- globmp/init.py: INIT (Algorithm 3) as one function, the shortest path over the joints for given
per-joint state sets, with exact piece tests, budget pruning (cost-to-go rule by default, plain
budget rule as an argument) and back-pointers.
- globmp/gridstart: instance.py supplies the grid values per joint, the piece cost and the piece
test (GridStates, grid_start); plain_grid.py holds the plain grid; init.py removed. reference/
reproduces (same z_h and test counts in 36 of 36 cases).
- globmp/synthetic: joints.py supplies the per-pair states (positions on a grid, zero derivatives),
piece cost, piece test and route label; init.py removed. Same class and joints as before on all
80 instances; INIT takes 0.5 to 1.3 s per instance (median per robot count).
- The name INIT is used everywhere; the ranking file is N*_i*_init.json.
- gridstart run.py --first-order calls the current Algorithm 2 again.
