MoveIt Pro Technical Specifications

Built by the team behind the open-source MoveIt framework, MoveIt Pro is a commercial platform for developing, simulating, and deploying advanced robot manipulation applications. This page covers its computer, software, and robot hardware requirements, along with a summary of currently available features.

Products

MoveIt Pro ships as three products with differing hardware and software requirements.

MoveIt Pro Developer Platform	MoveIt Pro Runtime	MoveIt Pro Core
Build, simulate, and test robot apps. UI for visualizing, debugging, and editing Behavior Trees. High-fidelity physics simulator. Collect robot training data through teleoperation.	Real-time libraries embedded on the deployed robot. No compiling or simulation — runs on lower-spec hardware. For production deployment.	Real-time controllers. Inverse kinematics solvers. Planners. Minimum dependencies.

Computer Requirements

MoveIt Pro Developer Platform

Recommended CPU	More than 8 cores
Minimum RAM	32 GB
GPU	Required for Simulation
Minimum VRAM	4 GB
Disk Space	20 GB available, plus up to 5 GB additional for NVIDIA GPUs

MoveIt Pro Runtime

Recommended CPU	8 cores, 2.2 GHz each
Minimum RAM	8 GB
GPU	Required for Machine Learning
Minimum VRAM	4 GB
Recommended Computers	NVIDIA Jetson Orin DevKit Neousys NRU-230V-AWP
Disk Space	20 GB available, plus up to 5 GB additional for NVIDIA GPUs

MoveIt Pro Core

Minimum requirements, custom to your needs.

Recommended CPU	Tailored to your deployment
Minimum RAM	Tailored to your deployment
GPU	Not required
Disk Space	200 MB

Common Computer Requirements

CPU Architecture	Modern multi-core 64-bit workstation CPU (x86-64 or ARM64)
Optional GPU for ML	NVIDIA GPU (recommended) No GPU is generally supported but incurs high model latency (falls back to CPU) Intel, Qualcomm, and Apple GPUs/NPUs are coming soon The VRAM recommendation is for running models; training models requires additional VRAM

MoveIt Pro Runtime

The MoveIt Pro Runtime is the realtime set of libraries that embed with your deployed robot system. It runs on lower-spec hardware than the Developer Platform — see the Runtime tab under Computer Requirements — with the additional software specifications below.

Operating Systems Currently Supported	Tier 1 (Recommended): Ubuntu Linux 22.04 Ubuntu Linux 24.04 Ubuntu Linux 26.04 Tier 2 (Less Recommended): Debian Linux Bookworm Debian Linux Trixie Parallels for macOS with Ubuntu WSL2 for Windows with Ubuntu
OS Privileges	Root user (sudo) privileges are required for installation and setup
ROS Versions 1	ROS 2 Humble ROS 2 Jazzy No ROS required on your host system, pre-installed in Docker containers for you
DDS Version 1	Cyclone DDS (recommended) FastDDS No DDS required on your host system, pre-installed in Docker containers for you See Customize DDS Configuration for more info.
Release Method	Debian / RPM package that downloads Docker containers
Robot Arm Model Format	URDF robot model for use with hardware or kinematic simulations. Supports .dae or .obj for full color and texture rendering, and .stl for simple coloring. MJCF robot model to define physics such as inertia and actuator characteristics for a digital twin and model predictive control.
Low-Level Control Interface	The ROS 2 Control API is used to command your robot using the following required control modalities: Joint trajectory control: control_msgs/FollowJointTrajectory MoveIt Pro provides admittance control, which can be added on top of this interface to allow compliance during trajectory execution. Joint state feedback: sensor_msgs/JointState Other control modalities: Cartesian streaming control: geometry_msgs/TwistStamped Joint streaming control: trajectory_msgs/JointTrajectory, control_msgs/JointJog Preferred controllers: MoveIt Pro Joint Trajectory with Admittance controller MoveIt Pro Velocity-Force controller MoveIt Pro Joint Velocity controller, using the JointJog interface Other supported controller interfaces: Joint Trajectory and Joint Position controllers from ros2_control
Recommended Control Speed	500 Hz arm command rate or faster 500 Hz arm status rate or faster
Gripper Control Interface	Preferred control modality: GripperActionController Ideally supports stalling and effort limiting for grasping
Optional Mobile Base Requirements	Whole Body Control Mobile base controller that provides velocity interfaces for the base. For an omnidirectional base, the controller needs to offer x, y, and theta velocity interfaces that can be directly connected to the JointTrajectoryController. Navigation Support (Nav2) Mobile base controller should take a geometry_msgs/msg/Twist message and convert it into wheel velocities. Localization requires an algorithm that publishes the transform from the base_link frame to the map or odom frame.

