# MoveIt Pro Docs > Robotics and AI Application Platform This file contains links to documentation sections following the llmstxt.org standard. ## Current documentation - [Behavior Trees](https://docs.picknik.ai/concepts/behavior_trees.md): Objectives in MoveIt Pro are represented as Behavior Trees that perform a specific function, such as picking up an object or opening a door. - [Built In Behaviors](https://docs.picknik.ai/concepts/built_in_behaviors.md): In MoveIt Pro, Behaviors are the building blocks used to create Objectives. - [Creating Behaviors](https://docs.picknik.ai/concepts/creating_behaviors.md): This page describes creating, implementing, and loading custom Behavior Tree nodes (“Behaviors”) within MoveIt Pro, including step-by-step instruct... - [Deployment, Commissioning, and Fleet Management](https://docs.picknik.ai/concepts/deployment_commissioning_and_fleet_management.md): MoveIt Pro provides a robust platform for deploying and operating production-grade robotic systems. It is designed to take your robots from develop... - [Docker Containerization](https://docs.picknik.ai/concepts/docker.md): We distribute MoveIt Pro using docker to ensure MoveIt Pro dependencies do not interfere with other ROS 2 projects on your computer. - [License Monitoring](https://docs.picknik.ai/concepts/license_monitoring.md): How to programmatically monitor MoveIt Pro license status for container health checks and automated monitoring systems. - [MoveIt Task Constructor (MTC)](https://docs.picknik.ai/concepts/moveit_task_constructor.md): How MoveIt Pro composes and executes Task Constructor pipelines through built-in Behaviors. - [Planners and Solvers](https://docs.picknik.ai/concepts/planners_and_solvers.md): MoveIt Pro provides multiple state of the art planners and solvers for efficient and accurate motion planning. - [Planning Scene & Collision Checker](https://docs.picknik.ai/concepts/planning_scene.md): In MoveIt Pro, the planning scene is the source of truth for the environment in which your robotic agents do motion planning. - [ros2_control in MoveIt Pro](https://docs.picknik.ai/concepts/ros2_control.md): How MoveIt Pro uses ros2_control to execute motion, the controllers it ships, the runtime safety checks each one performs, and where safety remains... - [Whole-Body Motion on Mobile Bases](https://docs.picknik.ai/concepts/whole_body_motion.md): How MoveIt Pro represents and executes coordinated base and arm motion on mobile manipulators, what that model requires of the control stack, and w... - [Gamepad Teleoperation Setup Guide](https://docs.picknik.ai/hardware_guides/input_devices/gamepad_teleop.md): MoveIt Pro supports hardware-based teleoperation through standard USB game controllers for hands-on robot control and AI data collection. - [Meta Quest for Teleop Setup Guide](https://docs.picknik.ai/hardware_guides/input_devices/setting_up_the_meta_quest_for_teleop.md): The Meta Quest is a great tool for ML model data collection. This guide walks you through connecting it to MoveIt Pro and teleoperating your robot ... - [FANUC CRX Series Hardware Setup Guide](https://docs.picknik.ai/hardware_guides/robot_arms/fanuc_hardware_setup_guide.md): This how-to guide covers steps for setting up and configuring a CRX series robot arm to run with MoveIt Pro. - [Franka Research 3 Hardware Setup Guide](https://docs.picknik.ai/hardware_guides/robot_arms/franka_fr3_hardware_setup_guide.md): Franka Research 3 (FR3) Hardware Setup Guide - [Kinova Gen3 7DoF Hardware Setup Guide](https://docs.picknik.ai/hardware_guides/robot_arms/kinova_hardware_setup_guide.md): This how-to guide covers Kinova Gen3 7DoF steps for setting up the arm, gripper, and (optional) embedded wrist camera, along with network configura... - [KUKA Cybertech Hardware Setup Guide](https://docs.picknik.ai/hardware_guides/robot_arms/kuka_cybertech_hardware_setup_guide.md): This how-to guide covers steps for setting up and configuring a KUKA Cybertech series robot arm (KSS with RSI) to run with MoveIt Pro. - [Universal Robots URx Hardware Setup Guide](https://docs.picknik.ai/hardware_guides/robot_arms/ur5e_hardware_setup_guide.md): This how-to guide covers UR5e configuration, hardware requirements, steps for setting up the arm, gripper, and camera, and payload and network conf... - [Breakpoints Usage](https://docs.picknik.ai/how_to/behavior_tree_editing/breakpoints.md): How To Add Breakpoints To Objectives - [Debugging Blackboard Variables](https://docs.picknik.ai/how_to/behavior_tree_editing/debugging_blackboard.md): The blackboard is a central data store used by the Behavior tree to share key-value pairs between nodes during Objective execution. It acts as a ru... - [Keyboard Shortcuts](https://docs.picknik.ai/how_to/behavior_tree_editing/keyboard_shortcuts.md): Open the keyboard shortcuts reference in MoveIt Pro - [Manipulate Vectors in Behavior Trees](https://docs.picknik.ai/how_to/behavior_tree_editing/vector_manipulation.md): This how-to guide explains how to work with vectors in MoveIt Pro Behavior Trees using the built-in vector manipulation Behaviors. - [Upgrading Software & Changing License Keys](https://docs.picknik.ai/how_to/computer_configuration/Upgrade%20MoveIt%20Pro.md): There are two ways to upgrade the software. For most release versions of MoveIt Pro, we recommend the Upgrade in Place approach. Alternatively, if ... - [Set Up Continuous Integration and Deployment](https://docs.picknik.ai/how_to/computer_configuration/ci_cd_for_objectives.md): Validate Objectives in CI and deploy MoveIt Pro releases to fleet hardware. - [Configure GPU Acceleration](https://docs.picknik.ai/how_to/computer_configuration/configure_gpu_pro.md): How to enable and configure GPU acceleration in MoveIt Pro, so that physics simulation and ML inferencing can be offloaded to the GPU, significantl... - [Configure Licensing](https://docs.picknik.ai/how_to/computer_configuration/configure_licensing.md): Configure license keys, stable hardware identity, and container permissions for MoveIt Pro. - [Configure NVIDIA Jetson](https://docs.picknik.ai/how_to/computer_configuration/configure_nvidia_jetson.md): NVIDIA Jetson platforms are commonly used for embedded installations of MoveIt Pro, but they require configuration for optimal performance. - [Configure ROS 2 DDS](https://docs.picknik.ai/how_to/computer_configuration/customize_dds_configuration.md): Like most ROS 2 applications, MoveIt Pro relies on a DDS based ROS middleware (RMW) for intercommunication between processes. - [Connect with the MoveIt Pro Desktop App](https://docs.picknik.ai/how_to/computer_configuration/desktop_app.md): Install the MoveIt Pro desktop app and connect it to local or remote Runtimes - [Authenticate and Encrypt Runtime Endpoints](https://docs.picknik.ai/how_to/computer_configuration/endpoint_authentication.md): Shared frontend-key authentication and TLS for the MoveIt Pro Runtime endpoints (REST, Web Bridge, video, terminal) - [Running Multiple MoveIt Pro Instances on One Computer](https://docs.picknik.ai/how_to/computer_configuration/multiple_instances.md): How to run several isolated MoveIt Pro deployments side by side on a single host - [Discover MoveIt Pro Deployments on a Network](https://docs.picknik.ai/how_to/computer_configuration/network_backend_swap.md): Discover MoveIt Pro deployments and connect with the desktop app - [Running Offline Without an Internet Connection](https://docs.picknik.ai/how_to/computer_configuration/offline_activation.md): How to set up MoveIt Pro for offline license authentication. - [Using Docker Compose Without MoveIt Pro CLI](https://docs.picknik.ai/how_to/computer_configuration/pro_without_CLI.md): Use MoveIt Pro with pure Docker commands - [Setup GPUs on Real-time Linux](https://docs.picknik.ai/how_to/computer_configuration/using-gpu-with-real-time.md): When using MoveIt Pro, you may want to use a dedicated GPU if the scene you are visualizing in the UI is complex or you want to do GPU-accelerated ... - [State Estimation Setup](https://docs.picknik.ai/how_to/configuration_tutorials/add_fuse.md): Fuse runs alongside MoveIt Pro and publishes configurable estimated topics for use inside MoveIt Pro, similarly to other external frameworks such a... - [Mobile Navigation Setup](https://docs.picknik.ai/how_to/configuration_tutorials/add_nav2.md): MoveIt Pro has built-in support to interface with Nav2, primarily via Behaviors that can invoke the NavigateToPose and NavigateThroughPoses Nav2 ac... - [Overview of config.yaml](https://docs.picknik.ai/how_to/configuration_tutorials/config_yaml_reference.md): A comprehensive guide to all configuration options available in MoveIt Pro's config.yaml files, including detailed explanations, examples, and vali... - [Configure Frontend Settings](https://docs.picknik.ai/how_to/configuration_tutorials/configure_frontend_settings.md): Override deployment-specific frontend defaults (reference frame, Nav2 plan topic, iframe viewports) without rebuilding the UI. - [Mobile Base Control Setup](https://docs.picknik.ai/how_to/configuration_tutorials/configure_mobile_base.md): How to configure a mobile base in MoveIt Pro using MoveIt's planar joint, and how that mechanism relates to the virtual-joint model used for whole-... - [Create Robot Mock Configuration](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/create_mock_robot_config.md): How to create a mock robot configuration package for MoveIt Pro using ros2_control mock hardware for motion planning. - [Get URDF Files](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/export_cad_to_urdf.md): How to obtain URDF files from commercial off-the-shelf hardware or export them from custom CAD models. - [hardware Values](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/hardware_configuration.md): Reference for the hardware section of config.yaml, covering URDF, SRDF, Xacro parameters, simulation flags, and launch file configuration. - [moveit_params Values](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/moveit_params_configuration.md): Reference for the moveit_params section of config.yaml, covering kinematics solvers, joint limits, jog configuration, 3D sensors, and trajectory ex... - [Objectives Values](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/objectives_and_behaviors_configuration.md): Reference for the Objectives section of config.yaml, covering Behavior loader plugins, Objective library paths, and waypoint file configuration. - [Refactor your URDF Using Xacro](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/refactor_urdf_to_xacro.md): How to refactor URDF files using Xacro for modular robot descriptions, including macro syntax, file naming conventions, and composition best practi... - [ros2_control Values](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/ros2_control_configuration.md): Reference for the ros2_control section of config.yaml, covering controller configuration, startup activation, and teleoperation requirements. - [ros_global_params Values](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/ros_global_params_configuration.md): Reference for the ros_global_params section of config.yaml, covering global ROS parameter overrides such as simulation time and robot description t... - [Run Mock Robot Configuration](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_mock_config/run_mock_robot_config.md): How to build and launch a mock robot configuration in MoveIt Pro. - [Configure Hardware Protective Stop](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_physical_config/configure_protective_stop.md): Configuring a Protective Stop Service - [Create Robot Physical Configuration](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_physical_config/create_robot_physical_config.md): How to create a physical hardware robot configuration package that inherits from a simulation config for use with real robot drivers. - [Set up Control Drivers without ROS 2 Control](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_physical_config/custom_robot_controller.md): Our recommended approach for connecting robot hardware to MoveIt Pro is using the defacto ROS standard of the ros2_control libraries. - [Overload Configuration for Physical](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_physical_config/overload_physical_config_definitions.md): How to override config.yaml values for physical hardware, including driver launch files and Xacro hardware interface parameters. - [Simulator Keyframes Setup](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_sim_config/configure_keyframes.md): A keyframe is a named state of your entire simulation world. - [Create Robot Sim Configuration](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_sim_config/create_robot_sim_config.md): Create a simulation robot configuration package that inherits from a mock configuration and connects to the MoveIt Pro Simulator. - [Create MoveIt Pro Simulator Models](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_sim_config/migrate_to_mujoco_config.md): Create a high-fidelity MoveIt Pro Simulator model from a robot URDF and define its environment with MJCF. - [Overload Configuration for Simulation](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_sim_config/overload_sim_config_definitions.md): Override config.yaml values for the MoveIt Pro Simulator, including MuJoCo ros2_control hardware interfaces and Xacro parameters. - [Run Sim Robot Configuration](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_sim_config/run_sim_robot_config.md): How to build and launch a simulation robot configuration in MoveIt Pro. - [Optimize Model Meshes](https://docs.picknik.ai/how_to/configuration_tutorials/optimizing_robot_model_meshes.md): This page describes how to use tools to decimate large meshes to reduce their file size and how to decompose non-convex meshes into convex sub-parts. - [Overview of Robot Config & Objective Packages](https://docs.picknik.ai/how_to/configuration_tutorials/robot_and_objective_inheritance.md): Overview of robot configuration package inheritance and Objective package sharing in MoveIt Pro, including naming conventions and structuring best ... - [Third-Party Simulator Setup](https://docs.picknik.ai/how_to/configuration_tutorials/third_party_simulators.md): How-to guide for connecting external simulators like Isaac Sim and Gazebo to MoveIt Pro - [Add Ports and Testing to Behaviors](https://docs.picknik.ai/how_to/custom_behaviors/adding_ports.md): How to add input and output ports to your Behavior, and how to write tests for that Behavior. - [Specialized Behavior Classes and Usage Examples](https://docs.picknik.ai/how_to/custom_behaviors/additional_behavior_classes.md): Example Behaviors and template specializations for convenient integration of custom types. - [About the User Interface](https://docs.picknik.ai/how_to/custom_view_panes/about_the_user_interface.md): An overview of the MoveIt Pro user interface and its view panes. - [Create Custom View Panes in the MoveIt Pro Desktop App](https://docs.picknik.ai/how_to/custom_view_panes/creating_custom_panes.md): How to create and add custom iframe panels to the MoveIt Pro Desktop App. - [ROS Integration for Custom View Panes](https://docs.picknik.ai/how_to/custom_view_panes/ros_bridge_integration.md): Subscribe and publish to ROS topics from a Custom View Pane iframe. - [Adjusting the Simulated Camera Resolution](https://docs.picknik.ai/how_to/custom_view_panes/sim_camera_resolution.md): Change the rendering resolution of MoveIt Pro Simulator cameras in a robot configuration package. - [UI-Based Teleoperation](https://docs.picknik.ai/how_to/custom_view_panes/ui_teleoperation.md): Control your robot directly through the MoveIt Pro Desktop App using on-screen controls for joint, pose, interactive marker, and waypoint teleopera... - [Visualize 3D Markers](https://docs.picknik.ai/how_to/custom_view_panes/visualizing_3d_markers.md): Publish visualization markers to the MoveIt Pro 3D Visualizer using the same message spec as RViz. - [Visualize TF Frames](https://docs.picknik.ai/how_to/custom_view_panes/visualizing_tf_frames.md): Display live TF coordinate frames in the MoveIt Pro 3D Visualizer, similar to RViz's TF display. - [Migrate User Workspace From 9.x to 10.0](https://docs.picknik.ai/how_to/migration_guides/10.0_user_workspace_migration.md): User workspaces sometimes require changes between major versions of MoveIt Pro. - [Migrate User Workspace From 8.x to 9.0](https://docs.picknik.ai/how_to/migration_guides/9.0_user_workspace_migration.md): User workspaces sometimes require changes between major versions of MoveIt Pro. - [Migrate Collision Object Behaviors](https://docs.picknik.ai/how_to/migration_guides/collision_objects_migration.md): Move from the legacy GraspableObject-based collision Behaviors to the unified moveit_msgs-based Behaviors. - [Migrate from MoveIt 2 to MoveIt Pro Core](https://docs.picknik.ai/how_to/migration_guides/moveit2_to_pro_core.md): How an existing open-source MoveIt 2 user adopts MoveIt Pro Core: what carries over unchanged, what is renamed, and what replaces OMPL. - [Navigate with Nav2 in hangar_sim](https://docs.picknik.ai/how_to/mobile_navigation/nav2_mobile_navigation.md): Learn how hangar_sim uses Nav2 for mobile base navigation, including lidar sensing, costmap-based obstacle avoidance, AMCL map-based localization, ... - [Navigate to a Goal with Replanning](https://docs.picknik.ai/how_to/mobile_navigation/navigate_to_goal_with_replanning.md): Learn how the Navigate to Clicked Point with Replanning Objective uses Nav2's built-in replanning to dynamically update the robot's path when new o... - [Run an Objective from a Custom Behavior Tree XML](https://docs.picknik.ai/how_to/programmatic_sdks/custom_objective_xml.md): Send a Behavior Tree XML string as the Objective body — useful for ad-hoc trees and for remapping Subtree ports per call. - [Native ROS Client Library API (Moved)](https://docs.picknik.ai/how_to/programmatic_sdks/do_objective_sequence.md): This page has moved. See the Programmatic SDKs overview and the feature-based guides. - [Invoking a Python Service](https://docs.picknik.ai/how_to/programmatic_sdks/invoke_a_python_service.md): This how-to guide shows how to use MoveIt Pro to invoke a service hosted by a rclpy node, allowing you to bridge your Python only ROS code into you... - [Connect an AI Assistant with the MCP Server](https://docs.picknik.ai/how_to/programmatic_sdks/mcp_server.md): Connect Claude Desktop, Cursor, or another Model Context Protocol client to MoveIt Pro over authenticated HTTP or host-user stdio, locally or over ... - [Passing Parameters to Objectives at Runtime](https://docs.picknik.ai/how_to/programmatic_sdks/parameter_overrides.md): Use parameter_overrides in DoObjectiveSequence to inject runtime values into Behavior Tree blackboard ports, including custom message types. - [Programmatic SDKs Overview](https://docs.picknik.ai/how_to/programmatic_sdks.md): How to drive MoveIt Pro from an external application using native ROS 2 or MoveIt Pro Web Bridge clients. - [Migrating rosbridge Clients](https://docs.picknik.ai/how_to/programmatic_sdks/rosbridge.md): Choose a supported replacement for applications that previously connected to MoveIt Pro with the rosbridge JSON protocol. - [Run an Existing Objective](https://docs.picknik.ai/how_to/programmatic_sdks/run_objective.md): Start, monitor, and cancel an existing MoveIt Pro Objective with native ROS 2 or an authenticated MoveIt Pro Web Bridge client using the Foxglove p... - [AprilTag Pose Estimation Benchmarking](https://docs.picknik.ai/how_to/robotics_applications/apriltag_benchmarking.md): Run a benchmark on AprilTag fiducial pose estimation accuracy. - [Bias Which Joints Move with Per-Joint Costs](https://docs.picknik.ai/how_to/robotics_applications/biasing_joint_motion_with_joint_costs.md): Make expensive joints move less by supplying per-joint cost multipliers to the planning and IK Behaviors. - [Camera Pose Calibration](https://docs.picknik.ai/how_to/robotics_applications/camera_calibration.md): Find where a camera sits on the robot arm or in the workspace with a printed ChArUco board and the hand-eye calibration Objectives. - [Cartesian Path Following](https://docs.picknik.ai/how_to/robotics_applications/cartesian_path_following.md): Many applications require moving the arm end-effector along a given path in 3D space. Some examples include welding, grinding, inspection, and door... - [Choose Grasp Poses](https://docs.picknik.ai/how_to/robotics_applications/choosing_grasp_poses.md): Choose grasp poses using known object frames or point cloud geometry. - [Moving to a Pose](https://docs.picknik.ai/how_to/robotics_applications/computing_inverse_kinematics.md): Computing Inverse Kinematics (IK) is a fundamental problem in robotics. - [Execute Position Trajectories with Admittance](https://docs.picknik.ai/how_to/robotics_applications/configure_admittance_controller.md): MoveIt Pro contains Behaviors and controllers to help you execute trajectories in a compliant way. - [Control End-Effector Speed](https://docs.picknik.ai/how_to/robotics_applications/controlling_end_effector_speed.md): Choose the right mechanism to set, scale, or limit how fast the end-effector moves, from plan-time trajectory timing to runtime overrides. - [Debug Task Constructor Planning Pipelines](https://docs.picknik.ai/how_to/robotics_applications/debug_mtc_pipelines.md): MoveIt Task Constructor (MTC) planning pipelines perform a large-scale search for feasible solutions across numerous candidates. - [Grasping with Fiducials](https://docs.picknik.ai/how_to/robotics_applications/defining-grasp-pose-docs.md): A workflow for defining grasp poses and storing them in yaml files. - [Tool Center Point (TCP) Calibration](https://docs.picknik.ai/how_to/robotics_applications/how_to_use_tool_center_points.md): In robotic applications, the Tool Center Point (TCP) is the specific point on a tool or end-effector that serves as the reference for motion and ta... - [Integrate with Gemini VLM](https://docs.picknik.ai/how_to/robotics_applications/integrate_with_google_gemini.md): Use Google Gemini's multimodal API from a Behavior Tree to reason about images and locate features as 2D points. - [Interacting with the Planning Scene](https://docs.picknik.ai/how_to/robotics_applications/interacting-with-planning-scene-docs.md): How to add, move, remove, attach, and set collision rules for objects in the MoveIt Pro Planning Scene, in both direct and MTC workflows. - [Keepout Zones and Saving/Loading Planning Scene](https://docs.picknik.ai/how_to/robotics_applications/keepout_zones.md): The Keepout Zones feature is designed to quickly define regions in the workspace where the robot(s) is prohibited from entering or