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MCMP-ISRR15

Code associated with Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty submitted to ISRR 2015. This code relies on MotionPlanning.jl. This notebook provides some examples of visualizing MCMP algorithm progress.

Installation Instructions

These installation instructions assume that you're starting from a blank slate system and are looking to run MCMP Example.ipynb locally on your computer. If, for example, you have a python installation that you'd prefer to use instead of Anaconda, or otherwise have some pieces of the tech stack already installed, you may have to do some error-message chasing to add missing dependencies.

  • Install Anaconda

  • Install Julia v0.4

  • Open a Julia terminal window and run the following commands

    Pkg.clone("https://github.com/schmrlng/MotionPlanning.jl.git")
Pkg.add("IJulia")
Pkg.checkout("Interact")      # master branch of Interact is required for working with IPython 3
Pkg.build("IJulia")

  • In your terminal, navigate to the result of Pkg.dir("MotionPlanning") and run git checkout -b master v0.1 to load the version of MotionPlanning.jl associated with this code.

  • Clone this repository

  • Launch IJulia, a browser-based notebook interface for Julia, by either typing

    using IJulia
notebook()

    at the julia> prompt or running ipython notebook --profile juliafrom the command line.

  • Navigate to the folder containing this repository in the IJulia browser window and open MCMP Example.ipynb.

  • File an issue if the above instructions don't work and I'll try to help you out!