diff --git a/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
index c03d709f..16438392 100644
--- a/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
+++ b/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
@@ -5,28 +5,28 @@
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />
-            <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+            <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
             <!-- Keep executing the pick and place sequence until failure -->
             <Decorator ID="KeepRunningUntilFailure">
                 <Control ID="Sequence">
                     <!-- Pick object from "Grab", put it down at "Place", and go back to center pose -->
                     <Control ID="Sequence">
-                        <SubTree ID="Move to Waypoint" waypoint_name="Pick Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Pick Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Place Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Place Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                     </Control>
                     <!-- Pick object from "Place", put it down at "Grab", and go back to center pose -->
                     <Control ID="Sequence">
-                        <SubTree ID="Move to Waypoint" waypoint_name="Place Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Place Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Pick Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Pick Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                     </Control>
                 </Control>
             </Decorator>
diff --git a/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml b/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
index 9b94ec44..fb535ec9 100644
--- a/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
+++ b/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
@@ -3,8 +3,8 @@
     <BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure">
         <Decorator ID="KeepRunningUntilFailure">
             <Control ID="Sequence">
-                <SubTree ID="Move to Waypoint" waypoint_name="Right Corner" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                <SubTree ID="Move to Waypoint" waypoint_name="Right Corner" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+                <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
             </Control>
         </Decorator>
     </BehaviorTree>
diff --git a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
index c587cd96..97bba9ab 100644
--- a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
@@ -6,7 +6,7 @@
                 <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{move_to_waypoint_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" use_all_planners="false" />
+                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" planner_interface="moveit_default" />
                 <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
                 <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
                 <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
diff --git a/src/picknik_ur_base_config/objectives/move_to_pose.xml b/src/picknik_ur_base_config/objectives/move_to_pose.xml
index b9b75167..dadf8110 100644
--- a/src/picknik_ur_base_config/objectives/move_to_pose.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_pose.xml
@@ -6,7 +6,7 @@
                 <Action ID="RetrievePoseParameter" timeout_sec="-1" pose="{target_pose}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="{controller_names}" task="{move_to_pose_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
-                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" planner_interface="moveit_default"/>
                 <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
                 <SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>
                 <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
diff --git a/src/picknik_ur_base_config/objectives/move_to_waypoint.xml b/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
index 474a0ecf..7c43cd37 100644
--- a/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
@@ -1,13 +1,16 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
-    <BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration">
-        <Control ID="Sequence" name="root">
-            <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
-            <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
-            <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-            <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" use_all_planners="{use_all_planners}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
-            <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
-            <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
-        </Control>
-    </BehaviorTree>
+  <BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration">
+    <Control ID="Sequence" name="root">
+      <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
+      <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
+      <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
+      <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
+      <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
+      <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Move to Waypoint"/>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml
index 1ac60d22..8d54b135 100644
--- a/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml
+++ b/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml
@@ -5,28 +5,28 @@
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />
-            <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+            <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
