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.