MoveIt 2 Python Library

moveit_py is a Python library for interfacing with the core functionalities of MoveIt 2. The goal of this library is to provide a simplified interface for MoveIt 2 Python users.

This Python library depends on pybind11 for generating Python bindings. The project is split into the following folders:

├── docs                 # Sphinx documentation files
├── moveit               # Python library stubs; Python functionalities built on top of bindings
├── src/moveit           # pybind11 binding code
├── test                 # Unit and integration testing

Tutorials

We are continuing to add tutorials for the MoveIt 2 Python library. Of particular note is the fact that one can interact with MoveIt interactively since Python is an interpreted language, our tutorials demonstrate this through leveraging Jupyter notebooks. For further details please consult the MoveIt 2 tutorials site.

Contribution Guidelines

Community contributions are welcome.

For detailed contribution guidelines please consult the official MoveIt contribution guidelines.

Citing the Library

If you use this library in your work please use the following citation:

@software{fagan2023moveitpy,
  author = {Fagan, Peter David},
  title = {{MoveIt 2 Python Library: A Software Library for Robotics Education and Research}},
  url = {https://github.com/moveit/moveit2/tree/main/moveit_py},
  year = {2023}
}

Acknowledgements

Thank you to the Google Summer of Code program for sponsoring the development of this Python library. Thank you to the MoveIt maintainers Henning Kayser (@henningkayser) and Michael Goerner (@v4hn) for their guidance as supervisors of my GSoC project. Finally thank you to the ML Collective for providing compute support for this project.

Changelog for package moveit_py

2.14.0 (2025-06-13)

• Fix arg name in PlanningScene stub file (#3489)
• Python PlanningScene API: add set_current_state() (#3481)
• Allow conversion rclpy.Time <-> rclcpp::Time (#3453) Co-authored-by: Robert Haschke <<rhaschke@users.noreply.github.com>>
• Contributors: Samuele Sandrini, Shobin vinod, matthias88

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

• Allow conversion from list[str] to std::vector<std::string> (#3423)
• feat: add remapping argument to MoveItPy initialization (#3367)
• Contributors: Jens Vanhooydonck, Kazuya Oguma

2.13.0 (2025-02-15)

• move TrajectoryExecutionManager::clear() to private (#3226)
• Update CMakeLists.txt (#3218)
• Contributors: Dongya Jiang, mosfet80

2.12.0 (2024-11-29)

• Enhancement/use hpp for headers (#3113)
• Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
• Fixed Typo get_trajectory_execution_manager in planning.pyi file (#3029)
• Contributors: Jens Vanhooydonck, Sebastian Jahr, Tom Noble

2.11.0 (2024-09-16)

• Add python bindings for saving and loading geometry from a .scene file (#2971)
• Add namespace to MoveitPy (#2884)
• New planning scene message (#2885)
• Contributors: Abhiroop Bhavsar, Bilal Gill, Jens Vanhooydonck

2.10.0 (2024-06-13)

• Migrate ros-planning org to moveit (#2847)
  • Rename github.com/ros-planning -> github.com/moveit
  • Rename ros-planning.github.io -> moveit.github.io
  • Rename ros-planning organization in docker and CI workflow files
  • ghcr.io/ros-planning -> ghcr.io/moveit
  • github.repository == 'moveit/*''
• Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
• Get configuration values of traj_exec_man (#2702)
  • (ros_planning) get configuration values of traj_exec_man
  • (py) get configuration values of traj_exec_man
• CMake format and lint in pre-commit (#2683)
• log after rclcpp init
• Contributors: Henning Kayser, Matthijs van der Burgh, Robert Haschke, Sebastian Jahr, Tyler Weaver, peterdavidfagan

2.9.0 (2024-01-09)

• [PSM] Process collision object color when adding object trough the planning scene monitor (#2567)

  • Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM.
  • Fixes for clang-tidy warnings
  • fix pre-commit
  • Pass by reference

• Node logging for the rest of MoveIt (#2599)

• Fix moveit_py Policy docs build (#2584)

• init policy class (#2494) update command interfaces Update moveit_py/moveit/policies/policy.py Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Update moveit_py/moveit/policies/policy.py Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Update

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