A motion path setting device includes a candidate obtainer, a determiner, and a path setter. The candidate obtainer obtains a plurality of candidate motion paths from a starting point to an ending point of a robot motion based on a first tentative motion path in a multidimensional space being a physical workspace of a robot or a configuration space of the robot. The first tentative motion path is a shortest path connecting the starting point and the ending point. The determiner determines whether the robot interferes with an obstacle on at least one of the plurality of candidate motion paths. The path setter sets a motion path of the robot based on a determination result from the determiner.