GTMP

by Sai Coumar

This repository is a re-implementation of the paper Global Tensor Motion Planning (GTMP) using the PyRoFFI backend. To see the source paper, navigate to Global Tensor Motion Planning (GTMP).

Setup:

Create and activate the environment:

conda create -n gtmp python=3.11
conda activate gtmp

Initialize the PyRoFFI submodule:

git submodule update --init --recursive

Install PyRoFFI and its requirements:

pip install -e external/pyroffi
pip install -r external/pyroffi/requirements.txt

Run an example from MotionBenchMaker:

python examples/benchmark_gtmp_mbm.py