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.
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 .See our tutorial for detailed usage and examples.