diff --git a/src/fanuc_sim/objectives/move_to_pose.xml b/src/fanuc_sim/objectives/move_to_pose.xml
index 4009dca1..4125bf45 100644
--- a/src/fanuc_sim/objectives/move_to_pose.xml
+++ b/src/fanuc_sim/objectives/move_to_pose.xml
@@ -14,12 +14,11 @@
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
       <Action
-        ID="SetupMTCMoveToPose"
+        ID="SetupMTCPlanToPose"
         ik_frame="tool0"
         planning_group_name="manipulator"
         target_pose="{target_pose}"
         task="{move_to_pose_task}"
-        planner_interface="moveit_default"
       />
       <Action
         ID="PlanMTCTask"
diff --git a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
index a6e5cbc7..00ebc5e8 100644
--- a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
+++ b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -6,7 +6,6 @@
     _subtreeOnly="true"
     _description=""
     joint_group_name="manipulator"
-    planner_interface="moveit_default"
     mtc_task="{mtc_task}"
   >
     <Control ID="Sequence">
@@ -17,11 +16,10 @@
         joint_group_name="{joint_group_name}"
       />
       <Action
-        ID="SetupMTCMoveToJointState"
+        ID="SetupMTCPlanToJointState"
         joint_state="{target_joint_state}"
-        name="SetupMTCMoveToJointState"
+        name="SetupMTCPlanToJointState"
         planning_group_name="{joint_group_name}"
-        planner_interface="{planner_interface}"
         task="{mtc_task}"
       />
       <Action
@@ -31,11 +29,10 @@
         joint_group_name="{joint_group_name}"
       />
       <Action
-        ID="SetupMTCMoveToJointState"
+        ID="SetupMTCPlanToJointState"
         joint_state="{target_joint_state}"
-        name="SetupMTCMoveToJointState"
+        name="SetupMTCPlanToJointState"
         planning_group_name="{joint_group_name}"
-        planner_interface="{planner_interface}"
         task="{mtc_task}"
       />
     </Control>
@@ -43,7 +40,6 @@
   <TreeNodesModel>
     <SubTree ID="Add Waypoints to MTC Task">
       <input_port name="joint_group_name" default="manipulator" />
-      <input_port name="planner_interface" default="moveit_default" />
       <inout_port name="mtc_task" default="{mtc_task}" />
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
diff --git a/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml b/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml
index 5f17ebd0..788231fa 100644
--- a/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml
+++ b/src/lab_sim/objectives/constrained_pick_and_place_subtree.xml
@@ -10,17 +10,6 @@
     _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">
@@ -30,7 +19,8 @@
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
           planner_interface="moveit_default"
-          constraints="{constraints}"
+          keep_orientation="true"
+          keep_orientation_tolerance="0.2"
         />
       </Decorator>
       <Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -40,7 +30,8 @@
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
           planner_interface="moveit_default"
-          constraints="{constraints}"
+          keep_orientation="true"
+          keep_orientation_tolerance="0.2"
         />
       </Decorator>
       <!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
@@ -54,7 +45,8 @@
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
           joint_group_name="manipulator"
           planner_interface="moveit_default"
-          constraints="{constraints}"
+          keep_orientation="true"
+          keep_orientation_tolerance="0.2"
           _collapsed="true"
           waypoint_name="{pre_pick}"
         />
@@ -65,7 +57,8 @@
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
           joint_group_name="manipulator"
           planner_interface="moveit_default"
-          constraints="{constraints}"
+          keep_orientation="true"
+          keep_orientation_tolerance="0.2"
           _collapsed="true"
           waypoint_name="{pre_place}"
         />
@@ -76,7 +69,8 @@
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
           joint_group_name="manipulator"
           planner_interface="moveit_default"
-          constraints="{constraints}"
+          keep_orientation="true"
+          keep_orientation_tolerance="0.2"
           _collapsed="true"
           waypoint_name="{place}"
         />
@@ -88,7 +82,8 @@
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
           joint_group_name="manipulator"
           planner_interface="moveit_default"
-          constraints="{constraints}"
+          keep_orientation="true"
+          keep_orientation_tolerance="0.2"
           _collapsed="true"
           waypoint_name="{pre_place}"
         />
diff --git a/src/lab_sim/objectives/constrained_pick_place.xml b/src/lab_sim/objectives/constrained_pick_place.xml
index 5483ed03..04d65512 100644
--- a/src/lab_sim/objectives/constrained_pick_place.xml
+++ b/src/lab_sim/objectives/constrained_pick_place.xml
@@ -11,14 +11,12 @@
       <SubTree
         ID="Move to Waypoint"
         _collapsed="true"
-        constraints="{constraints}"
         waypoint_name="Beaker 1a - Pre Pick"
         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="false"
       />
       <SubTree ID="Open Gripper" />
diff --git a/src/lab_sim/objectives/joint_diagnostic.xml b/src/lab_sim/objectives/joint_diagnostic.xml
index d85ebde7..25c54af2 100644
--- a/src/lab_sim/objectives/joint_diagnostic.xml
+++ b/src/lab_sim/objectives/joint_diagnostic.xml
@@ -12,7 +12,6 @@
