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Package symbol

pymoveit2 package from pymoveit2 repo

pymoveit2

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 eyrc-24-25-logistic-cobot repo

ebot_description ebot_docking ebot_nav2 eyantra_warehouse linkattacher_msgs payload_service pymoveit2 realsense_gazebo_plugin servo_msgs ur5_control ur_description ur_moveit_config ur_simulation_gazebo

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/eyantra-robotics-competition/eyrc-24-25-logistic-cobot.git
VCS Type git
VCS Version main
Last Updated 2024-12-20
Dev Status UNKNOWN
Released UNRELEASED
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
pymoveit2/README.md

pymoveit2

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

Note: The official Python library for MoveIt 2 moveit_py is now available. Check the announcement here!

Animation of ex_joint_goal.py Animation of ex_pose_goal.py Animation of ex_gripper.py Animation of ex_servo.py
Joint Goal
Pose Goal
Gripper Action
MoveIt 2 Servo
 
source install/local_setup.bash

This enables importing of pymoveit2 module from external workspaces.

Examples

To demonstrate pymoveit2 usage, examples directory contains scripts that demonstrate the basic functionality. Additional examples can be found under ign_moveit2_examples repository.

Prior to running the examples, configure an environment for control of a robot with MoveIt 2. For instance, one of the following launch scripts from panda_ign_moveit2 repository can be used.

# RViz (fake) ROS 2 control
ros2 launch panda_moveit_config ex_fake_control.launch.py
# Gazebo (simulated) ROS 2 control
ros2 launch panda_moveit_config ex_ign_control.launch.py

After that, the individual scripts can be run.

# Move to joint configuration
ros2 run pymoveit2 ex_joint_goal.py --ros-args -p joint_positions:="[1.57, -1.57, 0.0, -1.57, 0.0, 1.57, 0.7854]"
# Move to Cartesian pose (motion in either joint or Cartesian space)
ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.25, 0.0, 1.0]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]" -p cartesian:=False
# Repeatadly toggle the gripper (or use "open"/"close" actions)
ros2 run pymoveit2 ex_gripper.py --ros-args -p action:="toggle"
# Example of using MoveIt 2 Servo to move the end-effector in a circular motion
ros2 run pymoveit2 ex_servo.py
# Example of adding a collision object to the planning scene of MoveIt 2
ros2 run pymoveit2 ex_collision_object.py --ros-args -p action:="add" -p position:="[0.5, 0.0, 0.5]" -p quat_xyzw:="[0.0, 0.0, -0.707, 0.707]"

Directory Structure

The following directory structure is utilised for this package.

.
├── examples/              # [dir] Examples demonstrating the use of `pymoveit2`
├── pymoveit2/             # [dir] ROS 2 launch scripts
    ├── robots/            # [dir] Presets for robots (data that can be extracted from URDF/SRDF)
    ├── gripper_command.py # Interface for Gripper that is controlled by GripperCommand
    ├── moveit2_gripper.py # Interface for MoveIt 2 Gripper that is controlled by JointTrajectoryController
    ├── moveit2_servo.py   # Interface for MoveIt 2 Servo that enables real-time control in Cartesian Space
    └── moveit2.py         # Interface for MoveIt 2 that enables planning and execution of trajectories
├── CMakeLists.txt         # Colcon-enabled CMake recipe
└── package.xml            # ROS 2 package metadata
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
ament_cmake_python
action_msgs
control_msgs
geometry_msgs
moveit_msgs
rclpy
sensor_msgs
shape_msgs
std_srvs
trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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 5.0.1
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/AndrejOrsula/pymoveit2.git
VCS Type git
VCS Version main
Last Updated 2026-10-15
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.

[Unreleased]

Changed

[5.0.0] - 2026-09-16

Added

Changed

Fixed

Removed

New Contributors

[4.2.0] - 2025-10-31

Added

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