MoveIt!

The industry-standard motion planning framework for ROS: MoveIt! provides kinematics, dynamics, and collision avoidance for over 150 robotic platforms.

MoveIt! serves as the primary manipulation engine for the Robot Operating System (ROS). It utilizes the Open Motion Planning Library (OMPL) to solve complex trajectory problems across 150 unique robot platforms. It integrates with hardware from manufacturers like Universal Robots and Franka Emika, providing tools for 3D perception and pick-and-place tasks. Developers use C++ and Python interfaces to execute collision-free movements in dynamic environments (bypassing manual joint calculations). This framework bridges the gap between high-level application logic and low-level motor control.

https://moveit.ros.org