diff --git a/src/fanuc_sim/config/config.yaml b/src/fanuc_sim/config/config.yaml
index be3aff45..a65f9e0f 100644
--- a/src/fanuc_sim/config/config.yaml
+++ b/src/fanuc_sim/config/config.yaml
@@ -69,13 +69,13 @@ moveit_params:
     path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
   kinematics:
     package: "fanuc_sim"
-    path: "config/moveit/trac_ik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "fanuc_sim"
     path: "config/moveit/servo.yaml"
   servo_kinematics:
     package: "fanuc_sim"
-    path: "config/moveit/trac_ik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "fanuc_sim"
     path: "config/moveit/joint_limits.yaml"
diff --git a/src/fanuc_sim/config/moveit/bioik_kinematics.yaml b/src/fanuc_sim/config/moveit/bioik_kinematics.yaml
deleted file mode 100644
index 4ffbf687..00000000
--- a/src/fanuc_sim/config/moveit/bioik_kinematics.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-manipulator:
-  kinematics_solver: bio_ik/BioIKKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  mode: gd_c
-  dpos: 0.0001
-  drot: 0.0001
diff --git a/src/fanuc_sim/config/moveit/pose_ik_distance.yaml b/src/fanuc_sim/config/moveit/pose_ik_distance.yaml
new file mode 100644
index 00000000..69e4c7c6
--- /dev/null
+++ b/src/fanuc_sim/config/moveit/pose_ik_distance.yaml
@@ -0,0 +1,5 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
diff --git a/src/fanuc_sim/config/moveit/pose_ik_speed.yaml b/src/fanuc_sim/config/moveit/pose_ik_speed.yaml
new file mode 100644
index 00000000..a6da46a9
--- /dev/null
+++ b/src/fanuc_sim/config/moveit/pose_ik_speed.yaml
@@ -0,0 +1,4 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
diff --git a/src/fanuc_sim/config/moveit/trac_ik_kinematics_distance.yaml b/src/fanuc_sim/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/fanuc_sim/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/fanuc_sim/config/moveit/trac_ik_kinematics_speed.yaml b/src/fanuc_sim/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/fanuc_sim/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/fanuc_sim/package.xml b/src/fanuc_sim/package.xml
index 3e125fd9..b8cb0675 100644
--- a/src/fanuc_sim/package.xml
+++ b/src/fanuc_sim/package.xml
@@ -18,7 +18,6 @@
   <exec_depend>moveit_ros_perception</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_studio_behavior</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
 
diff --git a/src/lab_sim/config/moveit/trac_ik_kinematics_distance.yaml b/src/lab_sim/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/lab_sim/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/lab_sim/config/moveit/trac_ik_kinematics_speed.yaml b/src/lab_sim/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/lab_sim/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/lab_sim/package.xml b/src/lab_sim/package.xml
index 9f21fda3..00cb9ed0 100644
--- a/src/lab_sim/package.xml
+++ b/src/lab_sim/package.xml
@@ -25,7 +25,6 @@
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_robot_driver</exec_depend>
   <exec_depend>picknik_mujoco_ros</exec_depend>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
index 03693ed5..5aaf2e2f 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
@@ -76,7 +76,7 @@ moveit_params:
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
     package: "kinova_gen3_base_config"
-    path: "config/moveit/trak_ik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "kinova_gen3_base_config"
     path: "config/moveit/kinova_gen3_servo.yaml"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/kinematics.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/kinematics.yaml
deleted file mode 100644
index 5d492ac1..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/kinematics.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml
new file mode 100644
index 00000000..69e4c7c6
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml
@@ -0,0 +1,5 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/trak_ik_kinematics_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/trak_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/trak_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml
index 58219e9a..98ff3036 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml
@@ -87,7 +87,7 @@ moveit_params:
     path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
   kinematics:
     package: "kinova_gen3_mujoco_config"
-    path: "config/moveit/trac_ik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "kinova_gen3_mujoco_config"
     path: "config/moveit/kinova_gen3_servo.yaml"
@@ -96,7 +96,7 @@ moveit_params:
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
     package: "kinova_gen3_mujoco_config"
-    path: "config/moveit/trac_ik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "kinova_gen3_mujoco_config"
     path: "config/moveit/joint_limits.yaml"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/bioik_kinematics.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/bioik_kinematics.yaml
deleted file mode 100644
index 4ffbf687..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/bioik_kinematics.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-manipulator:
-  kinematics_solver: bio_ik/BioIKKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  mode: gd_c
-  dpos: 0.0001
-  drot: 0.0001
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/kinematics.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/kinematics.yaml
deleted file mode 100644
index 5d492ac1..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/kinematics.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_distance.yaml
new file mode 100644
index 00000000..69e4c7c6
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_distance.yaml
@@ -0,0 +1,5 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_speed.yaml
new file mode 100644
index 00000000..a6da46a9
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_speed.yaml
