  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.
