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 Papl is a collection of Ocaml packages for sampling based path
-Unlike most path planning systems, Papl does not define the robots or
-mechanisms for which the planning is done. The user must provide
-collision detection and other operations for the configuration space,
-and the library then constructs the planners.
-The `papl` package contains the core library of Papl.
+The `papl` package defines fundamental planner primitives a few
+implementations. These primitives are independent of any specific
+workcell or configuration representation.
 See the [project home page][0] for more on Papl and its packages.