¹ Contact PickNik about support for other distributions.

MoveIt Pro Developer Platform

The Developer Platform is the user interface for configuring MoveIt Pro and building Behavior Trees, as well as providing robot operator teleoperation, robot recovery, and debugging. Customers are welcome to use their own user interface with just the MoveIt Pro Runtime, without the Developer Platform.

Web Browsers	Any up-to-date browser: Chromium, Chrome, Safari, Firefox, Edge
Minimum Screen Resolution	1024 x 768 pixels

Robot Hardware Specifications

Gold-Tier Supported Robot Arms

The following brands and models of robot arms are officially supported by PickNik at no additional integration cost, and should work out of the box. If you encounter issues with the integration, contact our support team to investigate on your behalf. Additional integration work or cost may be required for your chosen end effector.

MoveIt Pro can work with all brands of robot hardware and end effectors, but additional time-and-materials integration fees may be required, or your team can attempt the integration yourself.

Brand	Model(s)	Notes
Universal	e-Series, cb3 Series	Online Guide. We recommend Polyscope 5. PolyscopeX does not currently support the tool communication port.
FANUC	CRX Series	Online Guide. ROS is supported with most control boxes. Confirm your specific control box's compatibility through FANUC support.
KUKA	KR Cybertech Series	Online Guide. ROS is supported with most control boxes. Confirm your specific control box's compatibility through KUKA support.
Kinova	Gen3	Online Guide
Franka	FR3	Online Guide
ABB	IRB Series
UFactory	XArm Series
Elite	CS Series

General Hardware Requirements

Supported Robot Arm Types	Dual-arm and multi-arm N-degree-of-freedom (DOF) robot arms — full feature set support: 6+ DOF; limited feature set support: 3–5 DOF See our hardware ecosystem page for full compatibility.
Supported Robot Morphologies	Linear rail Wheeled AMR / AGV Wheeled humanoid Torso
Recommended End Effectors	Parallel jaw grippers Vacuum grippers Other gripper modalities are possible; see the hardware ecosystem page.
Minimum Cartesian Pose Repeatability (Recommended)	+/- 1 mm (+/- 0.039 in) relative to the robot base
Maximum Trajectory Tracking Error (Recommended)	+/- 10 mm (+/- 0.39 in) measured at the robot's tool flange
Force/Torque Control (optional)	Preferred: Wrist-based 6-axis F/T sensor. Many of our Behaviors perform better with a force/torque controller on the end effector. Not required for all Behaviors. Less ideal due to sensor noise: Joint-based torque sensors. A calculated end effector wrench must be provided using a dynamic model of the robot. PickNik's services team can implement these features for additional cost.
Camera Requirements (optional)	Cameras, structured light scanners, and other sensors are supported if they are compatible with the ROS image_pipeline API. For best experience, two cameras are recommended: a wrist-mounted camera and a scene camera (mounted behind/above the robot).
Recommended Depth Cameras (optional)	Intel RealSense D400 series See our hardware ecosystem page for full compatibility.
Optional User Interface Devices	Game controller (e.g. Xbox) Haply 6-DOF input device Tablet computer with integrated gamepad (e.g. Steam Deck) Meta Quest VR headset

Currently Available Features

There are always new features being released, and some are likely not yet mentioned in this document. See the rest of our documentation, Technical Product Tour, and release notes for more feature information.

Motion Control Features

MoveIt Pro is a hardened, warrantied, and well-supported version of MoveIt designed to give you better results for your motion planning needs.

