Adding readme, requirements, and setup files

setup.py

+from setuptools import setup
+
+setup(name='guided_mrmp',
+      version='0.1',
+      description='Guided Multi-Robot Motion Planning',
+      install_requires=['numpy',
+                        'matplotlib',
+                        'shapely',
+                        'pyyaml',
+                        'cvxpy',
+                        'scipy',
+                        'casadi',
+                        'klampt',
+      ],
+)
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