MoveIt

MoveIt is the most widely used open-source motion planning framework for robot arms, originally developed at Willow Garage and now maintained by PickNik Robotics. MoveIt 2 runs on ROS 2 and provides planners (OMPL, CHOMP, PILZ), Cartesian trajectory planning, collision checking against MoveIt's planning scene, kinematics plugins (KDL, IKFast, TracIK), and grasp planning integration. It is the standard middleware layer between a robot learning policy (which outputs desired end-effector poses or waypoints) and the low-level joint controller that executes smooth, collision-free trajectories on the physical robot.