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Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
lyrical

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 5.0.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-09-17
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

Maintainers

  • Andrej Orsula

Authors

  • Andrej Orsula
README.md

pymoveit2

codecov

Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Configuration
Cartesian Pose
Gripper Action
Real-Time Servoing

Installation

Binary package

ROS Package Index ROS Package Index ROS Package Index ROS Package Index

sudo apt install ros-$ROS_DISTRO-pymoveit2

Python package

PyPi

pip install pymoveit2

Docker image

Docker

cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui

Source build

cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash

Quick start (demo with Franka Emika Panda)

  1. Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
   sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
  1. Launch the MoveIt 2 setup for your robot:
   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
  1. Move the robot via pymoveit2 examples:
   ros2 run pymoveit2 ex_joint_goal.py

Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.

Examples

Kinematics

# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"

Motion planning and execution

File truncated at 100 lines see the full file

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

Changed

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pymoveit2 at Robotics Stack Exchange