diff --git a/src/lab_sim/config/moveit/picknik_ur.srdf b/src/lab_sim/config/moveit/picknik_ur.srdf
index f0440417..0b6b1b2b 100644
--- a/src/lab_sim/config/moveit/picknik_ur.srdf
+++ b/src/lab_sim/config/moveit/picknik_ur.srdf
@@ -52,6 +52,7 @@
     <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
     <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Adjacent"/>
     <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
     <disable_collisions link1="forearm_pinch_link" link2="forearm_link" reason="Adjacent"/>
     <disable_collisions link1="forearm_pinch_link" link2="tool_changer_link" reason="Never"/>
diff --git a/src/lab_sim/description/picknik_ur.xacro b/src/lab_sim/description/picknik_ur.xacro
index 73a1f420..ba480db6 100644
--- a/src/lab_sim/description/picknik_ur.xacro
+++ b/src/lab_sim/description/picknik_ur.xacro
@@ -1202,6 +1202,7 @@
       <param name="render_publish_rate">10</param>
       <param name="tf_publish_rate">60</param>
       <param name="lidar_publish_rate">10</param>
+      <param name="mujoco_viewer">false</param>
     </hardware>
   </ros2_control>
 </robot>
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 3d94cc40..47279c01 100644
--- a/src/lab_sim/objectives/3_waypoint_pick_and_place.xml
+++ b/src/lab_sim/objectives/3_waypoint_pick_and_place.xml
@@ -1,13 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
   <!--//////////-->
   <BehaviorTree
     ID="3 Waypoints Pick and Place"
     _description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position"
-    _favorite="false"
+    _favorite="true"
   >
     <Control ID="Sequence">
-      <!--Reset the planning scene to ensure no old collision objects are hanging around-->
-      <Action ID="ClearSnapshot" />
       <!--Setup the environment to its "home" configuration - move to center and open gripper-->
       <SubTree
         ID="Move to Waypoint"
diff --git a/src/lab_sim/objectives/_scan_scene.xml b/src/lab_sim/objectives/_scan_scene.xml
new file mode 100644
index 00000000..1a345139
--- /dev/null
+++ b/src/lab_sim/objectives/_scan_scene.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="_Scan Scene">
+  <!--//////////-->
+  <BehaviorTree
+    ID="_Scan Scene"
+    _description="Move robot our of scene to enable full snapshot of scene."
+    _favorite="true"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="ClearSnapshot" />
+      <SubTree
+        ID="Move to Waypoint"
+        _collapsed="true"
+        joint_group_name="manipulator"
+        planner_interface="moveit_default"
+        controller_names="/joint_trajectory_controller"
+        waypoint_name="Park Far Right"
+      />
+      <SubTree ID="Take scene camera snapshot" _collapsed="true" />
+      <SubTree
+        ID="Move to Waypoint"
+        _collapsed="true"
+        joint_group_name="manipulator"
+        planner_interface="moveit_default"
+        controller_names="/joint_trajectory_controller"
+        waypoint_name="Look at Table"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="_Scan Scene" />
+  </TreeNodesModel>
+</root>
diff --git a/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml b/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml
new file mode 100644
index 00000000..5f17ebd0
--- /dev/null
+++ b/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml
@@ -0,0 +1,106 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Constrained Pick and Place Subtree"
+>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Constrained Pick and Place Subtree"
+    _subtreeOnly="true"
+    _description=""
+  >
+    <Control ID="Sequence">
+      <!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
+      <Action
+        ID="InitializeMotionConstraints"
+        constraints_name="gripper pointing down"
+        constraints="{constraints}"
+      />
+      <Action
+        ID="AppendOrientationConstraint"
+        config_file_name="my_constraints.yaml"
+        constraints="{constraints}"
+      />
+      <!--Move to pick location-->
+      <!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
+      <Decorator ID="RetryUntilSuccessful" num_attempts="3">
+        <SubTree
+          ID="Move to Waypoint"
+          waypoint_name="{pre_pick}"
+          joint_group_name="manipulator"
