diff --git a/src/example_behaviors/src/example_add_two_ints_service_client.cpp b/src/example_behaviors/src/example_add_two_ints_service_client.cpp
index 48f9dc0b..5e90fa05 100644
--- a/src/example_behaviors/src/example_add_two_ints_service_client.cpp
+++ b/src/example_behaviors/src/example_add_two_ints_service_client.cpp
@@ -24,7 +24,7 @@ BT::PortsList ExampleAddTwoIntsServiceClient::providedPorts()
 
 BT::KeyValueVector ExampleAddTwoIntsServiceClient::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description", "Calls a service to add two integers and makes the result available on an output port." } };
 }
 
diff --git a/src/example_behaviors/src/example_delayed_message.cpp b/src/example_behaviors/src/example_delayed_message.cpp
index 584f7994..34818fae 100644
--- a/src/example_behaviors/src/example_delayed_message.cpp
+++ b/src/example_behaviors/src/example_delayed_message.cpp
@@ -17,7 +17,7 @@ BT::PortsList ExampleDelayedMessage::providedPorts()
 
 BT::KeyValueVector ExampleDelayedMessage::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description", "After some time, log a message that says \"Hello, world!\"." } };
 }
 
diff --git a/src/example_behaviors/src/example_fibonacci_action_client.cpp b/src/example_behaviors/src/example_fibonacci_action_client.cpp
index d51a4e67..e8c0bdd1 100644
--- a/src/example_behaviors/src/example_fibonacci_action_client.cpp
+++ b/src/example_behaviors/src/example_fibonacci_action_client.cpp
@@ -28,7 +28,7 @@ BT::PortsList ExampleFibonacciActionClient::providedPorts()
 
 BT::KeyValueVector ExampleFibonacciActionClient::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description",
              "Calls an action to get a Fibonacci sequence and makes the result available on an output port." } };
 }
diff --git a/src/example_behaviors/src/example_get_string_from_topic.cpp b/src/example_behaviors/src/example_get_string_from_topic.cpp
index 5655436f..48495ed3 100644
--- a/src/example_behaviors/src/example_get_string_from_topic.cpp
+++ b/src/example_behaviors/src/example_get_string_from_topic.cpp
@@ -22,7 +22,7 @@ BT::PortsList ExampleGetStringFromTopic::providedPorts()
 
 BT::KeyValueVector ExampleGetStringFromTopic::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description", "Captures a string message and makes it available on an output port." } };
 }
 
diff --git a/src/example_behaviors/src/example_hello_world.cpp b/src/example_behaviors/src/example_hello_world.cpp
index 5a8531fb..c214c389 100644
--- a/src/example_behaviors/src/example_hello_world.cpp
+++ b/src/example_behaviors/src/example_hello_world.cpp
@@ -16,7 +16,7 @@ BT::PortsList ExampleHelloWorld::providedPorts()
 
 BT::KeyValueVector ExampleHelloWorld::metadata()
 {
-  return { { "subcategory", "Example" }, { "description", "Log a message that says \"Hello, world!\"." } };
+  return { { "subcategory", "Example Behaviors" }, { "description", "Log a message that says \"Hello, world!\"." } };
 }
 
 BT::NodeStatus ExampleHelloWorld::tick()
diff --git a/src/example_behaviors/src/example_publish_color_rgba.cpp b/src/example_behaviors/src/example_publish_color_rgba.cpp
index ecd21b74..5a6e68ed 100644
--- a/src/example_behaviors/src/example_publish_color_rgba.cpp
+++ b/src/example_behaviors/src/example_publish_color_rgba.cpp
@@ -16,7 +16,7 @@ BT::PortsList ExamplePublishColorRGBA::providedPorts()
 
 BT::KeyValueVector ExamplePublishColorRGBA::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description", "Publishes a fixed std_msgs::msg::ColorRGBA message to a topic named \"/my_topic\"" } };
 }
 
diff --git a/src/example_behaviors/src/example_setup_mtc_pick_from_pose.cpp b/src/example_behaviors/src/example_setup_mtc_pick_from_pose.cpp
index 02dee6bd..67f56007 100644
--- a/src/example_behaviors/src/example_setup_mtc_pick_from_pose.cpp
+++ b/src/example_behaviors/src/example_setup_mtc_pick_from_pose.cpp
@@ -55,7 +55,7 @@ BT::PortsList ExampleSetupMtcPickFromPose::providedPorts()
 
 BT::KeyValueVector ExampleSetupMtcPickFromPose::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description", "Adds the stages to describe a pick motion to the MTC task." } };
 }
 
diff --git a/src/example_behaviors/src/example_setup_mtc_place_from_pose.cpp b/src/example_behaviors/src/example_setup_mtc_place_from_pose.cpp
index e067b398..3f5e44ae 100644
--- a/src/example_behaviors/src/example_setup_mtc_place_from_pose.cpp
+++ b/src/example_behaviors/src/example_setup_mtc_place_from_pose.cpp
@@ -56,7 +56,7 @@ BT::PortsList ExampleSetupMtcPlaceFromPose::providedPorts()
 