             <!-- Keep executing the pick and place sequence until failure -->
             <Decorator ID="KeepRunningUntilFailure">
                 <Control ID="Sequence">
                     <!-- Pick object from "Pick", put it down at "Place", and go back to center pose -->
                     <Control ID="Sequence">
-                        <SubTree ID="Move to Waypoint" waypoint_name="Pick" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Pick" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                     </Control>
                     <!-- Pick object from "Place", put it down at "Pick", and go back to center pose -->
                     <Control ID="Sequence">
-                        <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Pick" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Pick" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                     </Control>
                 </Control>
             </Decorator>
diff --git a/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml b/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
index aa192fa5..3ed4a3a8 100644
--- a/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
+++ b/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
@@ -3,7 +3,7 @@
   <!-- ////////// -->
   <BehaviorTree ID="Object Segmentation 2D" _description="Detect objects using a 2D image segmentation model." _favorite="false" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/>
       <Action ID="GetMasks2DAction" image="{image}" action_name="/get_masks_2d_maskrcnn" valid_classes="" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0" max_relative_area="1" timeout_sec="-1" masks2d="{masks2d}"/>
     </Control>
diff --git a/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml b/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
index bf35f1a3..fb61d15f 100644
--- a/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
+++ b/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
@@ -5,7 +5,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
       <Action ID="ResetPlanningSceneObjects" apply_planning_scene_service="/apply_planning_scene"/>
-      <SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       <Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/>
       <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
       <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/>
diff --git a/src/picknik_ur_gazebo_config/objectives/pick_apriltag_labeled_object.xml b/src/picknik_ur_gazebo_config/objectives/pick_apriltag_labeled_object.xml
index 37e22243..bf6cd465 100644
--- a/src/picknik_ur_gazebo_config/objectives/pick_apriltag_labeled_object.xml
+++ b/src/picknik_ur_gazebo_config/objectives/pick_apriltag_labeled_object.xml
@@ -5,7 +5,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper"/>
-        <SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+        <SubTree ID="Move to Waypoint" 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>
       <SubTree ID="Sample April Tag" num_samples="5" tag_id="1" apriltag_config="apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
       <Action ID="LoadObjectiveParameters" config_file_name="apriltag1_grasp_offset.yaml" parameters="{pose_parameters}"/>
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
index 223f8578..edad26be 100644
--- a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
+++ b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
@@ -4,13 +4,13 @@
   <BehaviorTree ID="Object Inspection" _description="Estimate the pose of an object using ICP; then, perform a 3D reconstruction of the object from multiple views." _favorite="true" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
-      <SubTree ID="Move to Waypoint" waypoint_name="Look at Object" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" waypoint_name="Look at Object" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       <SubTree ID="Estimate Object Pose" object_model_file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
       <Action ID="LoadPoseStampedVectorFromYaml" file_path="trajectory_around_hercules.yaml" output="{pose_stamped_msgs}"/>
       <Decorator ID="ForEachPoseStamped" vector_in="{pose_stamped_msgs}" out="{trajectory_pose}">
         <Control ID="Sequence">
           <Action ID="TransformPoseWithPose" input_pose="{trajectory_pose}" transform_pose="{model_to_real_pose}" output_pose="{target_pose}"/>
-          <SubTree ID="Move To Pose" target_pose="{target_pose}" ik_frame="grasp_link" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move To Pose" target_pose="{target_pose}" ik_frame="grasp_link" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
           <Action ID="GetSyncedImageAndPointCloud" point_cloud_topic_name="/wrist_mounted_camera/depth/color/points" rgb_image_topic_name="/wrist_mounted_camera/color/image_raw" rgb_camera_info_topic_name="/wrist_mounted_camera/color/camera_info" point_cloud="{point_cloud}" rgb_image="{rgb_image}" rgb_camera_info="{rgb_camera_info}"/>
           <Action ID="TransformPointCloudFrame" input_cloud="{point_cloud}" target_frame="world" output_cloud="{point_cloud_world}"/>
           <Action ID="AddPointCloudToVector" point_cloud="{point_cloud_world}" point_cloud_vector="{point_cloud_vector}"/>
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
index 2bbf7655..f4298a0b 100644
--- a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
+++ b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
@@ -4,7 +4,7 @@
   <BehaviorTree ID="Object Registration" _description="Estimate the pose of an object using ICP." _favorite="true" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
-      <SubTree ID="Move to Waypoint" waypoint_name="Look at Object" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" waypoint_name="Look at Object" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       <SubTree ID="Estimate Object Pose" object_model_file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
