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MoveIt could certainly be useful for such a project but I would caution against using the python interfaces to do so. The python is a very limited interface that uses the move_group interfaces to get access to a subset of the useful code in moveit.

If it is possible for your project, I would recommend using the moveit c++ api directly including the pieces you need for your project (planning scene, robot_state, etc..) and avoiding the additional cruft of working through the python interfaces.