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.
This fork is for easily building MPlib from source to support Python versions outside what the original package offers, eg. Python 3.10.
git clone --recursive https://github.com/vonHartz/MPlib.git
cd MPlib
docker build -t mplib .
docker run --rm -v $(pwd):/workspace mplib /bin/bash -c "python3.10 -m setup bdist_wheel && auditwheel repair dist/mplib-0.0.8-cp310-cp310-linux_x86_64.whl"
pip install -r requirements.txt
pip install dist/mplib-0.0.8-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
See our tutorial for detailed usage and examples.