     </Control>
   </BehaviorTree>
diff --git a/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
index 586a8690..28fd000e 100644
--- a/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
@@ -1,35 +1,35 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
 <root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
-    <!-- ////////// -->
-    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly grab a small object, place it at desired destination, and then navigate to specified waypoint until failure" _favorite="true">
+  <!--//////////-->
+  <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly grab a small object, place it at desired destination, and then navigate to specified waypoint until failure" _favorite="true">
+    <Control ID="Sequence">
+      <!--Clear snapshot, move to center pose, and open gripper-->
+      <Action ID="ClearSnapshot"/>
+      <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+      <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
+      <!--Keep executing the pick and place sequence until failure-->
+      <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
-            <!-- Clear snapshot, move to center pose, and open gripper -->
-            <Action ID="ClearSnapshot" />
-            <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <!--Pick object from left, put it down at the CNC machine, and go back to center pose-->
+          <Control ID="Sequence">
+            <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" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
+            <SubTree ID="Move to Waypoint" 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" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-            <!-- Keep executing the pick and place sequence until failure -->
-            <Decorator ID="KeepRunningUntilFailure">
-                <Control ID="Sequence">
-                    <!-- Pick object from left, put it down at the CNC machine, and go back to center pose -->
-                    <Control ID="Sequence">
-                        <SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Grasp Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                    </Control>
-                    <!-- Pick object from the CNC machine, put it down on the right, and go back to center pose -->
-                    <Control ID="Sequence">
-                        <SubTree ID="Move to Waypoint" waypoint_name="Grasp Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                        <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                    </Control>
-                </Control>
-            </Decorator>
+            <SubTree ID="Move to Waypoint" 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-->
+          <Control ID="Sequence">
+            <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" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
+            <SubTree ID="Move to Waypoint" 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" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
+            <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+          </Control>
         </Control>
-    </BehaviorTree>
+      </Decorator>
+    </Control>
+  </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml b/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
index 37dcf285..72bc93e1 100644
--- a/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
@@ -9,11 +9,11 @@
         <Control ID="Sequence" name="TopLevelSequence">
           <SubTree ID="Open Gripper"/>
           <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree ID="Move to Waypoint" waypoint_name="Grasp Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+            <SubTree ID="Move to Waypoint" waypoint_name="Grasp Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
           </Decorator>
           <SubTree ID="Close Gripper"/>
           <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree ID="Move to Waypoint" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" joint_group_name="manipulator" waypoint_name="Grasp Left" use_all_planners="true" constraints="{constraints}"/>
+            <SubTree ID="Move to Waypoint" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" joint_group_name="manipulator" waypoint_name="Grasp Left" planner_interface="moveit_all_planners" constraints="{constraints}"/>
           </Decorator>
         </Control>
       </Control>
diff --git a/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml b/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
index 23715d99..caba8ba1 100644
--- a/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
@@ -3,8 +3,8 @@
     <BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure" _favorite="true">
         <Decorator ID="KeepRunningUntilFailure">
             <Control ID="Sequence">
-                <SubTree ID="Move to Waypoint" waypoint_name="Look at Left Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-                <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                <SubTree ID="Move to Waypoint" waypoint_name="Look at Left Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
+                <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
             </Control>
         </Decorator>
     </BehaviorTree>
diff --git a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
index 8e2c1d8d..c610cebf 100644
--- a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
@@ -3,11 +3,11 @@
   <!-- ////////// -->
   <BehaviorTree ID="Joint Diagnostic" _description="Move to a known pose and cycle through the min and max limits of a joint repeatedly" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Move to Waypoint" waypoint_name="Home" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" 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">
