Moving robots into the future
Easy-to-use robotics manipulation platform for developing applications, evaluating designs, and building integrated products
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Motion Planning
Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums
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Manipulation
Analyze and interact with your environment with grasp generation
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Inverse Kinematics
Solve for joint positions for a given pose, even in over-actuated arms
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Control
Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces
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3D Perception
Connect to depth sensors and point clouds with Octomaps
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Collision Checking
Avoid obstacles using geometric primitives, meshes, or point cloud data
Rviz Motion Planning Plugin
Out-of-the box visual demonstrations allow new users interactive experimentation with various planning algorithms around obstacles. Execution on physical hardware is then just a click away.
Gazebo Simulation
Speed up development and testing cycles by leveraging a full physics-based simulator with MoveIt. Combine Gazebo, ROS Control, and MoveIt for a powerful robotics development platform.
MoveIt Setup Assistant
Quickly setup any robot to work with MoveIt with the step-by-step configuration wizard, or use popular pre-configured setups. Also includes configuration of Gazebo and ROS Control!
MoveIt Task Constructor
A flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks!
MoveIt Grasps
A basic grasp generator for objects such as blocks or cylinders for use with the MoveIt pick and place pipeline!
Python Scripting and Interpreter
Use high level Python scripts to orchestrate complex motion planning, leveraging high-performance C++ libraries in the background. Or use the C++ interfaces directly.
Why MoveIt?
MoveIt is the most widely used software for manipulation and has been used on over 100 robots. It provides an easy-to-use robotics platform for developing advanced applications, evaluating new designs and building integrated products for industrial, commercial, R&D, and other domains.
By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.