diff --git a/src/lab_sim/objectives/_scan_scene.xml b/src/lab_sim/objectives/_scan_scene.xml
index 352a6be1..5efd09a6 100644
--- a/src/lab_sim/objectives/_scan_scene.xml
+++ b/src/lab_sim/objectives/_scan_scene.xml
@@ -14,6 +14,13 @@
         joint_group_name="manipulator"
         controller_names="joint_trajectory_controller"
         waypoint_name="Park Far Right"
+        acceleration_scale_factor="1.0"
+        controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
+        keep_orientation="false"
+        keep_orientation_tolerance="0.05"
+        link_padding="0.01"
+        seed="0"
+        velocity_scale_factor="1.0"
       />
       <SubTree ID="Take Scene Camera Snapshot" _collapsed="true" />
       <SubTree
@@ -22,6 +29,13 @@
         joint_group_name="manipulator"
         controller_names="joint_trajectory_controller"
         waypoint_name="Look at Table"
+        acceleration_scale_factor="1.0"
+        controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
+        keep_orientation="false"
+        keep_orientation_tolerance="0.05"
+        link_padding="0.01"
+        seed="0"
+        velocity_scale_factor="1.0"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/close_gripper.xml b/src/lab_sim/objectives/close_gripper.xml
index afb24319..6960f3d7 100644
--- a/src/lab_sim/objectives/close_gripper.xml
+++ b/src/lab_sim/objectives/close_gripper.xml
@@ -1,8 +1,9 @@
+<?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"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="root">
       <Action
diff --git a/src/lab_sim/objectives/grasp_pose_using_yaml.xml b/src/lab_sim/objectives/grasp_pose_using_yaml.xml
index 868bf954..4567780f 100644
--- a/src/lab_sim/objectives/grasp_pose_using_yaml.xml
+++ b/src/lab_sim/objectives/grasp_pose_using_yaml.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="Grasp Pose Using Yaml"
     _description="Reads a YAML file for grasp pose offset and picks up an object that has an AprilTag marker."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree ID="Open Gripper" />
diff --git a/src/lab_sim/objectives/joint_diagnostic.xml b/src/lab_sim/objectives/joint_diagnostic.xml
index 411f9f15..256af4b3 100644
--- a/src/lab_sim/objectives/joint_diagnostic.xml
+++ b/src/lab_sim/objectives/joint_diagnostic.xml
@@ -1,9 +1,10 @@
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
   <!--//////////-->
   <BehaviorTree
     ID="Joint Diagnostic"
     _description="Example of cycling through the min and max limits of a single joint, for hardware testing"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <!--Setup by moving home-->
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 d8a502e1..e8fcb932 100644
--- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
+++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
@@ -1,10 +1,10 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Load and Execute Joint Trajectory">
   <!--//////////-->
   <BehaviorTree
     ID="Load and Execute Joint Trajectory"
     _description="Load a trajectory that was saved as a YAML file"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <!--Make sure to move the robot to the same starting position as the saved trajectory starts, otherwise the joint_trajectory_controller will use joint interpolation to align the robot with the path-->
diff --git a/src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml b/src/lab_sim/objectives/ml_segment_image.xml
similarity index 82%
rename from src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml
rename to src/lab_sim/objectives/ml_segment_image.xml
index 23066b78..1d34c70f 100644
--- a/src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml
+++ b/src/lab_sim/objectives/ml_segment_image.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="ML Segment Image from Text Prompt">
+<root BTCPP_format="4" main_tree_to_execute="ML Segment Image">
   <!--//////////-->
   <BehaviorTree
-    ID="ML Segment Image from Text Prompt"
-    _description="Run an ML model to find all objects and visualize the masks with bounding boxes."
+    ID="ML Segment Image"
+    _description="Run an ML model to find all objects and visualize the masks with bounding boxes, from a text prompt."