         waypoint_name="Look at Table"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
@@ -22,14 +21,12 @@
             waypoint_name="Wrist 2 Max"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <SubTree
             ID="Move to Waypoint"
             waypoint_name="Wrist 2 Min"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
         </Control>
       </Decorator>
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 1217c4dd..cfe0beed 100644
--- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
+++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
@@ -14,7 +14,6 @@
         _collapsed="true"
         waypoint_name="Workspace Right"
         joint_group_name="manipulator"
-        planner_interface="moveit_default"
         controller_names="/joint_trajectory_controller"
         acceleration_scale_factor="1.0"
         controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
index 0d3be8df..1ecd691b 100644
--- a/src/lab_sim/objectives/plan_move_to_pose.xml
+++ b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -15,12 +15,11 @@
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
       <Action
-        ID="SetupMTCMoveToPose"
+        ID="SetupMTCPlanToPose"
         ik_frame="grasp_link"
         planning_group_name="manipulator"
         target_pose="{target_pose}"
         task="{move_to_pose_task}"
-        planner_interface="moveit_default"
       />
       <Action
         ID="PlanMTCTask"
diff --git a/src/lab_sim/objectives/plan_to_pose.xml b/src/lab_sim/objectives/plan_to_pose.xml
index a13d399d..575693b2 100644
--- a/src/lab_sim/objectives/plan_to_pose.xml
+++ b/src/lab_sim/objectives/plan_to_pose.xml
@@ -31,12 +31,11 @@
           />
           <Action ID="Script" code="pose_ctr += 1" />
           <Action
-            ID="SetupMTCMoveToPose"
+            ID="SetupMTCPlanToPose"
             ik_frame="{ik_frame}"
             planning_group_name="{planning_group_name}"
             target_pose="{target_pose}"
             task="{mtc_task}"
-            planner_interface="moveit_default"
           />
         </Control>
       </Decorator>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
index 3f7e6316..632eab91 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
@@ -7,8 +7,6 @@
     fake_sensor_commands:=false
     sim_ignition:=false
     sim_isaac:=false
-    isaac_joint_commands:=/isaac_joint_commands
-    isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
     com_port:=/dev/ttyUSB0
     moveit_active:=false">
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_pose.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_pose.xml
index 24d83b61..f8aa6f89 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_pose.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_pose.xml
@@ -19,7 +19,7 @@
         />
         <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
         <Action
-          ID="SetupMTCMoveToPose"
+          ID="SetupMTCPlanToPose"
           ik_frame="grasp_link"
           planning_group_name="manipulator"
           target_pose="{target_pose}"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti.xml
index c227b0d8..6029fa9b 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti.xml
@@ -188,7 +188,7 @@
         task="{mtc_task}"
       />
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
-      <Action ID="SetupMTCMoveToPose" target_pose="{hole_object}" />
+      <Action ID="SetupMTCPlanToPose" target_pose="{hole_object}" />
       <Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}" />
       <Action ID="ExecuteMTCTask" solution="{mtc_solution}" />
       <Action
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti_vfc.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti_vfc.xml
index e93c553d..84c4fb3a 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti_vfc.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti_vfc.xml
@@ -188,7 +188,7 @@
         task="{mtc_task}"
       />
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
-      <Action ID="SetupMTCMoveToPose" target_pose="{hole_object}" />
+      <Action ID="SetupMTCPlanToPose" target_pose="{hole_object}" />
       <Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}" />
       <Action ID="ExecuteMTCTask" solution="{mtc_solution}" />
       <Action
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/constrained_pick_place.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/constrained_pick_place.xml
index 063de3b0..4d8c6d94 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/constrained_pick_place.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/constrained_pick_place.xml
@@ -8,16 +8,6 @@
   >
     <Decorator ID="KeepRunningUntilFailure">
       <Control ID="Sequence">
-        <Action
-          ID="InitializeMotionConstraints"
-          constraints_name="gripper pointing down"
-          constraints="{constraints}"
-        />
-        <Action
-          ID="AppendOrientationConstraint"
-          config_file_name="my_constraints.yaml"
-          constraints="{constraints}"
-        />
         <Control ID="Sequence" name="TopLevelSequence">
           <SubTree ID="Open Gripper" />
           <Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -35,8 +25,8 @@
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
               waypoint_name="Grasp Left"
-              planner_interface="moveit_all_planners"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
             />
           </Decorator>
         </Control>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
