Please download latest version using

git clone https://github.com/AgarwalSaurav/PRM_multipleRobots.git

The project uses Klamp't http://motion.pratt.duke.edu/klampt/

cd simTests
python prm_main.py simpleWorld.xml

The folder mobile_robots contain the descriptions of the following robots:

1. kobuki: It has the base of TurtleBot. It is a differential drive system with two degrees of freedom. Can be forced as a holonomic robot with three degrees of freedom.
2. turtlebot: Differential drive robot with two degrees of freedom.
3. R2-D2: Can be used as a differential drive robot.
4. sphero: It is a three degrees of freedom robot. However, it can be forced as a six DoF system as done in the samples.

The folder simTests contains files to perform simple kinematic simulations.

1. simpleWorld.xml: Contains information on which robot to use and the size of the terrain. One should modify this file (or make a copy) to change the type of robot.
2. kinematicSim.py: Creates visualization for kinematic simulations. This is the main template for simulating trajectories and collision checking.
3. mathUtils.py: Basic math utility functions.
4. buildWorld.py: To be used for adding walls or rooms to the environment.

The folder simTests/kinematics contains wrapper functions for setting up the configuration of robots.