     _favorite="true"
   >
     <Control ID="Sequence">
@@ -27,7 +27,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="ML Segment Image from Text Prompt">
+    <SubTree ID="ML Segment Image">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Application - ML (GPU Recommended)" />
diff --git a/src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml b/src/lab_sim/objectives/ml_segment_point_cloud.xml
similarity index 84%
rename from src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml
rename to src/lab_sim/objectives/ml_segment_point_cloud.xml
index e7376992..b51e1479 100644
--- a/src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml
+++ b/src/lab_sim/objectives/ml_segment_point_cloud.xml
@@ -1,12 +1,9 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="ML Segment Point Cloud from Text Prompt"
->
+<root BTCPP_format="4" main_tree_to_execute="ML Segment Point Cloud">
   <!--//////////-->
   <BehaviorTree
-    ID="ML Segment Point Cloud from Text Prompt"
-    _description="Captures a point cloud and segments out all possible objects."
+    ID="ML Segment Point Cloud"
+    _description="Captures a point cloud and segments out all possible objects from a text prompt"
     _favorite="true"
   >
     <Control ID="Sequence">
@@ -32,7 +29,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="ML Segment Point Cloud from Text Prompt">
+    <SubTree ID="ML Segment Point Cloud">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Application - ML (GPU Recommended)" />
diff --git a/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml b/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
index 98b13fe2..991f93b0 100644
--- a/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
+++ b/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="ML Segment Point Cloud from Clicked Point"
     _description="Captures a point cloud and requests the user to click on three objects in the image to be segmented. The point cloud is then filtered to only include the selected objects."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <SubTree
diff --git a/src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml b/src/lab_sim/objectives/pick_1_pill_bottle.xml
similarity index 96%
rename from src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml
rename to src/lab_sim/objectives/pick_1_pill_bottle.xml
index 2100fc12..bc49099a 100644
--- a/src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml
+++ b/src/lab_sim/objectives/pick_1_pill_bottle.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="ML Grasp Object from Text Prompt">
+<root BTCPP_format="4" main_tree_to_execute="Pick 1 Pill Bottle">
   <!--//////////-->
   <BehaviorTree
-    ID="ML Grasp Object from Text Prompt"
+    ID="Pick 1 Pill Bottle"
     _description="Captures and segments objects from a point cloud based on a text prompt. Then grasps the first object returned from the segmentation."
     _favorite="true"
   >
@@ -124,7 +124,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="ML Grasp Object from Text Prompt">
+    <SubTree ID="Pick 1 Pill Bottle">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Application - ML (GPU Recommended)" />
diff --git a/src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml b/src/lab_sim/objectives/pick_all_pill_bottles.xml
similarity index 93%
rename from src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml
rename to src/lab_sim/objectives/pick_all_pill_bottles.xml
index 2fbeae71..c75c32d1 100644
--- a/src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml
+++ b/src/lab_sim/objectives/pick_all_pill_bottles.xml
@@ -1,12 +1,9 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="ML Auto Grasp Object from Text Prompt"
->
+<root BTCPP_format="4" main_tree_to_execute="Pick All Pill Bottles">
   <!--//////////-->
   <BehaviorTree
-    ID="ML Auto Grasp Object from Text Prompt"
-    _description="Uses ML models to identify and grasp plan to pick up objects."
+    ID="Pick All Pill Bottles"
+    _description="Uses ML models to repeatedly identify and grasp plan to pick up objects."