 BT::KeyValueVector ExampleSetupMtcPlaceFromPose::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "Example Behaviors" },
            { "description", "Adds the stages to describe a place motion to the MTC task." } };
 }
 
diff --git a/src/example_behaviors/src/example_setup_mtc_wave_hand.cpp b/src/example_behaviors/src/example_setup_mtc_wave_hand.cpp
index 6b436f96..5867b1b0 100644
--- a/src/example_behaviors/src/example_setup_mtc_wave_hand.cpp
+++ b/src/example_behaviors/src/example_setup_mtc_wave_hand.cpp
@@ -36,7 +36,7 @@ BT::PortsList ExampleSetupMTCWaveHand::providedPorts()
 
 BT::KeyValueVector ExampleSetupMTCWaveHand::metadata()
 {
-  return { { "subcategory", "Example" }, { "description", "Wave hello with the end effector." } };
+  return { { "subcategory", "Example Behaviors" }, { "description", "Wave hello with the end effector." } };
 }
 
 tl::expected<bool, std::string> ExampleSetupMTCWaveHand::doWork()
diff --git a/src/lab_sim/objectives/3_waypoint_pick_and_place.xml b/src/lab_sim/objectives/3_waypoint_pick_and_place.xml
index 9693c3f9..60490ad4 100644
--- a/src/lab_sim/objectives/3_waypoint_pick_and_place.xml
+++ b/src/lab_sim/objectives/3_waypoint_pick_and_place.xml
@@ -119,4 +119,11 @@
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="3 Waypoints Pick and Place">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/constrained_pick_place.xml b/src/lab_sim/objectives/constrained_pick_place.xml
index 9b680044..838533b1 100644
--- a/src/lab_sim/objectives/constrained_pick_place.xml
+++ b/src/lab_sim/objectives/constrained_pick_place.xml
@@ -152,4 +152,11 @@
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Constrained Pick and Place">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/cycle_between_waypoints.xml b/src/lab_sim/objectives/cycle_between_waypoints.xml
index 71ff91b6..e6c79ac7 100644
--- a/src/lab_sim/objectives/cycle_between_waypoints.xml
+++ b/src/lab_sim/objectives/cycle_between_waypoints.xml
@@ -25,4 +25,11 @@
       </Control>
     </Decorator>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Cycle Between Waypoints">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/get_april_tag_pose_from_image.xml b/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
index 6a223a9e..69637f54 100644
--- a/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
+++ b/src/lab_sim/objectives/get_april_tag_pose_from_image.xml
@@ -41,7 +41,7 @@
       <input_port name="parameters" default="{parameters}" />
       <output_port name="detection_pose" default="{detection_pose}" />
       <MetadataFields>
-        <Metadata subcategory="Perception - Image Processing" />
+        <Metadata subcategory="Perception - 2D Image" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/joint_diagnostic.xml b/src/lab_sim/objectives/joint_diagnostic.xml
index 1bbb7714..aebb7879 100644
--- a/src/lab_sim/objectives/joint_diagnostic.xml
+++ b/src/lab_sim/objectives/joint_diagnostic.xml
@@ -35,4 +35,11 @@
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Joint Diagnostic">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
index 989a9fbb..b0b64db3 100644
--- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
+++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
@@ -22,4 +22,11 @@
       <Action ID="ExecuteFollowJointTrajectory" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Load and Execute Joint Trajectory">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/look_at_table.xml b/src/lab_sim/objectives/look_at_table.xml
index 8aeed171..70626c00 100644
--- a/src/lab_sim/objectives/look_at_table.xml
+++ b/src/lab_sim/objectives/look_at_table.xml
@@ -17,4 +17,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Look at table">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/move_with_velocity_and_force.xml b/src/lab_sim/objectives/move_with_velocity_and_force.xml
index 0026831a..ded7c72e 100644
--- a/src/lab_sim/objectives/move_with_velocity_and_force.xml
+++ b/src/lab_sim/objectives/move_with_velocity_and_force.xml
@@ -72,4 +72,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Move until Force Contact">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/pick_and_place_example.xml b/src/lab_sim/objectives/pick_and_place_example.xml
index 456b378b..7548b37d 100644
--- a/src/lab_sim/objectives/pick_and_place_example.xml
+++ b/src/lab_sim/objectives/pick_and_place_example.xml
@@ -67,4 +67,11 @@
       </Control>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick And Place Example">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml b/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml
index 6a932157..6ca263f1 100644
--- a/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml
+++ b/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml
@@ -50,4 +50,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick April Tag Object With Approval">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/pick_object.xml b/src/lab_sim/objectives/pick_object.xml
index 2aa4018c..9ecb7981 100644
--- a/src/lab_sim/objectives/pick_object.xml