index fca077c6..8884959d 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
@@ -19,7 +19,7 @@
         />
         <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
         <Action
-          ID="SetupMTCMoveToPose"
+          ID="SetupMTCPlanToPose"
           ik_frame="grasp_link"
           planning_group_name="manipulator"
           target_pose="{target_pose}"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
index 331cc32b..9e35241a 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
@@ -15,7 +15,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
index 0eb08894..9e27b13f 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
@@ -12,7 +12,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
index dcd90294..a58852a6 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
@@ -13,7 +13,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Estimate Object Pose"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
index e7f4b46f..4c3f4c02 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
@@ -16,7 +16,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Estimate Object Pose"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
index 0c2a75ef..719ee022 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
@@ -16,7 +16,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Estimate Object Pose"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
index 882109b5..8f86293d 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
@@ -16,7 +16,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Estimate Object Pose"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
index 0e34cd50..9a0d1fb5 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
@@ -16,7 +16,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Estimate Object Pose"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/26_solution_-_better_coverage.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/26_solution_-_better_coverage.xml
index 50f08e70..16ee1dcf 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/26_solution_-_better_coverage.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/26_solution_-_better_coverage.xml
@@ -14,7 +14,6 @@
         waypoint_name="Look at Airfoil"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Estimate Object Pose"
diff --git a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
index 60cfa019..e2acbc4c 100644
--- a/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
+++ b/src/moveit_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
@@ -15,12 +15,11 @@
         />
         <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
         <Action
-          ID="SetupMTCMoveToPose"
+          ID="SetupMTCPlanToPose"
           ik_frame="grasp_link"
           planning_group_name="manipulator"
           target_pose="{target_pose}"
           task="{move_to_pose_task}"
-          planner_interface="moveit_default"
         />
         <Action
           ID="PlanMTCTask"
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
index a3a85077..9e7f01d0 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
@@ -230,4 +230,6 @@
     <disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_2_link" reason="Adjacent"/>
     <disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_3_link" reason="Never"/>
     <disable_collisions link1="ur_arm_wrist_2_link" link2="ur_arm_wrist_3_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link_inertia" link2="riser_link" reason="Never"/>
+    <disable_collisions link1="base_link_inertia" link2="chassis_link" reason="Never"/>
 </robot>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
index 51ed6715..8d8bbd88 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
@@ -15,7 +15,6 @@
         waypoint_name="Look at Table"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
         constraints="{constraints}"
       />
       <Action
@@ -33,7 +32,6 @@
               waypoint_name="Pick Cube"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
             <Action
@@ -46,14 +44,12 @@
               waypoint_name="Look at Table"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
             <SubTree
               ID="Move to Waypoint"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
               waypoint_name="Place Cube"
             />
@@ -67,7 +63,6 @@
               waypoint_name="Look at Table"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
           </Control>
@@ -78,7 +73,6 @@
               waypoint_name="Place Cube"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
             <Action
@@ -91,7 +85,6 @@
               waypoint_name="Look at Table"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
             <SubTree
@@ -99,7 +92,6 @@
               waypoint_name="Pick Cube"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
             <Action
@@ -112,7 +104,6 @@
               waypoint_name="Look at Table"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
               constraints="{constraints}"
             />
           </Control>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/constrained_pick_place.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/constrained_pick_place.xml
index 27768be0..6889824f 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/constrained_pick_place.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/constrained_pick_place.xml
@@ -12,23 +12,11 @@
         constraints="{constraints}"
         waypoint_name="Look at Table"
         joint_group_name="manipulator"
-        planner_interface="moveit_default"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
