Manipulation WG / MoveIt Maintainer Meeting - June 22

The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be 2023-06-22T15:00:00Z.


  • WorldMoveItDay 2023 Retrospective
  • MoveIt Iron Artworks


Phone Numbers (US)

+1 347-486-5750

PIN: 644 991 049#



  • Alex Moriarty
  • Paul Gesel
  • Sebastian Jahr
  • Tyler Weaver
  • Cassidy Elliott
  • Henning Kayser
  • Sebastian Castro
  • Jorge Nicho
  • Chance Cardona
  • Abishalini Sivaraman


  • Sneak peek of the MoveIt Iron artwork :octopus:
  • World MoveIt Day retrospective
    • Feedback from Paul (who participated):
      • The difference in prize values made it a bit political/competitive, where people started gaming the system, inviting friends, trading votes, etc. Maybe equalizing the values in 1st/2nd/3rd place would help.
      • Having ONLY community votes contributed to this, maybe consider also having a jury and/or PickNik engineers.
        • Sebastian J: Could also have an audience favorite?
      • Confusion about it being 1 (work) day vs. 24-hours to submit? Could have had more clarity about the submission deadline.
    • Feedback from other teams on Discord:
      • Members realized that the MoveIt 1 Python bindings offered a lot more than the MoveIt 2, so ended up defaulting to that.
      • Should keep easy installability (e.g. pip or something similar like conda) of MoveIt 2 Python bindings on our radar.
    • Surprised by what teams could pull off in one day… but would it make sense to have more of a long term challenge?
      • Our onboarding experience is slow, could benefit from investing into that
      • Current getting started guide is several pages of tutorials, could have a true “quick start” with just a few commands
      • Lots of people fall back to building MoveIt from source, and then finding conflicts between source and binaries
      • Issues with tutorials that we don’t really have a notion of latest vs. stable
      • Could consider other packaging solutions like conda, snap, etc… but that may not be accessible to your average user who is already cognitively overloaded with ROS.
    • NVIDIA Isaac Sim was cool, but not the most accessible to the general public as it requires an RTX graphics card.
      • Henning pulled off a last-minute Gazebo configuration, but it was missing key things for the WMD theme – notably a camera for ML perception applications.
      • Also uncovered some fixable bugs with use_sim_time in MoveIt Python bindings.
    • Should there be a track / focus on MoveIt Studio where we give people free licenses?
      • Wouldn’t make MoveIt Studio the focus, but it should be an option for those interested as we did this year.
      • Paul had a good idea to focus on Behavior Trees / high-level behavior, but not necessarily MoveIt Studio.
    • Could consider more targeted advertising of World MoveIt Day – we reached a wide audience, but wanted to also get more involvement from graduate students / researchers using MoveIt.
      • Paul: Seems like there is more of an opportunity for students/researchers to learn about MoveIt/PickNik (they know about ROS). They tend to more often roll their own custom motion planning solution.
      • What about running workshops at conferences like ICRA?
      • Still lots of resistance upgrading to ROS 2, or even to the latest Ubuntu versions.