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MoveIt is a robot agnostic software framework that integrates motion planning, kinematics and collision detection with online processing of sensor data and monitored execution of trajectories. The functionality provided is centered around motion planning and relies on ROS for configuration and ... [More] communication. Given 3D sensor data as input, MoveIt constructs and maintains a representation of the world around the robot and offers planning and manipulation capabilities. Various analysis and benchmarking tools are also included. [Less]