@@ -0,0 +1,4 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trak_ik_kinematics_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trak_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trak_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/package.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/package.xml
index 7b94036b..2bd9aa35 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/package.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/package.xml
@@ -22,7 +22,6 @@
   <depend>picknik_accessories</depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_robot_driver</exec_depend>
   <exec_depend>picknik_mujoco_ros</exec_depend>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/package.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/package.xml
index 8121bd07..ce3395cb 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/package.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/package.xml
@@ -25,7 +25,6 @@
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_robot_driver</exec_depend>
   <exec_depend>picknik_mujoco_ros</exec_depend>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml b/src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml b/src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
index 3081ca36..51cb4a32 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
@@ -24,7 +24,6 @@
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_robot_driver</exec_depend>
   <exec_depend>picknik_mujoco_ros</exec_depend>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
index 5d09c7c9..46450fe1 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
@@ -102,7 +102,7 @@ moveit_params:
     path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
   kinematics:
     package: "picknik_ur_base_config"
-    path: "config/moveit/trac_ik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "picknik_ur_base_config"
     path: "config/moveit/ur_servo.yaml"
@@ -111,7 +111,7 @@ moveit_params:
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
     package: "picknik_ur_base_config"
-    path: "config/moveit/trac_ik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "picknik_ur_base_config"
     path: "config/moveit/joint_limits.yaml"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml
deleted file mode 100644
index 4ffbf687..00000000
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-manipulator:
-  kinematics_solver: bio_ik/BioIKKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  mode: gd_c
-  dpos: 0.0001
-  drot: 0.0001
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_distance.yaml
new file mode 100644
index 00000000..69e4c7c6
--- /dev/null
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_distance.yaml
@@ -0,0 +1,5 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_speed.yaml
new file mode 100644
index 00000000..a6da46a9
--- /dev/null
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_speed.yaml
@@ -0,0 +1,4 @@
+manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/package.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/package.xml
index a69e0f8c..6fe4d9e0 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/package.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/package.xml
@@ -25,7 +25,6 @@
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_robot_driver</exec_depend>
 
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml
index 42ed49ab..e7666f7a 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml
+++ b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml
@@ -92,7 +92,7 @@ moveit_params:
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
     package: "picknik_ur_multi_arm_config"
-    path: "config/moveit/trac_ik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "picknik_ur_multi_arm_config"
     path: "config/moveit/multi_ur_servo.yaml"
@@ -101,7 +101,7 @@ moveit_params:
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
     package: "picknik_ur_multi_arm_config"
-    path: "config/moveit/trac_ik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "picknik_ur_multi_arm_config"
     path: "config/moveit/multi_arm_joint_limits.yaml"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_distance.yaml
new file mode 100644
index 00000000..b5fe641d
--- /dev/null
+++ b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_distance.yaml
@@ -0,0 +1,20 @@
+first_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
+second_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
+third_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
+fourth_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "optimize_distance"
+  optimization_timeout: 0.005
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_speed.yaml
new file mode 100644
index 00000000..59eff765
--- /dev/null
+++ b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_speed.yaml
@@ -0,0 +1,16 @@
+first_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
+second_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
+third_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
+fourth_manipulator:
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
+  target_tolerance: 0.001
+  solve_mode: "first_found"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index cd2298ef..00000000
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-first_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
-second_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
-third_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
-fourth_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 406d9e87..00000000
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-first_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
-second_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
-third_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
-fourth_manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/package.xml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/package.xml
index 255ea2f6..f31fc46a 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/package.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/package.xml
@@ -24,7 +24,6 @@
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_robot_driver</exec_depend>