├── .bumpversion.cfg ├── .editorconfig ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── workflows │ ├── deploy-and-publish.yml │ ├── integration.yml │ └── python-publish.yml ├── .gitignore ├── AUTHORS.rst ├── CHANGELOG.rst ├── CONTRIBUTING.rst ├── LICENSE ├── MANIFEST.in ├── README.rst ├── docs ├── authors.rst ├── changelog.rst ├── conf.py ├── contributing.rst ├── index.rst ├── readme.rst ├── reference.rst ├── reference │ ├── images │ │ ├── box.png │ │ ├── cylinder.png │ │ ├── cylinder_grasp_convention.png │ │ └── roll_pitch_yaw.png │ ├── pybullet_planning.interfaces.control.rst │ ├── pybullet_planning.interfaces.debug_utils.rst │ ├── pybullet_planning.interfaces.env_manager.rst │ ├── pybullet_planning.interfaces.geometry.rst │ ├── pybullet_planning.interfaces.kinematics.rst │ ├── pybullet_planning.interfaces.planner_interface.rst │ ├── pybullet_planning.interfaces.robots.rst │ ├── pybullet_planning.interfaces.rst │ ├── pybullet_planning.interfaces.task_modeling.rst │ ├── pybullet_planning.motion_planners.rst │ ├── pybullet_planning.primitives.rst │ ├── pybullet_planning.rst │ └── pybullet_planning.utils.rst ├── requirements.txt └── spelling_wordlist.txt ├── pytest.ini ├── requirements-dev.txt ├── setup.cfg ├── setup.py ├── src └── pybullet_planning │ ├── __init__.py │ ├── __version__.py │ ├── interfaces │ ├── __init__.py │ ├── control │ │ ├── __init__.py │ │ └── control.py │ ├── debug_utils │ │ ├── __init__.py │ │ └── debug_utils.py │ ├── env_manager │ │ ├── __init__.py │ │ ├── pose_transformation.py │ │ ├── savers.py │ │ ├── shape_creation.py │ │ ├── simulation.py │ │ └── user_io.py │ ├── geometry │ │ ├── __init__.py │ │ ├── bounding_box.py │ │ ├── camera.py │ │ ├── mesh.py │ │ ├── pointcloud.py │ │ └── polygon.py │ ├── kinematics │ │ ├── __init__.py │ │ ├── ik_interface.py │ │ ├── ik_utils.py │ │ └── reachability.py │ ├── planner_interface │ │ ├── SE2_pose_motion_planning.py │ │ ├── __init__.py │ │ ├── cartesian_motion_planning.py │ │ ├── dag_search.py │ │ ├── joint_motion_planning.py │ │ ├── ladder_graph.py │ │ └── nonholonomic_motion_planning.py │ ├── robots │ │ ├── __init__.py │ │ ├── body.py │ │ ├── collision.py │ │ ├── dynamics.py │ │ ├── joint.py │ │ └── link.py │ └── task_modeling │ │ ├── __init__.py │ │ ├── constraint.py │ │ ├── grasp.py │ │ ├── path_interpolation.py │ │ └── placement.py │ ├── motion_planners │ ├── __init__.py │ ├── diverse.py │ ├── graph.py │ ├── lattice.py │ ├── lazy_prm.py │ ├── meta.py │ ├── multi_rrt.py │ ├── primitives.py │ ├── prm.py │ ├── rrt.py │ ├── rrt_connect.py │ ├── rrt_star.py │ ├── search.py │ ├── smoothing.py │ ├── star_roadmap.py │ └── utils.py │ ├── primitives │ ├── __init__.py │ ├── grasp_gen.py │ └── trajectory.py │ └── utils │ ├── __init__.py │ ├── _file_path_archived.py │ ├── debug_utils.py │ ├── file_io.py │ ├── iter_utils.py │ ├── numeric_sample.py │ ├── shared_const.py │ └── transformations.py ├── tasks.py └── tests ├── conftest.py ├── fixtures.py ├── planner_2D_utils.py ├── test_body.py ├── test_cartesian.py ├── test_clone_body.py ├── test_collisions.py ├── test_data ├── bar_attachment.obj ├── box_obstacle.obj ├── c1 │ ├── meshes │ │ ├── collision │ │ │ ├── L0_collision_0.stl │ │ │ ├── L0_collision_1.stl │ │ │ ├── L0_collision_10.stl │ │ │ ├── L0_collision_11.stl │ │ │ ├── L0_collision_12.stl │ │ │ ├── L0_collision_13.stl │ │ │ ├── L0_collision_14.stl │ │ │ ├── L0_collision_15.stl │ │ │ ├── L0_collision_2.stl │ │ │ ├── L0_collision_3.stl │ │ │ ├── L0_collision_4.stl │ │ │ ├── L0_collision_5.stl │ │ │ ├── L0_collision_6.stl │ │ │ ├── L0_collision_7.stl │ │ │ ├── L0_collision_8.stl │ │ │ ├── L0_collision_9.stl │ │ │ ├── L1_collision_0.stl │ │ │ ├── L1_collision_1.stl │ │ │ ├── L1_collision_2.stl │ │ │ ├── L2_collision_0.stl │ │ │ ├── L2_collision_1.stl │ │ │ └── L2_collision_2.stl │ │ └── visual │ │ │ ├── L0_visual_0.stl │ │ │ ├── L0_visual_1.stl │ │ │ ├── L0_visual_10.stl │ │ │ ├── L0_visual_11.stl │ │ │ ├── L0_visual_12.stl │ │ │ ├── L0_visual_13.stl │ │ │ ├── L0_visual_14.stl │ │ │ ├── L0_visual_15.stl │ │ │ ├── L0_visual_2.stl │ │ │ ├── L0_visual_3.stl │ │ │ ├── L0_visual_4.stl │ │ │ ├── L0_visual_5.stl │ │ │ ├── L0_visual_6.stl │ │ │ ├── L0_visual_7.stl │ │ │ ├── L0_visual_8.stl │ │ │ ├── L0_visual_9.stl │ │ │ ├── L1_visual_0.stl │ │ │ ├── L1_visual_1.stl │ │ │ ├── L1_visual_2.stl │ │ │ ├── L2_visual_0.stl │ │ │ ├── L2_visual_1.stl │ │ │ └── L2_visual_2.stl │ └── urdf │ │ └── c1.urdf ├── dms_bar_gripper.obj ├── dms_bar_gripper.stl ├── duck.obj ├── gripper │ ├── meshes │ │ ├── collision │ │ │ ├── mit_arch_grasp_end_effector_collision.obj │ │ │ └── mit_arch_grasp_end_effector_collision.stl │ │ └── visual │ │ │ └── mit_arch_grasp_end_effector_visual.stl │ └── urdf │ │ └── gripper.urdf ├── kuka_kr6_r900 │ ├── meshes │ │ ├── kr6_agilus │ │ │ ├── collision │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ │ └── visual │ │ │ │ ├── base_link.dae │ │ │ │ ├── link_1.dae │ │ │ │ ├── link_3.dae │ │ │ │ ├── link_5.dae │ │ │ │ └── link_6.dae │ │ └── kr6r900sixx │ │ │ ├── collision │ │ │ ├── link_2.stl │ │ │ └── link_4.stl │ │ │ └── visual │ │ │ ├── link_2.dae │ │ │ └── link_4.dae │ ├── srdf │ │ └── kuka_kr6_r900_extrusion.srdf │ └── urdf │ │ └── kuka_kr6_r900.urdf ├── link_4.dae ├── link_4.obj ├── link_4.ply ├── link_4.stl ├── link_4_collider.obj ├── link_4_export.obj ├── link_4_unified.obj ├── mit_3-412_workspace │ ├── meshes │ │ └── mit_3-412_workspace │ │ │ ├── collision │ │ │ ├── MIT_3-412_back_wall.stl │ │ │ ├── MIT_3-412_fab_table.stl │ │ │ ├── MIT_3-412_front_wall.stl │ │ │ ├── MIT_3-412_left_wall.stl │ │ │ ├── MIT_3-412_right_corner_piece.stl │ │ │ ├── MIT_3-412_right_wall.stl │ │ │ ├── MIT_3-412_robot_base_plate.stl │ │ │ └── MIT_3-412_workspace_simplified.stl │ │ │ └── visual │ │ │ └── MIT_3-412_workspace_full.stl │ └── urdf │ │ └── mit_3-412_workspace.urdf └── universal_robot │ ├── ur5_moveit_config │ └── config │ │ └── ur5.srdf │ └── ur_description │ ├── meshes │ └── ur5 │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.obj │ │ ├── forearm.obj │ │ ├── shoulder.obj │ │ ├── upperarm.obj │ │ ├── wrist1.obj │ │ ├── wrist2.obj │ │ └── wrist3.obj │ └── urdf │ ├── ur5.urdf │ └── ur5_w_gripper.urdf ├── test_env.py ├── test_grasp.py ├── test_motion_planner.py ├── test_se3.py ├── test_shapes.py └── test_vertices.py /.bumpversion.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yijiangh/pybullet_planning/HEAD/.bumpversion.cfg -------------------------------------------------------------------------------- /.editorconfig: -------------------------------------------------------------------------------- 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