+          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+          planner_interface="moveit_default"
+          constraints="{constraints}"
+        />
+      </Decorator>
+      <Decorator ID="RetryUntilSuccessful" num_attempts="3">
+        <SubTree
+          ID="Move to Waypoint"
+          waypoint_name="{pick}"
+          joint_group_name="manipulator"
+          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+          planner_interface="moveit_default"
+          constraints="{constraints}"
+        />
+      </Decorator>
+      <!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
+      <Decorator ID="ForceSuccess">
+        <SubTree ID="Close Gripper" />
+      </Decorator>
+      <!--Move to place (drop) location-->
+      <Decorator ID="RetryUntilSuccessful" num_attempts="3">
+        <SubTree
+          ID="Move to Waypoint"
+          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+          joint_group_name="manipulator"
+          planner_interface="moveit_default"
+          constraints="{constraints}"
+          _collapsed="true"
+          waypoint_name="{pre_pick}"
+        />
+      </Decorator>
+      <Decorator ID="RetryUntilSuccessful" num_attempts="3">
+        <SubTree
+          ID="Move to Waypoint"
+          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+          joint_group_name="manipulator"
+          planner_interface="moveit_default"
+          constraints="{constraints}"
+          _collapsed="true"
+          waypoint_name="{pre_place}"
+        />
+      </Decorator>
+      <Decorator ID="RetryUntilSuccessful" num_attempts="3">
+        <SubTree
+          ID="Move to Waypoint"
+          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+          joint_group_name="manipulator"
+          planner_interface="moveit_default"
+          constraints="{constraints}"
+          _collapsed="true"
+          waypoint_name="{place}"
+        />
+      </Decorator>
+      <SubTree ID="Open Gripper" />
+      <Decorator ID="RetryUntilSuccessful" num_attempts="3">
+        <SubTree
+          ID="Move to Waypoint"
+          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+          joint_group_name="manipulator"
+          planner_interface="moveit_default"
+          constraints="{constraints}"
+          _collapsed="true"
+          waypoint_name="{pre_place}"
+        />
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Constrained Pick and Place Subtree">
+      <inout_port name="pre_pick" default="" />
+      <inout_port name="pick" default="" />
+      <inout_port name="pre_place" default="" />
+      <inout_port name="place" default="" />
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/lab_sim/objectives/constrained_pick_place.xml b/src/lab_sim/objectives/constrained_pick_place.xml
index 59a242f2..5483ed03 100644
--- a/src/lab_sim/objectives/constrained_pick_place.xml
+++ b/src/lab_sim/objectives/constrained_pick_place.xml
@@ -1,16 +1,18 @@
 <?xml version="1.0" encoding="utf-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Constrained Pick and Place">
+<root BTCPP_format="4" main_tree_to_execute="Move Beakers to Burners">
   <!--//////////-->
   <BehaviorTree
-    ID="Constrained Pick and Place"
-    _description="More advanced example of picking and placing an (invisible) object with orientation constraints enforced on the gripper's motion"
-    _favorite="false"
+    ID="Move Beakers to Burners"
+    _description="Example of picking and placing objects with orientation constraints enforced on the arm's motion"
+    _favorite="true"
+    _subtreeOnly="false"
   >
     <Control ID="Sequence">
       <SubTree
         ID="Move to Waypoint"
         _collapsed="true"
-        waypoint_name="Look at Table"
+        constraints="{constraints}"
+        waypoint_name="Beaker 1a - Pre Pick"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller"
         velocity_scale_factor="1.0"
@@ -20,139 +22,33 @@
         keep_orientation="false"
       />
       <SubTree ID="Open Gripper" />
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!--Move to pick location-->
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Above Pick Cube"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Pick Cube"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
