dGPMP2-ND

An implementation of the DGPMP2-ND differentiable motion planner.

DGPMP2-ND is a modified and extended variant of Differentiable Gaussian Process Motion Planning DGPMP2 [1]. The code in this repo is based on this implementation by Mustafa Mukadam.

Installation

1. Install a recent version of Python. This code was tested with Python 3.11.9 under Windows. Create a virtual environment if desired.
2. Clone this repository: git clone [email protected]:benjaminalt/dgpmp2-nd.git
3. Install this repository into the currently active Python environment:

cd dgpmp2-nd
pip install .

This will automatically install all binary dependencies, as well as differentiable-robot-model as an additional dependency.

Example

A usage example and demo can be found under demos/planning_demo.ipynb.