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Sampling-based motion planners' testing environment (sbp-env) is a fullfeature framework to quickly test different sampling-based algorithms formotion planning. sbp-env focuses on the flexibility of tinkering with differentaspects of the framework, and had divided the main planning components into twocategories (i) samplers and (ii) planners.  The focus of motion planning research had been mainly on (i) improving thesampling efficiency (with methods such as heuristic or learned distribution)and (ii) the algorithmic aspect of the planner using different routines tobuild a connected graph. Therefore, by separating the two components one canquickly swap out different components to test novel ideas.

sbp-env: Sampling-based Motion Planners' Testing Environment