interacting. Thi... - [Automatic Object Segmentation](https://docs.picknik.ai/how_to/robotics_applications/ml_automasking.md): SAM2 automasking automatically segments all objects in an image using grid-based point prompts. - [Multimodal Segmentation with SAM3](https://docs.picknik.ai/how_to/robotics_applications/ml_exemplar_segmentation.md): SAM3 enables multimodal image segmentation using text prompts, image exemplars, and bounding boxes for flexible object detection. - [Image Segmentation using Machine Learning](https://docs.picknik.ai/how_to/robotics_applications/ml_segmentation.md): ML-based image segmentation plays a crucial role in robotics by enabling precise perception of the environment. - [Model Predictive Control (MPC)](https://docs.picknik.ai/how_to/robotics_applications/model_predictive_control.md): Create custom MPC Behaviors and residual functions for real-time optimization and control of robot motion. - [Motion Planning Best Practices](https://docs.picknik.ai/how_to/robotics_applications/motion_planning_best_practices.md): Best practices for configuring joint limits and saving waypoints to produce reliable, natural-looking motion plans. - [Grasping with Mesh Models](https://docs.picknik.ai/how_to/robotics_applications/object_registration.md): For this example, we will use a simulated Universal Robots UR20 to perform object registration and scanning tasks. - [Optimize Cycle Time for Repetitive Tasks](https://docs.picknik.ai/how_to/robotics_applications/optimize_cycle_time.md): Measure, analyze, and reduce the cycle time of repetitive MoveIt Pro Objectives. - [Orientation-Constrained Planning](https://docs.picknik.ai/how_to/robotics_applications/orientation_constrained_planning.md): For certain applications, motion plans that are generated require orientation constraints on things like the robot's gripper. - [Parallel Motion Planning](https://docs.picknik.ai/how_to/robotics_applications/parallel_planning.md): Motion plans can be made during execution to improve cycle time. - [Pick and Place with the Task Constructor](https://docs.picknik.ai/how_to/robotics_applications/pick_and_place_using_mtc.md): Pick and place tasks describe a broad range of robotic applications like harvesting fruits, sorting items on a conveyor belt, or gearbox assembly. - [Saving, Loading, and Executing a Robot Trajectory using YAML Files](https://docs.picknik.ai/how_to/robotics_applications/save_and_load_trajectory.md): How to save a motion planning solution or joint trajectory to a file, as well as how to load and execute it. - [Stitch Trajectories with Smooth Blending](https://docs.picknik.ai/how_to/robotics_applications/stitch_trajectories.md): Combine multiple joint trajectories into a single smooth trajectory to avoid full stops between motions and reduce cycle time. - [Tool Changing, End Effector Swapping, and Vacuum Grippers](https://docs.picknik.ai/how_to/robotics_applications/tool_changing.md): Many applications require swapping grippers, end effectors, or tools during execution. - [Streaming Velocities & Force](https://docs.picknik.ai/how_to/robotics_applications/velocity_force_control.md): Many applications require applying a controlled force on the environment along some axes, while moving at a velocity along other axes. - [Visual Servoing](https://docs.picknik.ai/how_to/robotics_applications/visual_servoing.md): Many applications require aligning the arm end effector with respect to some (possibly moving) visual reference. - [Vision Language Model Prompting Best Practices](https://docs.picknik.ai/how_to/robotics_applications/vlm_prompting_best_practices.md): Practical guidance for writing prompts that get reliable 2D points, outlines, and scene judgments out of a vision language model. - [Collect Training Data with Behaviors](https://docs.picknik.ai/how_to/vla/collect_training_data_with_behaviors.md): Wrap a task Subtree with recording Behaviors to save successful demonstrations and convert them into a LeRobot dataset. - [Collect VLA Training Data with Trainer](https://docs.picknik.ai/how_to/vla/collect_training_data_with_trainer.md): Record robot demonstrations, review episodes, and prepare a local or Hugging Face LeRobot dataset with MoveIt Pro Trainer. - [Connect a VLA Policy to the ExecutePolicy Behavior](https://docs.picknik.ai/how_to/vla/connect_a_vla_policy.md): Serve action chunks from any learned policy through the GetActionChunk service contract and run them with the ExecutePolicy Behavior. - [Train a VLA Policy on Your Own Runpod](https://docs.picknik.ai/how_to/vla/train_a_vla_policy.md): Fine-tune a pi0.5 policy (or SmolVLA) on your own Runpod GPU with the bundled train-model skill, and land a servable checkpoint on Hugging Face Hub. - [Run the VLA Cube-Stacking Example](https://docs.picknik.ai/how_to/vla/vla_cube_stacking_example.md): Run PickNik's cube-stacking policy locally in the vla_sim configuration with the ExecutePolicy Behavior. - [Welcome](https://docs.picknik.ai/index.md): MoveIt Pro is the leading platform for developing advanced robotic arm applications, designed to empower roboticists, developers, and engineers wit... - [MoveIt Pro Major Releases & LTS](https://docs.picknik.ai/software_installation/major_releases.md): Every major MoveIt Pro release, the ROS 2 distributions it targets, and how long it is supported under the MoveIt Pro Long Term Support policy. - [Install MoveIt Pro Core](https://docs.picknik.ai/software_installation/moveit_pro_core_download.md): Download links for the MoveIt Pro Core archives - [Install MoveIt Pro](https://docs.picknik.ai/software_installation.md): Install MoveIt Pro - [MoveIt Pro Technical Specifications](https://docs.picknik.ai/technical_specifications.md): Computer, software, and robot hardware requirements for the MoveIt Pro Desktop App, Runtime, and Core, plus a summary of currently available features. - [Basic Troubleshooting](https://docs.picknik.ai/troubleshooting/Basic%20MoveIt%20Pro%20Troubleshooting.md): Basic troubleshooting of MoveIt Pro. This guide includes some background information, error types, and problem solving approaches. - [Behavior Tree Troubleshooting](https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting.md): Behavior Tree troubleshooting of MoveIt Pro. This guide includes some general patterns to avoid and possible issues within a BehaviorTree. - [Installation Troubleshooting](https://docs.picknik.ai/troubleshooting/Installation%20Troubleshooting.md): **Problem**: Your user group ID collides with an existing ID in the Docker image, so you need to build MoveIt Pro with a different group ID. - [Networking And PC Setup Troubleshooting](https://docs.picknik.ai/troubleshooting/Networking%20and%20PC%20Setup%20Troubleshooting.md): **Problem**: In a multiple computer setup, I can ping the other computer but can't communicate with it via `ros2 run demo_nodes_py talker` + `ros2 ... - [Performance Troubleshooting](https://docs.picknik.ai/troubleshooting/Performance%20Troubleshooting.md): Performance Troubleshooting - [Planning And Control Troubleshooting](https://docs.picknik.ai/troubleshooting/Planning%20and%20Control%20Troubleshooting.md): **Problem**: My PlanMTCTask Behavior fails with error code PLANNING_FAILED. - [Real-time Performance and Trajectory Jitter Troubleshooting](https://docs.picknik.ai/troubleshooting/Real-time%20Performance%20and%20Trajectory%20Jitter%20Troubleshooting.md): **Problem**: When running the MoveIt Pro drivers container in real-time on x86/Intel or ARM/NVIDIA Jetson platforms, arm motions show noticeable hi... - [Robot Hardware And Cameras Troubleshooting](https://docs.picknik.ai/troubleshooting/Robot%20Hardware%20and%20Cameras%20Troubleshooting.md): **Problem**: I cannot connect to my Realsense camera. - [Simulation Troubleshooting](https://docs.picknik.ai/troubleshooting/Simulation%20Troubleshooting.md): **Problem**: I have a robot configured with a mutli-finger gripper, but after closing the gripper and moving the arm, the object slips from its fin... - [Xacro Troubleshooting](https://docs.picknik.ai/troubleshooting/Xacro%20Development%20and%20Troubleshooting.md): **Problem**: During development of a new configuration package, the robot_description can fail to be generated with the following error if there ar... - [Transforms Troubleshooting](https://docs.picknik.ai/troubleshooting/transforms_troubleshooting.md): Diagnose and fix TF2 lookup errors in MoveIt Pro — extrapolation errors, missing frames, and one-shot dynamic-TF publications that corrupt the TF b... - [Uninstall MoveIt Pro](https://docs.picknik.ai/troubleshooting/uninstall_moveit_pro.md): Remove the MoveIt Pro Runtime and the MoveIt Pro Desktop App, including user created configurations, older versions, and Docker images - [Tutorial 2 - Runtime SDK & Extensions](https://docs.picknik.ai/tutorials/developer_platform_usage.md): Create custom robot configuration packages, build new Behavior plugins, and learn how to interact with MoveIt Pro through the runtime SDK. - [Tutorial 4 - Motion Planning](https://docs.picknik.ai/tutorials/motion_planning.md): Welcome to the motion planning tutorial! We will introduce advanced concepts in robotics including whole-body motion planning, mobile base navigati... - [Tutorial 3 - Perception & Machine Learning](https://docs.picknik.ai/tutorials/perception_&_machine_learning.md): This tutorial teaches you how to use MoveIt Pro for tasks involving perception and machine learning. - [Tutorial 1 - Intro & Basic Usage](https://docs.picknik.ai/tutorials/quick_start_intro.md): Welcome to the first MoveIt Pro tutorial! We will teach you how to run example Objectives, as well as create your own. ## C++ API reference - [LoggerBase](https://docs.picknik.ai/api/classes/moveit-pro/behavior/loggerbase.md): Base class to allow Behaviors to report messages with detailed explanations to MoveIt Studio UI. - [LoggerROS](https://docs.picknik.ai/api/classes/moveit-pro/behavior/loggerros.md): A ROS-specialized implementation of LoggerBase that publishes the error message on a topic and logs it through an rclcpp Logger. - [ParameterOverrideRegistry](https://docs.picknik.ai/api/classes/moveit-pro/behavior/parameteroverrideregistry.md): Thread-safe registry mapping a port C++ type to a parser that turns a YAML string into a typed BehaviorTree.CPP blackboard entry. - [AccumulateSurfaceCoverage](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/accumulatesurfacecoverage.md): Record which parts of a target surface a tool treats, live, while it treats them. - [ActionChunkProducerInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/actionchunkproducerinterface.md): Runs one inference of a policy that produces trajectory chunks. - [ClientInterfaceBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/actionclientbehaviorbase/clientinterfacebase.md): Provides an interface to an action client that can handle a single goal at a time. - [RclcppClientInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/actionclientbehaviorbase/rclcppclientinterface.md): Implements ClientInterfaceBase for the rclcpp action client. - [ActionClientBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/actionclientbehaviorbase.md): A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action resu... - [AddCollisionBox](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addcollisionbox.md): Adds a box-shaped CollisionObject to the planning scene. - [AddCollisionCylinder](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addcollisioncylinder.md): Adds a cylinder-shaped CollisionObject to the planning scene. - [AddCollisionMesh](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addcollisionmesh.md): Adds a mesh CollisionObject to the planning scene. - [AddCollisionObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addcollisionobject.md): Adds a user-supplied CollisionObject to the planning scene. - [AddCollisionObjectBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addcollisionobjectbase.md): Abstract base for Behaviors that add a CollisionObject to the planning scene. - [AddCollisionSphere](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addcollisionsphere.md): Adds a sphere-shaped CollisionObject to the planning scene. - [AddOverageToPath](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addoveragetopath.md): Adds overage waypoints to both ends of a path by extending along a specified local axis. - [AddPointCloudToVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addpointcloudtovector.md): Appends a point cloud to a vector of point clouds. - [AddToVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addtovector.md): Template for a behavior that pushes an object into a vector and sets the updated vector to the blackboard. - [AddURDF](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/addurdf.md): This Behavior sends a request to add a URDF object to the planning scene as a collision object. - [AdjustPoseWithIMarker](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/adjustposewithimarker.md): Requests a user to manually adjust a collection of poses using interactive markers in the UI. - [AsyncBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/asyncbehaviorbase.md): A base class for behaviors which need to asynchronously run a function that might take a long time to complete. - [AttachObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/attachobject.md): Attaches a collision object that is already in the planning scene to a robot link. - [AttachURDF](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/attachurdf.md): This Behavior sends a request to attach a URDF object to a robot for motion planning purposes. - [AveragePoseStamped](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/averageposestamped.md): This Behavior calculates the running average of incoming Pose Stamped ROS messages. - [AveragePoseStampedVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/averageposestampedvector.md): Returns the average PoseStamped from a vector of PoseStamped. - [AvoidPointsInCoveragePath](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/avoidpointsincoveragepath.md): Modifies a coverage path to route around obstacle points using semicircular detours. - [BiasedCoinFlip](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/biasedcoinflip.md): Simulates flipping a biased coin with the specified probability of success provided via the input port. - [BlendJointTrajectories](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/blendjointtrajectories.md): Blend a sequence of joint trajectories into a single trajectory with smooth transitions. - [BlockUntilParameterIsTrue](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/blockuntilparameteristrue.md): Block (return RUNNING) until a blackboard entry evaluates as true, then return SUCCESS. - [Pin](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/boundedretentionqueue/pin.md): RAII in-use marker for a retained entry; the entry cannot be released while any of its Pins is alive. - [BoundedRetentionQueue](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/boundedretentionqueue.md): Bounds how many recently-retained objects keep their heavyweight data alive. - [BreakpointSubscriber](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/breakpointsubscriber.md): A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen ... - [CalculatePoseOffset](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/calculateposeoffset.md): Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the re... - [CalibrateCameraPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/calibratecamerapose.md): Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector. - [CallTriggerService](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/calltriggerservice.md): Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter. - [CheckCuboidSimilarity](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/checkcuboidsimilarity.md): Check if two GraspableObjects are similar within some tolerance. - [ClearAllVisualMarkers](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/clearallvisualmarkers.md): Deletes all visual markers currently displayed in the UI. - [ClearSnapshot](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/clearsnapshot.md): Sends a request to clear the existing Octomap and Pointcloud snapshots. - [ClientInterfaceBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/clientinterfacebase.md): Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSen... - [ClockInterfaceBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/clockinterfacebase.md): A base class which provides an interface for retrieving timepoints from a monotonic clock. - [ComputeInverseKinematics](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/computeinversekinematics.md): A Behavior to compute the inverse kinematics for a given set of target poses. - [ComputeLinkPoseForwardKinematics](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/computelinkposeforwardkinematics.md): This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for cal... - [ComputePathToPoseAction](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/computepathtoposeaction.md): Calls an action server that uses nav2_msgs::action::ComputePathToPose and outputs feedback The ComputePathToPose action (ROS 2 Jazzy) returns a nav... - [ComputeSignedDistanceField](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/computesigneddistancefield.md): A Behavior to compute a propagation (signed) distance field from a planning scene. - [ComputeVelocityToAlignWithTarget](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/computevelocitytoalignwithtarget.md): calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming ... - [ConvertDataset](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/convertdataset.md): Start an MCAP-to-LeRobot conversion of a recorded dataset via the train server node. - [ConvertMtcSolutionToJointTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/convertmtcsolutiontojointtrajectory.md): Converts a MoveIt Task Constructor Solution into a JointTrajectory. - [ConvertTransformStampedToPoseStamped](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/converttransformstampedtoposestamped.md): Converts a geometry_msgs::msg::TransformStamped message into a geometry_msgs::msg::PoseStamped message. - [CoreBehaviorsLoader](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/corebehaviorsloader.md): CoreBehaviorsLoader: C++ class in the MoveIt Pro API reference. - [CreateBoundingBox2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createboundingbox2d.md): Construct a BoundingBox2D message from individual coordinate and size ports. - [CreateBoundingBoxes2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createboundingboxes2d.md): Convert a flat vector of doubles into a vector of BoundingBox2D messages. - [CreateBoundingBoxFromOffset](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createboundingboxfromoffset.md): Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions. - [CreateCollisionSpheresAtClosestPoints](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createcollisionspheresatclosestpoints.md): This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest poi... - [CreateGraspableObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/creategraspableobject.md): CreateGraspableObject: C++ class in the MoveIt Pro API reference. - [CreatePoseStamped](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createposestamped.md): Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard. - [CreateRobotState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createrobotstate.md): Create a moveit_msgs::msg::RobotState and write it to the Blackboard. - [CreateStationaryTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createstationarytrajectory.md): This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message. - [CreateTransform](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createtransform.md): Create a geometry_msgs::msg::Transform and write it to the Blackboard. - [CreateTwistStamped](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createtwiststamped.md): Create a geometry_msgs::msg::TwistStamped and writes it to the Blackboard. - [CreateWrenchStamped](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/createwrenchstamped.md): Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard. - [CropOrRemovePointsInBox](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/croporremovepointsinbox.md): Behavior for either cropping or removing points from a box-shaped region of interest. The dimensions and size of the region of interest are defined... - [CropPointsInSphere](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/croppointsinsphere.md): Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of i... - [CropPosesInBox](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/cropposesinbox.md): Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region ... - [DetachObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/detachobject.md): Detaches a collision object from a robot link by id and returns it to the planning scene as a free collision object at its current pose. - [DetachOrRemoveURDF](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/detachorremoveurdf.md): Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene. - [DetachURDF](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/detachurdf.md): This Behavior detaches a URDF object from the robot. - [DetectAprilTags](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/detectapriltags.md): Detects AprilTag markers from an image. - [DetectCharucoBoard](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/detectcharucoboard.md): Detects the interior corners of a ChArUco board in an image and estimates the board pose. - [DilateMask2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/dilatemask2d.md): Apply morphological dilation to a vector of 2D masks. - [DoTeleoperateAction](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/doteleoperateaction.md): Starts teleoperation by sending a goal to the teleoperation action server in the web UI. - [EditWaypoint](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/editwaypoint.md): Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint t... - [ErodeMask2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/erodemask2d.md): Apply morphological erosion to a vector of 2D masks. - [ExecuteMTCSolution](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/executemtcsolution.md): Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like controller, depending on the value of ... - [GripperStreamer](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/executepolicy/gripperstreamer.md): GripperStreamer: C++ class in the MoveIt Pro API