diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
index 802809cd..59c5823f 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Move Along Path">
-  <!-- ////////// -->
+  <!--//////////-->
   <BehaviorTree
     ID="Move Along Path"
     _description="Moves the robot tip on a rectangular path."
@@ -9,6 +9,10 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Control ID="Sequence">
+        <Action
+          ID="ActivateControllers"
+          controller_names="/joint_trajectory_controller"
+        />
         <Action
           ID="CreateStampedPose"
           reference_frame="base_link"
@@ -18,8 +22,8 @@
         />
         <Action
           ID="AddPoseStampedToVector"
-          input_pose="{stamped_pose}"
-          pose_stamped_vector="{pose_stamped_vector}"
+          input="{stamped_pose}"
+          vector="{pose_stamped_vector}"
         />
         <Action
           ID="CreateStampedPose"
@@ -30,8 +34,8 @@
         />
         <Action
           ID="AddPoseStampedToVector"
-          input_pose="{stamped_pose}"
-          pose_stamped_vector="{pose_stamped_vector}"
+          input="{stamped_pose}"
+          vector="{pose_stamped_vector}"
         />
         <Action
           ID="CreateStampedPose"
@@ -42,8 +46,8 @@
         />
         <Action
           ID="AddPoseStampedToVector"
-          input_pose="{stamped_pose}"
-          pose_stamped_vector="{pose_stamped_vector}"
+          input="{stamped_pose}"
+          vector="{pose_stamped_vector}"
         />
         <Action
           ID="CreateStampedPose"
@@ -54,8 +58,8 @@
         />
         <Action
           ID="AddPoseStampedToVector"
-          input_pose="{stamped_pose}"
-          pose_stamped_vector="{pose_stamped_vector}"
+          input="{stamped_pose}"
+          vector="{pose_stamped_vector}"
         />
       </Control>
       <Decorator ID="KeepRunningUntilFailure">
@@ -65,13 +69,14 @@
             path="{pose_stamped_vector}"
             planning_group_name="manipulator"
             tip_link="end_effector_link"
-            tip_offset="0.0;0.0;0.0"
+            tip_offset="0.0;0.0;0.0;0.0;0.0;0.0"
             position_only="false"
             blending_radius="0.02"
             velocity_scale_factor="0.5"
             acceleration_scale_factor="0.5"
             trajectory_sampling_rate="100"
             joint_trajectory_msg="{joint_trajectory_msg}"
+            debug_solution="{debug_solution}"
           />
           <Action
             ID="GetCurrentPlanningScene"
@@ -84,11 +89,14 @@
             joint_trajectory_msg="{joint_trajectory_msg}"
             joint_space_step="0.05"
             cartesian_space_step="0.02"
+            debug_solution="{debug_solution}"
           />
           <Action
             ID="ExecuteFollowJointTrajectory"
             execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
             joint_trajectory_msg="{joint_trajectory_msg}"
+            goal_position_tolerance="0.000000"
+            goal_time_tolerance="0.000000"
           />
         </Control>
       </Decorator>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml
index 90696f74..330d4fc6 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml
@@ -1,11 +1,12 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Request Teleoperation">
-  <!-- The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message. -->
+  <!--The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message.-->
   <BehaviorTree
     ID="Request Teleoperation"
     _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective."
     _favorite="false"
     _hardcoded="false"
+    _subtreeOnly="true"
   >
     <Control ID="Sequence">
       <Action ID="Script" code="teleop_mode := 0" />
@@ -19,39 +20,141 @@
         />
         <Decorator ID="KeepRunningUntilFailure">
           <Control ID="Sequence">
-            <!-- Closing and opening the gripper -->
+            <!--Closing and opening the gripper-->
             <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7">
               <SubTree ID="Close Gripper" />
             </Decorator>
             <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6">
               <SubTree ID="Open Gripper" />
             </Decorator>
-            <!-- Joint sliders interpolate to joint state -->
+            <!--Joint sliders interpolate to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 5">
-              <SubTree ID="Interpolate to Joint State" />
+              <Control ID="Sequence">
+                <Control ID="Fallback" name="root">
+                  <Control ID="Sequence">
+                    <Action
+                      ID="RetrieveJointStateParameter"
+                      timeout_sec="-1"
+                      joint_state="{target_joint_state}"
+                    />
+                    <SubTree
+                      ID="Interpolate to Joint State"
+                      _collapsed="false"
+                      target_joint_state="{target_joint_state}"
+                    />
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                  </Control>
+                  <Control ID="Sequence">
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                    <Action ID="AlwaysFailure" />
+                  </Control>
+                </Control>
+              </Control>
             </Decorator>
-            <!-- Interactive markers move to pose -->
+            <!--Interactive markers move to pose-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
-              <SubTree ID="Move to Pose" />
+              <Control ID="Sequence">
+                <Control ID="Fallback" name="root">
+                  <Control ID="Sequence">
+                    <Action
+                      ID="RetrievePoseParameter"
+                      timeout_sec="-1"
+                      pose="{target_pose}"
+                    />
+                    <SubTree
+                      ID="Move to Pose"
+                      _collapsed="false"
+                      target_pose="{target_pose}"
+                    />
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                  </Control>
+                  <Control ID="Sequence">
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                    <Action ID="AlwaysFailure" />
+                  </Control>
+                </Control>
+              </Control>
             </Decorator>
-            <!-- Waypoint buttons move to joint state -->