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
@@ -113,7 +110,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="ML Auto Grasp Object from Text Prompt">
+    <SubTree ID="Pick All Pill Bottles">
       <MetadataFields>
         <Metadata runnable="true" />
         <Metadata subcategory="Application - ML (GPU Recommended)" />
diff --git a/src/lab_sim/objectives/playback_square_trajectory.xml b/src/lab_sim/objectives/playback_square_trajectory.xml
index 6c8ef60d..df810fd2 100644
--- a/src/lab_sim/objectives/playback_square_trajectory.xml
+++ b/src/lab_sim/objectives/playback_square_trajectory.xml
@@ -1,9 +1,10 @@
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Playback Square Trajectory">
   <!--//////////-->
   <BehaviorTree
     ID="Playback Square Trajectory"
     _description="Loads and plays a JointTrajectory of the end-effector moving in a square trajectory."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/lab_sim/objectives/push_button_with_a_trajectory.xml b/src/lab_sim/objectives/push_button_with_a_trajectory.xml
index 4b687371..a175c57b 100644
--- a/src/lab_sim/objectives/push_button_with_a_trajectory.xml
+++ b/src/lab_sim/objectives/push_button_with_a_trajectory.xml
@@ -1,10 +1,10 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Push Button With a Trajectory">
   <!--//////////-->
   <BehaviorTree
     ID="Push Button With a Trajectory"
     _description="An example for how to use the JTAC to execute a trajectory with compliance."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree ID="Close Gripper" _collapsed="true" />
diff --git a/src/lab_sim/objectives/record_square_trajectory.xml b/src/lab_sim/objectives/record_square_trajectory.xml
index e628866f..e7578569 100644
--- a/src/lab_sim/objectives/record_square_trajectory.xml
+++ b/src/lab_sim/objectives/record_square_trajectory.xml
@@ -1,10 +1,10 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Record Square Trajectory">
   <!--//////////-->
   <BehaviorTree
     ID="Record Square Trajectory"
     _description="Executes a square trajectory, records it, and saved the recording to a YAML file."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Control ID="Parallel" failure_count="1" success_count="1">
diff --git a/src/lab_sim/objectives/fuse_multiple_views.xml b/src/lab_sim/objectives/scan_multiple_views.xml
similarity index 83%
rename from src/lab_sim/objectives/fuse_multiple_views.xml
rename to src/lab_sim/objectives/scan_multiple_views.xml
index fca6155d..16448fe6 100644
--- a/src/lab_sim/objectives/fuse_multiple_views.xml
+++ b/src/lab_sim/objectives/scan_multiple_views.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Fuse Multiple Views">
+<root BTCPP_format="4" main_tree_to_execute="Scan Multiple Views">
   <!--//////////-->
   <BehaviorTree
-    ID="Fuse Multiple Views"
+    ID="Scan Multiple Views"
     _description="Take multiple snapshots from the wrist camera and merge them into a single point cloud."
     _favorite="true"
   >
@@ -16,7 +16,7 @@
     />
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Fuse Multiple Views">
+    <SubTree ID="Scan Multiple Views">
       <MetadataFields>
         <Metadata subcategory="Perception - 3D Point Cloud" />
         <Metadata runnable="true" />
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index 185e09fd..6a44abd7 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -37,6 +37,7 @@
     run_objective,
 )
 
+# Looping objectives to cancel partway through
 cancel_objectives = {
     "3 Waypoints Pick and Place",
     "Cycle Between Waypoints",
@@ -54,17 +55,18 @@
     "ML Grasp Object from Text Prompt",
 }
 
+# Objectives to skip entirely from integration testing
 skip_objectives = {
     "Grasp Object from Text Prompt",  # https://github.com/PickNikRobotics/moveit_pro/issues/13236
     "Grasp Planning",
     "Joint Diagnostic",
-    "Fuse Multiple Views",
+    "Scan Multiple Views",
     "MPC Pose Tracking",
     "MPC Pose Tracking With Point Cloud Avoidance",
-    "ML Segment Image from Text Prompt",
+    "ML Segment Image",
     "ML Segment Point Cloud from Clicked Point",
     "ML Auto Grasp Object from Clicked Point",  # Skipped because there is no primary ui to switch to in ci
-    "ML Auto Grasp Object from Text Prompt",
+    "Pick All Pill Bottles",
     "Pick up Cube",
     "Place Object",
     "Record Square Trajectory",
diff --git a/src/lab_sim/waypoints/ur_waypoints.yaml b/src/lab_sim/waypoints/ur_waypoints.yaml
index ec9160d5..f33dd550 100644
--- a/src/lab_sim/waypoints/ur_waypoints.yaml
+++ b/src/lab_sim/waypoints/ur_waypoints.yaml
@@ -601,7 +601,7 @@
     wrench: []
   name: Flask 3d - Place
 - description: ''
-  favorite: false
+  favorite: true
   joint_group_names:
   - gripper
   - linear_actuator