diff --git a/src/lite6_controller/launch/lite6_gazebo.launch.py b/src/lite6_controller/launch/lite6_gazebo.launch.py
index 66a6f26..5cc3740 100644
--- a/src/lite6_controller/launch/lite6_gazebo.launch.py
+++ b/src/lite6_controller/launch/lite6_gazebo.launch.py
@@ -371,10 +371,14 @@ def launch_setup(context, *args, **kwargs):
             'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
             'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
             "default_planner_config": "PTP",
-            "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
         }
     }
 
+    move_group_capabilities = {
+        "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
+    }
+
+
 
     # Moveit controllers Configuration
     moveit_controllers = {
@@ -420,6 +424,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description_parameters,
             #ompl_planning_pipeline_config,
             pilz_planning_pipeline_config,
+            move_group_capabilities,
             trajectory_execution,
             plan_execution,
             moveit_controllers,
diff --git a/src/lite6_controller/launch/lite6_real.launch.py b/src/lite6_controller/launch/lite6_real.launch.py
index 3a0e065..716008f 100644
--- a/src/lite6_controller/launch/lite6_real.launch.py
+++ b/src/lite6_controller/launch/lite6_real.launch.py
@@ -233,10 +233,13 @@ def launch_setup(context, *args, **kwargs):
             'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
             'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
             "default_planner_config": "PTP",
-            "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
         }
     }
 
+    move_group_capabilities = {
+        "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
+    }
+
     # Start the actual move_group node/action server
     move_group_node = Node(
         package='moveit_ros_move_group',
@@ -246,6 +249,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description_parameters,
             #ompl_planning_pipeline_config,
             pilz_planning_pipeline_config,
+            move_group_capabilities,
             trajectory_execution,
             plan_execution,
             moveit_controllers,
diff --git a/src/lite6_controller/launch/lite6_real_no_gui.launch.py b/src/lite6_controller/launch/lite6_real_no_gui.launch.py
index 76fa872..13af15a 100644
--- a/src/lite6_controller/launch/lite6_real_no_gui.launch.py
+++ b/src/lite6_controller/launch/lite6_real_no_gui.launch.py
@@ -198,10 +198,13 @@ def launch_setup(context, *args, **kwargs):
             'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
             'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
             "default_planner_config": "PTP",
-            "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
         }
     }
 
+    move_group_capabilities = {
+        "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
+    }
+
     # Moveit controllers Configuration
     moveit_controllers = {
         moveit_controller_manager_key.perform(context): controllers_yaml,
@@ -246,6 +249,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description_parameters,
             #ompl_planning_pipeline_config,
             pilz_planning_pipeline_config,
+            move_group_capabilities,
             trajectory_execution,
             plan_execution,
             moveit_controllers,