# Motion Planning

We recommend the `mplib` library for motion planning with SAPIEN. `mplib` is a
lightweight python package that includes common functionalities for motion
planning. You can use mplib to plan a collision-free trajectory for a robot,
calculate inverse kinematics, and take point cloud observation as an environment
model. Unlike MoveIt, mplib is decoupled from ROS, and it’s easy to set up and
use with simple python APIs.

The tutorial for mplib can be found in their official [documentation site](https://motion-planning-lib.readthedocs.io/latest/tutorials/getting_started.html).