Motion Planning	Multi-arm joint-space motion planning Deterministic global motion planning Collision checking Planning with end effector constraints Inverse kinematics: pose IK and path IK Waypoint following with blended trajectories Arm/visual servoing Singularity avoidance Online collision checking Arm nullspace management
Cartesian Motion Planning	Underconstrained planning; can solve for poly-line paths in 3D Blending at corners: no stopping at intermediate waypoints Well-behaved at singularities Support for additional (nullspace) joint-space tasks
Controls	Real-time-safe Joint Trajectory With Admittance Control (JTAC) 3D user interface for tuning the spring-mass-damper axes and values at runtime Real-time-safe Cartesian velocity/force controller (VFC), robust at singularities Cartesian-space and joint-space velocity and acceleration limits Explicit force references on force-controlled axes Time-optimal trajectory smoothing Kinematic time parameterization Time-optimal velocity + acceleration limit parameterization Jerk-limit smoothing Joint Jog teleoperation for direct joint velocity control, with continuous collision checking Trajectory stitching: blend a sequence of trajectories into one smooth motion, removing full stops between segments
Motion Task Planning	Multi-step motion plans with constraints that avoid local workspace minima and singularities MoveIt Pro motion task planning debugger to show which steps prevent successful plans
Grasping	Geometric-based grasp generation library for picking basic shapes 2-finger grippers Suction cup grippers
Machine-Learning-Based Grasping	Point-cloud-based ML grasp generation for picking objects using a 2-finger gripper; best for soft objects

Machine Vision Features

Machine-Learning-Based Perception	Segmentation of a single object in an image by clicking on the object Segmentation of objects in an image by providing a text description Automatic segmentation of all objects in an image, without classification Exemplar-based segmentation: segment objects matching a provided example image, text prompt, or bounding box (SAM3) Open-vocabulary 2D localization via a vision-language model (Google Gemini Robotics-ER)
Point Cloud Perception	3D object registration from STL mesh
RGB Perception	AprilTag identification and tracking 3D user interface for defining a grasp relative to an AprilTag Geometric cuboid detection (for pick-and-place applications) Octomap collision checking Merging & downsampling of multiple point clouds
Camera Calibration	Extrinsic camera calibration via checkerboard pattern

Developer Features

The developer tools for creating new robot applications with MoveIt Pro and Behavior Trees. All feature availability depends on actuator and sensor capabilities.

3D Visualizer	Preview arm motions before execution Display planned trajectory information such as planners used Display planning scene Display AR markers, such as grasps and detected objects Display point clouds
Behavior Tree Editor	From a user interface: Create and edit Behavior Tree "Objectives" — robot applications Edit a Behavior Tree's input and output ports Create, reuse, collapse, and uncollapse Subtrees Insert Behavior Tree breakpoints Visual editors for complex data types such as admittance parameters and constraints
Behavior Tree Visualization View	View Behavior Tree status in real time using the visualizer Step through Behavior Tree breakpoints
Behavior Extensibility	Create your own application-specific Behavior extensions Use an assistant to auto-generate boilerplate code templates Develop these plugins in C++
Motion Task & Task Sequencing Planning	Create Behavior Trees with multi-step motion plans Automatic generation of Behavior Trees from symbolic task plans
Camera Views	Image streaming via sensor_msgs/msg/Image Ability to switch between multiple camera views
Remote Connectivity	Program and control robotics applications from a web browser, from anywhere Reset robot faults from the web interface, remotely Multiple systems or operators can use the web interface simultaneously

Manual Control & Teleoperation Features

Manual Robot Control	Move to saved, user-editable poses Control a robot arm at the Cartesian end effector level Move the arm to a dragged end effector pose Control a robot arm at the joint level, obeying joint limits Adjust the speed of motion Teleoperate the robot and collect training data using a Meta Quest VR headset
Human in the Loop / Supervised Autonomy	Pick up basic cuboid objects with "click to pick" (may require manual adjustment to the exact grasp positions; limited by the width of the physical gripper) Press physical buttons selected from a camera view (requires F/T control) Open standard cabinets with front-facing handles — the operator clicks the cabinet handle in a 2D image and the robot completes the rest (requires F/T control and admittance control) Open lever-handle doors (depends on reachability of the arm)
Situational Awareness	Inspect a surface or move the arm closer to an area by clicking on a 2D image Take a point cloud snapshot and generate a voxel map for collision-aware motion planning Detect cuboid objects on a planar surface for pick-and-place applications