-          <SubTree ID="Move to Waypoint" waypoint_name="Wrist 2 Max" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
-          <SubTree ID="Move to Waypoint" waypoint_name="Wrist 2 Min" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" 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>
     </Control>
diff --git a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
index af0269c3..5e38c20f 100644
--- a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
@@ -17,7 +17,7 @@
       </Control>
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
-          <SubTree ID="Move to Waypoint" waypoint_name="Look at Right Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" waypoint_name="Look at Right Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller" planner_interface="moveit_default"/>
           <Action ID="PlanCartesianPath" path="{pose_stamped_vector}" planning_group_name="manipulator" tip_link="grasp_link" tip_offset="0.0;0.0;0.0" position_only="false" blending_radius="0.02" velocity_scale_factor="1.0" acceleration_scale_factor="1.0" trajectory_sampling_rate="100" joint_trajectory_msg="{joint_trajectory_msg}"/>
           <Action ID="GetCurrentPlanningScene" planning_scene_msg="{planning_scene_msg}"/>
           <Action ID="ValidateTrajectory" planning_scene_msg="{planning_scene_msg}" planning_group_name="manipulator" joint_trajectory_msg="{joint_trajectory_msg}" joint_space_step="0.05" cartesian_space_step="0.02"/>
diff --git a/src/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml b/src/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml
index 09364b78..6ac00f2d 100644
--- a/src/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml
+++ b/src/picknik_ur_multi_arm_config/objectives/move_to_joint_state.xml
@@ -6,7 +6,7 @@
                 <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_joint_state" controller_names="/multi_arm_joint_trajectory_controller" task="{move_to_waypoint_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="multi_arm_manipulator" task="{move_to_waypoint_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="multi_arm_manipulator" task="{move_to_waypoint_task}" planner_interface="moveit_default"/>
                 <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
                 <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
                 <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
diff --git a/src/picknik_ur_multi_arm_config/objectives/move_to_named_pose.xml b/src/picknik_ur_multi_arm_config/objectives/move_to_named_pose.xml
index 52576aab..465016da 100644
--- a/src/picknik_ur_multi_arm_config/objectives/move_to_named_pose.xml
+++ b/src/picknik_ur_multi_arm_config/objectives/move_to_named_pose.xml
@@ -5,7 +5,7 @@
             <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
             <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="/multi_arm_joint_trajectory_controller" task="{move_to_waypoint_task}"/>
             <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-            <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="multi_arm_manipulator" use_all_planners="{use_all_planners}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
+            <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="multi_arm_manipulator" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
             <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
             <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
         </Control>
diff --git a/src/picknik_ur_multi_arm_config/objectives/move_to_pose.xml b/src/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
index e2af33a5..bd3be2db 100644
--- a/src/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
+++ b/src/picknik_ur_multi_arm_config/objectives/move_to_pose.xml
@@ -6,7 +6,7 @@
         <Action ID="RetrievePoseParameter" timeout_sec="-1" pose="{target_pose}"/>
         <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/multi_arm_joint_trajectory_controller" task="{move_to_pose_task}"/>
         <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
-        <Action ID="SetupMTCMoveToPose" ik_frame="first_grasp_link" planning_group_name="first_manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
+        <Action ID="SetupMTCMoveToPose" 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" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
         <SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>
         <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}"/>
diff --git a/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_joint_state.xml b/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_joint_state.xml
index 03d4728a..158cb6b5 100644
--- a/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_joint_state.xml
+++ b/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_joint_state.xml
@@ -6,7 +6,7 @@
                 <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_joint_state" controller_names="/dual_arm_joint_trajectory_controller" task="{move_to_waypoint_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="dual_arm_manipulator" task="{move_to_waypoint_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="dual_arm_manipulator" task="{move_to_waypoint_task}" planner_interface="moveit_default"/>
                 <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
                 <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
                 <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
diff --git a/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_named_pose.xml b/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_named_pose.xml
