diff --git a/src/example_behaviors/COLCON_IGNORE b/src/example_behaviors/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/src/fanuc_sim/CMakeLists.txt b/src/fanuc_sim/CMakeLists.txt
index ace747cd..e3d195d7 100644
--- a/src/fanuc_sim/CMakeLists.txt
+++ b/src/fanuc_sim/CMakeLists.txt
@@ -14,7 +14,6 @@ set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
 install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
         DESTINATION "${DEST_DIR}"
         FILES_MATCHING PATTERN "*")
-        
 install(
   DIRECTORY
     config
diff --git a/src/lab_sim/config/config.yaml b/src/lab_sim/config/config.yaml
index 538cc7d9..f784a7d9 100644
--- a/src/lab_sim/config/config.yaml
+++ b/src/lab_sim/config/config.yaml
@@ -42,7 +42,6 @@ objectives:
       - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_studio::behaviors::ServoBehaviorsLoader"
       - "moveit_studio::behaviors::VisionBehaviorsLoader"
-      - "example_behaviors::ExampleBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
diff --git a/src/lab_sim/objectives/pick_and_place_example.xml b/src/lab_sim/objectives/pick_and_place_example.xml
index 4529916f..49c844c9 100644
--- a/src/lab_sim/objectives/pick_and_place_example.xml
+++ b/src/lab_sim/objectives/pick_and_place_example.xml
@@ -24,6 +24,7 @@
           task="{mtc_pick_task}"
         />
         <Action ID="SetupMTCCurrentState" task="{mtc_pick_task}" />
+        <!-- The following behavior can be found in the example_behaviors package. Remove the COLCON_IGNORE file and `moveit_pro build user_workspace` to use. -->
         <Action
           ID="SetupMtcPickFromPose"
           grasp_pose="{pick_pose}"
@@ -51,6 +52,7 @@
           orientation_xyzw="0;1;0;0"
           stamped_pose="{place_pose}"
         />
+        <!-- The following behavior can be found in the example_behaviors package. Remove the COLCON_IGNORE file and `moveit_pro build user_workspace` to use. -->
         <Action
           ID="SetupMtcPlaceFromPose"
           place_pose="{place_pose}"
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
index 0c9a7ed6..fe26aee1 100644
--- a/src/lab_sim/objectives/plan_and_save_trajectory.xml
+++ b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -39,6 +39,7 @@
       />
       <Action ID="PlanMTCTask" solution="{mtc_solution}" task="{mtc_task}" />
       <Action ID="WaitForUserTrajectoryApproval" />
+      <!-- The following behavior can be found in the example_behaviors package. Remove the COLCON_IGNORE file and `moveit_pro build user_workspace` to use. -->
       <Action
         ID="ConvertMtcSolutionToJointTrajectory"
         joint_trajectory="{joint_trajectory_msg}"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro
new file mode 100644
index 00000000..f0533e2e
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="load_robot" params="
+    parent
+    *origin
+    prefix
+    arm
+    gripper
+    gripper_joint_name
+    dof
+    vision
+    robot_ip
+    username
+    password
+    port
+    port_realtime
+    session_inactivity_timeout_ms
+    connection_inactivity_timeout_ms
+    use_internal_bus_gripper_comm:=false
+    use_fake_hardware:=false
+    fake_sensor_commands:=false
+    sim_gazebo:=false
+    sim_ignition:=false
+    sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
+    use_external_cable:=false
+    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
+    gripper_max_velocity:=100.0
+    gripper_max_force:=100.0
+    gripper_com_port:=/dev/ttyUSB0
+    moveit_active:=false">
+
+    <!-- Include and load arm macro files -->
+    <xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_macro.xacro" />
+
+    <!-- Load the arm -->
+    <xacro:load_arm
+      parent="${parent}"
+      dof="${dof}"
+      vision="${vision}"
+      robot_ip="${robot_ip}"
+      username="${username}"
+      password="${password}"
+      port="${port}"
+      port_realtime="${port_realtime}"
+      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+      prefix="${prefix}"
+      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+      use_fake_hardware="${use_fake_hardware}"
+      fake_sensor_commands="${fake_sensor_commands}"
+      sim_gazebo="${sim_gazebo}"
+      sim_ignition="${sim_ignition}"
+      sim_isaac="${sim_isaac}"
+      gripper_joint_name="${gripper_joint_name}"
+      gripper_max_velocity="${gripper_max_velocity}"
+      gripper_max_force="${gripper_max_force}"
+      use_external_cable="${use_external_cable}"
+      initial_positions="${initial_positions}">
+      <xacro:insert_block name="origin" />
+    </xacro:load_arm>
+
+    <!-- If no gripper, define tool frame here -->
+    <xacro:if value="${not gripper}">
+      <link name="${prefix}tool_frame"/>
+      <joint name="${prefix}tool_frame_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="${prefix}${last_arm_link}" />
+        <child link="${prefix}tool_frame" />
+        <axis xyz="0 0 0" />
+      </joint>
+    </xacro:if>
+
+    <!-- Include and load the gripper if defined -->
+    <xacro:unless value="${not gripper}">
+      <xacro:include filename="$(find kinova_gen3_base_config)/description/robotiq_2f_85_macro.xacro" />
+      <!-- last_arm_link is defined in "$(find kortex_description)/arms/${arm}/urdf/${arm}_macro.xacro" -->
+      <xacro:load_gripper
+        parent="${prefix}${last_arm_link}"
+        prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        com_port="${gripper_com_port}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        moveit_active="${moveit_active}"/>
+    </xacro:unless>
+
+  </xacro:macro>
+
+</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro
