robotics-toolbox-python VS moveit

Don't know if this works for micro python as is but you can adapt the IK code for your own setup https://github.com/petercorke/robotics-toolbox-python

Basically, I'd like to run examples from the Robotics Toolbox for Python in WSL. The issue is that they require using Swift, a browser-based robotics simulator, and this is where things don't go too well.

I’d suggest looking in some of the free robotics frameworks out there, particularly Python and Matlab. These would allow you to fully focus on the cartesian planning problem. https://github.com/petercorke/robotics-toolbox-python is one such framework with minimal learning curve.

I am using this toolbox and building software around it : https://github.com/petercorke/robotics-toolbox-python

I like to Move it Move it

If you don't mind doing a little coding yourself, the core of MoveIt is and always will be open source

as far as I know ros and arduino, you could use the Moveit controller tool for controlling your robot https://moveit.ros.org/ see if it helps.

MoveIt provides this through IterativeParabolicTimeParameterization. You can use this implementation as a reference, if you want to have an in depth understanding of how a trajectory is generated.