       />
       <SubTree ID="Open Gripper" />
       <Decorator ID="KeepRunningUntilFailure">
         <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">
@@ -37,8 +25,8 @@
               waypoint_name="Above Pick Cube"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
             />
           </Decorator>
           <Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -47,8 +35,8 @@
               waypoint_name="Pick Cube"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
             />
           </Decorator>
           <!--Pick-->
@@ -59,8 +47,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Above Pick Cube"
             />
@@ -70,8 +58,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Above Place Cube"
             />
@@ -81,8 +69,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Place Cube"
             />
@@ -93,8 +81,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Above Place Cube"
             />
@@ -104,8 +92,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Place Cube"
             />
@@ -116,8 +104,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Above Place Cube"
             />
@@ -127,8 +115,8 @@
               ID="Move to Waypoint"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
               joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
               _collapsed="true"
               waypoint_name="Above Pick Cube"
             />
@@ -139,8 +127,8 @@
               waypoint_name="Pick Cube"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
+              keep_orientation="true"
+              keep_orientation_tolerance="0.2"
             />
           </Decorator>
           <SubTree ID="Open Gripper" />
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/cycle_between_waypoints.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
index 054c2195..7b6642c4 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
@@ -11,7 +11,6 @@
           waypoint_name="Above Pick Cube"
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
           constraints="{constraints}"
         />
         <SubTree
@@ -19,7 +18,6 @@
           waypoint_name="Look at Table"
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
           constraints="{constraints}"
         />
       </Control>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/joint_diagnostic.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/joint_diagnostic.xml
index d85ebde7..25c54af2 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/joint_diagnostic.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/joint_diagnostic.xml
@@ -12,7 +12,6 @@
         waypoint_name="Look at Table"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
@@ -22,14 +21,12 @@
             waypoint_name="Wrist 2 Max"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <SubTree
             ID="Move to Waypoint"
             waypoint_name="Wrist 2 Min"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
         </Control>
       </Decorator>
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
index 1b5085d4..68acc707 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
@@ -12,7 +12,6 @@
         _collapsed="true"
         waypoint_name="VFC Start"
         joint_group_name="manipulator"
-        planner_interface="pro_rrt"
         controller_names="/joint_trajectory_controller"
       />
       <Action
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/move_to_pose.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/move_to_pose.xml
index 333e1329..abf1444a 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/move_to_pose.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/move_to_pose.xml
@@ -14,12 +14,11 @@
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
       <Action
-        ID="SetupMTCMoveToPose"
+        ID="SetupMTCPlanToPose"
         ik_frame="grasp_link"
         planning_group_name="manipulator"
         target_pose="{target_pose}"
         task="{move_to_pose_task}"
-        planner_interface="moveit_default"
       />
       <Action
         ID="PlanMTCTask"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
index bfb73650..5be66cc2 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
@@ -15,7 +15,6 @@
         waypoint_name="Look at Machine"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <Action
         ID="MoveGripperAction"
@@ -32,7 +31,6 @@
               waypoint_name="Grasp Left"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
             <Action
               ID="MoveGripperAction"
@@ -44,14 +42,12 @@
               waypoint_name="Look at Machine"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
             <SubTree
               ID="Move to Waypoint"
               waypoint_name="Grasp Machine"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
             <Action
               ID="MoveGripperAction"
@@ -63,7 +59,6 @@
               waypoint_name="Look at Machine"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
           </Control>
           <!--Pick object from the CNC machine, put it down on the right, and go back to center pose-->
@@ -73,7 +68,6 @@
               waypoint_name="Grasp Machine"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
             <Action
               ID="MoveGripperAction"
@@ -85,14 +79,12 @@
               waypoint_name="Look at Machine"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
             <SubTree
               ID="Move to Waypoint"
               waypoint_name="Grasp Left"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