reference. - [ExecutePolicy](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/executepolicy.md): Executes a policy as continuous, collision-checked motion on the arm and optional gripper. - [ExecuteTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/executetrajectory.md): Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to either a standard FollowJointTrajectory action serve... - [ExtractGraspableObjectPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/extractgraspableobjectpose.md): Changes an input GraspableObject into a PoseStamped by getting its pose and its ID. - [FilterMasks2DByArea](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/filtermasks2dbyarea.md): Filter 2D masks based on mask area only. - [FilterMasks2DByBoundingBox](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/filtermasks2dbyboundingbox.md): Filter 2D masks based on bounding box dimensions only. - [FindMaskedObjects](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/findmaskedobjects.md): Finds objects by segmenting a point cloud using a set of 2D mask images. - [FindSingularCuboids](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/findsingularcuboids.md): Finds well-singulated cuboids supported by a surface within a point cloud. - [FindSlicePlanesAlongEdge](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/findsliceplanesalongedge.md): Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints. - [FitLineSegmentToMask3D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/fitlinesegmenttomask3d.md): Finds the line segment that best fits a point cloud fragment. - [FollowPathAction](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/followpathaction.md): Calls an action server that uses nav2_msgs::action::FollowPath and outputs feedback. The ROS 2 Jazzy action result contains std_msgs::Empty, error_... - [ForceExceedsThreshold](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/forceexceedsthreshold.md): Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimu... - [ForEach](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/foreach.md): A class for creating a behavior tree decorator node to iterate through a vector of items. - [ForEachUntilSuccess](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/foreachuntilsuccess.md): A decorator node that iterates through a vector of items, stopping on first successful child node tick. - [GenerateCalibrationViews](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/generatecalibrationviews.md): Generates a joint state for each view in a ring of hand-eye calibration views around the end effector's current pose. - [GenerateCoveragePath](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/generatecoveragepath.md): Creates a lawnmower path (a.k.a. boustrophedon path) for a robot end-effector to follow, to cover a given area. - [GenerateCuboidGraspPoses](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/generatecuboidgraspposes.md): Given a target GraspableObject and planning details about the arm, generate grasp poses. - [GeneratePointToPointTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/generatepointtopointtrajectory.md): Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state. - [GenerateSurfaceCoveragePath](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/generatesurfacecoveragepath.md): Generates a coverage (raster) path of tool poses over a rectangular region. - [GenerateVacuumGraspPoses](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/generatevacuumgraspposes.md): Given a target GraspableObject and planning details about the arm, generate grasp poses. - [GetCameraInfo](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getcamerainfo.md): Capture camera information. The name of the topic containing the camera information is set through the "topic_name" parameter, and the resulting in... - [GetCenterFromMask2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getcenterfrommask2d.md): Given a mask, compute the centroid and write the point to the blackboard. - [GetCenterMostAprilTag](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getcentermostapriltag.md): Gets the stamped pose of the AprilTag detection closest to the center of the camera image. - [GetCentroidFromPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getcentroidfrompointcloud.md): Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as th... - [GetClosestObjectToPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getclosestobjecttopose.md): Given a collection of GraspableObjects, find the one that's closest to the provided pose. - [GetContourFromPointCloudSlice](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getcontourfrompointcloudslice.md): Extracts contours from a point cloud slice. - [GetConvexHullPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getconvexhullpointcloud.md): Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes. - [GetCurrentPlanningScene](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getcurrentplanningscene.md): Get the current planning scene state from the MoveIt PlanningSceneMonitor via service request. - [GetDetectionPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getdetectionpose.md): Gets the stamped pose of an object detection given a label or ID, if one exists. - [GetElementOfVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getelementofvector.md): Get the element of a vector at the given index. - [GetFilePathsFromDirectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getfilepathsfromdirectory.md): Get all filenames in a given directory (optionally with a specific file extension). - [GetGraspableObjectsFromMasks3D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getgraspableobjectsfrommasks3d.md): Finds objects in point cloud segments represented by 3D masks. - [GetImage](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getimage.md): Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the... - [GetJointState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getjointstate.md): This behavior extracts joint state data from a planning scene object. - [GetLatestTransform](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getlatesttransform.md): Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior. - [GetMask2DFromRegion](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getmask2dfromregion.md): Converts a user-selected 2D region into a Mask2D that the 3D-lifting Behaviors consume. - [GetMask2DProperties](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getmask2dproperties.md): Extract bounding box dimensions and area from a single Mask2D message. - [GetMasks3DFromMasks2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getmasks3dfrommasks2d.md): Backprojects a number of image masks onto a point cloud with a camera model. - [GetMeshNormalPoses](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getmeshnormalposes.md): Gets the normal vectors for a given mesh and returns the normal vector poses to the caller. - [GetMessageFromTopicBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getmessagefromtopicbehaviorbase.md): Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port. - [GetOdom](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getodom.md): Subscribes to an odometry message and stores it on the blackboard. - [GetOrientedBoundingBoxFromPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getorientedboundingboxfrompointcloud.md): Given an input point cloud, finds the oriented bounding box (OBB) using pcl::MomentOfInertiaEstimation and outputs that as a center pose and box di... - [GetPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getpointcloud.md): Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is... - [GetPointCloudFromMask3D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getpointcloudfrommask3d.md): Gets the fragment of a point cloud for a 3D mask. - [GetPoints2DFromGeminiQuery](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getpoints2dfromgeminiquery.md): Queries Google Gemini with a text prompt and a ROS image to locate 2D points in the image. - [GetPointsFromUser](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getpointsfromuser.md): Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI. - [GetPoseFromPixelCoords](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getposefrompixelcoords.md): Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates. - [GetPoseFromUser](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getposefromuser.md): Sends a prompt request to the UI so that the user can click in the UI and return a pose. - [GetRefinedCameraCalibration](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getrefinedcameracalibration.md): Reads one camera's refined poses out of a refined calibration. - [GetRegionFromUser](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getregionfromuser.md): Requests a 2D region (bounding box or polygon) from the user by switching the view and displaying a prompt in the UI. - [GetRobotStateFromTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getrobotstatefromtrajectory.md): Get the JointState of a JointTrajectory at a specified time. - [GetSizeOfVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getsizeofvector.md): Get the size of a vector. - [GetSyncedImageAndPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getsyncedimageandpointcloud.md): Get data from time-synchronized image and point cloud topics and populate them in output ports. - [GetSyncedImages](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getsyncedimages.md): Get data from time-synchronized image topics and populate them in output ports. - [GetTextFromUser](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/gettextfromuser.md): Gets text from user by sending a list of prompts with default values for each prompt. - [GetWaypointNames](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/getwaypointnames.md): Retrieves the names of all waypoints whose name starts with a given prefix, sorted lexicographically. - [InitializeMTCTask](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/initializemtctask.md): Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the overall Task timeout and introspection behav... - [InsertInVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/insertinvector.md): Insert an element into a vector at the given index. - [LatencyWindow](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/internal/latencywindow.md): Seam-lead estimate over the last kLatencyWindowSize inference round trips: their max, floored. - [MPCBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/internal/mpcbehaviorbase.md): All non-template implementation for the templated MPCBehaviorBase class. - [IsAnyObjectAttached](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/isanyobjectattached.md): This Behavior checks a PlanningScene to determine if any object is attached to the robot. Returns SUCCESS if there is an attached CollisionObject, ... - [IsCollisionObjectInPlanningScene](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/iscollisionobjectinplanningscene.md): Checks a PlanningScene to see if a CollisionObject with a specific ID exists. Returns SUCCESS if the CollisionObject is found, FAILURE otherwise. - [IsObjectAttachedTo](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/isobjectattachedto.md): IsObjectAttachedTo: C++ class in the MoveIt Pro API reference. - [IsPoseNearIdentity](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/isposenearidentity.md): Returns SUCCESS if the pose is within the position and rotation tolerances of the identity pose. Useful for evaluating an error pose. - [IsUserAvailable](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/isuseravailable.md): Checks for the presence of a user interface by checking if the /trajectory_bridge ROS node exists. - [IsVisibilityConstraintSatisfied](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/isvisibilityconstraintsatisfied.md): Check if the robot's current state satisfies a visibility kinematic constraint relative to an object. - [JointJog](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/jointjog.md): A Behavior to forward JointJog commands to a Joint Velocity Controller. - [ListControllers](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/listcontrollers.md): Lists controllers from the controller manager with two independent filters. - [LoadFromYaml](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/loadfromyaml.md): Loads a type from a YAML file, and returns it in an output port. - [LoadImageFromFile](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/loadimagefromfile.md): Loads an image from a file and writes it to an output data port. - [LoadMultipleFromYaml](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/loadmultiplefromyaml.md): Loads types from a YAML file, and returns them as a vector in an output port. - [LoadPointCloudFromFile](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/loadpointcloudfromfile.md): Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port. - [LogMessage](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/logmessage.md): Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level. - [MergePointClouds](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mergepointclouds.md): Merges a number of input point clouds into a single one. - [MoveCollisionObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/movecollisionobject.md): Updates the reference pose of an existing CollisionObject in the planning scene. - [MoveGripperAction](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/movegripperaction.md): Actuate a gripper through its driver node's GripperCommand action. Given the name of the action topic and a target gripper position, move the gripp... - [MPCBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mpcbehaviorbase.md): A base class for behaviors to help set up and execute MPC. - [MPCBehaviorsLoader](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mpcbehaviorsloader.md): MPCBehaviorsLoader: C++ class in the MoveIt Pro API reference. - [MPCPointCloudClearance](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mpcpointcloudclearance.md): Avoid a point cloud using MPC. - [MPCPoseTracking](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mpcposetracking.md): Track a moving pose using MPC. - [MPCSphereClearance](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mpcsphereclearance.md): Avoid collision object spheres using MPC. - [MTCCoreBehaviorsLoader](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mtccorebehaviorsloader.md): MTCCoreBehaviorsLoader: C++ class in the MoveIt Pro API reference. - [MujocoBehaviorsLoader](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/mujocobehaviorsloader.md): Plugin loader for MuJoCo-related behaviors. - [NavBehaviorsLoader](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/navbehaviorsloader.md): NavBehaviorsLoader: C++ class in the MoveIt Pro API reference. - [NavigateThroughPosesAction](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/navigatethroughposesaction.md): Calls an action server that uses nav2_msgs::action::NavigateThroughPoses and outputs feedback The ROS 2 Jazzy action result contains error_code and... - [NavigateToPoseAction](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/navigatetoposeaction.md): Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The ROS 2 Jazzy action result contains error_code and error... - [ObservationSourceInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/observationsourceinterface.md): Supplies the current observation for one policy inference. - [OverridePoseOrientation](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/overrideposeorientation.md): Replaces the orientation of a PoseStamped with a fixed quaternion. - [PersistentPublisherCache](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/persistentpublishercache.md): Topic-keyed cache of publishers whose latched samples must outlive the Behavior instance that created them. - [PlanCartesianPath](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/plancartesianpath.md): Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path. - [PlanMTCTask](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/planmtctask.md): Takes a shared pointer to an existing MTC Task object via an input data port, plans the Task, and sets the solution with the lowest overall cost as... - [PlanToJointGoal](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/plantojointgoal.md): Given a joint-space goal, plan a joint-space trajectory to reach the goal. - [PoseJog](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/posejog.md): A Behavior to protect a robot from collisions when using the MoveIt Pro Velocity Force Controller (VFC). - [PublishBoundingBoxes2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishboundingboxes2d.md): Publishes a bounding box visualization to a topic. - [PublishEmpty](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishempty.md): Publish a std_msgs::msg::Empty message to a topic. - [PublisherInterfaceBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publisherinterfacebase.md): Defines an interface to a publisher that sends a message to a topic. - [PublishMarkers](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishmarkers.md): Publishes a set of markers to the UI for visualization. - [PublishMask2D](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishmask2d.md): Publishes a masks visualization to topic. - [PublishPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishpointcloud.md): Publish a point cloud. - [PublishStaticFrame](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishstaticframe.md): Deprecated alias for PublishTF. - [PublishString](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishstring.md): Publish a std_msgs::msg::String message to a topic. - [PublishTF](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishtf.md): Publishes a dynamic transform on /tf at a configured rate. - [PublishVelocityForceCommand](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/publishvelocityforcecommand.md): Publishes a velocity force command to the velocity force controller at a fixed rate. - [PushBackVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/pushbackvector.md): Append an element to the back of a vector. - [PushToSolutionQueue](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/pushtosolutionqueue.md): Push a new MTC solution to the solution queue. - [RclcppClientInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/rclcppclientinterface.md): Implements ClientInterfaceBase for the rclcpp service client. - [RclcppPublisherInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/rclcpppublisherinterface.md): Implementation of the publisher interface for a rclcpp publisher. - [RclcppSubscriberInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/rclcppsubscriberinterface.md): rclcpp implementation of the one-shot subscriber interface. - [ReadTextFileAsString](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/readtextfileasstring.md): Read the contents of a text file and output the contents as a std::string. - [RecordCalibrationSample](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/recordcalibrationsample.md): Appends one hand-eye calibration sample to a samples vector on the blackboard. - [RecordEpisode](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/recordepisode.md): Start a Trainer recording session for demonstration collection via the train server node. - [RecordJointTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/recordjointtrajectory.md): Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message. - [RecordSurfaceCoverage](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/recordsurfacecoverage.md): Paint the part of a target surface a tool just treated, and add it to the coverage recorded so far. - [RefineCalibrationBundleAdjustment](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/refinecalibrationbundleadjustment.md): Jointly refines every camera's hand-eye calibration by minimizing corner reprojection error over the collected samples. - [RegisterPointClouds](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/registerpointclouds.md): Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud ... - [RemoveCollisionObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/removecollisionobject.md): Removes a collision object from a planning scene by id. - [RemoveFromVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/removefromvector.md): Remove an element from a vector at the given index. - [RemoveURDFFromScene](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/removeurdffromscene.md): This Behavior removes a URDF object from the planning scene. - [RepeatUnlessFailureEachTick](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/repeatunlessfailureeachtick.md): Decorator that ticks its child up to num_cycles times, advancing one iteration per parent tick. - [RepeatUnlessFailureWithinTick](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/repeatunlessfailurewithintick.md): Decorator that ticks its child up to num_cycles times within a single parent tick, stopping on first failure. - [ReplaceInVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/replaceinvector.md): Replace an element in a vector at the given index. - [ResetMujocoKeyframe](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/resetmujocokeyframe.md): Resets the MuJoCo simulation to a specified keyframe. - [ResetPlanningSceneObjects](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/resetplanningsceneobjects.md): Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove all objects which were added to the planning scene, inclu... - [ResetVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/resetvector.md): Create an empty vector and set it to the blackboard. - [RetrievePoseParameter](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/retrieveposeparameter.md): Retrieves a stamped pose from the MoveIt Pro parameter manager node. - [RetrieveRobotStateParameter](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/retrieverobotstateparameter.md): Retrieves a joint state from the MoveIt Pro parameter manager node. - [RetrieveWaypoint](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/retrievewaypoint.md): Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint. - [ReverseVector](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/reversevector.md): Reverses the order of elements in a vector and sets the reversed vector to the blackboard. - [ROSPublisherHandle](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/rospublisherhandle.md): ROSPublisherHandle: C++ class in the MoveIt Pro API reference. - [RotateTwistToFrame](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/rotatetwisttoframe.md): Rotates a stamped twist into a