index c8c38a5c..7d907dc7 100644
--- a/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_named_pose.xml
+++ b/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_named_pose.xml
@@ -5,7 +5,7 @@
       <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
       <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="/dual_arm_joint_trajectory_controller" task="{move_to_waypoint_task}"/>
       <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-      <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="dual_arm_manipulator" use_all_planners="{use_all_planners}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
+      <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="dual_arm_manipulator" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
       <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
       <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
     </Control>
diff --git a/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_pose.xml b/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_pose.xml
index 7cff8489..3a5086c3 100644
--- a/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_pose.xml
+++ b/src/picknik_ur_multi_arm_gazebo_config/objectives/move_to_pose.xml
@@ -6,7 +6,7 @@
                 <Action ID="RetrievePoseParameter" timeout_sec="-1" pose="{target_pose}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/dual_arm_joint_trajectory_controller" task="{move_to_pose_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
-                <Action ID="SetupMTCMoveToPose" ik_frame="right_grasp_link" planning_group_name="manipulator_right" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="right_grasp_link" planning_group_name="manipulator_right" target_pose="{target_pose}" task="{move_to_pose_task}" planner_interface="moveit_default"/>
                 <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
                 <SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>
                 <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
diff --git a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
index 45ecd028..0f2f3f9e 100644
--- a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
+++ b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -14,7 +14,7 @@
                 <Decorator ID="ForEachPoseStamped" vector_in="{output_poses}" out="{pose}">
                     <Control ID="Sequence">
                         <Action ID="TransformPose" output_pose="{target_pose}" quaternion_xyzw="0.7071;0.7071;0;0" translation_xyz="0;0;0.1" input_pose="{pose}"/>
-                        <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
+                        <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" planner_interface="moveit_default"/>
                     </Control>
                 </Decorator>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" group_name="gripper" object_name="&lt;octomap&gt;" allow_collision="true" task="{close_cabinet_door_task}" />
diff --git a/src/picknik_ur_site_config/objectives/inspect_surface.xml b/src/picknik_ur_site_config/objectives/inspect_surface.xml
index 35d10279..6690ef7f 100644
--- a/src/picknik_ur_site_config/objectives/inspect_surface.xml
+++ b/src/picknik_ur_site_config/objectives/inspect_surface.xml
@@ -10,7 +10,7 @@
       <Decorator ID="ForEachPoseStamped" vector_in="{output_poses}" out="{pose}">
         <Control ID="Sequence">
           <Action ID="TransformPose" output_pose="{target_pose}" quaternion_xyzw="0.7071;0.7071;0;0" translation_xyz="0;0;0.15" input_pose="{pose}"/>
-          <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
+          <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" planner_interface="moveit_default"/>
         </Control>
       </Decorator>
       <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
diff --git a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
index 5feac4bf..ef299cc8 100644
--- a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
+++ b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
@@ -10,7 +10,7 @@
             
             <!-- Open the gripper and move to a consistent state. -->
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.0"/>
-            <SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+            <SubTree ID="Move to Waypoint" 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. -->
             <Decorator ID="KeepRunningUntilFailure">
@@ -71,14 +71,14 @@
                                     </Control>
                                 </Decorator>
                                 <!-- Move home. -->
-                                <SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                                <SubTree ID="Move to Waypoint" 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. -->
-                                <SubTree ID="Move to Waypoint" waypoint_name="{place_waypoint}" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                                <SubTree ID="Move to Waypoint" waypoint_name="{place_waypoint}" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
                                 <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.0"/>
 
                                 <!-- Finally, return home. -->
-                                <SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+                                <SubTree ID="Move to Waypoint" 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>
                     </Decorator>
diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door.xml b/src/picknik_ur_site_config/objectives/open_cabinet_door.xml
index 08a1d2b0..22bc2519 100644
--- a/src/picknik_ur_site_config/objectives/open_cabinet_door.xml
+++ b/src/picknik_ur_site_config/objectives/open_cabinet_door.xml
@@ -32,13 +32,13 @@
