_g2.py │ ├── dualconf_g4.py │ ├── dualconf_tiny.py │ ├── dualdata │ │ ├── __init__.py │ │ ├── four.py │ │ ├── full.py │ │ ├── template.py │ │ ├── tiny.py │ │ └── two.py │ ├── dualgen.py │ ├── facade.py │ ├── forest_dijkstra.py │ ├── img2atex.py │ ├── npz_cat.py │ ├── npz_head.py │ ├── npz_mean.py │ ├── npz_totxt.py │ ├── order_pizza.py │ ├── pds_edge.py │ ├── phyutil.py │ ├── pipeline │ │ ├── TODO.md │ │ ├── __init__.py │ │ ├── add_extra.py │ │ ├── add_puzzle.py │ │ ├── atlas.py │ │ ├── autorun.py │ │ ├── autorun10.py │ │ ├── autorun2.py │ │ ├── autorun4.py │ │ ├── autorun5.py │ │ ├── autorun5_1.py │ │ ├── autorun6.py │ │ ├── autorun7.py │ │ ├── autorun8.py │ │ ├── autorun9.py │ │ ├── baseline.py │ │ ├── baseline_pwrdtc.py │ │ ├── choice_formatter.py │ │ ├── condor.py │ │ ├── copy_training_data.py │ │ ├── disjoint_set.py │ │ ├── envconfig.py │ │ ├── file_locations.py │ │ ├── geometrik.py │ │ ├── geometrik2.py │ │ ├── hg_datagen.py │ │ ├── hg_launcher.py │ │ ├── hourglass_tiny.py │ │ ├── image_augmentation.py │ │ ├── init.py │ │ ├── keyconf.py │ │ ├── matio.py │ │ ├── mimic.py │ │ ├── old │ │ │ ├── autorun3.py │ │ │ ├── base.py │ │ │ ├── isect.py │ │ │ ├── robogeok.py │ │ │ ├── sample_touch.py │ │ │ ├── uvproj.py │ │ │ └── uvrender.py │ │ ├── parse_ompl.py │ │ ├── partt.py │ │ ├── preprocess_key.py │ │ ├── preprocess_surface.py │ │ ├── puzzle_parser.py │ │ ├── se3solver.py │ │ ├── show.py │ │ ├── solve.py │ │ ├── solve1.py │ │ ├── solve2.py │ │ ├── stats.py │ │ ├── texture_format.py │ │ ├── tools.py │ │ ├── touchq_util.py │ │ ├── train.py │ │ ├── util.py │ │ ├── uvmerge.py │ │ └── uw_random.py │ ├── prm2gt.py │ ├── rlreanimator.py │ ├── saforce.py │ ├── sancheck_saforce.py │ ├── se3solver.py │ ├── task_partitioner.py │ ├── texture_format.py │ ├── tunnel-finder.py │ ├── tunnel-segment-finder.py │ ├── tunnel-vertex-locator.py │ ├── uw_random.py │ └── visibility-finder.py ├── NBcond │ └── main.cc ├── RL │ ├── ResNet-Tensorflow │ ├── a2c.py │ ├── a2c_mp.py │ ├── a2c_overfit.py │ ├── aa-gt.py │ ├── aa-train.py │ ├── aapath-walker.py │ ├── aniconf12.py │ ├── assaforcevm.py │ ├── asvm.py │ ├── calibrate-distance.py │ ├── cat.py │ ├── check_a2cgrad.py │ ├── check_aaquat.py │ ├── check_fcgrad.py │ ├── check_l2grad.py │ ├── condor-visibility-matrix.py │ ├── condor_saforce.py │ ├── condor_visibility_mc.py │ ├── config.py │ ├── corridor.py │ ├── corridor2d.py │ ├── ctrainer.py │ ├── curiosity-rl.py │ ├── curiosity.py │ ├── datan.py │ ├── dqn.py │ ├── dualconf_tiny.py │ ├── eval.py │ ├── icm.py │ ├── iftrainer.py │ ├── legacy │ │ ├── a2c_offload.py │ │ ├── a2cmt.py │ │ ├── aniconf_elk1_0.py │ │ ├── check_dprodgrad.py │ │ ├── icrldriver.py │ │ ├── manual_solver.py │ │ ├── nn_builder.py │ │ ├── octogui.py │ │ └── rlaa-reanimator.py │ ├── loco_overfit.py │ ├── main.py │ ├── path-walker.py │ ├── phyutil.py │ ├── pretrain-d.py │ ├── pretrain.py │ ├── puzzlegui.py │ ├── qtrainer.py │ ├── reanimator.py │ ├── render-depth.py │ ├── rl-gtgenerator.py │ ├── rl-precalcmap.py │ ├── rl-reanimator.py │ ├── rl-verifymap.py │ ├── rlargs.py │ ├── rlcaction.py │ ├── rldriver.py │ ├── rlenv.py │ ├── rlreanimator.py │ ├── rlsampler.py │ ├── rlutil.py │ ├── rmsprop_applier.py │ ├── saforce.py │ ├── sancheck_saforce.py │ ├── show_torusring.py │ ├── test_collide.py │ ├── test_rldriver_mt.py │ ├── tfutil.py │ ├── train_sta3c.py │ ├── train_torus_mt.py │ ├── train_torusring.py │ ├── traincat.py │ ├── traj_review.py │ ├── tunnel-finder.py │ ├── tunnel-segment-finder.py │ ├── tunnel-vertex-locator.py │ ├── tunnel.py │ ├── ut_icm.py │ ├── util.py │ ├── uw_random.py │ ├── visc.py │ ├── visfake3d.py │ ├── visibility-finder.py │ ├── vision.py │ └── visq.py ├── boolean │ ├── main.cc │ └── substract.cc ├── cfreeman │ └── main.cc ├── convexpp │ ├── intersect.cc │ ├── intersect.h │ └── main.cpp ├── dlap │ ├── main.cc │ ├── tet2lap.cc │ └── tet2lap.h ├── dpuz │ ├── binrrt2d.py │ ├── lap2d.py │ └── rrt2d.py ├── evadiff │ └── main.cc ├── filters │ ├── addbb.cc │ ├── addcover.cc │ ├── flipfaces.cc │ └── hollow.cc ├── follow │ └── main.cc ├── freecube │ ├── main.cc │ └── shaders │ │ ├── default.frag │ │ ├── default.geom │ │ ├── default.vert │ │ └── floor.frag ├── heat │ └── main.cc ├── hg │ ├── README.md │ ├── README.txt │ ├── aniconf10.py │ ├── aniconf12_2.py │ ├── aug.py │ ├── config.cfg │ ├── config.py │ ├── datagen.py │ ├── dataset.txt │ ├── dualconf.py │ ├── dualconf_g2.py │ ├── dualconf_g4.py │ ├── dualconf_tiny.py │ ├── filters.py │ ├── hg_peek_dataset.py │ ├── hourglass_tiny.py │ ├── inference.py │ ├── p4frames.mat │ ├── pckhfULL.png │ ├── predictClass.py │ ├── timer.py │ ├── train_launcher.py │ └── yolo_net.py ├── invgen │ └── invgen.cc ├── levelset │ ├── levelset.cc │ ├── levelset.h │ ├── main.cc │ ├── sancheck.cc │ └── sancheck.h ├── mapmerger │ ├── config.h │ ├── graph.cc │ ├── graph.h │ └── main.cc ├── mass │ └── mass.cc ├── maze2to3 │ └── main.cc ├── mergep │ └── main.cc ├── meshgen │ ├── geometry.cc │ ├── geometry.h │ ├── main.cc │ ├── options.cc │ └── options.h ├── minkview2 │ ├── main.cc │ └── main.cc.bak ├── mkgen │ └── mkgen.cc ├── mtblender │ ├── config.h │ ├── graph.cc │ ├── graph.h │ └── main.cc ├── naivebuilder │ ├── builder2d.cc.bak │ ├── main.cc │ ├── naiveclearance.cc │ ├── naiveclearance.h │ ├── naiverenderer.cc │ ├── naiverenderer.h │ ├── naivespace.h │ ├── shaders │ │ ├── default.frag │ │ ├── default.geom │ │ ├── default.vert │ │ ├── floor.frag │ │ ├── line.frag │ │ └── line.vert │ ├── shortcut │ ├── vis2d.cc │ └── vis2d.h ├── objautouv │ ├── main.cc │ ├── mesh.cc │ └── mesh.h ├── octbuilder │ ├── builder.cc │ ├── builder.cc.bak │ ├── naiverenderer.cc │ ├── naiverenderer.h │ ├── shaders │ ├── shortcut │ ├── space.h │ ├── textvisualizer.h │ ├── vis6d.cc │ └── vis6d.h ├── omplgen │ └── main.cc ├── periodicalize │ └── main.cc ├── ring1picker │ └── main.cc ├── tbuilder │ ├── TODO │ ├── builder.cc │ ├── clearancer.h │ ├── naiverenderer.cc │ ├── naiverenderer.h │ ├── 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