different frame's orientation. - [SaveCurrentState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/savecurrentstate.md): Use the /get_planning_scene service from move_group to save the robot's current state. - [SaveEpisode](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/saveepisode.md): End the current episode of the active Trainer recording and snapshot it to the dataset. - [SaveImageToFile](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/saveimagetofile.md): Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png. - [SaveMTCTaskInspection](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/savemtctaskinspection.md): Walks an MTC Task and saves all introspection data (stage tree, statistics, every solution and failure, interface states, per-stage failure explana... - [SavePointCloudToFile](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/savepointcloudtofile.md): Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd. - [SavePoseForUrdf](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/saveposeforurdf.md): Saves a PoseStamped in xyz rpy URDF format to file. - [SaveToYaml](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/savetoyaml.md): Save the contents of a ROS 2 message type to a YAML file in a specified namespace. Note: This Behavior template saves the pose into the ~/.config/m... - [SendMessageToTopicBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/sendmessagetotopicbehaviorbase.md): Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports. - [SendPointCloudToUI](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/sendpointcloudtoui.md): Transform a point cloud to the "world" frame and publish it as PCD to a topic the UI visualizes. - [ServiceClientBehaviorBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/serviceclientbehaviorbase.md): A base class for behaviors which need to send a request to a ROS service client and wait for a result. - [SetAdmittanceParameters](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setadmittanceparameters.md): Sets admittance parameters to be used in the 'ExecuteTrajectory' Behavior. - [SetCollisionRule](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setcollisionrule.md): Allows or forbids collisions between two entities in the planning scene's Allowed Collision Matrix, without an MTC task. - [SetInitialPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setinitialpose.md): Looks up the robot's current pose via TF and publishes it to the localizer's initial-pose topic (default /initialpose) to re-seed the particle filter. - [SetMujocoState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setmujocostate.md): Sets MuJoCo simulation state to specified joint positions. - [SetRos2Parameter](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setros2parameter.md): Set any ROS2 parameter on any node at runtime via the standard set_parameters service. - [SetupMTCAddCollisionBox](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcaddcollisionbox.md): Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution. - [SetupMTCAddCollisionCylinder](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcaddcollisioncylinder.md): Append an MTC ModifyPlanningScene stage that adds a cylinder-shaped collision object to the planning scene during MTC task execution. - [SetupMTCAddCollisionMesh](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcaddcollisionmesh.md): Append an MTC ModifyPlanningScene stage that adds a mesh collision object to the planning scene during MTC task execution. - [SetupMTCAddCollisionSphere](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcaddcollisionsphere.md): Append an MTC ModifyPlanningScene stage that adds a sphere-shaped collision object to the planning scene during MTC task execution. - [SetupMTCAttachObjectByID](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcattachobjectbyid.md): Append an MTC ModifyPlanningScene stage that attaches a collision object to a robot link during MTC task execution. - [SetupMTCBatchPoseIK](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcbatchposeik.md): Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. *. - [SetupMTCCartesianMoveToRobotState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtccartesianmovetorobotstate.md): Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state. - [SetupMTCCartesianSequence](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtccartesiansequence.md): Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses. - [SetupMTCConnectWithProRRT](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcconnectwithprorrt.md): Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProR... - [SetupMTCCurrentState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtccurrentstate.md): Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task. - [SetupMTCDetachObjectByID](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcdetachobjectbyid.md): Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution. - [SetupMTCFixedJointState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcfixedjointstate.md): Given an existing MTC Task object, appends an MTC FixedState Stage to the Task. - [SetupMTCFromSolution](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcfromsolution.md): Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution. - [SetupMTCInterpolateToRobotState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcinterpolatetorobotstate.md): Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state. - [SetupMTCMoveAlongFrameAxis](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcmovealongframeaxis.md): Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis. - [SetupMTCMultiEEFMoveAlongAxis](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcmultieefmovealongaxis.md): The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task. - [SetupMTCPathIK](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcpathik.md): Given an existing MTC Task object, append a stage to perform a cartesian motion along a given path. - [SetupMTCPlanToPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcplantopose.md): Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pr... - [SetupMTCPlanToRobotState](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcplantorobotstate.md): Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pr... - [SetupMTCRemoveCollisionObject](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcremovecollisionobject.md): Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution. - [SetupMTCSetCollisionRule](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/setupmtcsetcollisionrule.md): Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution. - [SharedResourcesNode](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/sharedresourcesnode.md): The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. - [SharedResourcesNodeLoaderBase](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/sharedresourcesnodeloaderbase.md): The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode. - [SolveHandEyeCalibration](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/solvehandeyecalibration.md): Solves both unknown transforms of a hand-eye calibration from collected samples. - [SolveIKQueries](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/solveikqueries.md): SolveIKQueries: C++ class in the MoveIt Pro API reference. - [SplitMTCSolution](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/splitmtcsolution.md): Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the spec... - [SteadyClockInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/steadyclockinterface.md): Implementation of ClockInterfaceBase for std::chrono::steady_clock. - [StopRecording](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/stoprecording.md): Stop the active Trainer recording session and register the saved episodes as a dataset. - [StopwatchBegin](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/stopwatchbegin.md): Saves the current epoch time as a timepoint to a data port. - [StopwatchEnd](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/stopwatchend.md): Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed. - [StringToInt](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/stringtoint.md): Converts a string to an int. - [SubscriberInterface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/subscriberinterface.md): One-shot subscriber interface that receives a single message from a topic, then cleans up. - [SuppressChildErrors](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/suppresschilderrors.md): A decorator that filters the log messages produced while ticking its child Behavior. - [SwitchController](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/switchcontroller.md): A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers. - [SwitchUIPrimaryView](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/switchuiprimaryview.md): Switches the primary view in the MoveIt Studio Developer Tool. - [ThreadedFuture](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/threadedfuture.md): A future backed by an explicitly-owned std::jthread, for Behaviors that offload work to a background thread and poll for completion (e.g. in onRunn... - [TransformPointCloud](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/transformpointcloud.md): Transforms a point cloud given an input pose in the same frame as the point cloud. - [TransformPointCloudFrame](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/transformpointcloudframe.md): Transforms a point cloud to a target coordinate frame. - [TransformPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/transformpose.md): Transforms a stamped pose given an input translation and orientation. - [TransformPoseFrame](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/transformposeframe.md): Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation th... - [TransformPoseWithPose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/transformposewithpose.md): Transforms an input stamped pose with the transform specified by another stamped pose. - [TrimPointcloudSurface](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/trimpointcloudsurface.md): Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints. - [UpdatePlanningSceneService](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/updateplanningsceneservice.md): Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait u... - [ValidateTrajectory](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/validatetrajectory.md): Checks if a joint trajectory is valid, given a PlanningScene. - [VisionBehaviorsLoader](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/visionbehaviorsloader.md): VisionBehaviorsLoader: C++ class in the MoveIt Pro API reference. - [VisualizeCameraFrustum](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/visualizecamerafrustum.md): Publishes a visualization marker showing a camera frustum as a LINE_LIST. - [VisualizeLine](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/visualizeline.md): Publishes a visualization marker that draws a line between two poses. - [VisualizeMesh](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/visualizemesh.md): Publishes a marker that contains a mesh path to the UI for visualization. - [VisualizePath](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/visualizepath.md): Publishes a marker array that contains a polyline representing a path. - [VisualizePose](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/visualizepose.md): Publishes a visualization marker that contains three lines composing a coordinate frame. - [WaitAndPopSolutionQueue](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/waitandpopsolutionqueue.md): Pops the MTC solution queue to get the next solution to be processed. - [WaitForDuration](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/waitforduration.md): Wait for a specified duration before succeeding. - [WaitForJointTrajectoryApproval](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/waitforjointtrajectoryapproval.md): Takes a raw JointTrajectory via an input data port (e.g. the output of PlanToJointGoal or PlanCartesianPath), wraps it in a minimal MTC Solution, a... - [WaitForMTCSolutionApproval](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/waitformtcsolutionapproval.md): Takes an MTC Solution message via an input data port and publishes it to the /preview_solution topic. Creates a SetBool service server on the /exec... - [WaitForUserPathApproval](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/waitforuserpathapproval.md): Sends a prompt request to the UI to accept or reject a visualized nav_msgs::msg::Path. - [WaitForUserTrajectoryApproval](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/waitforusertrajectoryapproval.md): Takes an MTC Solution message via an input data port, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /exe... - [WhichObjectIsAttached](https://docs.picknik.ai/api/classes/moveit-pro/behaviors/whichobjectisattached.md): Checks a PlanningScene to determine if an object is attached from a given vector of object names. - [Admittance](https://docs.picknik.ai/api/classes/moveit-pro-controllers/admittance.md): Admittance: C++ class in the MoveIt Pro API reference. - [ControllerWithRobotModel](https://docs.picknik.ai/api/classes/moveit-pro-controllers/controllerwithrobotmodel.md): ControllerWithRobotModel: C++ class in the MoveIt Pro API reference. - [IOController](https://docs.picknik.ai/api/classes/moveit-pro-controllers/iocontroller.md): IOController: C++ class in the MoveIt Pro API reference. - [JointTrajectoryAdmittanceController](https://docs.picknik.ai/api/classes/moveit-pro-controllers/jointtrajectoryadmittancecontroller.md): JointTrajectoryAdmittanceController: C++ class in the MoveIt Pro API reference. - [JointVelocityController](https://docs.picknik.ai/api/classes/moveit-pro-controllers/jointvelocitycontroller.md): JointVelocityController: C++ class in the MoveIt Pro API reference. - [JointVelocitySetpointGenerator](https://docs.picknik.ai/api/classes/moveit-pro-controllers/jointvelocitysetpointgenerator.md): JointVelocitySetpointGenerator: C++ class in the MoveIt Pro API reference. - [RealtimeTriggerServiceMonitor](https://docs.picknik.ai/api/classes/moveit-pro-controllers/realtimetriggerservicemonitor.md): RealtimeTriggerServiceMonitor: C++ class in the MoveIt Pro API reference. - [RobotTestFixture](https://docs.picknik.ai/api/classes/moveit-pro-controllers/robottestfixture.md): RobotTestFixture: C++ class in the MoveIt Pro API reference. - [RobotTestFixtureInvalidParams](https://docs.picknik.ai/api/classes/moveit-pro-controllers/robottestfixtureinvalidparams.md): RobotTestFixtureInvalidParams: C++ class in the MoveIt Pro API reference. - [SecondOrderButterworthFilter](https://docs.picknik.ai/api/classes/moveit-pro-controllers/secondorderbutterworthfilter.md): SecondOrderButterworthFilter: C++ class in the MoveIt Pro API reference. - [TrajectorySampler](https://docs.picknik.ai/api/classes/moveit-pro-controllers/trajectorysampler.md): TrajectorySampler: C++ class in the MoveIt Pro API reference. - [VelocityForceController](https://docs.picknik.ai/api/classes/moveit-pro-controllers/velocityforcecontroller.md): VelocityForceController: C++ class in the MoveIt Pro API reference. - [VelocityForceSetpointGenerator](https://docs.picknik.ai/api/classes/moveit-pro-controllers/velocityforcesetpointgenerator.md): VelocityForceSetpointGenerator: C++ class in the MoveIt Pro API reference. - [WrenchTareAccumulator](https://docs.picknik.ai/api/classes/moveit-pro-controllers/wrenchtareaccumulator.md): WrenchTareAccumulator: C++ class in the MoveIt Pro API reference. - [MessageError](https://docs.picknik.ai/api/classes/moveit-pro-py/messageerror.md): MessageError: C++ class in the MoveIt Pro API reference. - [PlanningErrorException](https://docs.picknik.ai/api/classes/moveit-pro-py/planners/planningerrorexception.md): PlanningErrorException: C++ class in the MoveIt Pro API reference. - [GeneratePoses](https://docs.picknik.ai/api/classes/moveit-pro/task-constructor/stages/generateposes.md): GeneratePoses: C++ class in the MoveIt Pro API reference. - [WithActionBehavior](https://docs.picknik.ai/api/classes/moveit-pro/test-utils/withactionbehavior.md): WithActionBehavior: C++ class in the MoveIt Pro API reference. - [WithBehavior](https://docs.picknik.ai/api/classes/moveit-pro/test-utils/withbehavior.md): Adds testing capabilities of Behaviors with context to any test fixture. - [WithBehaviorWithoutContext](https://docs.picknik.ai/api/classes/moveit-pro/test-utils/withbehaviorwithoutcontext.md): Adds testing capabilities of Behaviors without context to any test fixture. - [WrongBehaviorPortsException](https://docs.picknik.ai/api/classes/moveit-pro/test-utils/wrongbehaviorportsexception.md): Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports. - [PartialPathError](https://docs.picknik.ai/api/classes/path-ik/partialpatherror.md): PartialPathError: C++ class in the MoveIt Pro API reference. - [PoseIKPlugin](https://docs.picknik.ai/api/classes/pose-ik-plugin/poseikplugin.md): PickNik's implementation of a kinematics solver using MoveIt native types. - [PlanningTestFixture](https://docs.picknik.ai/api/classes/pro-rrt/planningtestfixture.md): PlanningTestFixture: C++ class in the MoveIt Pro API reference. - [SplineTrajectory](https://docs.picknik.ai/api/classes/splinetrajectory.md): SplineTrajectory fits piecewise splines to target positions by minimizing a specified cost function via convex optimization. The constructor sets u... - [TestMTCCartesianPlanner](https://docs.picknik.ai/api/classes/test-mtc-cartesian-planner/testmtccartesianplanner.md): TestMTCCartesianPlanner: C++ class in the MoveIt Pro API reference. - [TestPathIK](https://docs.picknik.ai/api/classes/test-mtc-path-ik/testpathik.md): TestPathIK: C++ class in the MoveIt Pro API reference. - [TestProRRTPlanner](https://docs.picknik.ai/api/classes/test-mtc-prorrt/testprorrtplanner.md): TestProRRTPlanner: C++ class in the MoveIt Pro API reference. - [TestPartialPathError](https://docs.picknik.ai/api/classes/test-path-ik-wrapper/testpartialpatherror.md): TestPartialPathError: C++ class in the MoveIt Pro API reference. - [TestPathIK](https://docs.picknik.ai/api/classes/test-path-ik-wrapper/testpathik.md): TestPathIK: C++ class in the MoveIt Pro API reference. - [TestPoseIKRegistration](https://docs.picknik.ai/api/classes/test-pose-ik-registration/testposeikregistration.md): TestPoseIKRegistration: C++ class in the MoveIt Pro API reference. - [TestIKParams](https://docs.picknik.ai/api/classes/test-pose-ik/testikparams.md): TestIKParams: C++ class in the MoveIt Pro API reference. - [TestImports](https://docs.picknik.ai/api/classes/test-pose-ik/testimports.md): TestImports: C++ class in the MoveIt Pro API reference. - [TestPoseTarget](https://docs.picknik.ai/api/classes/test-pose-ik/testposetarget.md): TestPoseTarget: C++ class in the MoveIt Pro API reference. - [TestSolveIK](https://docs.picknik.ai/api/classes/test-pose-ik/testsolveik.md): TestSolveIK: C++ class in the MoveIt Pro API reference. - [TestSolveIKJointCosts](https://docs.picknik.ai/api/classes/test-pose-ik/testsolveikjointcosts.md): TestSolveIKJointCosts: C++ class in the MoveIt Pro API reference. - [Core Behaviors for MoveIt Pro API Reference](https://docs.picknik.ai/api/index.md): The main page of the API documentation - [BT](https://docs.picknik.ai/api/namespaces/bt.md): BT: C++ namespace in the MoveIt Pro API reference. - [cartesian_and_rrt](https://docs.picknik.ai/api/namespaces/cartesian-and-rrt.md): cartesian_and_rrt: C++ namespace in the MoveIt Pro API reference. - [compute_ik_joint_costs](https://docs.picknik.ai/api/namespaces/compute-ik-joint-costs.md): compute_ik_joint_costs: C++ namespace in the MoveIt Pro API reference. - [compute_ik](https://docs.picknik.ai/api/namespaces/compute-ik.md): compute_ik: C++ namespace in the MoveIt Pro API reference. - [conftest](https://docs.picknik.ai/api/namespaces/conftest.md): conftest: C++ namespace in the MoveIt Pro API reference. - [behavior](https://docs.picknik.ai/api/namespaces/moveit-pro/behavior.md): behavior: C++ namespace in the MoveIt Pro API reference. - [check_for_error_utils](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/check-for-error-utils.md): check_for_error_utils: C++ namespace in the MoveIt Pro API reference. - [internal](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/compute-velocity-to-align-with-target/internal.md): internal: C++ namespace in the MoveIt Pro API reference. - [compute_velocity_to_align_with_target](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/compute-velocity-to-align-with-target.md): compute_velocity_to_align_with_target: C++ namespace in the MoveIt Pro API reference. - [detail](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/detail.md): detail: C++ namespace in the MoveIt Pro API reference. - [impl](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/impl.md): impl: C++ namespace in the MoveIt Pro API reference. - [internal](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/internal.md): internal: C++ namespace in the MoveIt Pro API reference. - [wrench_measurement](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors/wrench-measurement.md): wrench_measurement: C++ namespace in the MoveIt Pro API reference. - [behaviors](https://docs.picknik.ai/api/namespaces/moveit-pro/behaviors.md): behaviors: C++ namespace in the MoveIt Pro API reference. - [internal](https://docs.picknik.ai/api/namespaces/moveit-pro-controllers/internal.md): internal: C++ namespace in the MoveIt Pro API reference. - [moveit_pro_controllers](https://docs.picknik.ai/api/namespaces/moveit-pro-controllers.md): moveit_pro_controllers: C++ namespace in the MoveIt Pro API reference. - [tf_hints](https://docs.picknik.ai/api/namespaces/moveit-pro/helper-functions/tf-hints.md): Hint phrases and docs-page anchors used by tfErrorGuidance. - [helper_functions](https://docs.picknik.ai/api/namespaces/moveit-pro/helper-functions.md): helper_functions: C++ namespace in the MoveIt Pro API reference. - [eigen_utils](https://docs.picknik.ai/api/namespaces/moveit-pro-py/eigen-utils.md): Utility functions for Eigen type conversions. - [kinematics](https://docs.picknik.ai/api/namespaces/moveit-pro-py/kinematics.md): kinematics: C++ namespace in the MoveIt Pro API reference. - [planners](https://docs.picknik.ai/api/namespaces/moveit-pro-py/planners.md): planners: C++ namespace in the MoveIt Pro API reference. - [tasks](https://docs.picknik.ai/api/namespaces/moveit-pro-py/tasks.md): tasks: C++ namespace in the MoveIt Pro API reference. - [moveit_pro_py](https://docs.picknik.ai/api/namespaces/moveit-pro-py.md): moveit_pro_py: C++ namespace in the MoveIt Pro API