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 4ede36b5..a6e5cbc7 100644
--- a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
+++ b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -5,12 +5,15 @@
     ID="Add Waypoints to MTC Task"
     _subtreeOnly="true"
     _description=""
+    joint_group_name="manipulator"
+    planner_interface="moveit_default"
+    mtc_task="{mtc_task}"
   >
     <Control ID="Sequence">
       <Action
         ID="RetrieveWaypoint"
         waypoint_joint_state="{target_joint_state}"
-        waypoint_name="Above Pick Cube"
+        waypoint_name="Look at Table"
         joint_group_name="{joint_group_name}"
       />
       <Action
@@ -24,7 +27,7 @@
       <Action
         ID="RetrieveWaypoint"
         waypoint_joint_state="{target_joint_state}"
-        waypoint_name="Above Place Cube"
+        waypoint_name="Workspace Right"
         joint_group_name="{joint_group_name}"
       />
       <Action
@@ -40,10 +43,11 @@
   <TreeNodesModel>
     <SubTree ID="Add Waypoints to MTC Task">
       <input_port name="joint_group_name" default="manipulator" />
-      <inout_port name="mtc_task" default="{mtc_task}" />
       <input_port name="planner_interface" default="moveit_default" />
+      <inout_port name="mtc_task" default="{mtc_task}" />
       <MetadataFields>
         <Metadata subcategory="Application - Basic Examples" />
+        <Metadata runnable="false" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/joint_trajectory.yaml b/src/lab_sim/objectives/joint_trajectory.yaml
index 29c69136..add4ce73 100644
--- a/src/lab_sim/objectives/joint_trajectory.yaml
+++ b/src/lab_sim/objectives/joint_trajectory.yaml
@@ -13,40518 +13,23970 @@ joint_names:
   - wrist_3_joint
 points:
   - positions:
-      - -0.58386895376304115
-      - -0.26865217043420214
-      - -1.4131415395220854
-      - 1.153019435378962
-      - -1.3067170229071363
-      - -1.5707057547648309
-      - -0.26872309964823549
-    velocities:
-      - -4.6044478719751653e-05
-      - 4.2484157758624981e-06
-      - -0.00052359877559829881
-      - -0.00031193396868531433
-      - -8.6769452733793524e-05
-      - -2.7405210918206294e-05
-      - -2.509849660104559e-05
-    accelerations:
-      - -0.046044478719751654
-      - 0.0042484157758624977
-      - -0.52359877559829882
-      - -0.31193396868531431
-      - -0.086769452733793523
-      - -0.027405210918206292
-      - -0.02509849660104559
+      - -0.58393207895400812
+      - -0.26873792889674158
+      - -1.4131328473372482
+      - 1.1529512958475421
+      - -1.3066855334058858
+      - -1.5708037026819308
+      - -0.26876672248524197
+    velocities:
+      - 5.1783047008404834e-06
+      - -2.1411995446922983e-05
+      - -0.00052359877559829892
+      - -0.00039722095376495178
+      - -4.605671122804466e-05
+      - -2.2624213259765105e-05
+      - -2.816245765698126e-05
+    accelerations:
+      - 0.0051783047008404836
+      - -0.021411995446922981
+      - -0.52359877559829893
+      - -0.39722095376495176
+      - -0.04605671122804466
+      - -0.022624213259765102
+      - -0.028162457656981259
     effort: []
     time_from_start:
       sec: 0
       nanosec: 0
   - positions:
-      - -0.58387125598697709
-      - -0.26865195801341335
-      - -1.4131677194608654
-      - 1.1530038386805279
-      - -1.306721361379773
-      - -1.5707071250253768
-      - -0.26872435457306554
-    velocities:
-      - -0.00046044478719751601
-      - 4.2484157758624932e-05
-      - -0.0052359877559829821
-      - -0.0031193396868531395
-      - -0.00086769452733793419
-      - -0.00027405210918206264
-      - -0.00025098496601045565
-    accelerations:
-      - -0.046044478719751106
-      - 0.004248415775862443
-      - -0.52359877559829271
-      - -0.31193396868531043
-      - -0.086769452733792427
-      - -0.027405210918205986
-      - -0.025098496601045319
+      - -0.58393182003877309
+      - -0.26873899949651392
+      - -1.4131590272760282
+      - 1.1529314347998538
+      - -1.3066878362414474
+      - -1.5708048338925937
+      - -0.26876813060812482
+    velocities:
+      - 5.1783047008404739e-05
+      - -0.00021411995446922943
+      - -0.0052359877559829794
+      - -0.0039722095376495108
+      - -0.00046056711228044579
+      - -0.00022624213259765064
+      - -0.00028162457656981209
+    accelerations:
+      - 0.0051783047008403978
+      - -0.021411995446922641
+      - -0.52359877559829016
+      - -0.39722095376494576
+      - -0.046056711228043966
+      - -0.022624213259764759
+      - -0.028162457656980788
     effort: []
     time_from_start:
       sec: 0
       nanosec: 10000000
   - positions:
-      - -0.58387816265878512
-      - -0.26865132075104697
-      - -1.413246259277205
-      - 1.152957048585225
-      - -1.3067343767976829
-      - -1.5707112358070145
-      - -0.26872811934755569
-    velocities:
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-      - 8.496831551724989e-05
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-    accelerations:
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-      - -0.31193396868530915
