Software & Middleware

MoveIt

MoveIt is the standard open-source motion planning framework for ROS, providing manipulation capabilities including sampling-based planning via OMPL, collision checking with FCL, inverse kinematics through pluggable solvers, planning scene management, and trajectory execution. MoveIt 2 ports the framework to ROS 2 and adds MoveIt Servo for real-time Cartesian teleoperation. It is configured per-robot from a URDF/SRDF description via a setup assistant.

Why it matters for physical AI

A shared, robot-agnostic planning stack lets teams stand up collision-aware manipulation on new arms in days, and it commonly provides the safe motion layer around learned grasp and skill policies.