reference. - [DO NOT EDIT!](https://docs.picknik.ai/api/namespaces/moveit-pro/task-constructor/stages.md): DO NOT EDIT!: C++ namespace in the MoveIt Pro API reference. - [test_utils](https://docs.picknik.ai/api/namespaces/moveit-pro/test-utils.md): test_utils: C++ namespace in the MoveIt Pro API reference. - [moveit_pro](https://docs.picknik.ai/api/namespaces/moveit-pro.md): moveit_pro: C++ namespace in the MoveIt Pro API reference. - [internal](https://docs.picknik.ai/api/namespaces/path-ik/internal.md): internal: C++ namespace in the MoveIt Pro API reference. - [path_ik](https://docs.picknik.ai/api/namespaces/path-ik.md): path_ik: C++ namespace in the MoveIt Pro API reference. - [plan_cartesian_space_mtc](https://docs.picknik.ai/api/namespaces/plan-cartesian-space-mtc.md): plan_cartesian_space_mtc: C++ namespace in the MoveIt Pro API reference. - [plan_cartesian_space](https://docs.picknik.ai/api/namespaces/plan-cartesian-space.md): plan_cartesian_space: C++ namespace in the MoveIt Pro API reference. - [plan_ik_to_pose_mtc](https://docs.picknik.ai/api/namespaces/plan-ik-to-pose-mtc.md): plan_ik_to_pose_mtc: C++ namespace in the MoveIt Pro API reference. - [plan_joint_space_mtc](https://docs.picknik.ai/api/namespaces/plan-joint-space-mtc.md): plan_joint_space_mtc: C++ namespace in the MoveIt Pro API reference. - [plan_joint_space](https://docs.picknik.ai/api/namespaces/plan-joint-space.md): plan_joint_space: C++ namespace in the MoveIt Pro API reference. - [plan_moveto_mtc](https://docs.picknik.ai/api/namespaces/plan-moveto-mtc.md): plan_moveto_mtc: C++ namespace in the MoveIt Pro API reference. - [pose_ik_plugin](https://docs.picknik.ai/api/namespaces/pose-ik-plugin.md): pose_ik_plugin: C++ namespace in the MoveIt Pro API reference. - [pose_ik](https://docs.picknik.ai/api/namespaces/pose-ik.md): pose_ik: C++ namespace in the MoveIt Pro API reference. - [internal](https://docs.picknik.ai/api/namespaces/pro-rrt/internal.md): internal: C++ namespace in the MoveIt Pro API reference. - [scenario_runner](https://docs.picknik.ai/api/namespaces/pro-rrt/scenario-runner.md): scenario_runner: C++ namespace in the MoveIt Pro API reference. - [pro_rrt](https://docs.picknik.ai/api/namespaces/pro-rrt.md): pro_rrt: C++ namespace in the MoveIt Pro API reference. - [DO NOT EDIT!](https://docs.picknik.ai/api/namespaces/pybind11/detail.md): DO NOT EDIT!: C++ namespace in the MoveIt Pro API reference. - [start_psm](https://docs.picknik.ai/api/namespaces/start-psm.md): start_psm: C++ namespace in the MoveIt Pro API reference. - [test_blend_joint_trajectories](https://docs.picknik.ai/api/namespaces/test-blend-joint-trajectories.md): test_blend_joint_trajectories: C++ namespace in the MoveIt Pro API reference. - [test_create_trajectory](https://docs.picknik.ai/api/namespaces/test-create-trajectory.md): test_create_trajectory: C++ namespace in the MoveIt Pro API reference. - [test_examples](https://docs.picknik.ai/api/namespaces/test-examples.md): test_examples: C++ namespace in the MoveIt Pro API reference. - [test_import](https://docs.picknik.ai/api/namespaces/test-import.md): test_import: C++ namespace in the MoveIt Pro API reference. - [test_interpolate_joint_path](https://docs.picknik.ai/api/namespaces/test-interpolate-joint-path.md): test_interpolate_joint_path: C++ namespace in the MoveIt Pro API reference. - [test_mtc_cartesian_planner](https://docs.picknik.ai/api/namespaces/test-mtc-cartesian-planner.md): test_mtc_cartesian_planner: C++ namespace in the MoveIt Pro API reference. - [test_mtc_integration](https://docs.picknik.ai/api/namespaces/test-mtc-integration.md): test_mtc_integration: C++ namespace in the MoveIt Pro API reference. - [test_mtc_path_ik](https://docs.picknik.ai/api/namespaces/test-mtc-path-ik.md): test_mtc_path_ik: C++ namespace in the MoveIt Pro API reference. - [test_mtc_prorrt](https://docs.picknik.ai/api/namespaces/test-mtc-prorrt.md): test_mtc_prorrt: C++ namespace in the MoveIt Pro API reference. - [test_path_collision](https://docs.picknik.ai/api/namespaces/test-path-collision.md): test_path_collision: C++ namespace in the MoveIt Pro API reference. - [test_path_ik_wrapper](https://docs.picknik.ai/api/namespaces/test-path-ik-wrapper.md): test_path_ik_wrapper: C++ namespace in the MoveIt Pro API reference. - [test_path_ik](https://docs.picknik.ai/api/namespaces/test-path-ik.md): test_path_ik: C++ namespace in the MoveIt Pro API reference. - [test_pose_ik_registration](https://docs.picknik.ai/api/namespaces/test-pose-ik-registration.md): test_pose_ik_registration: C++ namespace in the MoveIt Pro API reference. - [test_pose_ik](https://docs.picknik.ai/api/namespaces/test-pose-ik.md): test_pose_ik: C++ namespace in the MoveIt Pro API reference. - [test_pro_rrt](https://docs.picknik.ai/api/namespaces/test-pro-rrt.md): test_pro_rrt: C++ namespace in the MoveIt Pro API reference. - [test_scene_padding](https://docs.picknik.ai/api/namespaces/test-scene-padding.md): test_scene_padding: C++ namespace in the MoveIt Pro API reference. - [YAML](https://docs.picknik.ai/api/namespaces/yaml.md): YAML: C++ namespace in the MoveIt Pro API reference. - [Deprecated List](https://docs.picknik.ai/api/pages/deprecated.md): Use PublishTF instead. This Behavior never published a true /tf_static transform — it has always been a timer-driven dynamic broadcast on /tf. A fu... - [MoveIt Pro Behavior Interface](https://docs.picknik.ai/api/pages/md-behavior--interface-2-r-e-a-d-m-e---p-u-b-l-i-c.md): This package contains the base classes used to create new Behavior plugins that can be executed as part of Objectives. - [Creating Behavior Plugins — Best Practices](https://docs.picknik.ai/api/pages/md-behavior-2-a-g-e-n-t-s.md): Reference docs: src/docs/docs/concepts/creating_behaviors/creating_behaviors.md, src/docs/docs/how_to/custom_behaviors/adding_ports/adding_ports.md... - [Creating Behavior Plugins — Best Practices](https://docs.picknik.ai/api/pages/md-behavior-2-c-l-a-u-d-e.md): Reference docs: src/docs/docs/concepts/creating_behaviors/creating_behaviors.md, src/docs/docs/how_to/custom_behaviors/adding_ports/adding_ports.md... - [Controllers — Realtime C++ Guidelines](https://docs.picknik.ai/api/pages/md-controllers-2-a-g-e-n-t-s.md): This file contains guidance specific to the src/controllers/ packages — ros2_control controllers whose update() runs on the realtime control loop. - [Controllers — Realtime C++ Guidelines](https://docs.picknik.ai/api/pages/md-controllers-2-c-l-a-u-d-e.md): This file contains guidance specific to the src/controllers/ packages — ros2_control controllers whose update() runs on the realtime control loop. - [Joint Trajectory Admittance Controller](https://docs.picknik.ai/api/pages/md-controllers-2joint--trajectory--admittance--controller-2-r-e-a-d-m-e---p-u-b-l-i-c.md): Joint Trajectory Admittance Controller: documentation page in the MoveIt Pro API reference. - [Joint Velocity Controller](https://docs.picknik.ai/api/pages/md-controllers-2joint--velocity--controller-2-r-e-a-d-m-e---p-u-b-l-i-c.md): Joint Velocity Controller: documentation page in the MoveIt Pro API reference. - [Cartesian Velocity / Force Controller](https://docs.picknik.ai/api/pages/md-controllers-2velocity--force--controller-2-r-e-a-d-m-e---p-u-b-l-i-c.md): Cartesian Velocity / Force Controller: documentation page in the MoveIt Pro API reference. - [Velocity and Path Kinematics Library](https://docs.picknik.ai/api/pages/md-kinematics-2path--ik-2-r-e-a-d-m-e---p-u-b-l-i-c.md): This library exposes an API to compute Velocity and Path Inverse Kinematics: - [Cartesian Trapezoidal Velocity Profile](https://docs.picknik.ai/api/pages/md-kinematics-2path--ik-2design-2cartesian--velocity--profile-2design.md): Package: path_ik (trajectory_utils.hpp/.cpp) Author: Mario Prats Date: 2026-04-16 - [Pose Inverse Kinematics Library](https://docs.picknik.ai/api/pages/md-kinematics-2pose--ik-2-r-e-a-d-m-e---p-u-b-l-i-c.md): PoseIK is a relatively simple but efficient implementation of a Jacobian-based Newton-Raphson Inverse Kinematics Solver, using native MoveIt types ... - [ProRRT](https://docs.picknik.ai/api/pages/md-planners-2pro--rrt-2-r-e-a-d-m-e---p-u-b-l-i-c.md): ProRRT is our own sampling-based motion planner, based on the Rapidly-exploring Random Tree (RRT) algorithm. It is designed to be fast, efficient, ... - [Planning Scene Monitor](https://docs.picknik.ai/api/pages/md-planning--scene--monitor-2-r-e-a-d-m-e---p-u-b-l-i-c.md): The Planning Scene Monitor is a crucial component in MoveIt and MoveIt Pro that maintains an up-to-date representation of the robot's environment. ... - [Python API AI Assistant Guidelines](https://docs.picknik.ai/api/pages/md-py-2-a-g-e-n-t-s.md): Python API AI Assistant Guidelines: documentation page in the MoveIt Pro API reference. - [Python API AI Assistant Guidelines](https://docs.picknik.ai/api/pages/md-py-2-c-l-a-u-d-e.md): Python API AI Assistant Guidelines: documentation page in the MoveIt Pro API reference. - [MoveIt Pro Core Python Bindings](https://docs.picknik.ai/api/pages/md-py-2-r-e-a-d-m-e---p-u-b-l-i-c.md): MoveIt Pro provides Python bindings to its core algorithms, including advanced inverse kinematics solvers, motion planners, and kinematic utilities... - [AdmittanceControllerParams](https://docs.picknik.ai/api/structs/admittancecontrollerparams.md): Struct representing admittance controller parameters. - [FilterEntry](https://docs.picknik.ai/api/structs/moveit-pro/behavior/loggerbase/filterentry.md): An installed filter paired with the unique id used to remove exactly that filter on token destruction. - [FilterStack](https://docs.picknik.ai/api/structs/moveit-pro/behavior/loggerbase/filterstack.md): Independently-owned state backing the filter stack. - [FilterToken](https://docs.picknik.ai/api/structs/moveit-pro/behavior/loggerbase/filtertoken.md): Ownership token returned by pushFilter. Its destructor removes the associated filter (if the backing stack still exists), giving callers RAII scopi... - [ArmGripperChunk](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/armgripperchunk.md): ArmGripperChunk: C++ struct in the MoveIt Pro API reference. - [AttachOrDetachStageRequest](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/attachordetachstagerequest.md): Parameters describing the attach or detach action for appendAttachOrDetachStage. - [BehaviorContext](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/behaviorcontext.md): The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_pro::behaviors::Sh... - [Entry](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/boundedretentionqueue/entry.md): Entry: C++ struct in the MoveIt Pro API reference. - [AnnounceState](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/breakpointsubscriber/announcestate.md): The periodic announcement's state, held together so the guard's lifetime is the lifetime of what it guards. Shared, and captured into the timer by ... - [ResolvedTopic](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/breakpointsubscriber/resolvedtopic.md): The topic this breakpoint waits on, and whether it also answers the shared topic. - [CombinedImageResult](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/combinedimageresult.md): Result of building the combined inference image (target alone, or target+exemplar side-by-side). - [InfoAndWarnings](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/computelinkposeforwardkinematics/infoandwarnings.md): InfoAndWarnings: C++ struct in the MoveIt Pro API reference. - [CoveragePathParams](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/coveragepathparams.md): Parameters that shape the raster produced by generateRasterPath(). - [Deps](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/executepolicy/deps.md): Deps: C++ struct in the MoveIt Pro API reference. - [GripperPlan](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/executepolicy/gripperplan.md): GripperPlan: C++ struct in the MoveIt Pro API reference. - [ResolvedPolicyChunk](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/executepolicy/resolvedpolicychunk.md): ResolvedPolicyChunk: C++ struct in the MoveIt Pro API reference. - [RtcCarryover](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/executepolicy/rtccarryover.md): RtcCarryover: C++ struct in the MoveIt Pro API reference. - [SceneAndState](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/executepolicy/sceneandstate.md): SceneAndState: C++ struct in the MoveIt Pro API reference. - [StreamConfig](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/executepolicy/streamconfig.md): StreamConfig: C++ struct in the MoveIt Pro API reference. - [ExemplarInfo](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/exemplarinfo.md): Exemplar-specific metadata captured before resize; present only when an exemplar was provided. - [InferenceHandle](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dautomask/inferencehandle.md): Interface for SAM2 automasking inference. - [SAM2AutomaskHandle](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dautomask/sam2automaskhandle.md): Default implementation using the pooled SAM2Automask facade. - [GetMasks2DAutomask](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dautomask.md): Segment an image using SAM2 automasking with grid-based point generation. - [InferenceHandle](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfromexemplar/inferencehandle.md): Interface for SAM3 segmentation inference. - [SAM3DetectHandle](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfromexemplar/sam3detecthandle.md): Default implementation using SAM3Detect. - [GetMasks2DFromExemplar](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfromexemplar.md): Segment an image using SAM3 with multimodal prompts. - [InferenceHandle](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfrompointquery/inferencehandle.md): Interface for SAM2 point-prompted segmentation inference. - [LatchedModel](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfrompointquery/latchedmodel.md): The bundle and runtime this instance latched onto at its first successful load. - [SAM2SegmentHandle](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfrompointquery/sam2segmenthandle.md): Default implementation using SAM2Segment over the shared model pool. - [GetMasks2DFromPointQuery](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/getmasks2dfrompointquery.md): Segment an image using the SAM2 model and point prompts. - [Sam2AutomaskModelPorts](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/internal/sam2automaskmodelports.md): Sam2AutomaskModelPorts: C++ struct in the MoveIt Pro API reference. - [Sam3ModelPorts](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/internal/sam3modelports.md): Sam3ModelPorts: C++ struct in the MoveIt Pro API reference. - [ObjectWithDistance](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/objectwithdistance.md): Associates a GraspableObject with a distance metric. - [PolicyObservation](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/policyobservation.md): The current observation a policy conditions on for one inference. - [JogInputs](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/posejog/joginputs.md): JogInputs: C++ struct in the MoveIt Pro API reference. - [VFCBridge](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/posejog/vfcbridge.md): VFCBridge: C++ struct in the MoveIt Pro API reference. - [PostProcessResult](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/postprocessresult.md): Outputs produced by post-processing SAM3 masks. - [ValidatedInputs](https://docs.picknik.ai/api/structs/moveit-pro/behaviors/publishtf/validatedinputs.md): ValidatedInputs: C++ struct in the MoveIt Pro API reference. - [AdmittanceKinematics](https://docs.picknik.ai/api/structs/moveit-pro-controllers/admittancekinematics.md): AdmittanceKinematics: C++ struct in the MoveIt Pro API reference. - [AdmittanceParameters](https://docs.picknik.ai/api/structs/moveit-pro-controllers/admittanceparameters.md): AdmittanceParameters: C++ struct in the MoveIt Pro API reference. - [AdmittanceState](https://docs.picknik.ai/api/structs/moveit-pro-controllers/admittancestate.md): AdmittanceState: C++ struct in the MoveIt Pro API reference. - [JointTrajectoryAdmittanceControllerCommand](https://docs.picknik.ai/api/structs/moveit-pro-controllers/jointtrajectoryadmittancecontrollercommand.md): JointTrajectoryAdmittanceControllerCommand: C++ struct in the MoveIt Pro API reference. - [JointVelocityParameters](https://docs.picknik.ai/api/structs/moveit-pro-controllers/jointvelocityparameters.md): JointVelocityParameters: C++ struct in the MoveIt Pro API reference. - [State](https://docs.picknik.ai/api/structs/moveit-pro-controllers/jointvelocitysetpointgenerator/state.md): State: C++ struct in the MoveIt Pro API reference. - [NonFiniteValue](https://docs.picknik.ai/api/structs/moveit-pro-controllers/nonfinitevalue.md): NonFiniteValue: C++ struct in the MoveIt Pro API reference. - [Resolution](https://docs.picknik.ai/api/structs/moveit-pro-controllers/realtimetriggerservicemonitor/resolution.md): Resolution: C++ struct in the MoveIt Pro API reference. - [StopTrajectory](https://docs.picknik.ai/api/structs/moveit-pro-controllers/stoptrajectory.md): StopTrajectory: C++ struct in the MoveIt Pro API reference. - [UtilizedInterfaces](https://docs.picknik.ai/api/structs/moveit-pro-controllers/utilizedinterfaces.md): UtilizedInterfaces: C++ struct in the MoveIt Pro API reference. - [ReceivedCommand](https://docs.picknik.ai/api/structs/moveit-pro-controllers/velocityforcecontroller/receivedcommand.md): ReceivedCommand: C++ struct in the MoveIt Pro API reference. - [VelocityForceParameters](https://docs.picknik.ai/api/structs/moveit-pro-controllers/velocityforceparameters.md): VelocityForceParameters: C++ struct in the MoveIt Pro API reference. - [State](https://docs.picknik.ai/api/structs/moveit-pro-controllers/velocityforcesetpointgenerator/state.md): State: C++ struct in the MoveIt Pro API reference. - [OriginalFunctions](https://docs.picknik.ai/api/structs/originalfunctions.md): OriginalFunctions: C++ struct in the MoveIt Pro API reference. - [CartesianLimits](https://docs.picknik.ai/api/structs/path-ik/cartesianlimits.md): Cartesian velocity and acceleration limits for the trapezoidal profile. - [CollisionCheckOptions](https://docs.picknik.ai/api/structs/path-ik/collisioncheckoptions.md): Contains options for path collision checking. - [ErrorType](https://docs.picknik.ai/api/structs/path-ik/errortype.md): ErrorType: C++ struct in the MoveIt Pro API reference. - [GoalTolerance](https://docs.picknik.ai/api/structs/path-ik/goaltolerance.md): Tolerances that the final path waypoint (the goal) must satisfy. - [JacobianColumn](https://docs.picknik.ai/api/structs/path-ik/internal/jacobiancolumn.md): JacobianColumn: C++ struct in the MoveIt Pro API reference. - [PathCollisionInfo](https://docs.picknik.ai/api/structs/path-ik/pathcollisioninfo.md): Struct to hold information about path collisions. - [PathIKOptions](https://docs.picknik.ai/api/structs/path-ik/pathikoptions.md): Options passed to the Path Inverse Kinematics solver. - [ResampledTrajectory](https://docs.picknik.ai/api/structs/path-ik/resampledtrajectory.md): Resampled trajectory data at uniform control rate. - [SdfControlPoint](https://docs.picknik.ai/api/structs/path-ik/sdfcontrolpoint.md): A single collision proxy that the SDF nullspace task should push away from obstacles. - [SdfRepulsionParameters](https://docs.picknik.ai/api/structs/path-ik/sdfrepulsionparameters.md): Tunables for the SDF repulsion nullspace task. - [TrajectoryOptions](https://docs.picknik.ai/api/structs/path-ik/trajectoryoptions.md): Options for creating a time-parameterized trajectory from waypoints. - [TrapezoidalProfileError](https://docs.picknik.ai/api/structs/path-ik/trapezoidalprofileerror.md): TrapezoidalProfileError: C++ struct in the MoveIt Pro API reference. - [PoseTarget](https://docs.picknik.ai/api/structs/pose-ik/posetarget.md): PoseTarget: C++ struct in the MoveIt Pro API reference. - [Constraints](https://docs.picknik.ai/api/structs/pro-rrt/constraints.md): Definition of kinematic constraints to take into account during planning. - [JointRangeConstraint](https://docs.picknik.ai/api/structs/pro-rrt/jointrangeconstraint.md): JointRangeConstraint: C++ struct in the MoveIt Pro API reference. - [JointRangeEntry](https://docs.picknik.ai/api/structs/pro-rrt/jointrangeentry.md): One row of the joint_range_constraint BT input port (per-joint tightening of URDF limits). - [PlanarRotationConstraint](https://docs.picknik.ai/api/structs/pro-rrt/planarrotationconstraint.md): PlanarRotationConstraint: C++ struct in the MoveIt Pro API reference. - [PlanningError](https://docs.picknik.ai/api/structs/pro-rrt/planningerror.md): Definition of planning error return type with a string and optional collision results. - [RRTParams](https://docs.picknik.ai/api/structs/pro-rrt/rrtparams.md): Configuration parameters for the RRT planner. - [RunResult](https://docs.picknik.ai/api/structs/pro-rrt/scenario-runner/runresult.md): RunResult: C++ struct in the MoveIt Pro API reference. - [ScenarioInput](https://docs.picknik.ai/api/structs/pro-rrt/scenarioinput.md): ScenarioInput: C++ struct in the MoveIt Pro API reference. - [ScenarioOutput](https://docs.picknik.ai/api/structs/pro-rrt/scenariooutput.md): Outcome of a single planTrajectoryToJointGoal(...) call as captured for scenario logging. - [TrajectoryParams](https://docs.picknik.ai/api/structs/pro-rrt/trajectoryparams.md): Parameters for the trajectory generation. - [TrajectorySummary](https://docs.picknik.ai/api/structs/pro-rrt/trajectorysummary.md): Summary statistics of the planned trajectory — present iff planning succeeded. - [type_caster](https://docs.picknik.ai/api/structs/pybind11/detail/type-caster-581630e1c19f164810b2fdf1b62e440f.md): Custom type caster for Eigen::Isometry3d. - [SplineOptimizationParameters](https://docs.picknik.ai/api/structs/splineoptimizationparameters.md): SplineOptimizationParameters: C++ struct in the MoveIt Pro API reference. - [FactorizationCache](https://docs.picknik.ai/api/structs/splinetrajectory/factorizationcache.md): FactorizationCache: C++ struct in the MoveIt Pro API reference. - [convert](https://docs.picknik.ai/api/structs/yaml/convert-e5c073c4b22f1b8a970ebdd87ba61b4a.md): Utility to decode YAML node as an AdmittanceControllerParams struct. ## MoveIt Pro 9 - [Behavior Trees](https://docs.picknik.ai/9/concepts/behavior_trees/behavior_trees.md): Objectives in MoveIt Pro are represented as Behavior Trees that perform a specific function, such as picking up an object or opening a door. - [Built In Behaviors](https://docs.picknik.ai/9/concepts/built_in_behaviors/built_in_behaviors.md): In MoveIt Pro, Behaviors are