             <Action
               ID="MoveGripperAction"
@@ -104,7 +96,6 @@
               waypoint_name="Look at Machine"
               joint_group_name="manipulator"
               controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
             />
           </Control>
         </Control>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
index 1fdc14b1..d9380f11 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
@@ -8,17 +8,6 @@
   >
     <Decorator ID="KeepRunningUntilFailure">
       <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-->
         <SubTree ID="Open Gripper" />
         <!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
@@ -27,8 +16,7 @@
             ID="Move to Waypoint"
             waypoint_name="Grasp Right"
             joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
+            controller_names="/joint_trajectory_controller"
           />
         </Decorator>
         <!--Pick-->
@@ -37,11 +25,12 @@
         <Decorator ID="RetryUntilSuccessful" num_attempts="3">
           <SubTree
             ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
+            controller_names="/joint_trajectory_controller"
             joint_group_name="manipulator"
             waypoint_name="Grasp Left"
-            planner_interface="moveit_default"
-            constraints="{constraints}"
+            link_padding="0.0"
+            keep_orientation="true"
+            keep_orientation_tolerance="0.2"
           />
         </Decorator>
       </Control>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
index b5bbf2b2..6473c274 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
@@ -12,14 +12,12 @@
           waypoint_name="Grasp Left"
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
         />
         <SubTree
           ID="Move to Waypoint"
           waypoint_name="Grasp Right"
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
         />
       </Control>
     </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
index c785d370..abb19b70 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
@@ -13,7 +13,6 @@
         waypoint_name="Home"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
@@ -23,14 +22,12 @@
             waypoint_name="Wrist 2 Max"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <SubTree
             ID="Move to Waypoint"
             waypoint_name="Wrist 2 Min"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
         </Control>
       </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/move_along_path.xml b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/move_along_path.xml
index 2f6b3592..07927e37 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/move_along_path.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/move_along_path.xml
@@ -79,7 +79,6 @@
             waypoint_name="Look at Right Table"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller"
-            planner_interface="moveit_default"
           />
           <!--Plan and validate the trajectory-->
           <Action
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
index c00a3227..cc077f21 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
@@ -13,12 +13,11 @@
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
       <Action
-        ID="SetupMTCMoveToPose"
+        ID="SetupMTCPlanToPose"
         ik_frame="first_grasp_link"
         planning_group_name="first_manipulator"
         target_pose="{target_pose}"
         task="{move_to_pose_task}"
-        planner_interface="moveit_default"
       />
       <Action
         ID="PlanMTCTask"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_two_arms.xml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_two_arms.xml
index bfcf2fe9..c0fe6e67 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_two_arms.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_two_arms.xml
@@ -16,7 +16,7 @@
           controller_names="/multi_arm_joint_trajectory_controller"
           velocity_scale_factor="1.0"
           acceleration_scale_factor="1.0"
-          link_padding="0.01"
+          link_padding="0.0"
           keep_orientation_tolerance="0.05"
           keep_orientation="false"
           waypoint_name="Home"
@@ -30,7 +30,7 @@
           controller_names="/multi_arm_joint_trajectory_controller"
           velocity_scale_factor="1.0"
           acceleration_scale_factor="1.0"
-          link_padding="0.01"
+          link_padding="0.0"
           keep_orientation_tolerance="0.05"
           keep_orientation="false"
           waypoint_name="Flip"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml
index cd5f9bc5..de2e87ea 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -46,7 +46,7 @@
               input_pose="{pose}"
             />
             <Action
-              ID="SetupMTCMoveToPose"
+              ID="SetupMTCPlanToPose"
               ik_frame="grasp_link"
               planning_group_name="manipulator"
               target_pose="{target_pose}"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
index 104a3f4d..71d4d13a 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
@@ -43,12 +43,11 @@
             input_pose="{pose}"
           />
           <Action
-            ID="SetupMTCMoveToPose"
+            ID="SetupMTCPlanToPose"
             ik_frame="grasp_link"
             planning_group_name="manipulator"
             target_pose="{target_pose}"
             task="{move_to_pose_task}"
-            planner_interface="moveit_default"
           />
         </Control>
