maybe you can check these repositories:
https://github.com/moveit/moveit_drake
https://github.com/one-for-all/Motion-Planning
https://github.com/RobotLocomotion/gcs-science-robotics
https://github.com/RobotLocomotion/drake-external-examples
https://github.com/AtsushiSakai/PythonRobotics
https://github.com/Jiayuan-Gu/motion-planning