the building blocks used to create Objectives. - [Creating Behaviors](https://docs.picknik.ai/9/concepts/creating_behaviors/creating_behaviors.md): This page describes creating, implementing, and loading custom Behavior Tree nodes (“Behaviors”) within MoveIt Pro, including step-by-step instruct... - [Deployment, Commissioning, and Fleet Management](https://docs.picknik.ai/9/concepts/deployment_commissioning_and_fleet_management/deployment_commissioning_and_fleet_management.md): MoveIt Pro provides a robust platform for deploying and operating production-grade robotic systems. It is designed to take your robots from develop... - [Docker Containerization](https://docs.picknik.ai/9/concepts/docker/docker.md): We distribute MoveIt Pro using docker to ensure MoveIt Pro dependencies do not interfere with other ROS 2 projects on your computer. - [License Monitoring](https://docs.picknik.ai/9/concepts/license_monitoring/license_monitoring.md): How to programmatically monitor MoveIt Pro license status for container health checks and automated monitoring systems. - [MoveIt Task Constructor (MTC)](https://docs.picknik.ai/9/concepts/moveit_task_constructor/moveit_task_constructor.md): How MoveIt Pro composes and executes Task Constructor pipelines through built-in Behaviors. - [Planners and Solvers](https://docs.picknik.ai/9/concepts/planners_and_solvers/planners_and_solvers.md): MoveIt Pro provides multiple state of the art planners and solvers for efficient and accurate motion planning. - [Planning Scene & Collision Checker](https://docs.picknik.ai/9/concepts/planning_scene/planning_scene.md): In MoveIt Pro, the planning scene is the source of truth for the environment in which your robotic agents do motion planning. - [ros2_control in MoveIt Pro](https://docs.picknik.ai/9/concepts/ros2_control/ros2_control.md): How MoveIt Pro uses ros2_control to execute motion, the controllers it ships, the runtime safety checks each one performs, and where safety remains... - [Gamepad Teleoperation Setup Guide](https://docs.picknik.ai/9/hardware_guides/input_devices/gamepad_teleop/gamepad_teleop.md): MoveIt Pro supports hardware-based teleoperation through standard USB game controllers for hands-on robot control and AI data collection. - [Meta Quest for Teleop Setup Guide](https://docs.picknik.ai/9/hardware_guides/input_devices/setting_up_the_meta_quest_for_teleop.md): The Meta Quest is a great tool for ML model data collection. It requires a little Unity app running on the Quest device. We will walk you through h... - [FANUC CRX Series Hardware Setup Guide](https://docs.picknik.ai/9/hardware_guides/robot_arms/fanuc_hardware_setup_guide.md): This how-to guide covers steps for setting up and configuring a CRX series robot arm to run with MoveIt Pro. - [Franka Research 3 Hardware Setup Guide](https://docs.picknik.ai/9/hardware_guides/robot_arms/franka_fr3_hardware_setup_guide.md): Franka Research 3 (FR3) Hardware Setup Guide - [Kinova Gen3 7DoF Hardware Setup Guide](https://docs.picknik.ai/9/hardware_guides/robot_arms/kinova_hardware_setup_guide.md): This how-to guide covers Kinova Gen3 7DoF steps for setting up the arm, gripper, and (optional) embedded wrist camera, along with network configura... - [KUKA Cybertech Hardware Setup Guide](https://docs.picknik.ai/9/hardware_guides/robot_arms/kuka_cybertech_hardware_setup_guide.md): This how-to guide covers steps for setting up and configuring a KUKA Cybertech series robot arm (KSS with RSI) to run with MoveIt Pro. - [Universal Robots URx Hardware Setup Guide](https://docs.picknik.ai/9/hardware_guides/robot_arms/ur5e_hardware_setup_guide.md): This how-to guide covers UR5e configuration, hardware requirements, steps for setting up the arm, gripper, and camera, and payload and network conf... - [Breakpoints Usage](https://docs.picknik.ai/9/how_to/behavior_tree_editing/breakpoints/breakpoints.md): How To Add Breakpoints To Objectives - [Debugging Blackboard Variables](https://docs.picknik.ai/9/how_to/behavior_tree_editing/debugging_blackboard/debugging_blackboard.md): The blackboard is a central data store used by the Behavior tree to share key-value pairs between nodes during Objective execution. It acts as a ru... - [Keyboard Shortcuts](https://docs.picknik.ai/9/how_to/behavior_tree_editing/keyboard_shortcuts/keyboard_shortcuts.md): Short guide to keyboard shortcuts across MoveIt Pro - [Vectors Manipulation in Behavior Trees](https://docs.picknik.ai/9/how_to/behavior_tree_editing/vector_manipulation.md): This how-to guide explains how to work with vectors in MoveIt Pro Behavior Trees using the built-in vector manipulation Behaviors. - [Upgrading Software & Changing License Keys](https://docs.picknik.ai/9/how_to/computer_configuration/Upgrade%20MoveIt%20Pro.md): There are two ways to upgrade the software. For most release versions of MoveIt Pro, we recommend the Upgrade in Place approach. Alternatively, if ... - [Set Up Continuous Integration and Deployment](https://docs.picknik.ai/9/how_to/computer_configuration/ci_cd_for_objectives.md): Validate Objectives in CI and deploy MoveIt Pro releases to fleet hardware. - [Configure NVIDIA GPUs](https://docs.picknik.ai/9/how_to/computer_configuration/configure_gpu_pro/configure_gpu_pro.md): How to enable and configure GPU acceleration in MoveIt Pro, so that physics simulation and ML inferencing can be offloaded to the GPU, significantl... - [Configure Licensing](https://docs.picknik.ai/9/how_to/computer_configuration/configure_licensing.md): Configure license keys, stable hardware identity, and container permissions for MoveIt Pro. - [Configure NVIDIA Jetson](https://docs.picknik.ai/9/how_to/computer_configuration/configure_nvidia_jetson/configure_nvidia_jetson.md): NVIDIA Jetson platforms are commonly used for embedded installations of MoveIt Pro, but they require configuration for optimal performance. - [Configure ROS 2 DDS](https://docs.picknik.ai/9/how_to/computer_configuration/customize_dds_configuration/customize_dds_configuration.md): Like most ROS 2 applications, MoveIt Pro relies on a DDS based ROS middleware (RMW) for intercommunication between processes. - [Running Offline Without an Internet Connection](https://docs.picknik.ai/9/how_to/computer_configuration/offline_activation.md): How to set up MoveIt Pro for offline license authentication. - [Using Docker Compose Without MoveIt Pro CLI](https://docs.picknik.ai/9/how_to/computer_configuration/pro_without_CLI.md): Use MoveIt Pro with pure Docker commands - [Remotely Connecting to the Web Interface](https://docs.picknik.ai/9/how_to/computer_configuration/remote_web_interface/remote_web_interface.md): How to access the MoveIt Pro web interface from a remote computer - [Setup GPUs on Real-time Linux](https://docs.picknik.ai/9/how_to/computer_configuration/using-gpu-with-real-time.md): When using MoveIt Pro, you may want to use a dedicated GPU if the scene you are visualizing in the UI is complex or you want to do GPU-accelerated ... - [State Estimation Setup](https://docs.picknik.ai/9/how_to/configuration_tutorials/add_fuse/add_fuse.md): Fuse runs alongside MoveIt Pro and publishes configurable estimated topics for use inside MoveIt Pro, similarly to other external frameworks such a... - [Mobile Navigation Setup](https://docs.picknik.ai/9/how_to/configuration_tutorials/add_nav2/add_nav2.md): MoveIt Pro has built-in support to interface with Nav2, primarily via Behaviors that can invoke the NavigateToPose and NavigateThroughPoses Nav2 ac... - [Overview of config.yaml](https://docs.picknik.ai/9/how_to/configuration_tutorials/config_yaml_reference/config_yaml_reference.md): A comprehensive guide to all configuration options available in MoveIt Pro's config.yaml files, including detailed explanations, examples, and vali... - [Configure Frontend Settings](https://docs.picknik.ai/9/how_to/configuration_tutorials/configure_frontend_settings/configure_frontend_settings.md): Override deployment-specific frontend defaults (reference frame, Nav2 plan topic, iframe viewports) without rebuilding the UI. - [Mobile Base Control Setup](https://docs.picknik.ai/9/how_to/configuration_tutorials/configure_mobile_base/configure_mobile_base.md): This page describes the design and configuration of mobile base support in MoveIt Pro e.g. for whole body motions. - [Create Robot Mock Configuration](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/create_mock_robot_config.md): How to create a mock robot configuration package for MoveIt Pro using ros2_control mock hardware for motion planning. - [Get URDF Files](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/export_cad_to_urdf/export_cad_to_urdf.md): How to obtain URDF files from commercial off-the-shelf hardware or export them from custom CAD models. - [hardware Values](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/hardware_configuration.md): Reference for the hardware section of config.yaml, covering URDF, SRDF, Xacro parameters, simulation flags, and launch file configuration. - [moveit_params Values](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/moveit_params_configuration.md): Reference for the moveit_params section of config.yaml, covering kinematics solvers, joint limits, jog configuration, 3D sensors, and trajectory ex... - [Objectives Values](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/objectives_and_behaviors_configuration.md): Reference for the Objectives section of config.yaml, covering Behavior loader plugins, Objective library paths, and waypoint file configuration. - [Refactor your URDF Using Xacro](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/refactor_urdf_to_xacro/refactor_urdf_to_xacro.md): How to refactor URDF files using Xacro for modular robot descriptions, including macro syntax, file naming conventions, and composition best practi... - [ros2_control Values](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/ros2_control_configuration.md): Reference for the ros2_control section of config.yaml, covering controller configuration, startup activation, and teleoperation requirements. - [ros_global_params Values](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/ros_global_params_configuration.md): Reference for the ros_global_params section of config.yaml, covering global ROS parameter overrides such as simulation time and robot description t... - [Run Mock Robot Configuration](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_mock_config/run_mock_robot_config.md): How to build and launch a mock robot configuration in MoveIt Pro. - [Configure Hardware Protective Stop](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_physical_config/configure_protective_stop/configure_protective_stop.md): Configuring a Protective Stop Service - [Create Robot Physical Configuration](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_physical_config/create_robot_physical_config/create_robot_physical_config.md): How to create a physical hardware robot configuration package that inherits from a simulation config for use with real robot drivers. - [Set up Control Drivers without ROS 2 Control](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_physical_config/custom_robot_controller/custom_robot_controller.md): Our recommended approach for connecting robot hardware to MoveIt Pro is using the defacto ROS standard of the ros2_control libraries. - [Overload Configuration for Physical](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_physical_config/overload_physical_config_definitions/overload_physical_config_definitions.md): How to override config.yaml values for physical hardware, including driver launch files, simulation flags, and Xacro hardware interface parameters. - [Simulator Keyframes Setup](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_sim_config/configure_keyframes/configure_keyframes.md): A keyframe is a named state of your entire simulation world. - [Create Robot Sim Configuration](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_sim_config/create_robot_sim_config/create_robot_sim_config.md): How to create a simulation robot configuration package that inherits from a mock config and connects to MoveIt Pro Sim for physics simulation. - [Create MuJoCo Files](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_sim_config/migrate_to_mujoco_config/migrate_to_mujoco_config.md): To create a MuJoCo world for your MoveIt Pro config to run in simulation, you will need to create a MuJoCo Modeling XML File (MJCF) that defines th... - [Overload Configuration for Simulation](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_sim_config/overload_sim_config_definitions/overload_sim_config_definitions.md): How to override config.yaml values for simulation, including defining MuJoCo ros2_control hardware interfaces and Xacro parameters. - [Run Sim Robot Configuration](https://docs.picknik.ai/9/how_to/configuration_tutorials/create_robot_sim_config/run_sim_robot_config/run_sim_robot_config.md): How to build and launch a simulation robot configuration in MoveIt Pro. - [Optimize Model Meshes](https://docs.picknik.ai/9/how_to/configuration_tutorials/optimizing_robot_model_meshes/optimizing_robot_model_meshes.md): This page describes how to use tools to decimate large meshes to reduce their file size and how to decompose non-convex meshes into convex sub-parts. - [Overview of Robot Config & Objective Packages](https://docs.picknik.ai/9/how_to/configuration_tutorials/robot_and_objective_inheritance/robot_and_objective_inheritance.md): Overview of robot configuration package inheritance and Objective package sharing in MoveIt Pro, including naming conventions and structuring best ... - [Third-Party Simulator Setup](https://docs.picknik.ai/9/how_to/configuration_tutorials/third_party_simulators/third_party_simulators.md): How-to guide for connecting external simulators like Isaac Sim and Gazebo to MoveIt Pro - [Add Ports and Testing to Behaviors](https://docs.picknik.ai/9/how_to/custom_behaviors/adding_ports/adding_ports.md): How to add input and output ports to your Behavior, and how to write tests for that Behavior. - [Specialized Behavior Classes and Usage Examples](https://docs.picknik.ai/9/how_to/custom_behaviors/additional_behavior_classes/additional_behavior_classes.md): Example Behaviors and template specializations for convenient integration of custom types. - [About the User Interface](https://docs.picknik.ai/9/how_to/custom_view_panes/about_the_user_interface.md): An overview of the MoveIt Pro user interface and its view panes. - [Creating Custom View Panes in the MoveIt Pro UI](https://docs.picknik.ai/9/how_to/custom_view_panes/creating_custom_panes/creating_custom_panes.md): How to create and add custom iframe panels to the MoveIt Pro UI. - [ROS Integration for Custom View Panes](https://docs.picknik.ai/9/how_to/custom_view_panes/ros_bridge_integration/ros_bridge_integration.md): Subscribe and publish to ROS topics from a Custom View Pane iframe. - [Adjusting the Simulated Camera Resolution](https://docs.picknik.ai/9/how_to/custom_view_panes/sim_camera_resolution.md): How to change the rendering resolution of MuJoCo-simulated cameras in a robot configuration package. - [UI-Based Teleoperation](https://docs.picknik.ai/9/how_to/custom_view_panes/ui_teleoperation.md): Control your robot directly through the MoveIt Pro web interface using on-screen controls for joint, pose, interactive marker, and waypoint teleope... - [Visualize 3D Markers](https://docs.picknik.ai/9/how_to/custom_view_panes/visualizing_3d_markers.md): Publish visualization markers to the MoveIt Pro 3D Visualizer using the same message spec as RViz. - [Visualize TF Frames](https://docs.picknik.ai/9/how_to/custom_view_panes/visualizing_tf_frames.md): Display live TF coordinate frames in the MoveIt Pro 3D Visualizer, similar to RViz's TF display. - [Migrate User Workspace From 8.x to 9.0](https://docs.picknik.ai/9/how_to/migration_guides/9.0_user_workspace_migration.md): User workspaces sometimes require changes between major versions of MoveIt Pro. - [Migrate Collision Object Behaviors](https://docs.picknik.ai/9/how_to/migration_guides/collision_objects_migration.md): Move from the legacy GraspableObject-based collision Behaviors to the unified moveit_msgs-based Behaviors. - [Navigate with Nav2 in hangar_sim](https://docs.picknik.ai/9/how_to/mobile_navigation/nav2_mobile_navigation/nav2_mobile_navigation.md): Learn how hangar_sim uses Nav2 for mobile base navigation, including lidar sensing, costmap-based obstacle avoidance, localization with Fuse, and r... - [Navigate to a Goal with Replanning](https://docs.picknik.ai/9/how_to/mobile_navigation/navigate_to_goal_with_replanning/navigate_to_goal_with_replanning.md): Learn how the Navigate to Clicked Point with Replanning Objective uses Nav2's built-in replanning to dynamically update the robot's path when new o... - [Run an Objective from a Custom Behavior Tree XML](https://docs.picknik.ai/9/how_to/programmatic_sdks/custom_objective_xml/custom_objective_xml.md): Send a Behavior Tree XML string as the Objective body — useful for ad-hoc trees and for remapping Subtree ports per call. - [Native ROS Client Library API (Moved)](https://docs.picknik.ai/9/how_to/programmatic_sdks/do_objective_sequence/do_objective_sequence.md): This page has moved. See the Programmatic SDKs overview and the feature-based guides. - [Invoking a Python Service](https://docs.picknik.ai/9/how_to/programmatic_sdks/invoke_a_python_service/invoke_a_python_service.md): This how-to guide shows how to use MoveIt Pro to invoke a service hosted by a rclpy node, allowing you to bridge your Python only ROS code into you... - [Passing Parameters to Objectives at Runtime](https://docs.picknik.ai/9/how_to/programmatic_sdks/parameter_overrides/parameter_overrides.md): Use parameter_overrides in DoObjectiveSequence to inject runtime values into Behavior Tree blackboard ports, including custom message types. - [Programmatic SDKs Overview](https://docs.picknik.ai/9/how_to/programmatic_sdks/programmatic_sdks.md): How to drive MoveIt Pro from an external application using native ROS 2, Web Bridge clients using the Foxglove protocol, or legacy rosbridge clients. - [Legacy Websocket Compatibility (rosbridge)](https://docs.picknik.ai/9/how_to/programmatic_sdks/rosbridge/rosbridge.md): Enable an opt-in rosbridge_server sidecar for roslibpy / roslibjs / rossharp clients. Native rclpy / rclcpp is the recommended path. - [Run an Existing Objective](https://docs.picknik.ai/9/how_to/programmatic_sdks/run_objective/run_objective.md): Start, monitor, and cancel an existing MoveIt Pro Objective with native ROS 2, a 9.4 Web Bridge client using the Foxglove protocol, or legacy rosbr... - [AprilTag Pose Estimation Benchmarking](https://docs.picknik.ai/9/how_to/robotics_applications/apriltag_benchmarking/apriltag_benchmarking.md): Run a benchmark on AprilTag fiducial pose estimation accuracy. - [Camera Pose Calibration](https://docs.picknik.ai/9/how_to/robotics_applications/camera_calibration/camera_calibration.md): Use a calibration tool with AprilTag fiducials grasped by the robot end effector to calibrate the pose of a fixed camera. - [Cartesian Path Following](https://docs.picknik.ai/9/how_to/robotics_applications/cartesian_path_following/cartesian_path_following.md): Many applications require moving the arm end-effector along a given path in 3D space. Some examples include welding, grinding, inspection, and door... - [Moving to a Pose](https://docs.picknik.ai/9/how_to/robotics_applications/computing_inverse_kinematics/computing_inverse_kinematics.md): Computing Inverse Kinematics (IK) is a fundamental problem in robotics. - [Execute Position Trajectories with Admittance](https://docs.picknik.ai/9/how_to/robotics_applications/configure_admittance_controller/configure_admittance_controller.md): MoveIt Pro contains Behaviors and controllers to help you execute trajectories in a compliant way. - [Debug Task Constructor Planning Pipelines](https://docs.picknik.ai/9/how_to/robotics_applications/debug_mtc_pipelines/debug_mtc_pipelines.md): MoveIt Task Constructor (MTC) planning pipelines perform a large-scale search for feasible solutions across numerous candidates. - [Grasping with Fiducials](https://docs.picknik.ai/9/how_to/robotics_applications/defining_a_grasp_pose/defining-grasp-pose-docs.md): A workflow for defining grasp poses and storing them in yaml files. - [Train an End-to-End Diffusion Model](https://docs.picknik.ai/9/how_to/robotics_applications/how_to_train_an_end_to_end_model/how_to_train_an_end_to_end_model.md): This guide walks you through collecting ML training data and then using a Diffusion Policy for end-to-end ML control. - [Tool Center Point (TCP) Calibration](https://docs.picknik.ai/9/how_to/robotics_applications/how_to_use_tool_center_points/how_to_use_tool_center_points.md): In robotic applications, the Tool Center Point (TCP) is the specific point on a tool or end-effector that serves as the reference for motion and ta... - [Integrate with Gemini VLM](https://docs.picknik.ai/9/how_to/robotics_applications/integrate_with_google_gemini/integrate_with_google_gemini.md): Use Google Gemini's multimodal API from a Behavior Tree to reason about images and locate features as 2D points. - [Interacting with the Planning Scene](https://docs.picknik.ai/9/how_to/robotics_applications/interacting_with_the_planning_scene/interacting-with-planning-scene-docs.md): How to add, move, remove, attach, and set collision rules for objects in the MoveIt Pro Planning Scene, in both direct and MTC workflows. - [Keepout Zones and Saving/Loading Planning Scene](https://docs.picknik.ai/9/how_to/robotics_applications/keepout_zones/keepout_zones.md): The Keepout Zones feature is designed to quickly define regions in the workspace where the robot(s) is prohibited from entering or interacting. Thi... - [Automatic Object Segmentation](https://docs.picknik.ai/9/how_to/robotics_applications/ml_automasking/ml_automasking.md): SAM2 automasking automatically segments all objects in an image using grid-based point prompts. - [Multimodal Segmentation with SAM3](https://docs.picknik.ai/9/how_to/robotics_applications/ml_exemplar_segmentation/ml_exemplar_segmentation.md): SAM3 enables multimodal image segmentation using text prompts, image exemplars, and bounding boxes for flexible object detection. - [Auto Grasping using Machine Learning](https://docs.picknik.ai/9/how_to/robotics_applications/ml_grasping/ml_grasping.md): Machine learning based grasping allows robots to automatically grasp arbitrary objects using point clouds. - [Image Segmentation using Machine Learning](https://docs.picknik.ai/9/how_to/robotics_applications/ml_segmentation/ml_segmentation.md): ML-based image segmentation plays a crucial role in robotics by enabling precise perception