+            <!--Waypoint buttons move to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
-              <SubTree ID="Move to Joint State" />
+              <Control ID="Sequence">
+                <Control ID="Fallback" name="root">
+                  <Control ID="Sequence">
+                    <Action
+                      ID="RetrieveJointStateParameter"
+                      timeout_sec="-1"
+                      joint_state="{target_joint_state}"
+                    />
+                    <SubTree
+                      ID="Move to Joint State"
+                      _collapsed="false"
+                      target_joint_state="{target_joint_state}"
+                    />
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                  </Control>
+                  <Control ID="Sequence">
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                    <Action ID="AlwaysFailure" />
+                  </Control>
+                </Control>
+              </Control>
             </Decorator>
-            <!-- Cartesian and joint jogging -->
-            <Action
-              ID="TeleoperateTwist"
-              controller_name="servo_controller"
-              _while="teleop_mode == 2"
-            />
-            <Action
-              ID="TeleoperateJointJog"
-              controller_name="servo_controller"
-              _while="teleop_mode == 1"
-            />
+            <!--Cartesian and joint jogging-->
+            <Control ID="Sequence" _while="teleop_mode == 2">
+              <Action
+                ID="TeleoperateTwist"
+                controller_name="servo_controller"
+              />
+            </Control>
+            <Control ID="Sequence" _while="teleop_mode == 1">
+              <Action
+                ID="TeleoperateJointJog"
+                controller_name="servo_controller"
+              />
+            </Control>
           </Control>
         </Decorator>
       </Control>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Request Teleoperation">
+      <input_port name="enable_user_interaction" default="false" />
+      <input_port name="user_interaction_prompt" default="" />
+      <input_port name="initial_teleop_mode" default="3" />
+      <MetadataFields>
+        <Metadata subcategory="User Input" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml
index 89beb80e..48e7abf2 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml
@@ -62,7 +62,8 @@
         <Control ID="Sequence">
           <Action
             ID="LoadPointCloudFromFile"
-            file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/mock_satellite.stl"
+            file_path="descriptions/miscellaneous/mock_satellite.stl"
+            package_name="picknik_accessories"
             frame_id="object_frame"
             num_sampled_points="3000"
             random_seed="1234"
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..f5aa5ee7 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
@@ -62,7 +62,8 @@
         <Control ID="Sequence">
           <Action
             ID="LoadPointCloudFromFile"
-            file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/mock_satellite.stl"
+            file_path="descriptions/miscellaneous/mock_satellite.stl"
+            package_name="picknik_accessories"
             frame_id="object_frame"
             num_sampled_points="3000"
             random_seed="1234"
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..b34f8f51 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
@@ -62,7 +62,8 @@
         <Control ID="Sequence">
           <Action
             ID="LoadPointCloudFromFile"
-            file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/mock_satellite.stl"
+            file_path="descriptions/miscellaneous/mock_satellite.stl"
+            package_name="picknik_accessories"
             frame_id="object_frame"
             num_sampled_points="3000"
             random_seed="1234"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml
index d029f10d..c6ba703b 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Move Along Path">
   <!--//////////-->
   <BehaviorTree
@@ -8,6 +8,19 @@
     _hardcoded="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree
+        ID="Move to Waypoint"
+        _collapsed="false"
+        acceleration_scale_factor="1.0"
+        controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
+        controller_names="/joint_trajectory_controller"
+        joint_group_name="manipulator"
+        keep_orientation="false"
+        keep_orientation_tolerance="0.05"
+        link_padding="0.01"
+        velocity_scale_factor="1.0"
+        waypoint_name="View Satellite"
+      />
       <Control ID="Sequence">
         <Action
           ID="ActivateControllers"
@@ -69,7 +82,7 @@
             path="{pose_stamped_vector}"
             planning_group_name="manipulator"
             tip_link="end_effector_link"
-            tip_offset="0.0;0.0;0.0"
+            tip_offset="0.0;0.0;0.0;0.0;0.0;0.0"
             position_only="false"
             blending_radius="0.02"
             velocity_scale_factor="0.5"
@@ -77,6 +90,8 @@
             trajectory_sampling_rate="100"
             joint_trajectory_msg="{joint_trajectory_msg}"
             debug_solution="{debug_solution}"
+            ik_cartesian_space_density="0.010000"
+            ik_joint_space_density="0.100000"
           />
           <Action
             ID="GetCurrentPlanningScene"
@@ -97,9 +112,17 @@
             joint_trajectory_msg="{joint_trajectory_msg}"
             goal_position_tolerance="0.000000"
             goal_time_tolerance="0.000000"
+            goal_duration_tolerance="-1.000000"
           />
         </Control>
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Move Along Path">
+      <MetadataFields>
+        <Metadata runnable="true" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/request_teleoperation.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/request_teleoperation.xml
index 90696f74..330d4fc6 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/request_teleoperation.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/request_teleoperation.xml
@@ -1,11 +1,12 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Request Teleoperation">
-  <!-- The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message. -->
+  <!--The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message.-->
   <BehaviorTree
     ID="Request Teleoperation"
     _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective."
