srmp 0.1.2

Python bindings for Search-Based Robot Motion Planning (SRMP)

SRMP is a motion planning software for robotic manipulation, leveraging state-of-the-art search-based algorithms. It ensures consistent and predictable motions, backed by rigorous theoretical guarantees. Additionally, SRMP can efficiently plan for up to dozens of manipulators while guaranteeing collision-free execution—both between robots and with the environment—while maintaining motion consistency and predictability.

Why SRMP?

Existing motion planning frameworks often struggle with the demands of high-stakes applications, where predictability and repeatability are critical. SRMP addresses these challenges by leveraging search-based planning methods, ensuring motions that are both efficient and reliable. Whether you're working on robotic manipulation, industrial automation, or large-scale multi-robot coordination, SRMP provides a powerful solution tailored to your needs.

Key Features

• Multi-Robot Motion Planning: First-of-its-kind support for planning coordinated motions in multi-manipulator systems.
• Reliable and Consistent Trajectories: Generates predictable and repeatable motions, making it ideal for high-precision and safety-critical applications.
• Seamless Integration: Compatible with major simulators, including MuJoCo, Sapien, Genesis, PyBullet and Isaac.
• Multi-Lingual: Available in both Python and C++ for easy integration into research and industrial workflows.
• MoveIt! Plugin: Enables deployment on real-world robotic systems with minimal setup.

Getting Started

To get started, check our documentation.

Build and Develop within the Package

mkdir -p build && mkdir -p build/ims
pip install -e .

To use the Agentic mode

pip install openai [openai works for gemini/claude/codex. ollama if you want to use that.]
export GEMINI_API_KEY=... (one time... similar for Claude)
python -m agent.gui (for interacting through Viser)
python -m agent.cli (for CLI)