Click here to retrieve the pushing planner code. It is a 75 K compressed tar file. Uncompress with
uncompress pplanner.tar.Zand then extract with
tar xfBp pplanner.tarThis will create the directory pplanner, using about 200 K of memory. Read the README file for information on using the code. Tcl/Tk is required for the object and world editor GUI, and a color display is suggested. For best results, run the planner on a fast machine with plenty of swap space.