This issue tracks the current status of development for the new hybrid planning feature for MoveIt 2. After a basic version with a proof-of-concept demo was implemented last winter (#300), the current version of hybrid planning can be found on a feature branch of MoveIt2. The next goal is to include the feature into the main version of MoveIt 2. The associated PR #488 is currently under review. Additionally, there is PR open, which will add a tutorial for the Hybrid Planning feature and there is a demo in progress that uses Hybrid Planning in a welding application.

• Update use newest MoveIt 2 version and improvements: Update hybrid planning feature branch #426
• Create unit tests [hybrid planning] Add action abortion and test; improve the existing test #980
• Refactor proof-of-concept plugins: Refactor local planner plugins #447
• Improve documentation and a tutorial: moveit2_tutorials #97
• Merge feature branch into main: Add hybrid planning #813
• Include more sophicticated algorithms into the hybrid planning pipeline
• Create a demo with real hardware: UR10e_welding_demo

Feel free to leave a comment if you have any ideas or questions!