The idea of the MoPa framework is to provide a suitable C++ scenario and bindings for motion and path planning algorithms over static and dynamic environments. In simpler words, the MoPa framework is a 2D world with several objects that moves. Then, an intelligent agent can be added towards finding a way to move from an initial point to a predefined goal, trying not to cruash, touch or being hit by an object. The framework also tries to define all the architectural interfaces to be able to interchange any module (for instance the graphic engine, or the world's physics) for new implementations.