+++ b/src/lab_sim/objectives/pick_object.xml
@@ -29,4 +29,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick object">
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/pick_up_cube.xml b/src/lab_sim/objectives/pick_up_cube.xml
index fc22a88e..c405250c 100644
--- a/src/lab_sim/objectives/pick_up_cube.xml
+++ b/src/lab_sim/objectives/pick_up_cube.xml
@@ -14,4 +14,11 @@
       <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick up Cube">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/place_first_object_in_vector.xml b/src/lab_sim/objectives/place_first_object_in_vector.xml
index 0e058131..efde08c0 100644
--- a/src/lab_sim/objectives/place_first_object_in_vector.xml
+++ b/src/lab_sim/objectives/place_first_object_in_vector.xml
@@ -42,4 +42,11 @@
       </Control>
     </Decorator>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Place first object in vector">
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/place_object.xml b/src/lab_sim/objectives/place_object.xml
index fec0fd73..548e71f5 100644
--- a/src/lab_sim/objectives/place_object.xml
+++ b/src/lab_sim/objectives/place_object.xml
@@ -30,7 +30,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Place object">
+    <SubTree ID="Place Object">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
index c280015e..0d3be8df 100644
--- a/src/lab_sim/objectives/plan_move_to_pose.xml
+++ b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -1,5 +1,6 @@
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Plan Move To Pose">
-  <!-- ////////// -->
+  <!--//////////-->
   <BehaviorTree
     ID="Plan Move To Pose"
     _subtreeOnly="true"
@@ -36,7 +37,7 @@
         default="{move_to_pose_solution}"
       />
       <MetadataFields>
-        <Metadata subcategory="Motion - Plan" />
+        <Metadata subcategory="Motion - Planning" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/plan_to_pose.xml b/src/lab_sim/objectives/plan_to_pose.xml
index 3bb7c76b..066fac12 100644
--- a/src/lab_sim/objectives/plan_to_pose.xml
+++ b/src/lab_sim/objectives/plan_to_pose.xml
@@ -50,7 +50,7 @@
       <input_port name="ik_frame" default="grasp_link" />
       <inout_port name="mtc_task" default="{mtc_task}" />
       <MetadataFields>
-        <Metadata subcategory="Motion - Plan" />
+        <Metadata subcategory="Motion - Task Planning" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/register_cad_part.xml b/src/lab_sim/objectives/register_cad_part.xml
index 4c56b729..9393a831 100644
--- a/src/lab_sim/objectives/register_cad_part.xml
+++ b/src/lab_sim/objectives/register_cad_part.xml
@@ -58,4 +58,11 @@
       <Action ID="SendPointCloudToUI" point_cloud="{output_cloud_aligned}" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Register CAD Part">
+      <MetadataFields>
+        <Metadata subcategory="Perception - Planning Scene" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/take_snap.xml b/src/lab_sim/objectives/take_snap.xml
index 0fdb917b..f6fb49d9 100644
--- a/src/lab_sim/objectives/take_snap.xml
+++ b/src/lab_sim/objectives/take_snap.xml
@@ -1,7 +1,7 @@
-<root BTCPP_format="4" main_tree_to_execute="Scene camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take scene camera snapshot">
   <!--//////////-->
   <BehaviorTree
-    ID="Scene camera snapshot"
+    ID="Take scene camera snapshot"
     _description="Take a pointcloud snapshot of the scene with a depth camera"
     _favorite="true"
     _subtreeOnly="false"
@@ -14,7 +14,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot">
+    <SubTree ID="Take scene camera snapshot">
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
       </MetadataFields>
diff --git a/src/lab_sim/objectives/visualize_pose.xml b/src/lab_sim/objectives/visualize_pose.xml
index 524070c5..b8a8d771 100644
--- a/src/lab_sim/objectives/visualize_pose.xml
+++ b/src/lab_sim/objectives/visualize_pose.xml
@@ -15,4 +15,11 @@
       <Action ID="VisualizePose" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Visualize Pose">
+      <MetadataFields>
+        <Metadata subcategory="Visualization" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/clear_snapshot.xml
index b4f943f0..07a7e5c8 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/clear_snapshot.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/clear_snapshot.xml
@@ -8,7 +8,7 @@
     <Action ID="ClearSnapshot" />
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="ClearSnapshot" />
+    <SubTree ID="Clear Snapshot" />
     <MetadataFields>
       <Metadata subcategory="Perception - 3D Point Cloud" />
     </MetadataFields>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
index e96d3dba..6687772d 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
@@ -1,6 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Close Gripper">
-  <BehaviorTree ID="Close Gripper" _description="Close the gripper">
+  <BehaviorTree
+    ID="Close Gripper"
+    _description="Close the gripper"
+    _subtreeOnly="false"
+  >
     <Control ID="Sequence" name="root">
       <Action
         ID="MoveGripperAction"