Computational Robotics Sampling based Motion Planning

I need to compute a collision-free path for a rigid body (a piano) among static obstacles (a room) by implementing the Probabilistic Roadmap Method (PRM) as well as its asymptotically optimal variant (PRM⇤) and evaluating their performance in terms of computational efficiency and path quality. Figure 1 provides a visualization of the environment you will consider. More details are In instruction file