       </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
index 34f8145c..d06e1542 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
@@ -34,7 +34,6 @@
         waypoint_name="Look at Pick and Place Zone"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
 
       <!-- This loops forever because the behavior tree under this decorator never returns FAILURE. -->
@@ -156,7 +155,6 @@
                   waypoint_name="Look at Pick and Place Zone"
                   joint_group_name="manipulator"
                   controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                  planner_interface="moveit_default"
                 />
 
                 <!-- Move to the current place waypoint set by IterateThroughPlaceWaypoints, then open the gripper. -->
@@ -165,7 +163,6 @@
                   waypoint_name="{place_waypoint}"
                   joint_group_name="manipulator"
                   controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                  planner_interface="moveit_default"
                 />
                 <Action
                   ID="MoveGripperAction"
@@ -179,7 +176,6 @@
                   waypoint_name="Look at Pick and Place Zone"
                   joint_group_name="manipulator"
                   controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                  planner_interface="moveit_default"
                 />
               </Control>
             </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
index c06ba096..f7f32c20 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
@@ -23,7 +23,6 @@
         waypoint_name="Extended Right"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Reset Planning Scene" _collapsed="true" />
@@ -47,7 +46,6 @@
             waypoint_name="Extended Right 2"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <SubTree
             ID="Detect Fixed Handle Graspable Object"
@@ -61,7 +59,6 @@
             waypoint_name="Extended Right"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <SubTree
             ID="Detect Fixed Handle Graspable Object"
@@ -76,7 +73,6 @@
         waypoint_name="Hinge View"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree
         ID="Detect Hinge Line Segment"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
index b73cbed0..7e5ef3c4 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
@@ -23,7 +23,6 @@
         waypoint_name="Extended Right 2"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Reset Planning Scene" _collapsed="true" />
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
index 5b3f8ef6..df75ca36 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
@@ -14,7 +14,6 @@
           waypoint_name="Look at April Tag"
           joint_group_name="manipulator"
           controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="moveit_default"
         />
       </Control>
       <SubTree
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml
index 3a347ddc..7e92a435 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/pick_place_object.xml
@@ -258,7 +258,6 @@
             waypoint_name="Place"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <Action
             ID="MoveGripperAction"
@@ -270,7 +269,6 @@
             waypoint_name="Look at Pick and Place Zone"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
         </Control>
         <!-- The "Else" condition of the TryGraspOuter IfThenElse control. Move to the Look at Pick and Place Zone pose if all retry attempts failed. -->
@@ -284,7 +282,6 @@
             waypoint_name="Look at Pick and Place Zone"
             joint_group_name="manipulator"
             controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
           />
           <Action ID="AlwaysFailure" />
         </Control>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
index 5332fb9f..a21b3a9d 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
@@ -46,12 +46,11 @@
               input_pose="{pose}"
             />
             <Action
-              ID="SetupMTCMoveToPose"
+              ID="SetupMTCPlanToPose"
               ik_frame="grasp_link"
               planning_group_name="manipulator"
               target_pose="{target_pose}"
               task="{push_button_task}"
-              planner_interface="moveit_default"
             />
           </Control>
         </Decorator>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
index c9a0e65f..0490707d 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -12,7 +12,6 @@
         waypoint_name="Hinge View"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
       />
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Reset Planning Scene" _collapsed="true" />
@@ -101,12 +100,11 @@
         />
         <Action ID="SetupMTCCurrentState" task="{push_along_axis_task}" />
         <Action
-          ID="SetupMTCMoveToPose"
+          ID="SetupMTCPlanToPose"
           ik_frame="grasp_link"
           planning_group_name="manipulator"
           target_pose="{button_pose}"
           task="{push_along_axis_task}"
-          planner_interface="moveit_default"
         />
         <Action
           ID="SetupMTCUpdateGroupCollisionRule"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
index 24964ffa..d11825d4 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
@@ -36,7 +36,7 @@
         task="{retreat_task}"
       />
       <Action
-        ID="SetupMTCMoveToJointState"
+        ID="SetupMTCPlanToJointState"
         joint_state="{initial_robot_state}"
         planning_group_name="manipulator"
         task="{retreat_task}"