of the environment. - [Model Predictive Control (MPC)](https://docs.picknik.ai/9/how_to/robotics_applications/model_predictive_control/model_predictive_control.md): Create custom MPC Behaviors and residual functions for real-time optimization and control of robot motion. - [Motion Planning Best Practices](https://docs.picknik.ai/9/how_to/robotics_applications/motion_planning_best_practices/motion_planning_best_practices.md): Best practices for configuring joint limits and saving waypoints to produce reliable, natural-looking motion plans. - [Grasping with Mesh Models](https://docs.picknik.ai/9/how_to/robotics_applications/object_registration/object_registration.md): For this example, we will use a simulated Universal Robots UR20 to perform object registration and scanning tasks. - [Optimize Cycle Time for Repetitive Tasks](https://docs.picknik.ai/9/how_to/robotics_applications/optimize_cycle_time/optimize_cycle_time.md): Measure, analyze, and reduce the cycle time of repetitive MoveIt Pro Objectives. - [Orientation-Constrained Planning](https://docs.picknik.ai/9/how_to/robotics_applications/orientation_constrained_planning/orientation_constrained_planning.md): For certain applications, motion plans that are generated require orientation constraints on things like the robot's gripper. - [Parallel Motion Planning](https://docs.picknik.ai/9/how_to/robotics_applications/parallel_planning/parallel_planning.md): Motion plans can be made during execution to improve cycle time. - [Pick and Place with the Task Constructor](https://docs.picknik.ai/9/how_to/robotics_applications/pick_and_place_using_mtc/pick_and_place_using_mtc.md): Pick and place tasks describe a broad range of robotic applications like harvesting fruits, sorting items on a conveyor belt, or gearbox assembly. - [Saving, Loading, and Executing a Robot Trajectory using YAML Files](https://docs.picknik.ai/9/how_to/robotics_applications/save_and_load_trajectory/save_and_load_trajectory.md): How to save a motion planning solution or joint trajectory to a file, as well as how to load and execute it. - [Stitch Trajectories with Smooth Blending](https://docs.picknik.ai/9/how_to/robotics_applications/stitch_trajectories/stitch_trajectories.md): Combine multiple joint trajectories into a single smooth trajectory to avoid full stops between motions and reduce cycle time. - [Tool Changing, End Effector Swapping, and Vacuum Grippers](https://docs.picknik.ai/9/how_to/robotics_applications/tool_changing/tool_changing.md): Many applications require swapping grippers, end effectors, or tools during execution. - [Streaming Velocities & Force](https://docs.picknik.ai/9/how_to/robotics_applications/velocity_force_control/velocity_force_control.md): Many applications require applying a controlled force on the environment along some axes, while moving at a velocity along other axes. - [Visual Servoing](https://docs.picknik.ai/9/how_to/robotics_applications/visual_servoing/visual_servoing.md): Many applications require aligning the arm end effector with respect to some (possibly moving) visual reference. - [Welcome](https://docs.picknik.ai/9/index.md): MoveIt Pro is the leading platform for developing advanced robotic arm applications, designed to empower roboticists, developers, and engineers wit... - [Install MoveIt Pro Core](https://docs.picknik.ai/9/software_installation/moveit_pro_core_download.md): Download links for the MoveIt Pro Core archives - [Install MoveIt Pro](https://docs.picknik.ai/9/software_installation/software_installation.md): Install MoveIt Pro - [MoveIt Pro Technical Specifications](https://docs.picknik.ai/9/technical_specifications/technical_specifications.md): Computer, software, and robot hardware requirements for the MoveIt Pro Developer Platform, Runtime, and Core, plus a summary of currently available... - [Basic Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Basic%20MoveIt%20Pro%20Troubleshooting.md): Basic troubleshooting of MoveIt Pro. This guide includes some background information, error types, and problem solving approaches. - [Behavior Tree Troubleshooting](https://docs.picknik.ai/9/troubleshooting/BehaviorTree%20Troubleshooting.md): Behavior Tree troubleshooting of MoveIt Pro. This guide includes some general patterns to avoid and possible issues within a BehaviorTree. - [Installation Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Installation%20Troubleshooting.md): **Problem**: Your user group ID collides with an existing ID in the Docker image, so you need to build MoveIt Pro with a different group ID. - [Networking And PC Setup Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Networking%20and%20PC%20Setup%20Troubleshooting.md): **Problem**: In a multiple computer setup, I can ping the other computer but can't communicate with it via `ros2 run demo_nodes_py talker` + `ros2 ... - [Performance Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Performance%20Troubleshooting.md): Performance Troubleshooting - [Planning And Control Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Planning%20and%20Control%20Troubleshooting.md): **Problem**: My PlanMTCTask Behavior fails with error code PLANNING_FAILED. - [Real-time Performance and Trajectory Jitter Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Real-time%20Performance%20and%20Trajectory%20Jitter%20Troubleshooting.md): **Problem**: When running MoveIt Pro drivers container in real-time on x86/Intel or ARM/Nvidia Jetson platforms, arm motions show noticeable hitche... - [Robot Hardware And Cameras Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Robot%20Hardware%20and%20Cameras%20Troubleshooting.md): **Problem**: I cannot connect to my Realsense camera. - [Simulation Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Simulation%20Troubleshooting.md): **Problem**: I have a robot configured with a mutli-finger gripper, but after closing the gripper and moving the arm, the object slips from its fin... - [Uninstall MoveIt Pro](https://docs.picknik.ai/9/troubleshooting/Uninstall%20MoveIt%20Pro.md): To completely remove MoveIt Pro, including all user created configurations, possible older versions, and Docker images, run the following in your h... - [Xacro Troubleshooting](https://docs.picknik.ai/9/troubleshooting/Xacro%20Development%20and%20Troubleshooting.md): **Problem**: During development of a new configuration package, the robot_description can fail to be generated with the following error if there ar... - [Transforms Troubleshooting](https://docs.picknik.ai/9/troubleshooting/transforms_troubleshooting.md): Diagnose and fix TF2 lookup errors in MoveIt Pro — extrapolation errors, missing frames, and one-shot dynamic-TF publications that corrupt the TF b... - [Tutorial 2 - Runtime SDK & Extensions](https://docs.picknik.ai/9/tutorials/developer_platform_usage.md): Create custom robot configuration packages, build new Behavior plugins, and learn how to interact with MoveIt Pro through the runtime SDK. - [Tutorial 4 - Motion Planning](https://docs.picknik.ai/9/tutorials/motion_planning.md): Welcome to the motion planning tutorial! We will introduce advanced concepts in robotics including whole-body motion planning, mobile base navigati... - [Tutorial 3 - Perception & Machine Learning](https://docs.picknik.ai/9/tutorials/perception_%26_machine_learning.md): This tutorial teaches you how to use MoveIt Pro for tasks involving perception and machine learning. - [Tutorial 1 - Intro & Basic Usage](https://docs.picknik.ai/9/tutorials/quick_start_intro.md): Welcome to the first MoveIt Pro tutorial! We will teach you how to run example Objectives, as well as create your own. ## MoveIt Pro 8 - [Behavior Trees](https://docs.picknik.ai/8/concepts/behavior_trees/behavior_trees.md): Objectives in MoveIt Pro are represented as Behavior Trees that perform a specific function, such as picking up an object or opening a door. - [Built In Behaviors](https://docs.picknik.ai/8/concepts/built_in_behaviors/built_in_behaviors.md): In MoveIt Pro, Behaviors are the building blocks used to create Objectives. - [Creating Behaviors](https://docs.picknik.ai/8/concepts/creating_behaviors/creating_behaviors.md): This page describes creating, implementing, and loading custom Behavior Tree nodes (“Behaviors”) within MoveIt Pro, including step-by-step instruct... - [Deployment, Commissioning, and Fleet Management](https://docs.picknik.ai/8/concepts/deployment_commissioning_and_fleet_management/deployment_commissioning_and_fleet_management.md): MoveIt Pro provides a robust platform for deploying and operating production-grade robotic systems. It is designed to take your robots from develop... - [Docker Containerization](https://docs.picknik.ai/8/concepts/docker/docker.md): We distribute MoveIt Pro using docker to ensure MoveIt Pro dependencies do not interfere with other ROS 2 projects on your computer. - [MoveIt Task Constructor (MTC)](https://docs.picknik.ai/8/concepts/moveit_task_constructor/moveit_task_constructor.md): How MoveIt Pro composes and executes Task Constructor pipelines through built-in Behaviors. - [Planners and Solvers](https://docs.picknik.ai/8/concepts/planners_and_solvers/planners_and_solvers.md): MoveIt Pro provides multiple state of the art planners and solvers for efficient and accurate motion planning. - [Planning Scene & Collision Checker](https://docs.picknik.ai/8/concepts/planning_scene/planning_scene.md): In MoveIt Pro, the planning scene is the source of truth for the environment in which your robotic agents do motion planning. - [FANUC CRX Series Hardware Setup Guide](https://docs.picknik.ai/8/hardware_guides/fanuc_hardware_setup_guide.md): This how-to guide covers steps for setting up and configuring a CRX series robot arm to run with MoveIt Pro. - [Franka Research 3 Hardware Setup Guide](https://docs.picknik.ai/8/hardware_guides/franka_fr3_hardware_setup_guide.md): Franka Research 3 (FR3) Hardware Setup Guide - [Teleoperation Overview & Setup Guide](https://docs.picknik.ai/8/hardware_guides/gamepad_teleop/gamepad_teleop.md): MoveIt Pro provides comprehensive teleoperation capabilities through both UI-based controls and hardware-based input devices. - [Kinova Gen3 7DoF Hardware Setup Guide](https://docs.picknik.ai/8/hardware_guides/kinova_hardware_setup_guide.md): This how-to guide covers Kinova Gen3 7DoF steps for setting up the arm, gripper, and (optional) embedded wrist camera, along with network configura... - [Meta Quest for Teleop Setup Guide](https://docs.picknik.ai/8/hardware_guides/setting_up_the_meta_quest_for_teleop.md): The Meta Quest is a great tool for ML model data collection. It requires a little Unity app running on the Quest device. We will walk you through h... - [Universal Robots URx Hardware Setup Guide](https://docs.picknik.ai/8/hardware_guides/ur5e_hardware_setup_guide.md): This how-to guide covers UR5e configuration, hardware requirements, steps for setting up the arm, gripper, and camera, and payload and network conf... - [Breakpoints Usage](https://docs.picknik.ai/8/how_to/behavior_tree_editing/breakpoints/breakpoints.md): How To Add Breakpoints To Objectives - [Debugging Blackboard Variables](https://docs.picknik.ai/8/how_to/behavior_tree_editing/debugging_blackboard/debugging_blackboard.md): The blackboard is a central data store used by the Behavior tree to share key-value pairs between nodes during Objective execution. It acts as a ru... - [Behavior Tree Editor Keyboard Shortcuts](https://docs.picknik.ai/8/how_to/behavior_tree_editing/keyboard_shortcuts/keyboard_shortcuts.md): Guide to keyboard shortcuts for efficient Behavior Tree editing in MoveIt Pro - [Vectors Manipulation in Behavior Trees](https://docs.picknik.ai/8/how_to/behavior_tree_editing/vector_manipulation.md): This how-to guide explains how to work with vectors in MoveIt Pro Behavior Trees using the built-in vector manipulation Behaviors. - [Upgrading Software & Changing License Keys](https://docs.picknik.ai/8/how_to/computer_configuration/Upgrade%20MoveIt%20Pro.md): There are two ways to upgrade the software. For most release versions of MoveIt Pro, we recommend the Upgrade in Place approach. Alternatively, if ... - [Setup Continuous Integration](https://docs.picknik.ai/8/how_to/computer_configuration/ci_for_objectives.md): MoveIt Pro has integration and CI tests available to validate all their Objectives. - [Configure NVIDIA GPUs](https://docs.picknik.ai/8/how_to/computer_configuration/configure_gpu_pro/configure_gpu_pro.md): How to enable and configure GPU acceleration in MoveIt Pro, so that physics simulation and ML inferencing can be offloaded to the GPU, significantl... - [Configure NVIDIA Jetson](https://docs.picknik.ai/8/how_to/computer_configuration/configure_nvidia_jetson/configure_nvidia_jetson.md): NVIDIA Jetson platforms are commonly used for embedded installations of MoveIt Pro, but they require configuration for optimal performance. - [Configure ROS 2 DDS](https://docs.picknik.ai/8/how_to/computer_configuration/customize_dds_configuration/customize_dds_configuration.md): Like most ROS 2 applications, MoveIt Pro relies on a DDS based ROS middleware (RMW) for intercommunication between processes. - [Running Offline Without an Internet Connection](https://docs.picknik.ai/8/how_to/computer_configuration/offline_activation.md): How to set up MoveIt Pro for offline license authentication. - [Using Docker Compose Without MoveIt Pro CLI](https://docs.picknik.ai/8/how_to/computer_configuration/pro_without_CLI.md): Use MoveIt Pro with pure Docker commands - [Setup GPUs on Real-time Linux](https://docs.picknik.ai/8/how_to/computer_configuration/using-gpu-with-real-time.md): When using MoveIt Pro, you may want to use a dedicated GPU if the scene you are visualizing in the UI is complex or you want to do GPU-accelerated ... - [8. State Estimation Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/add_fuse/add_fuse.md): Fuse runs alongside MoveIt Pro and publishes configurable estimated topics for use inside MoveIt Pro, similarly to other external frameworks such a... - [7. Mobile Navigation Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/add_nav2/add_nav2.md): MoveIt Pro has built-in support to interface with Nav2, primarily via Behaviors that can invoke the NavigateToPose and NavigateThroughPoses Nav2 ac... - [2. Create config.yaml](https://docs.picknik.ai/8/how_to/configuration_tutorials/config_yaml_reference/config_yaml_reference.md): A comprehensive guide to all configuration options available in MoveIt Pro's config.yaml files, including detailed explanations, examples, and vali... - [1. Create New Robot Config](https://docs.picknik.ai/8/how_to/configuration_tutorials/configure_custom_robot/configure_custom_robot.md): This guide explains how to setup any brand of robot arm and associated hardware, including custom in-house designed robotic hardware. It walks you ... - [4. Inverse Kinematics Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/configure_inverse_kinematics/configure_inverse_kinematics.md): MoveIt Pro ships with a highly optimized pose inverse kinematics solver, called PoseIK. - [Simulator Keyframes Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/configure_keyframes/configure_keyframes.md): A keyframe is a named state of your entire simulation world. - [6. Mobile Base Control Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/configure_mobile_base/configure_mobile_base.md): This page describes the design and configuration of mobile base support in MoveIt Pro e.g. for whole body motions. - [5. Real-time Jogging Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/configure_pose_jog/configure_pose_jog.md): MoveIt Pro includes a powerful Cartesian teleoperation interface, called PoseJog. - [Configure Hardware Protective Stop](https://docs.picknik.ai/8/how_to/configuration_tutorials/configure_protective_stop/configure_protective_stop.md): Configuring a Protective Stop Service - [Set up Control Drivers without ROS 2 Control](https://docs.picknik.ai/8/how_to/configuration_tutorials/custom_robot_controller/custom_robot_controller.md): Our recommended approach for connecting robot hardware to MoveIt Pro is using the defacto ROS standard of the ros2_control libraries. - [3. Physics Simulator Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/migrate_to_mujoco_config/migrate_to_mujoco_config.md): To create a MuJoCo world for your MoveIt Pro config to run in simulation, you will need to create a MuJoCo Modeling XML File (MJCF) that defines th... - [9. Optimize Model Meshes](https://docs.picknik.ai/8/how_to/configuration_tutorials/optimizing_robot_model_meshes/optimizing_robot_model_meshes.md): This page describes how to use tools to decimate large meshes to reduce their file size and how to decompose non-convex meshes into convex sub-parts. - [Third-Party Simulator Setup](https://docs.picknik.ai/8/how_to/configuration_tutorials/third_party_simulators/third_party_simulators.md): How-to guide for connecting external simulators like Isaac Sim and Gazebo to MoveIt Pro - [Add Ports and Testing to Behaviors](https://docs.picknik.ai/8/how_to/custom_behaviors/adding_ports/adding_ports.md): How to add input and output ports to your Behavior, and how to write tests for that Behavior. - [Specialized Behavior Classes and Usage Examples](https://docs.picknik.ai/8/how_to/custom_behaviors/additional_behavior_classes/additional_behavior_classes.md): Example Behaviors and template specializations for convenient integration of custom types. - [Native ROS Client Library API](https://docs.picknik.ai/8/how_to/programmatic_sdks/do_objective_sequence/do_objective_sequence.md): The DoObjectiveSequence action is used to execute an Objective, but the user is responsible for handling the goal state and possible error codes. - [Invoking a Python Service](https://docs.picknik.ai/8/how_to/programmatic_sdks/invoke_a_python_service/invoke_a_python_service.md): This how-to guide shows how to use MoveIt Pro to invoke a service hosted by a rclpy node, allowing you to bridge your Python only ROS code into you... - [Websocket Client Library API](https://docs.picknik.ai/8/how_to/programmatic_sdks/rosbridge/rosbridge.md): After you have built an application with MoveIt Pro, you may need to integrate it with a higher layer system, typically if you want to run applicat... - [AprilTag Pose Estimation Benchmarking](https://docs.picknik.ai/8/how_to/robotics_applications/apriltag_benchmarking/apriltag_benchmarking.md): Run a benchmark on AprilTag fiducial pose estimation accuracy. - [Camera Pose Calibration](https://docs.picknik.ai/8/how_to/robotics_applications/camera_calibration/camera_calibration.md): Use a calibration tool with AprilTag fiducials grasped by the robot end effector to calibrate the pose of a fixed camera. - [Cartesian Path Following](https://docs.picknik.ai/8/how_to/robotics_applications/cartesian_path_following/cartesian_path_following.md): Many applications require moving the arm end-effector along a given path in 3D space. Some examples include welding, grinding, inspection, and door... - [Computing Inverse Kinematics](https://docs.picknik.ai/8/how_to/robotics_applications/computing_inverse_kinematics/computing_inverse_kinematics.md): Computing Inverse Kinematics (IK) is a fundamental problem in robotics. - [Execute Trajectories with Admittance Control](https://docs.picknik.ai/8/how_to/robotics_applications/configure_admittance_controller/configure_admittance_controller.md): MoveIt Pro contains Behaviors and controllers to help you execute trajectories in a compliant way. - [Debug Task Constructor Planning Pipelines](https://docs.picknik.ai/8/how_to/robotics_applications/debug_mtc_pipelines/debug_mtc_pipelines.md): MoveIt Task Constructor (MTC) planning pipelines perform a large-scale search for feasible solutions across numerous candidates. - [Defining a Grasp Pose](https://docs.picknik.ai/8/how_to/robotics_applications/defining_a_grasp_pose/defining-grasp-pose-docs.md): A workflow for defining grasp poses and storing them in yaml files. - [Train an End-to-End Diffusion Model](https://docs.picknik.ai/8/how_to/robotics_applications/how_to_train_an_end_to_end_model/how_to_train_an_end_to_end_model.md): This guide walks you through collecting ML training data and then using a Diffusion Policy for end-to-end ML control. - [How to use Tool Center Points (TCP)](https://docs.picknik.ai/8/how_to/robotics_applications/how_to_use_tool_center_points/how_to_use_tool_center_points.md): In robotic applications, the Tool Center Point (TCP) is the specific point on a tool or end-effector that serves as the reference for motion and ta... - [Interacting with the Planning Scene](https://docs.picknik.ai/8/how_to/robotics_applications/interacting_with_the_planning_scene/interacting-with-planning-scene-docs.md): Listing the various types of Behaviors in MoveIt Pro that modify the Planning Scene. - [Keepout Zones and Saving/Loading Planning Scene](https://docs.picknik.ai/8/how_to/robotics_applications/keepout_zones/keepout_zones.md): The Keepout Zones feature is designed to quickly define regions in the workspace where the robot(s) is prohibited from entering or interacting. Thi... - [Automatic Object Segmentation](https://docs.picknik.ai/8/how_to/robotics_applications/ml_automasking/ml_automasking.md): SAM2 automasking automatically segments all objects in an image using grid-based point prompts. - [Auto Grasping using Machine Learning](https://docs.picknik.ai/8/how_to/robotics_applications/ml_grasping/ml_grasping.md): Machine learning based grasping allows robots to automatically grasp arbitrary objects using point clouds. - [Image Segmentation using Machine Learning](https://docs.picknik.ai/8/how_to/robotics_applications/ml_segmentation/ml_segmentation.md): ML-based image segmentation plays a crucial role in robotics by enabling precise perception of the environment. - [Model Predictive Control (MPC)](https://docs.picknik.ai/8/how_to/robotics_applications/model_predictive_control/model_predictive_control.md): Create custom MPC Behaviors and residual functions for real-time optimization and control of robot motion. - [3D Object Registration and Scanning](https://docs.picknik.ai/8/how_to/robotics_applications/object_registration/object_registration.md): For this example, we will use a simulated Universal Robots UR20 to perform object registration and scanning tasks. - [Orientation-Constrained Planning](https://docs.picknik.ai/8/how_to/robotics_applications/orientation_constrained_planning/orientation_constrained_planning.md): For certain applications, motion plans that are generated require orientation constraints on things like the robot's gripper. - [Parallel Motion Planning](https://docs.picknik.ai/8/how_to/robotics_applications/parallel_planning/parallel_planning.md): Motion plans can be made