Create your environment via conda env create -f environment.yml. The default conda environment name is cbf, and you could also choose that name with your own preferences by editing the .yml file.
Run python models/kinematic_car_test.py. This simulates maze navigation (two maze setups) with duality-based obstacle avoidance (four robot shapes including rectangle, pentagon, triangle and l-shape) in the discrete-time domain. The animations and snapshots can be found in folder animations and figures. An example animation video can be generated as follows,