MPlib: a Lightweight Motion Planning Library

MPlib is a lightweight python package for motion planning,
which is decoupled from ROS and is easy to set up.
With a few lines of python code, one can achieve most of the motion planning
functionalities in robot manipulation.

Installation

mkdir build
cd build
cmake .. -DPYTHON_EXECUTABLE="`which python3`"
make install
cd ..

cd mplib
cp ../build/pymp.cpython-312-darwin.so ./
cd ../

pip install -e .

Usage

See our tutorial for detailed usage and examples.