http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html MoveIt Tutorials — moveit_tutorials Melodic documentation These tutorials will step you through using and learning the MoveIt Motion Planning Framework. In these tutorials, the Franka Emika Panda robot is used as a quick-start demo. Alternatively, you can easily use any robot that has already been configured to w docs.ros.org Th..