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-      - -0.027405210918205823
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+      - 1.1528718516567891
+      - -1.3066947447481314
+      - -1.5708082275245827
+      - -0.26877235497677338
+    velocities:
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+      - -0.010471975511965954
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+      - -0.00045248426519530101
+      - -0.00056324915313962385
+    accelerations:
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+      - -0.39722095376493666
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+      - -0.022624213259764218
+      - -0.028162457656980083
     effort: []
     time_from_start:
       sec: 0
       nanosec: 20000000
   - positions:
-      - -0.58388967377846501
-      - -0.26865025864710301
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-    velocities:
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+      - 1.152772546418348
+      - -1.3067062589259384
+      - -1.5708138835778978
+      - -0.26877939559118763
+    velocities:
+      - 0.00015534914102521488
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+      - -0.015707963267949005
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+      - -0.00084487372970943979
+    accelerations:
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+      - -0.39722095376498662
+      - -0.046056711228048629
+      - -0.022624213259766952
+      - -0.02816245765698365
     effort: []
     time_from_start:
       sec: 0
       nanosec: 30000000
   - positions:
-      - -0.583905789346017
-      - -0.26864877170158147
-      - -1.4135604185425641
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+      - 1.15263351908453
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+    velocities:
+      - 0.00020713218803361953
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+      - -0.00090496853039060505
+      - -0.0011264983062792516
+    accelerations:
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+      - -0.022624213259766438
+      - -0.028162457656983012
     effort: []
     time_from_start:
       sec: 0
       nanosec: 40000000
   - positions:
-      - -0.58392650936144086
-      - -0.26864685991448228
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-      - 1.1526295179181054
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-      - -0.0023022239359875808
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-    accelerations:
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+    accelerations:
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     effort: []
     time_from_start:
       sec: 0
       nanosec: 50000000
   - positions:
-      - -0.5839518338247367
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+    accelerations:
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     effort: []
     time_from_start:
       sec: 0
       nanosec: 60000000
   - positions:
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     effort: []
     time_from_start:
       sec: 0
       nanosec: 70000000
   - positions:
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     effort: []
     time_from_start:
       sec: 0
       nanosec: 80000000
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     effort: []
     time_from_start:
       sec: 0
       nanosec: 90000000
   - positions:
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-      - 0.017769312137444974
-      - -0.0089568707297840739
-      - 1.33182959423545e-05
-      - 0.036128315516293405
-    accelerations:
-      - 0.37858407592824111
-      - -0.52328184669198752
-      - 0.13035134320781316
-      - -0.25752626285666008
-      - 0.12980972071905506
-      - -0.0001930187817696074
-      - -0.52359877558856327
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 390000000
-  - positions:
-      - -0.02565734185137826
-      - 0.39029865897531457
-      - -0.64201993439378546
-      - 1.2195163998493597
-      - -2.1169352333977627
-      - -1.5707429785959122
-      - 0.39034096940507468
-    velocities:
-      - -0.022336460480210228
-      - 0.030873628955440845
-      - -0.0076907292494139134
-      - 0.015194049508844794
-      - -0.0076587735225765678
-      - 1.1388108124633231e-05
-      - 0.030892327760339421
-    accelerations:
-      - 0.37858407590928234
-      - -0.52328184666577848
-      - 0.13035134320128616
-      - -0.2575262628437609
-      - 0.12980972071255464
-      - -0.00019301878175994138
-      - -0.52359877556234213
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 400000000
-  - positions:
-      - -0.02586219718901029
-      - 0.39058181161219707
-      - -0.64209046870867492
-      - 1.2196557496870337
-      - -2.1170054746357247
-      - -1.570742874151668
-      - 0.39062429353510825
-    velocities:
-      - -0.018550619720864289
-      - 0.025640810488433183
-      - -0.0063872158173138988
-      - 0.01261878688023501
-      - -0.0063606763153642209
-      - 9.4579203069047645e-06
-      - 0.025656340004365907
-    accelerations:
-      - 0.37858407590511323
-      - -0.52328184666001465
-      - 0.13035134319984967