during execution to improve cycle time. - [Pick and Place with the Task Constructor](https://docs.picknik.ai/8/how_to/robotics_applications/pick_and_place_using_mtc/pick_and_place_using_mtc.md): Pick and place tasks describe a broad range of robotic applications like harvesting fruits, sorting items on a conveyor belt, or gearbox assembly. - [Saving, Loading, and Executing a Robot Trajectory using YAML Files](https://docs.picknik.ai/8/how_to/robotics_applications/save_and_load_trajectory/save_and_load_trajectory.md): How to save a motion planning solution or joint trajectory to a file, as well as how to load and execute it. - [Tool Changing, End Effector Swapping, and Vacuum Grippers](https://docs.picknik.ai/8/how_to/robotics_applications/tool_changing/tool_changing.md): Many applications require swapping grippers, end effectors, or tools during execution. - [Velocity / Force Control Setup and Usage](https://docs.picknik.ai/8/how_to/robotics_applications/velocity_force_control/velocity_force_control.md): Many applications require applying a controlled force on the environment along some axes, while moving at a velocity along other axes. - [Visual Servoing](https://docs.picknik.ai/8/how_to/robotics_applications/visual_servoing/visual_servoing.md): Many applications require aligning the arm end effector with respect to some (possibly moving) visual reference. - [Welcome](https://docs.picknik.ai/8/index.md): MoveIt Pro is the leading platform for developing advanced robotic arm applications, designed to empower roboticists, developers, and engineers wit... - [Quick Start Install](https://docs.picknik.ai/8/software_installation/software_installation.md): Quick Start Install - [Basic Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Basic%20MoveIt%20Pro%20Troubleshooting.md): Basic troubleshooting of MoveIt Pro. This guide includes some background information, error types, and problem solving approaches. - [Behavior Tree Troubleshooting](https://docs.picknik.ai/8/troubleshooting/BehaviorTree%20Troubleshooting.md): Behavior Tree troubleshooting of MoveIt Pro. This guide includes some general patterns to avoid and possible issues within a BehaviorTree. - [Installation Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Installation%20Troubleshooting.md): **Problem**: Your user group ID collides with an existing ID in the Docker image, so you need to build MoveIt Pro with a different group ID. - [Networking And PC Setup Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Networking%20and%20PC%20Setup%20Troubleshooting.md): **Problem**: In a multiple computer setup, I can ping the other computer but can't communicate with it via `ros2 run demo_nodes_py talker` + `ros2 ... - [Performance Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Performance%20Troubleshooting.md): Performance Troubleshooting - [Planning And Control Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Planning%20and%20Control%20Troubleshooting.md): **Problem**: My PlanMTCTask Behavior fails with error code PLANNING_FAILED. - [Real-time Performance and Trajectory Jitter Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Real-time%20Performance%20and%20Trajectory%20Jitter%20Troubleshooting.md): **Problem**: When running MoveIt Pro drivers container in real-time on x86/Intel or ARM/Nvidia Jetson platforms, arm motions show noticeable hitche... - [Robot Hardware And Cameras Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Robot%20Hardware%20and%20Cameras%20Troubleshooting.md): **Problem**: I cannot connect to my Realsense camera. - [Simulation Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Simulation%20Troubleshooting.md): **Problem**: I have a robot configured with a mutli-finger gripper, but after closing the gripper and moving the arm, the object slips from its fin... - [Uninstall MoveIt Pro](https://docs.picknik.ai/8/troubleshooting/Uninstall%20MoveIt%20Pro.md): To completely remove MoveIt Pro, including all user created configurations, possible older versions, and Docker images, run the following in your h... - [Xacro Troubleshooting](https://docs.picknik.ai/8/troubleshooting/Xacro%20Development%20and%20Troubleshooting.md): **Problem**: During development of a new configuration package, the robot_description can fail to be generated with the following error if there ar... - [Tutorial 2 - Runtime SDK & Extensions](https://docs.picknik.ai/8/tutorials/developer_platform_usage.md): Create custom robot configuration packages, build new Behavior plugins, and learn how to interact with MoveIt Pro through the runtime SDK. - [Tutorial 4 - Motion Planning](https://docs.picknik.ai/8/tutorials/motion_planning.md): Welcome to the motion planning tutorial! We will introduce advanced concepts in robotics including whole-body motion planning, mobile base navigati... - [Tutorial 3 - Perception & Machine Learning](https://docs.picknik.ai/8/tutorials/perception_%26_machine_learning.md): This tutorial teaches you how to use MoveIt Pro for tasks involving perception and machine learning. - [Tutorial 1 - Intro & Basic Usage](https://docs.picknik.ai/8/tutorials/quick_start_intro.md): Welcome to the first MoveIt Pro tutorial! We will teach you how to run example Objectives, as well as create your own. ## Release notes - [2.0.0](https://docs.picknik.ai/release-notes/2023-04-25-2.0.0.md): Major version increase. - [2.0.1](https://docs.picknik.ai/release-notes/2023-05-05-2.0.1.md): - Added documentation for launching MoveIt Studio with Gazebo simulation. - [2.0.2](https://docs.picknik.ai/release-notes/2023-05-05-2.0.2.md): - Fixed built-in pick and place Objectives for BT.CPP 4.1. - [2.1.0](https://docs.picknik.ai/release-notes/2023-05-25-2.1.0.md): - Added copying and pasting of Behaviors in the Objective Editor. - [2.1.1](https://docs.picknik.ai/release-notes/2023-05-30-2.1.1.md): - Adjust Subtree editing warnings in the Objective Editor. - [2.2.0](https://docs.picknik.ai/release-notes/2023-06-13-2.2.0.md): - Initial support for inclusion of Subtrees in Objectives, and for creating and modifying them through the Objective Editor. - [2.2.1](https://docs.picknik.ai/release-notes/2023-06-20-2.2.1.md): - Include frame ID checks when showing grasp candidates in the UI. - [2.2.2](https://docs.picknik.ai/release-notes/2023-06-22-2.2.2.md): - Fixing typos in the installation and launching documentation. - [2.2.3](https://docs.picknik.ai/release-notes/2023-06-29-2.2.3.md): - Change default MoveIt Studio application port usage. - [2.3.0](https://docs.picknik.ai/release-notes/2023-07-07-2.3.0.md): - MoveIt Studio now runs without root user. - [2.4.0](https://docs.picknik.ai/release-notes/2023-07-19-2.4.0.md): - Robot configuration packages now support multi-level inheritance. - [2.4.1](https://docs.picknik.ai/release-notes/2023-07-27-2.4.1.md): - Performance improvements for interactive marker based endpoint control. - [2.5.0](https://docs.picknik.ai/release-notes/2023-08-09-2.5.0.md): - Command-line interface updates - [2.5.1](https://docs.picknik.ai/release-notes/2023-08-11-2.5.1.md): - Fix issues mounting host directories for some shell environments. - [2.5.2](https://docs.picknik.ai/release-notes/2023-08-17-2.5.2.md): - Fix issues with rendering custom end effectors when previewing grasp poses. - [2.6.0](https://docs.picknik.ai/release-notes/2023-08-31-2.6.0.md): - Added automated monitoring and restart capabilities to MoveIt Studio backend services. - [2.7.0](https://docs.picknik.ai/release-notes/2023-09-20-2.7.0.md): - Simplified installation process by significantly reducing number of prompts in favor of default values. - [2.8.0](https://docs.picknik.ai/release-notes/2023-10-12-2.8.0.md): - Ability to teach pose offsets from AprilTags using the UI. - [2.8.1](https://docs.picknik.ai/release-notes/2023-10-18-2.8.1.md): - Fix startup problems that may prevent MoveIt Studio from launching on some machines. - [2.8.2](https://docs.picknik.ai/release-notes/2023-10-20-2.8.2.md): - Fix crashing issues for teleoperation when MoveIt Servo is misconfigured. - [2.9.0](https://docs.picknik.ai/release-notes/2023-11-02-2.9.0.md): - Upgrade to newer versions of MoveIt Task Constructor and MoveIt2. - [2.9.1](https://docs.picknik.ai/release-notes/2023-11-09-2.9.1.md): - Fix issues with collision checking in manual control. - [2.10.0](https://docs.picknik.ai/release-notes/2023-11-30-2.10.0.md): - New and modified perception Behaviors: - [2.11.0](https://docs.picknik.ai/release-notes/2023-12-12-2.11.0.md): - New Behaviors: - [3.0.0](https://docs.picknik.ai/release-notes/2024-01-11-3.0.0.md): Major version increase. - [3.0.1](https://docs.picknik.ai/release-notes/2024-01-29-3.0.1.md): - UI bug fixes - [4.0.0](https://docs.picknik.ai/release-notes/2024-02-14-4.0.0.md): Major version increase and rebrand to MoveIt Pro. - [3.0.2](https://docs.picknik.ai/release-notes/2024-02-16-3.0.2.md): - Add ability to authenticate licenses offline after one-time setup. - [4.0.1](https://docs.picknik.ai/release-notes/2024-02-25-4.0.1.md): - Add ability to authenticate licenses offline after one-time setup. - [4.0.2](https://docs.picknik.ai/release-notes/2024-03-04-4.0.2.md): - `moveit_pro build_workspace` reports if there are errors building or running the user Docker overlay. - [5.0.0](https://docs.picknik.ai/release-notes/2024-04-19-5.0.0.md): Major version increase. - [5.1.0](https://docs.picknik.ai/release-notes/2024-05-16-5.1.0.md): - MoveIt Pro no longer automatically launches RealSense cameras defined in the `cameras.yaml`. To better support different hardware configurations,... - [5.1.1](https://docs.picknik.ai/release-notes/2024-05-17-5.1.1.md): - Documentation fixes. - [5.2.0](https://docs.picknik.ai/release-notes/2024-05-31-5.2.0.md): - Added support for differential drive mobile manipulators. Please reference the configuration for the [Hello Robot Stretch RE1](https://github.com... - [5.3.0](https://docs.picknik.ai/release-notes/2024-06-25-5.3.0.md): - We are releasing a "Joint Trajectory with Admittance" controller (JTAC) as a `ros2_control` controller plugin, and a corresponding Behavior to in... - [5.3.1](https://docs.picknik.ai/release-notes/2024-07-03-5.3.1.md): - Alleviated a performance issue when running the joint jog mode of teleoperation - [5.3.2](https://docs.picknik.ai/release-notes/2024-07-09-5.3.2.md): - Fixed an issue where MoveIt Pro CLI commands could cause unnecessary rebuilding of the user workspace - [6.0.0](https://docs.picknik.ai/release-notes/2024-08-15-6.0.0.md): - [6.0.1](https://docs.picknik.ai/release-notes/2024-08-22-6.0.1.md): - Fixed an issue where Behavior Tree's live status could be ordered incorrectly. - [6.0.2](https://docs.picknik.ai/release-notes/2024-08-28-6.0.2.md): - Improve licence check message when launching MoveIt Pro - [6.1.0](https://docs.picknik.ai/release-notes/2024-09-04-6.1.0.md): When editing a Behavior Tree in the Build tab, the left-hand sidebar will suggest a handful of useful Behaviors that may be relevant to your curren... - [6.1.1](https://docs.picknik.ai/release-notes/2024-09-09-6.1.1.md): - Added a placeholder screen to the status visualizer when MoveIt Pro has been started but no Behavior Tree has been instantiated. - [6.2.0](https://docs.picknik.ai/release-notes/2024-10-08-6.2.0.md): The ability to plan around collisions and visualize your robot while exchanging tools has been a popular feature request by users. - [6.3.0](https://docs.picknik.ai/release-notes/2024-10-17-6.3.0.md): Enables use of Velocity Force Controller (VFC) as a Velocity-only controller if no force-torque sensor is available. - [6.3.1](https://docs.picknik.ai/release-notes/2024-10-23-6.3.1.md): - `moveit_pro configure` now lists packages in the workspace - [6.3.2](https://docs.picknik.ai/release-notes/2024-10-29-6.3.2.md): - Fixes a bug where vector types on the blackboard in a Behavior Tree that cross a Subtree boundary could throw an error related to converting betw... - [6.3.3](https://docs.picknik.ai/release-notes/2024-11-06-6.3.3.md): - Fixed a bug where the subsampling of trajectories generated via motion planning was not guaranteed to include the last point in the trajectory, w... - [6.4.0](https://docs.picknik.ai/release-notes/2024-11-07-6.4.0.md): * Added the `export_logs` CLI verb, creating a simple and efficient way to add log files to support requests. - [6.4.1](https://docs.picknik.ai/release-notes/2024-11-07-6.4.1.md): - Fixed a bug where the subsampling of trajectories generated via motion planning was not guaranteed to include the last point in the trajectory, w... - [6.5.0](https://docs.picknik.ai/release-notes/2024-12-01-6.5.0.md): - [6.5.1](https://docs.picknik.ai/release-notes/2024-12-18-6.5.1.md): - Fixed an issue where DDS tuning parameters were not correctly installed until after a reboot. - [6.5.2](https://docs.picknik.ai/release-notes/2024-12-23-6.5.2.md): - Fixed an issue where file conflicts could erroneously appear in the Objective editor. - [7.0.0](https://docs.picknik.ai/release-notes/2025-01-15-7.0.0.md): - Add trajectory stitching in the Joint Trajectory Admittance Controller. This enables the JTAC to stitch a new trajectory to a currently executing... - [7.0.1](https://docs.picknik.ai/release-notes/2025-01-16-7.0.1.md): - Fixed an issue where Objectives with nested Subtrees could take longer to load in the Build tab than expected. - [7.1.0](https://docs.picknik.ai/release-notes/2025-01-23-7.1.0.md): - ProRRT is now the default sampling-based joint-space planner used in all our example configs. - [7.2.0](https://docs.picknik.ai/release-notes/2025-02-06-7.2.0.md): - The `GetOdom` Behavior subscribes to an odometry message and stores it on the blackboard. - [7.3.0](https://docs.picknik.ai/release-notes/2025-02-21-7.3.0.md): The ability to get a pose by clicking in the UI has been added via the `GetPoseFromUser` Behavior. With this Behavior, you can prompt the user to c... - [7.4.0](https://docs.picknik.ai/release-notes/2025-03-06-7.4.0.md): ![Blackboard Introspection Viewer](./assets/blackboard-introspection-viewer.gif) - [7.5.0](https://docs.picknik.ai/release-notes/2025-03-18-7.5.0.md): ![Tool for Decimating Meshes to Speed Up Performance](./assets/decimation.png) - [7.5.1](https://docs.picknik.ai/release-notes/2025-03-19-7.5.1.md): - Fixed an issue where toggling the sidebar between open and closed did not work properly. - [7.6.0](https://docs.picknik.ai/release-notes/2025-04-03-7.6.0.md): ![Multi-tip Pose IK](./assets/multi-tip-ik.gif) - [7.6.1](https://docs.picknik.ai/release-notes/2025-04-04-7.6.1.md): - Fixed an issue where the auto workspace updater was not triggering submodule updates, resulting in outdated dependencies and failed builds. - [7.6.2](https://docs.picknik.ai/release-notes/2025-04-08-7.6.2.md): - Fixed an issue where the auto workspace updater was not triggering git-lfs submodule updates, resulting in outdated dependencies and failed builds. - [7.6.3](https://docs.picknik.ai/release-notes/2025-04-10-7.6.3.md): - Reverted the workspace version check to allow a smoother installation process. We will reintroduce the check in a future release. - [7.7.0](https://docs.picknik.ai/release-notes/2025-04-15-7.7.0.md): A small release before the upcoming 8.0 release... - [7.7.1](https://docs.picknik.ai/release-notes/2025-04-21-7.7.1.md): - Fixed an issue where MoveIt Pro writes Objective xml files with too much whitespace. - [8.0.0](https://docs.picknik.ai/release-notes/2025-05-15-8.0.0.md): We're proud to announce our latest major release - 8.0! - [8.0.1](https://docs.picknik.ai/release-notes/2025-05-16-8.0.1.md): - Fixed an issue where the Behavior Tree status visualizer would throw an error when loaded. - [8.1.0](https://docs.picknik.ai/release-notes/2025-05-27-8.1.0.md): In this release we focused on stability fixes and burning down a lot of "tech debt." - [6.5.3](https://docs.picknik.ai/release-notes/2025-06-03-6.5.3.md): - Fixed an issue where ROS dependencies aren't being installed due to an expired key. - [7.7.2](https://docs.picknik.ai/release-notes/2025-06-03-7.7.2.md): - Fixed an issue where ROS dependencies aren't being installed due to an expired key. - [8.1.1](https://docs.picknik.ai/release-notes/2025-06-03-8.1.1.md): - Fixed an issue where ROS dependencies aren't being installed due to an expired key. - [7.7.3](https://docs.picknik.ai/release-notes/2025-06-04-7.7.3.md): :::info - [8.2.0](https://docs.picknik.ai/release-notes/2025-06-10-8.2.0.md): Feeling crunched on screen space, but have multiple monitors? There is now a "New Window" option in the settings menu that opens MoveIt Pro in a ne... - [8.3.0](https://docs.picknik.ai/release-notes/2025-06-24-8.3.0.md): Introducing a more streamlined way to build Behavior Trees using a “+” button directly next to applicable Behaviors, like `Sequences`. This button ... - [8.3.1](https://docs.picknik.ai/release-notes/2025-07-21-8.3.1.md): - Fixed a handful of bugs in the satellite servicing simulation example. - [8.4.0](https://docs.picknik.ai/release-notes/2025-07-22-8.4.0.md): A ton of exciting new UI features are included in this release! - [8.5.0](https://docs.picknik.ai/release-notes/2025-08-08-8.5.0.md): Enhanced Visualize Pose Behavior to display text information in Marker messages for improved debugging and visualization. - [8.6.0](https://docs.picknik.ai/release-notes/2025-08-27-8.6.0.md): MoveIt Pro can now collect teleoperation data using the Meta Quest. Check out the [Hardware Guide](/hardware_guides/input_devices/setting_up_the_me... - [8.6.1](https://docs.picknik.ai/release-notes/2025-08-29-8.6.1.md): - Adds pick and place Objectives in factory_sim "Pick Brackets from Left Bin" and "Pick and Place Brackets from Left Bin" which demonstrate basic e... - [8.6.2](https://docs.picknik.ai/release-notes/2025-09-02-8.6.2.md): - Fixed version mismatch in 8.6.1 falsely reporting as 8.6.0 in the UI and causing a warning to occur about updating unnecessarily. - [8.7.0](https://docs.picknik.ai/release-notes/2025-09-16-8.7.0.md): We’re excited to announce a new and easier way to build Behavior Trees in MoveIt Pro using Large Language Models. A built-in text prompt is now dir... - [8.7.1](https://docs.picknik.ai/release-notes/2025-09-29-8.7.1.md): - Fixed a python `ImportError` for the name `Any` that shows when installing MoveIt Pro. - [8.8.0](https://docs.picknik.ai/release-notes/2025-10-22-8.8.0.md): Added support for multi-tip robots in the JTAC. - [8.8.1](https://docs.picknik.ai/release-notes/2025-10-28-8.8.1.md): - Added the `Convert CollisionObject To GraspableObject` Objective to the list of core MoveIt Pro Objectives. - [8.9.0](https://docs.picknik.ai/release-notes/2025-11-11-8.9.0.md): Added a toast message history list into a sidebar to view past errors, warnings, and info messages. Supports search and respects current log level ... - [8.9.1](https://docs.picknik.ai/release-notes/2025-12-02-8.9.1.md): - Fixed Behavior Tree not saving when only edges changed - [8.10.0](https://docs.picknik.ai/release-notes/2025-12-09-8.10.0.md): ![MoveIt Pro Core](assets/moveit-pro-core.jpg) - [8.10.1](https://docs.picknik.ai/release-notes/2025-12-30-8.10.1.md): - Running moveit_pro with the headless flag no longer checks for a running X server - [8.10.2](https://docs.picknik.ai/release-notes/2026-01-21-8.10.2.md): - Major performance improvements when running the UI. - [8.10.3](https://docs.picknik.ai/release-notes/2026-02-11-8.10.3.md): - Improved some `ServiceClientBehaviorBase` log statements by including the service name and timeout duration. - [9.0.0](https://docs.picknik.ai/release-notes/2026-02-12-9.0.0.md): This is a very exciting major release, full of new features! 🎁 - [9.1.0](https://docs.picknik.ai/release-notes/2026-04-03-9.1.0.md): ![ROS Jazzy Support](assets/ros-jazzy-support.png) - [9.1.1](https://docs.picknik.ai/release-notes/2026-04-07-9.1.1.md): - Exposed `set_jacobian_inverse_damping` in the Python `PathIKOptions` API, allowing users to tune the Jacobian inverse damping factor for Path IK ... - [8.10.4](https://docs.picknik.ai/release-notes/2026-04-08-8.10.4.md): - The performance of the UI and associated systems such as `rosbridge` was improved. - [8.10.5](https://docs.picknik.ai/release-notes/2026-04-21-8.10.5.md): - Fixed a bug where deleting a direct child of the root `BehaviorTree` node in the editor left the tree permanently empty — new Behaviors dragged o... - [9.2.0](https://docs.picknik.ai/release-notes/2026-04-29-9.2.0.md): ![Blending radius diagram](../docs/how_to/robotics_applications/stitch_trajectories/_static/images/blending_radius.svg) - [9.2.1](https://docs.picknik.ai/release-notes/2026-05-05-9.2.1.md): - New Objective XML files added to a watched library directory after backend startup now appear in the sidebar without a backend restart, and Subtr... - [8.10.6](https://docs.picknik.ai/release-notes/2026-05-12-8.10.6.md): - Reduced memory pressure from the Blackboard publishing large messages, increasing overall performance and preventing OOM on lower spec machines - [9.3.0](https://docs.picknik.ai/release-notes/2026-05-19-9.3.0.md): This is a big release of improvements, cleanup, and bug fixes! - [8.10.7](https://docs.picknik.ai/release-notes/2026-06-02-8.10.7.md): - Fixed Joint Trajectory Admittance Controller rejecting fresh trajectory goals with "The new trajectory does not contain any points after the last... - [9.3.1](https://docs.picknik.ai/release-notes/2026-06-02-9.3.1.md): - Camera topics are now collected over a backend topic instead of being polled through the API, making the UI more responsive and reflecting camera... - [9.4.0](https://docs.picknik.ai/release-notes/2026-06-24-9.4.0.md): ![Joint range constraint editor opened from the joint_range_constraint port on a PlanToJointGoal Behavior](./assets/joint-range-constraint-editor.png) - [9.4.1](https://docs.picknik.ai/release-notes/2026-07-07-9.4.1.md): - Fixed bin picking in `factory_sim` to sample grasp yaws and skip unpickable brackets. - [9.4.2](https://docs.picknik.ai/release-notes/2026-08-31-9.4.2.md): - The `zero_fts` service for the velocity force and joint trajectory admittance controllers can now average multiple force/torque samples before ap... - [10.0.0](https://docs.picknik.ai/release-notes/2026-09-01-10.0.0.md): :::info ROS Humble Support Removed - [8.10.8](https://docs.picknik.ai/release-notes/2026-09-01-8.10.8.md): - `SaveMTCTaskInspection` exports all MoveIt Task Constructor (MTC) task introspection data (stage tree, statistics, every solution and failure, in... - [9.4.3](https://docs.picknik.ai/release-notes/2026-09-16-9.4.3.md): - [10.1.0](https://docs.picknik.ai/release-notes/2026-09-18-10.1.0.md): ![The joint_costs port on a PlanToJointGoal Behavior in the Objective editor, set to make the three mobile base joints ten times as expensive to mo...