Click here to retrieve the pushing planner code. It is a 75 K compressed tar file. Uncompress with

uncompress pplanner.tar.Z
and then extract with

tar xfBp pplanner.tar
This 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.
To Kevin Lynch's home page.