-      - -0.25752626284092428
-      - 0.12980972071112559
-      - -0.00019301878175781461
-      - -0.52359877555657708
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 410000000
-  - positions:
-      - -0.026029194119048207
-      - 0.39081263606440858
-      - -0.642147967889243
-      - 1.2197693468984214
-      - -2.117062734901614
-      - -1.5707427890093018
-      - 0.39085525778758112
-    velocities:
-      - -0.014764778961476007
-      - 0.020407992021366991
-      - -0.0050837023851993037
-      - 0.010043524251596422
-      - -0.0050625791081373561
-      - 7.5277324891547084e-06
-      - 0.020420352248333832
-    accelerations:
-      - 0.37858407593454452
-      - -0.52328184670069633
-      - 0.13035134320998423
-      - -0.2575262628609441
-      - 0.12980972072121677
-      - -0.00019301878177282141
-      - -0.52359877559728152
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 420000000
-  - positions:
-      - -0.026158332641493146
-      - 0.3909911323319506
-      - -0.64219243193549025
-      - 1.2198571914835232
-      - -2.1171070141954313
-      - -1.5707427231688138
-      - 0.39103386216249497
-    velocities:
-      - -0.010978938202129387
-      - 0.015175173554358387
-      - -0.0037801889530990531
-      - 0.0074682616229861734
-      - -0.0037644819009247758
-      - 5.5975446714258942e-06
-      - 0.015184364492359374
-    accelerations:
-      - 0.37858407593173832
-      - -0.52328184669681788
-      - 0.13035134320901781
-      - -0.25752626285903513
-      - 0.1298097207202551
-      - -0.00019301878177138988
-      - -0.52359877559340062
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 430000000
-  - positions:
-      - -0.026249612756344871
-      - 0.39111730041482295
-      - -0.64222386084741667
-      - 1.2199192834423391
-      - -2.1171383125171772
-      - -1.5707426766302039
-      - 0.39116010665984935
-    velocities:
-      - -0.0071930974427786903
-      - 0.0099423550873445881
-      - -0.0024766755209998793
-      - 0.0048929989943790686
-      - -0.0024663846937215263
-      - 3.667356858068831e-06
-      - 0.009948376736377159
-    accelerations:
-      - 0.37858407593476662
-      - -0.52328184670102695
-      - 0.13035134321019146
-      - -0.25752626286140745
-      - 0.1298097207218584
-      - -0.0001930187820031359
-      - -0.52359877559748003
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 440000000
-  - positions:
-      - -0.026303034463601944
-      - 0.39119114031302366
-      - -0.64224225462502171
-      - 1.2199556227748682
-      - -2.1171566298668498
-      - -1.5707426493934724
-      - 0.39123399127964237
-    velocities:
-      - -0.0034072566834192973
-      - 0.0047095366203180966
-      - -0.0011731620888939265
-      - 0.0023177363657570184
-      - -0.0011682874864989202
-      - 1.7371690380314889e-06
-      - 0.0047123889803861556
-    accelerations:
-      - 0.37858407592105986
-      - -0.52328184668208233
-      - 0.13035134320547206
-      - -0.25752626285208335
-      - 0.12980972071715868
-      - -0.00019301878199614773
-      - -0.52359877557852164
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 450000000
-  - positions:
-      - -0.026318597763266796
-      - 0.39121265202655586
-      - -0.64224761326830615
-      - 1.2199662094811119
-      - -2.1171619662444514
-      - -1.5707426414586192
-      - 0.39125551602187736
-    velocities:
-      - -5.5780502551881286e-17
-      - 7.7100243355955008e-17
-      - -1.9205941017524758e-17
-      - 3.794386841878788e-17
-      - -1.9126138467673659e-17
-      - 2.8439349001943125e-20
-      - 7.714693959660793e-17
-    accelerations:
-      - 0.37858407592206378
-      - -0.52328184668347022
-      - 0.13035134320581776
-      - -0.25752626285276636
-      - 0.12980972071750291
-      - -0.00019301878199665985
-      - -0.52359877557990986
-    effort: []
-    time_from_start:
-      sec: 14
-      nanosec: 460000000
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 b0b64db3..c7c05f3e 100644
--- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
+++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
@@ -7,6 +7,7 @@
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
+      <!-- Make sure to move the robot to the same starting position as the saved trajectory starts, otherwise the joint_trajectory_controller will use joint interpolation to align the robot with the path -->
       <SubTree
         ID="Move to Waypoint"
         _collapsed="true"
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
index db138a7a..2cc64254 100644
--- a/src/lab_sim/objectives/plan_and_save_trajectory.xml
+++ b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -8,6 +8,7 @@
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
+      <!-- Before we plan we want to make sure we are at a known position, so when we execute the plan it can be done from the same position -->
       <SubTree
         ID="Move to Waypoint"
         _collapsed="true"
@@ -15,12 +16,20 @@
         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"
+        keep_orientation="false"
+        keep_orientation_tolerance="0.05"
