diff --git a/src/factory_sim/config/config.yaml b/src/factory_sim/config/config.yaml
index 07dae9f77..c1e3280cf 100644
--- a/src/factory_sim/config/config.yaml
+++ b/src/factory_sim/config/config.yaml
@@ -146,6 +146,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "factory_sim"
       relative_path: "objectives"
diff --git a/src/grinding_sim/config/config.yaml b/src/grinding_sim/config/config.yaml
index b04e01281..20d36f8f2 100644
--- a/src/grinding_sim/config/config.yaml
+++ b/src/grinding_sim/config/config.yaml
@@ -137,6 +137,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "grinding_sim"
       relative_path: "objectives"
diff --git a/src/lab_sim/objectives/move_along_square.xml b/src/lab_sim/objectives/move_along_square.xml
index 352045a1a..9a8951898 100644
--- a/src/lab_sim/objectives/move_along_square.xml
+++ b/src/lab_sim/objectives/move_along_square.xml
@@ -1,5 +1,6 @@
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Move Along Square">
-  <!-- ////////// -->
+  <!--//////////-->
   <BehaviorTree ID="Move Along Square" _description="Move along a square path">
     <Control ID="Sequence">
       <Action
@@ -7,14 +8,16 @@
         controller_names="joint_trajectory_controller"
         task="{mtc_task}"
         task_id="move_along_axis"
+        timeout="-1.000000"
+        trajectory_monitoring="false"
       />
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
       <Action
         ID="SetupMTCMoveAlongFrameAxis"
         acceleration_scale="1.0"
         axis_frame="world"
-        axis_y="0.0"
-        axis_z="1.0"
+        axis_y="1.0"
+        axis_z="0.0"
         hand_frame="tool0"
         ignore_environment_collisions="false"
         max_distance="0.2"
@@ -43,8 +46,8 @@
         ID="SetupMTCMoveAlongFrameAxis"
         acceleration_scale="1.0"
         axis_frame="world"
-        axis_y="0.0"
-        axis_z="-1.0"
+        axis_y="-1.0"
+        axis_z="0.0"
         hand_frame="tool0"
         ignore_environment_collisions="false"
         max_distance="0.2"
diff --git a/src/lab_sim/objectives/octomap_example.xml b/src/lab_sim/objectives/octomap_example.xml
index a7a50f305..4b3f9ee64 100644
--- a/src/lab_sim/objectives/octomap_example.xml
+++ b/src/lab_sim/objectives/octomap_example.xml
@@ -25,6 +25,17 @@
         pcd_topic="/pcd_pointcloud_captures"
         point_cloud="{point_cloud}"
       />
+      <Action
+        ID="LogMessage"
+        log_level="info"
+        message="Click Resume to reset the octomap and finish the Behavior"
+      />
+      <!--Clear the Octomap at the end to avoid interfering with other Behaviors-->
+      <Action
+        ID="BreakpointSubscriber"
+        breakpoint_topic="/moveit_pro_breakpoint"
+      />
+      <SubTree ID="Clear Snapshot" _collapsed="true" />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
diff --git a/src/lab_sim/objectives/record_square_trajectory.xml b/src/lab_sim/objectives/record_square_trajectory.xml
index e75785690..0dd945154 100644
--- a/src/lab_sim/objectives/record_square_trajectory.xml
+++ b/src/lab_sim/objectives/record_square_trajectory.xml
@@ -33,21 +33,27 @@
             keep_orientation_tolerance="0.05"
             link_padding="0.01"
             velocity_scale_factor="1.0"
-            waypoint_name="Flask 3a - Pre Pick"
+            waypoint_name="Look at Base"
+            seed="0"
           />
           <Action
             ID="CallTriggerService"
             service_name="/start_recording_joint_trajectory"
+            response_timeout="3.000000"
+            wait_for_server_available_timeout="3.000000"
           />
           <SubTree ID="Move Along Square" _collapsed="true" />
           <Action
             ID="CallTriggerService"
             service_name="/stop_recording_joint_trajectory"
+            response_timeout="3.000000"
+            wait_for_server_available_timeout="3.000000"
           />
           <Action
             ID="SaveJointTrajectoryToYaml"
             message="{joint_trajectory_msg}"
             yaml_filename="~/user_ws/src/lab_sim/objectives/square_traj"
+            overwrite="true"
           />
         </Control>
       </Control>
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index 14845858d..b7cc48271 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -76,6 +76,8 @@
     "Inspector",
     "Pick 1 Pill Bottle",
     "AddBottlesToPlanningScene",
+    "Interactive Marker Visualization",  # Server not available for GetTextFromUser
+    "Octomap Example",  # Requires user input to clear the octomap.
 }
 
 
diff --git a/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml
index 3866e4977..9f27025d5 100644
--- a/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml
+++ b/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml
@@ -108,6 +108,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     custom_objectives:
       package_name: "dual_arm_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml b/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml
index 4eaae526d..dc7bffe73 100644
--- a/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml
+++ b/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml
@@ -65,6 +65,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "kitchen_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
index 1cc3b3d32..096c30f16 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
@@ -168,9 +168,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
-    mujoco_objectives:
+    visualization_objectives:
       package_name: "moveit_pro_objectives"
-      relative_path: "objectives/mujoco"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "kinova_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml
new file mode 100644
index 000000000..ae9879f82
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Reset Simulation">
+  <!--//////////-->
+  <BehaviorTree
+    ID="Reset Simulation"
+    _description="Reset the MuJoCo simulation to the `default` keyframe (if specified in the mujoco model)."
+    _favorite="false"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action
+        ID="SwitchController"
+        activate_asap="true"
+        automatic_deactivation="true"
+        controller_list_action_name="/controller_manager/list_controllers"
+        controller_switch_action_name="/controller_manager/switch_controller"
+        strictness="1"
+        timeout="-1.000000"
+        deactivate_controllers="joint_trajectory_controller;servo_controller;velocity_force_controller;joint_trajectory_admittance_controller"
+      />
+      <Action
+        ID="ResetMujocoKeyframe"
+        response_timeout="10.000000"
+        wait_for_server_available_timeout="3.000000"
+        keyframe_name="default"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Reset Simulation">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="MuJoCo Simulation" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
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 8a85c5d99..56b238d9d 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
@@ -184,6 +184,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     simulation_objectives:
       package_name: "picknik_ur_base_config"
       relative_path: "objectives"