Running Examples from IDTMP Paper

[branvu]

Hello!

I wanted to run some of the extension examples from the IDTMP work, but I'm struggling to find a way to run them. For example, is the collision-generalization constraint implemented in tmkit already? Also, is there a script to build the extension environments with the side-grasp and rearranging the blocks? Is demo/old/test/itmp-multi.lisp the file to run? I appreciate any help!

Thanks,
Brandon