-          <Decorator ID="ForceSuccess">
-            <SubTree ID="Close Gripper" />
-          </Decorator>
-          <!--Move to place (drop) location-->
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Above Pick Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Above Place Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Place Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree ID="Open Gripper" />
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Above Place Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Place Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree ID="Close Gripper" />
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Above Place Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller"
-            joint_group_name="manipulator"
-            _collapsed="true"
-            waypoint_name="Above Pick Cube"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Pick Cube"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            link_padding="0.01"
-            keep_orientation_tolerance="0.05"
-            keep_orientation="true"
-          />
-          <SubTree ID="Open Gripper" />
-        </Control>
-      </Decorator>
+      <SubTree
+        ID="Constrained Pick and Place Subtree"
+        pre_pick="Beaker 1a - Pre Pick"
+        pick="Beaker 1b - Pick"
+        pre_place="Beaker 1c - Pre Place"
+        place="Beaker 1d - Place"
+        name="Beaker 1"
+      />
+      <SubTree
+        ID="Constrained Pick and Place Subtree"
+        pre_pick="Beaker 2a - Pre Pick"
+        pick="Beaker 2b - Pick"
+        pre_place="Beaker 2c - Pre Place"
+        place="Beaker 2d - Place"
+        name="Beaker 2"
+      />
+      <SubTree
+        ID="Constrained Pick and Place Subtree"
+        pre_pick="Beaker 3a - Pre Pick"
+        pick="Beaker 3b - Pick"
+        pre_place="Beaker 3c - Pre Place"
+        place="Beaker 3d - Place"
+        name="Beaker 3"
+      />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Constrained Pick and Place" />
+    <SubTree ID="Move Beakers to Burners" />
   </TreeNodesModel>
 </root>
diff --git a/src/lab_sim/objectives/joint_diagnostic.xml b/src/lab_sim/objectives/joint_diagnostic.xml
index aebb7879..d85ebde7 100644
--- a/src/lab_sim/objectives/joint_diagnostic.xml
+++ b/src/lab_sim/objectives/joint_diagnostic.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Joint Diagnostic"
     _description="Example of cycling through the min and max limits of a single joint, for hardware testing"
-    _favorite="false"
+    _favorite="true"
   >
     <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 c7c05f3e..b8ddbe4d 100644
--- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
+++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Load and Execute Joint Trajectory"
     _description="Load a trajectory that was saved as a YAML file"
-    _favorite="false"
+    _favorite="true"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/lab_sim/objectives/look_at_table.xml b/src/lab_sim/objectives/look_at_table.xml
index 70626c00..e7d6a131 100644
--- a/src/lab_sim/objectives/look_at_table.xml
+++ b/src/lab_sim/objectives/look_at_table.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Look at table"
     _description="Move the arm to a position that faces the table surface"
-    _favorite="true"
+    _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
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 2d8040a0..a39e2175 100644
--- a/src/lab_sim/objectives/move_with_velocity_and_force.xml
+++ b/src/lab_sim/objectives/move_with_velocity_and_force.xml
@@ -1,11 +1,14 @@
-<root BTCPP_format="4" main_tree_to_execute="Move until Force Contact">
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Push Button">
   <!--//////////-->
   <BehaviorTree
-    ID="Move until Force Contact"
+    ID="Push Button"
     _description="An example for how to use the VFC to move with a velocity / force reference until it collides"
-    _favorite="false"
+    _favorite="true"
+    _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree ID="Close Gripper" _collapsed="true" />
       <SubTree
         ID="Move to Waypoint"
         _collapsed="true"
@@ -69,10 +72,18 @@
         relaxation_time_ms="500"
         tip_link="grasp_link"
       />
+      <SubTree
+        ID="Move to Waypoint"
+        _collapsed="true"
+        joint_group_name="manipulator"
+        planner_interface="moveit_default"
+        controller_names="/joint_trajectory_controller"
+        waypoint_name="Look at Table"
+      />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Move until Force Contact">
+    <SubTree ID="Push Button">
       <MetadataFields>
         <Metadata subcategory="Application - Advanced Examples" />
       </MetadataFields>
diff --git a/src/lab_sim/objectives/my_constraints.yaml b/src/lab_sim/objectives/my_constraints.yaml
new file mode 100644
index 00000000..43dd88b8
--- /dev/null
+++ b/src/lab_sim/objectives/my_constraints.yaml
@@ -0,0 +1,11 @@
+AppendOrientationConstraint:
+  constraint_frame: "world"
+  link_frame: "grasp_link"
+  orientation:  # radians
+    x: 1.57
+    y: 0.0
+    z: 3.14
+  tolerance:    # radians
+    x: 0.2
+    y: 0.2
+    z: 10.0
diff --git a/src/lab_sim/objectives/take_snap.xml b/src/lab_sim/objectives/take_snap.xml
index f6fb49d9..85a0470e 100644
--- a/src/lab_sim/objectives/take_snap.xml
+++ b/src/lab_sim/objectives/take_snap.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Take scene camera snapshot"
     _description="Take a pointcloud snapshot of the scene with a depth camera"
-    _favorite="true"
+    _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/lab_sim/objectives/wrist_snap.xml b/src/lab_sim/objectives/wrist_snap.xml
index 82b4878c..81d3c072 100644
--- a/src/lab_sim/objectives/wrist_snap.xml
+++ b/src/lab_sim/objectives/wrist_snap.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Take wrist camera snapshot"
     _description="Capture and visualise a pointcloud with the wrist camera"
-    _favorite="true"
+    _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/lab_sim/waypoints/ur_waypoints.yaml b/src/lab_sim/waypoints/ur_waypoints.yaml
index 0bec6a94..d4fc1c23 100644
--- a/src/lab_sim/waypoints/ur_waypoints.yaml
+++ b/src/lab_sim/waypoints/ur_waypoints.yaml
@@ -21,14 +21,14 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.039808309949994805
-      - -0.5839327290315586
-      - -0.2687381616263423
-      - -1.4142103820838365
-      - 1.1521752505644343
-      - -1.3067562163163808
-      - -1.5708040696131618
-      - -0.2687661213277525
+      - 0.5527237261550169
+      - -0.8095633402493997
+      - 0.8041978448752184
+      - 0.3469595920821291
+      - -0.4759133036391534
+      - -3.0449635096222445
+      - -2.3752901974217586
+      - -0.03355586908682823
     velocity: []
   multi_dof_joint_state:
     header:
@@ -40,7 +40,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Workspace Right
+  name: Beaker 1d - Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -64,14 +64,14 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.36093425387337075
-      - 0.3468469487674742
-      - -0.08122232656648681
-      - -1.1118986430431266
-      - 0.7735698103006698
-      - -1.2414135949062157
-      - 3.14
-      - -0.0803135811027271
+      - 0.7639667711919623
+      - -0.8205919083342896
+      - 0.6106411457210819
+      - 0.09629022558040691
+      - -0.4356003871725801
+      - -2.8163100209411844
+      - -2.181786596029688
+      - -0.027837851359850115
     velocity: []
   multi_dof_joint_state:
     header:
@@ -83,7 +83,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Wrist 2 Max
+  name: Beaker 3c - Pre Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -107,14 +107,14 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.02639307417885356
-      - -0.0368978637919646
-      - -0.05133733759107817
-      - -1.0646673321083444
-      - 1.6085719305391477
-      - -2.116413476868559
-      - -1.5570186007251205
-      - -0.04927977068008667
+      - 0.052558135449284636
+      - 0.1015560185661144
+      - 0.8742197383524934
+      - 0.596069253342475
+      - -0.5146934305221308
+      - -3.1414852154720943
+      - -2.4442469657377055
+      - 0.06294310366684684
     velocity: []
   multi_dof_joint_state:
     header:
@@ -126,7 +126,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: VFC Start
+  name: Beaker 1b - Pick
 - description: ''
   favorite: false
   joint_group_names:
@@ -150,14 +150,14 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.06656710453529632
-      - -0.026311129005491703
-      - 0.391188076851874
-      - -0.6421557305136849
-      - 1.2200227002982904
-      - -2.1172063445999307
-      - -1.5707036597762196
-      - 0.39119709035689026
+      - 0.36093425387337075
+      - 0.3468469487674742
+      - -0.08122232656648681
+      - -1.1118986430431266
+      - 0.7735698103006698
+      - -1.2414135949062157
+      - -3.14
+      - -0.0803135811027271
     velocity: []
   multi_dof_joint_state:
     header:
@@ -169,7 +169,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Place Cube
+  name: Wrist 2 Min
 - description: ''
   favorite: false
   joint_group_names:
@@ -199,7 +199,7 @@
       - -1.1118986430431266
       - 0.7735698103006698
       - -1.2414135949062157
-      - -3.14
+      - -1.5575126426436692
       - -0.0803135811027271
     velocity: []
   multi_dof_joint_state:
@@ -212,7 +212,179 @@
     transforms: []
     twist: []
     wrench: []
-  name: Wrist 2 Min
+  name: Look at Table
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.5527279024765758
+      - -0.9244326009773784
+      - 0.8128532763795221
+      - 0.19375908538144387
+      - -0.4813430484021708
+      - -2.882600666994581
+      - -2.3839438626762592
+      - -0.033962625761634384
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 2c - Pre Place
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.552721299565486
+      - -0.8026817877894441
+      - 0.7832655701857458
+      - 0.2347983960726958
+      - -0.47185366935901807
+      - -2.944152059324353
+      - -2.3543647658190983
+      - -0.0324954245702678
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 1c - Pre Place
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.017721560439610148
+      - 0.2691509193711033
+      - 0.7727615348146952
+      - 0.5552397114893021
+      - -0.5137325863770072
+      - -3.0003468873078876
+      - -2.335831248791311
+      - 0.12529289653514364
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 2b - Pick
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.5527294577060091
+      - -0.9178831799453755
+      - 0.8032232530956076
+      - 0.36305116959502753
+      - -0.4822710241456316
+      - -3.0466827988573497
+      - -2.3743200968681815
+      - -0.03356569648918818
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 2d - Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -242,7 +414,7 @@
       - -1.1118986430431266
       - 0.7735698103006698
       - -1.2414135949062157
-      - -1.5575126426436692
+      - 3.14
       - -0.0803135811027271
     velocity: []
   multi_dof_joint_state:
@@ -255,7 +427,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Look at Table
+  name: Wrist 2 Max
 - description: ''
   favorite: false
   joint_group_names:
@@ -279,14 +451,14 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.06656709465883658
-      - 0.31742962464478663
-      - -0.07518824419393247
-      - -0.7207568718596512
-      - 0.8665668564352057
-      - -1.6837956156664982
-      - -1.5707507158288945
-      - -0.07517349313281775
+      - 0.7639656639313784
+      - -0.8204325716971375
+      - 0.6051040370509869
+      - 0.33021173155820605
+      - -0.441945944944294
+      - -3.047095890623255
+      - -2.176250244653335
+      - -0.02772141144783419
     velocity: []
   multi_dof_joint_state:
     header:
@@ -298,8 +470,8 @@
     transforms: []
     twist: []
     wrench: []
-  name: Above Pick Cube
-- description: ''
+  name: Beaker 3d - Place
+- description: Move out of view of scene camera
   favorite: false
   joint_group_names:
     - gripper
@@ -322,14 +494,14 @@
       - wrist_2_joint
       - wrist_3_joint
     position:
-      - 0.06656709575770764
-      - 0.2544520984236789
-      - 0.00297097958947393
-      - -0.5454836524482858
-      - 1.028930149174636
-      - -2.02088483587436
-      - -1.5709145918870968
-      - 0.002734726536987722
+      - 0.00780498767879874
+      - -1.7207208458780023
+      - -2.9355287074907658e-05
+      - -1.8849275826089145
+      - 1.102019084998803
+      - -1.2563366868253756
+      - -1.5707679924921147
+      - 1.5931846964135707e-07
     velocity: []
   multi_dof_joint_state:
     header:
@@ -341,7 +513,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Pick Cube
+  name: Park Far Right
 - description: ''
   favorite: false
   joint_group_names:
@@ -385,3 +557,347 @@
     twist: []
     wrench: []
   name: Above Place Cube
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.01772162964006715
+      - 0.07592482714796696
+      - 0.7452091128812429
+      - 0.5731708863903833
+      - -0.5272977039075434
+      - -3.0065755351034587
+      - -2.308742635428776
+      - 0.11856214137460191
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 3b - Pick
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.017721719550362367
+      - 0.10614201950655074
+      - 0.6667921047157305
+      - -0.020173732725037447
+      - -0.48719718634786974
+      - -2.46144527046315
+      - -2.2314189585794835
+      - 0.10080448035214111
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 3a - Pre Pick
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.039808309949994805
+      - -0.5839327290315586
+      - -0.2687381616263423
+      - -1.4142103820838365
+      - 1.1521752505644343
+      - -1.3067562163163808
+      - -1.5708040696131618
+      - -0.2687661213277525
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Workspace Right
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.7639616943900628
+      - 0.5467729038282597
+      - -1.1106700374717813
+      - -0.6197663519343527
+      - 1.2680653231682326
+      - -2.801491408619309
+      - -1.2801931991207176
+      - -0.8417481239202634
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: VFC Start
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.06656710453529632
+      - -0.026311129005491703
+      - 0.391188076851874
+      - -0.6421557305136849
+      - 1.2200227002982904
+      - -2.1172063445999307
+      - -1.5707036597762196
+      - 0.39119709035689026
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Place Cube
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.012216800212355133
+      - 0.04970573711721682
+      - 0.8984514823861834
+      - 0.1063125865651509
+      - -0.41508272007941566
+      - -2.751881697859383
+      - -2.4680827148226405
+      - 0.06614325541815676
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 1a - Pre Pick
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.06656709465883658
+      - 0.31742962464478663
+      - -0.07518824419393247
+      - -0.7207568718596512
+      - 0.8665668564352057
+      - -1.6837956156664982
+      - -1.5707507158288945
+      - -0.07517349313281775
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Above Pick Cube
+- description: ''
+  favorite: false
+  joint_group_names:
+    - gripper
+    - linear_actuator
+    - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - robotiq_85_left_knuckle_joint
+      - linear_rail_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.7888251346894957
+      - 0.28410448263455473
+      - 0.7522809111415887
+      - 0.14258472176098788
+      - -0.6567553362551677
+      - -2.6535637271089603
+      - -2.3237504598801015
+      - -0.010010484715838389
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Beaker 2a - Pre Pick
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 7c2e83b3..aeb30fe6 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
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Clear Snapshot"
     _description="Clear the point cloud snapshot"
-    _favorite="true"
+    _favorite="false"
   >
     <Action ID="ClearSnapshot" />
   </BehaviorTree>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml
index 91194afe..14921bf6 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/open_gripper.xml
@@ -3,7 +3,7 @@
   <BehaviorTree
     ID="Open Gripper"
     _description="Open the gripper"
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="root">
       <Action
diff --git a/src/picknik_accessories b/src/picknik_accessories
index 6ddf6570..d238787c 160000
--- a/src/picknik_accessories
+++ b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit 6ddf657050f678b9eac282ade0940d827a8ea166
+Subproject commit d238787c025005715231ae6feb3d1a1d1d0fffbc