     _favorite="false"
     _hardcoded="false"
+    _subtreeOnly="true"
   >
     <Control ID="Sequence">
       <Action ID="Script" code="teleop_mode := 0" />
@@ -19,39 +20,141 @@
         />
         <Decorator ID="KeepRunningUntilFailure">
           <Control ID="Sequence">
-            <!-- Closing and opening the gripper -->
+            <!--Closing and opening the gripper-->
             <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7">
               <SubTree ID="Close Gripper" />
             </Decorator>
             <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6">
               <SubTree ID="Open Gripper" />
             </Decorator>
-            <!-- Joint sliders interpolate to joint state -->
+            <!--Joint sliders interpolate to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 5">
-              <SubTree ID="Interpolate to Joint State" />
+              <Control ID="Sequence">
+                <Control ID="Fallback" name="root">
+                  <Control ID="Sequence">
+                    <Action
+                      ID="RetrieveJointStateParameter"
+                      timeout_sec="-1"
+                      joint_state="{target_joint_state}"
+                    />
+                    <SubTree
+                      ID="Interpolate to Joint State"
+                      _collapsed="false"
+                      target_joint_state="{target_joint_state}"
+                    />
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                  </Control>
+                  <Control ID="Sequence">
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                    <Action ID="AlwaysFailure" />
+                  </Control>
+                </Control>
+              </Control>
             </Decorator>
-            <!-- Interactive markers move to pose -->
+            <!--Interactive markers move to pose-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
-              <SubTree ID="Move to Pose" />
+              <Control ID="Sequence">
+                <Control ID="Fallback" name="root">
+                  <Control ID="Sequence">
+                    <Action
+                      ID="RetrievePoseParameter"
+                      timeout_sec="-1"
+                      pose="{target_pose}"
+                    />
+                    <SubTree
+                      ID="Move to Pose"
+                      _collapsed="false"
+                      target_pose="{target_pose}"
+                    />
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                  </Control>
+                  <Control ID="Sequence">
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                    <Action ID="AlwaysFailure" />
+                  </Control>
+                </Control>
+              </Control>
             </Decorator>
-            <!-- Waypoint buttons move to joint state -->
+            <!--Waypoint buttons move to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
-              <SubTree ID="Move to Joint State" />
+              <Control ID="Sequence">
+                <Control ID="Fallback" name="root">
+                  <Control ID="Sequence">
+                    <Action
+                      ID="RetrieveJointStateParameter"
+                      timeout_sec="-1"
+                      joint_state="{target_joint_state}"
+                    />
+                    <SubTree
+                      ID="Move to Joint State"
+                      _collapsed="false"
+                      target_joint_state="{target_joint_state}"
+                    />
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                  </Control>
+                  <Control ID="Sequence">
+                    <Action
+                      ID="PublishEmpty"
+                      topic="/studio_ui/motion_ended"
+                      queue_size="1"
+                      use_best_effort="false"
+                    />
+                    <Action ID="AlwaysFailure" />
+                  </Control>
+                </Control>
+              </Control>
             </Decorator>
-            <!-- Cartesian and joint jogging -->
-            <Action
-              ID="TeleoperateTwist"
-              controller_name="servo_controller"
-              _while="teleop_mode == 2"
-            />
-            <Action
-              ID="TeleoperateJointJog"
-              controller_name="servo_controller"
-              _while="teleop_mode == 1"
-            />
+            <!--Cartesian and joint jogging-->
+            <Control ID="Sequence" _while="teleop_mode == 2">
+              <Action
+                ID="TeleoperateTwist"
+                controller_name="servo_controller"
+              />
+            </Control>
+            <Control ID="Sequence" _while="teleop_mode == 1">
+              <Action
+                ID="TeleoperateJointJog"
+                controller_name="servo_controller"
+              />
+            </Control>
           </Control>
         </Decorator>
       </Control>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Request Teleoperation">
+      <input_port name="enable_user_interaction" default="false" />
+      <input_port name="user_interaction_prompt" default="" />
+      <input_port name="initial_teleop_mode" default="3" />
+      <MetadataFields>
+        <Metadata subcategory="User Input" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>