index 57f5aaae..fdb64cd8 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro
@@ -26,7 +26,7 @@
     <xacro:arg name="wrist_realsense" default="true" />
 
     <!-- Import macros for main hardware components -->
-    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:include filename="$(find kinova_gen3_base_config)/description/kortex_robot.xacro" />
     <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
 
     <!-- Import environment macros -->
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
new file mode 100644
index 00000000..3f7e6316
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="robotiq_2f_85_model" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="load_gripper" params="
+    parent
+    prefix
+    use_fake_hardware:=false
+    fake_sensor_commands:=false
+    sim_ignition:=false
+    sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
+    use_internal_bus_gripper_comm:=false
+    com_port:=/dev/ttyUSB0
+    moveit_active:=false">
+    <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
+
+    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
+    <xacro:property name="include_ros2_control" value="false"/>
+    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
+      <xacro:property name="include_ros2_control" value="true"/>
+    </xacro:if>
+
+    <xacro:robotiq_gripper
+        name="RobotiqGripperHardwareInterface"
+        prefix="${prefix}"
+        parent="${parent}"
+        include_ros2_control="${include_ros2_control}"
+        com_port="${com_port}"
+        use_fake_hardware="${use_fake_hardware}"
+        mock_sensor_commands="${fake_sensor_commands}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:robotiq_gripper>
+  </xacro:macro>
+</robot>
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
index a3218ad5..331cc32b 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="00 Solution - Move to Initial Pose"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="00 Solution - Move to Initial Pose"
     _description="Move to a pre-defined waypoint"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
index 864e0a27..92d0ad90 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/01_solution_-_create_a_pose.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="01 Solution - Create a Pose">
   <!--//////////-->
   <BehaviorTree
     ID="01 Solution - Create a Pose"
     _description="Creates a pose relative to a frame"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
index 8ad5dde6..977bb5f7 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/02_solution_-_visualize_a_pose.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="02 Solution - Visualize a Pose">
   <!--//////////-->
   <BehaviorTree
     ID="02 Solution - Visualize a Pose"
     _description="Creates a pose and visualizes it"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
index b17e352d..2d1c8064 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/03_solution_-_pose_2m_above_the_robot.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="03 Solution - Pose 2m above the robot"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="03 Solution - Pose 2m above the robot"
     _description="Creates a visualizes a pose 2m right above the robot 'base_link'"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
index 8f201381..ba9bc3e2 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/05_solution_-_define_a_path.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="05 Solution - Define a path">
   <!--//////////-->
   <BehaviorTree
     ID="05 Solution - Define a path"
     _description="Creates a simple path with two waypoints"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
index e60debc8..ed03d8ab 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/06_solution_-_visualize_a_path.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="06 Solution - Visualize a path">
   <!--//////////-->
   <BehaviorTree
     ID="06 Solution - Visualize a path"
     _description="How to visualize a path"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
index e86d9589..a3f5ad5d 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/07_solution_-_plan_motion_for_a_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="07 Solution - Plan motion for a path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="07 Solution - Plan motion for a path"
     _description="Given a path, plans the motion for the robot joints"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
index 93907cd7..256eb4f1 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/08_solution_-_execute_path_plan.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="08 Solution - Execute path plan">
   <!--//////////-->
   <BehaviorTree
     ID="08 Solution - Execute path plan"
     _description="Plans joint-space motion to track a path, and executes it"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
index 394b30be..8d5cb54a 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/09_solution_-_an_infeasible_path.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="09 Solution - An infeasible path">
   <!--//////////-->
   <BehaviorTree
     ID="09 Solution - An infeasible path"
     _description="An example of a path that is not feasible"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
index f22d769b..3e335c04 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/10_solution_-_visualize_path_error.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="10 Solution - Visualize path error"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="10 Solution - Visualize path error"
