Robowflex is a software library for robot motion planning in industrial and research applications, leveraging the popular MoveIt library and Robot Operating System (ROS) middleware. Robowflex provides an augmented API for crafting and manipulating motion planning queries within a single program, making motion planning with MoveIt easy. Robowflex's high-level API simplifies many common use-cases while still providing low-level access to the MoveIt library when needed. Robowflex is particularly useful for 1) developing new motion planners, 2) evaluating motion planners, and 3) complex problems that use motion planning as a subroutine (e.g., task and motion planning). Robowflex also provides visualization capabilities, integrations to other robotics libraries (e.g., DART and Tesseract), and is complementary to other robotics packages. With our library, the user does not need to be an expert at ROS or MoveIt to set up motion planning queries, extract information from results, and directly interface with a variety of software components. We demonstrate its efficacy through several example use-cases.

翻译：Robowflex是一个用于工业和研究应用的机器人动作规划的软件库,利用流行的 MoveIt 图书馆和机器人操作系统(ROS) 中间软件。 Robowflex提供一个强化的API,用于在一个程序内制作和操纵动作规划查询,使与MoveIt的动作规划变得容易。Robowflex的高级API简化了许多通用的病例,同时在必要时仍然提供低层次访问MoveIt图书馆的通道。 Robowflex特别有用,1) 开发新的动作规划者,2) 评价动作规划者,3) 使用动作规划作为子程序(例如任务和动作规划)的复杂问题。Robowflex还提供视觉化能力,与其他机器人图书馆(例如DART和TStereract)的整合,并且是其他机器人软件包的补充。我们的图书馆,用户不需要在ROS 或 MoveIt 设置动作规划查询、从结果中提取信息以及与各种软件组件直接接口。我们通过几个例子使用案例展示其功效。