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

Pre-built pip packages support Ubuntu 20.04+ with Python 3.8+.

pip install mplib

Usage

See our tutorial for detailed usage and examples.

Examples

• Motion Planning Examples

API Reference

• API Reference
  • Planner
  • PlanningWorld
  • ArticulatedModel
  • AttachedBody
  • Pose
  • set_global_seed
  • urdf_utils
  • sapien_utils
  • collision_detection
  • kinematics
  • planning

Indices and tables

• Index

• Module Index

• Search Page