+        link_padding="0.01"
+        velocity_scale_factor="1.0"
       />
+      <!-- Create a vector of poses so we can add them all to the MTC task at once -->
       <SubTree
         ID="Create Pose Vector"
         _collapsed="false"
         target_poses="{target_poses}"
       />
+      <!-- Add the cartesian poses we created in the previous step -->
       <SubTree
         ID="Add Poses to MTC Task"
         _collapsed="true"
@@ -30,6 +39,7 @@
         ik_frame="grasp_link"
         mtc_task="{mtc_task}"
       />
+      <!-- Add joint-state waypoints to the MTC task as well -->
       <SubTree
         ID="Add Waypoints to MTC Task"
         _collapsed="false"
@@ -38,16 +48,24 @@
         joint_group_name="manipulator"
         planner_interface="moveit_default"
       />
+      <!-- Perform the computationally intensive calculation now -->
       <Action ID="PlanMTCTask" solution="{mtc_solution}" task="{mtc_task}" />
-      <Action ID="WaitForUserTrajectoryApproval" />
-      <!--The following behavior can be found in the example_behaviors package.-->
+      <!-- Preview the trajectory for approval -->
+      <Action ID="WaitForUserTrajectoryApproval" solution="{mtc_solution}" />
+      <!-- The MTC solution does not contain time parameterization, so we can use TOTG to convert it to a JointTrajectory. The source code for the following behavior can be found in the example_behaviors package -->
       <Action
         ID="ConvertMtcSolutionToJointTrajectory"
         joint_trajectory="{joint_trajectory_msg}"
+        acceleration_scaling_factor="1.000000"
+        joint_group="manipulator"
+        sampling_rate="100"
+        solution="{mtc_solution}"
+        velocity_scaling_factor="1.000000"
       />
       <Action
         ID="SaveJointTrajectoryToYaml"
         yaml_filename="~/user_ws/src/lab_sim/objectives/joint_trajectory"
+        message="{joint_trajectory_msg}"
       />
     </Control>
   </BehaviorTree>
@@ -55,6 +73,7 @@
     <SubTree ID="Plan and Save Trajectory">
       <MetadataFields>
         <Metadata subcategory="Application - Advanced Examples" />
+        <Metadata runnable="true" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>
diff --git a/src/lab_sim/objectives/plan_to_pose.xml b/src/lab_sim/objectives/plan_to_pose.xml
index ce3d0144..a13d399d 100644
--- a/src/lab_sim/objectives/plan_to_pose.xml
+++ b/src/lab_sim/objectives/plan_to_pose.xml
@@ -12,7 +12,9 @@
         controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
         task="{mtc_task}"
       />
+      <!-- Start the MTC task from the robot's current pose -->
       <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
+      <!-- Use a script with a pose counter so we can give a unique name to each marker (allowing multiple poses to be visualized) -->
       <Action ID="Script" code="pose_ctr := 0" />
       <Decorator
         ID="ForEach"
@@ -21,6 +23,7 @@
         index="{index}"
       >
         <Control ID="Sequence">
+          <!-- Visualize and add each pose to the vector -->
           <Action
             ID="VisualizePose"
             marker_name="{pose_ctr}"
diff --git a/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml b/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml
index caafc2a5..0db9b710 100644
--- a/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml
+++ b/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml
@@ -1,23 +1,24 @@
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Save and Execute a Trajectory from Disk"
->
+<?xml version="1.0" encoding="utf-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Record and Replay Scanning Motion">
   <!--//////////-->
   <BehaviorTree
-    ID="Save and Execute a Trajectory from Disk"
-    _description="Build a trajectory from a series of waypoints and MTC tasks, then save the trajectory to disk. Load the trajectory from disk and execute it as well."
+    ID="Record and Replay Scanning Motion"
+    _description="Build a trajectory from a series of waypoints and MTC tasks to scan the environment, then save the trajectory to disk. If the trajectory is approved, it will be saved and then executed."
     _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Plan and Save Trajectory" _collapsed="true" />
-      <SubTree ID="Load and Execute Joint Trajectory" _collapsed="true" />
+      <!--First we build the trajectory using caresian and joint-state waypoint. If the trajecotry is approved, it will be saved.-->
+      <SubTree ID="Plan and Save Trajectory" _collapsed="false" />
+      <!--Next we load the saved trajectory from disk an execute it. This stage does not require motion planning-->
+      <SubTree ID="Load and Execute Joint Trajectory" _collapsed="false" />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Save and Execute a Trajectory from Disk">
+    <SubTree ID="Record and Replay Scanning Motion">
       <MetadataFields>
-        <Metadata subcategory="Motion - Execute" />
+        <Metadata subcategory="Application - Advanced Examples" />
+        <Metadata runnable="true" />
       </MetadataFields>
     </SubTree>
   </TreeNodesModel>