     _description="How to visualize what's going on with an infeasible path"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml
index cb0f2f30..e5553b27 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/12_solution_-_constrain_orientation.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="12 Solution - Constrain orientation"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="12 Solution - Constrain orientation"
     _description="How to constrain end-effector orientation along paths"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml
index bdba5324..24bbdff9 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/13_solution_-_load_a_path_from_file.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="13 Solution - Load a path from file"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="13 Solution - Load a path from file"
     _description="Loads a complex path from a file, and visualizes it"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="LoadPoseStampedVectorFromYaml" file_path="path.yaml" />
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml
index 80c42b30..6d12c405 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/15_solution_-_a_path_that_collides.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="15 Solution - A path that collides"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="15 Solution - A path that collides"
     _description="An example of a path kinematically feasible, but colliding"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml
index 33d201e6..cc9fb3aa 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/16_solution_-_checking_for_collisions.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="16 Solution - Checking for collisions"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="16 Solution - Checking for collisions"
     _description="How to check if a plan will collide"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml
index 1ac2bbb5..68a5fbd3 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/17_solution_-_execute_the_feasible_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="17 Solution - Execute the feasible path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="17 Solution - Execute the feasible path"
     _description=""
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml
index c86e86e8..8c9e5859 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/18_solution_-_define_a_coverage_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="18 Solution - Define a coverage path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="18 Solution - Define a coverage path"
     _description="Automatically creates a path to cover a rectangular area"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml
index d9890900..3c3fb7b1 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/19_solution_-_execute_coverage_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="19 Solution - Execute coverage path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="19 Solution - Execute coverage path"
     _description="Executes a coverage path"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
index d1ac09b0..0eb08894 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="20 Solution - Look at the airfoil">
   <!--//////////-->
   <BehaviorTree
     ID="20 Solution - Look at the airfoil"
     _description="Move to a pre-defined waypoint that looks towards the airfoil"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
index a2b766dd..dcd90294 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="21 Solution - Find the airfoil">
   <!--//////////-->
   <BehaviorTree
     ID="21 Solution - Find the airfoil"
     _description="Estimate the pose of an airfoil using ICP"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
index a8234385..e7f4b46f 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="22 Solution - Visualize airfoil frame"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="22 Solution - Visualize airfoil frame"
     _description="Estimate the pose of an airfoil and visualize its origin frame"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
index 304f77fe..0c2a75ef 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="23 Solution - Airfoil Coverage Origin"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="23 Solution - Airfoil Coverage Origin"
     _description="Estimate the pose of an airfoil and set the origin to define a coverage area"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
index 1ee19ff6..882109b5 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="24 Solution - Airfoil Coverage Path"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="24 Solution - Airfoil Coverage Path"
     _description="Estimate the pose of an airfoil and define a coverage path"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
index 890ff21c..0e34cd50 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root
   BTCPP_format="4"
   main_tree_to_execute="25 Solution - Execute Airfoil Coverage"
@@ -7,7 +6,7 @@
   <BehaviorTree
     ID="25 Solution - Execute Airfoil Coverage"
     _description="Estimate the pose of an airfoil, define a coverage path and execute it"
-    _favorite="true"
+    _favorite="false"
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml
index 4b1c1bca..e2e8723d 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/take_snapshot.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
   <!--//////////-->
   <BehaviorTree
     ID="Take Snapshot"
     _description="Take a point cloud snapshot and add to collision scene"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />