diff --git a/src/lab_sim/objectives/create_pose_vector.xml b/src/lab_sim/objectives/create_pose_vector.xml
index af7432b9..cf260d16 100644
--- a/src/lab_sim/objectives/create_pose_vector.xml
+++ b/src/lab_sim/objectives/create_pose_vector.xml
@@ -10,6 +10,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -19,6 +20,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -28,6 +30,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -37,6 +40,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -46,6 +50,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -55,6 +60,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -64,6 +70,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -73,6 +80,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
       <Action
         ID="CreateStampedPose"
@@ -82,6 +90,7 @@
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
+        input="{pose_stamped}"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/pick_up_cube.xml b/src/lab_sim/objectives/pick_up_cube.xml
index e23c4dab..336abbae 100644
--- a/src/lab_sim/objectives/pick_up_cube.xml
+++ b/src/lab_sim/objectives/pick_up_cube.xml
@@ -1,13 +1,13 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Pick up Cube">
   <!--//////////-->
   <BehaviorTree ID="Pick up Cube" _description="" _favorite="false">
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Clear Snapshot" _collapsed="true"/>
-      <SubTree ID="Look at table" _collapsed="true"/>
+      <SubTree ID="Clear Snapshot" _collapsed="true" />
+      <SubTree ID="Look at table" _collapsed="true" />
       <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true"/>
-      <SubTree ID="Pick object" _collapsed="false"/>
+      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
 </root>