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pymoveit2

  • Software
  • Robot arms and industry
  • Library

A Python library for moving robots through MoveIt 2 over ROS 2 actions and services, with examples for joint goals, poses, servoing, gripper control and planning scene edits.

Source on GitHub: github.com/AndrejOrsula/pymoveit2 (opens in a new tab). Facts read at commit a4e5662 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit a4e5662 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Plans and executes joint-space and Cartesian motions by talking to MoveIt 2 from Python.
  • Provides forward and inverse kinematics examples.
  • Supports real-time servoing through MoveIt 2 Servo.
  • Controls a gripper with toggle, open and close actions.
  • Adds, removes and allows collisions with primitive shapes and meshes in the planning scene.
  • Offers a RobotSession context manager via connect() that discovers the robot description automatically.

Written by Robotheca from the project's README (opens in a new tab) at commit a4e5662.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
It also says mesh collision objects require the trimesh Python package.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
15 Oct 2026 on main
Latest release
5.0.0 (16 Sept 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.