Metadata-Version: 2.1
Name: mplib
Version: 0.2.1
Summary: A lightweight motion planning library
Author-email: Minghua Liu <minghua@ucsd.edu>, Jiayuan Gu <jigu@ucsd.edu>, Kolin Guo <ruguo@ucsd.edu>, Xinsong Lin <x8lin@ucsd.edu>
Maintainer-email: Kolin Guo <ruguo@ucsd.edu>, Xinsong Lin <x8lin@ucsd.edu>
License: MIT License
        
        Copyright (c) 2021 Hao Su's Lab, UCSD
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
        in the Software without restriction, including without limitation the rights
        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
        copies or substantial portions of the Software.
        
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
        SOFTWARE.
        
Keywords: robotics,motion planning
Classifier: Operating System :: POSIX :: Linux
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Education
Classifier: Intended Audience :: Other Audience
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Natural Language :: English
Classifier: Framework :: Robot Framework :: Tool
Classifier: Programming Language :: C++
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Topic :: Education
Classifier: Topic :: Software Development :: Libraries :: Python Modules
Classifier: Topic :: Utilities
Requires-Python: >=3.8
Description-Content-Type: text/markdown
License-File: LICENSE
Requires-Dist: numpy<2.0
Requires-Dist: toppra>=0.4.0
Requires-Dist: transforms3d>=0.3.1

# MPlib: a Lightweight Motion Planning Library

<p align="center">
  <img src="https://raw.githubusercontent.com/haosulab/MPlib/main/docs/demo.gif">
</p>

[![PyPI - Version](https://img.shields.io/pypi/v/mplib)](https://pypi.org/project/mplib/)
[![Downloads](https://static.pepy.tech/badge/mplib)](https://pepy.tech/project/mplib)
[![Build python wheels](https://img.shields.io/github/actions/workflow/status/haosulab/MPlib/build_and_publish.yml)](https://github.com/haosulab/MPlib/releases/tag/nightly)
[![Documentation](https://img.shields.io/readthedocs/motion-planning-lib)](https://motion-planning-lib.readthedocs.io/)
[![License](https://img.shields.io/github/license/haosulab/MPlib)](https://github.com/haosulab/MPlib?tab=MIT-1-ov-file#readme)

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](https://motion-planning-lib.readthedocs.io/latest/tutorials/getting_started.html) for detailed usage and examples.
