# ManyMove – C++/Python Behavior Trees for Robot Manipulators (Looking for Feedback and Tips)

**URL:** <https://discourse.openrobotics.org/t/manymove-c-python-behavior-trees-for-robot-manipulators-looking-for-feedback-and-tips/42210>\
**Category:** Projects\
**Created:** [February 24, 2025, 2:03am UTC](https://discourse.openrobotics.org/t/manymove-c-python-behavior-trees-for-robot-manipulators-looking-for-feedback-and-tips/42210 "2025-02-24T02:03:12Z")\
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**Author:** ![pastoriomarco](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/pastoriomarco/32/30303_2.png) [@pastoriomarco](https://discourse.openrobotics.org/u/pastoriomarco)\
**Post date:** [March 6, 2025, 5:25pm UTC](https://discourse.openrobotics.org/t/manymove-c-python-behavior-trees-for-robot-manipulators-looking-for-feedback-and-tips/42210/7 "2025-03-06T17:25:06Z")

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Last few days I worked to hunt a bug that was making collision checks unreliable on moveitcpp version, now it should be fixed.

I updated launches that use moveitcpp: those for a single robot are just renamed for consistency, but those for 2 robots also use a more modular version of the action server. I made so there is only 1 underlying instance of MoveItCPP, and it spins separately from the action servers of the manymove package.

I also added the standalone launchers for the examples with Panda robot both with movegroup and moveitcpp.

Now I think I’ll focus on refining it to be able to deploy a simple application in production ASAP, but I’m really tempted to:

- Try the porting to Jazzy
- Try the repo on NVIDIA Jetson

Let’s see how much time can put into it in the next few weeks!

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