         <Action ID="InitializeMTCTask" task_id="open_door_fixed_handle_user" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_door_fixed_handle_task}"/>
         <Action ID="SetupMTCCurrentState" task="{open_door_fixed_handle_task}"/>
         <!--Open Gripper-->
-        <Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="open" use_all_planners="false"/>
+        <Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="open" planner_interface="moveit_default"/>
         <!--Approach Grasp Point-->
         <Action ID="SetupMTCApproachGrasp" task="{open_door_fixed_handle_task}" monitored_stage="{monitored_stage}" target_object="{handle_object}" parameters="{parameters}"/>
         <!--Generate Cuboid Grasps at Handle-->
         <Action ID="SetupMTCGenerateCuboidGrasps" parameters="{parameters}" target_object="{handle_object}" monitored_stage="{monitored_stage}" task="{open_door_fixed_handle_task}"/>
         <!--Close Gripper around handle? todo: break out of MoveAlongArcPull and handle collisions.-->
-        <!--<Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="close" use_all_planners="false"/>-->
+        <!--<Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="close" planner_interface="moveit_default"/>-->
         <!--Close gripper (here for now due to collisions) and Move Along Arc-->
         <Action ID="SetupMTCGraspThenMoveAlongArcPull" graspable_object="{handle_object}" parameters="{parameters}" task="{open_door_fixed_handle_task}"/>
         <!--End of MTC task setup, now plan-->
diff --git a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
index 0e1986f7..2ae78f08 100644
--- a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
+++ b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
@@ -9,7 +9,7 @@
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
       <SubTree ID="Update Admittance Controller" _collapsed="true"/>
       <!-- Look at the desired location where objects (door) will be present -->
-      <SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" 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"/>
       <SubTree ID="Detect Door Graspable Object" _collapsed="true" door_object="{door_object}" detection_classes="space booth cabinet door"/>
@@ -18,16 +18,16 @@
       <Control ID="Fallback">
         <SubTree ID="Detect Fixed Handle Graspable Object" _collapsed="true" grasp_pose="{grasp_pose}"/>
         <Control ID="Sequence">
-          <SubTree ID="Move to Waypoint" waypoint_name="Extended Right 2" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" 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" _collapsed="true" grasp_pose="{grasp_pose}"/>
         </Control>
         <Control ID="Sequence">
-          <SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" 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" _collapsed="true" grasp_pose="{grasp_pose}"/>
         </Control>
       </Control>
       <!-- Get the masks for the hinge subframes of the door GraspableObject -->
-      <SubTree ID="Move to Waypoint" waypoint_name="Hinge View" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" 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" _collapsed="true" line_segment_poses="{line_segment_poses}"/>
       <!-- Helper behavior to convert poses into subframes that adhere to the expected axis convention -->
       <Action ID="GetMoveAlongArcSubframes" target_grasp_pose="{grasp_pose}" hinge_axis_poses="{line_segment_poses}" move_along_arc_subframes="{move_along_arc_subframes}"/>
@@ -42,13 +42,13 @@
         <Action ID="InitializeMTCTask" task_id="open_door_fixed_handle_ml" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_door_fixed_handle_task}"/>
         <Action ID="SetupMTCCurrentState" task="{open_door_fixed_handle_task}"/>
         <!--Open Gripper-->
-        <Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="open" use_all_planners="false"/>
+        <Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="open" planner_interface="moveit_default"/>
         <!--Approach Grasp Point-->
         <Action ID="SetupMTCApproachGrasp" task="{open_door_fixed_handle_task}" monitored_stage="{monitored_stage}" target_object="{handle_object}" parameters="{parameters}"/>
         <!--Generate Cuboid Grasps at Handle-->
         <Action ID="SetupMTCGenerateCuboidGrasps" parameters="{parameters}" target_object="{handle_object}" monitored_stage="{monitored_stage}" task="{open_door_fixed_handle_task}"/>
         <!--Close Gripper around handle? todo: break out of MoveAlongArcPull and handle collisions.-->
-        <!--<Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="close" use_all_planners="false"/>-->
+        <!--<Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="close" planner_interface="moveit_default"/>-->
         <!--Close gripper (here for now due to collisions) and Move Along Arc-->
         <Action ID="SetupMTCGraspThenMoveAlongArcPull" graspable_object="{handle_object}" parameters="{parameters}" task="{open_door_fixed_handle_task}"/>
         <!--End of MTC task setup, now plan-->
diff --git a/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
index f5e7e792..690436dd 100644
--- a/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
+++ b/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
@@ -9,7 +9,7 @@
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
       <SubTree ID="Update Admittance Controller" _collapsed="true"/>
       <!-- Look at the desired location where objects (door) will be present -->
-      <SubTree ID="Move to Waypoint" waypoint_name="Extended Right 2" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" 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"/>
       <SubTree ID="Detect Door Graspable Object" _collapsed="true" door_object="{door_object}" detection_classes="door"/>
diff --git a/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml b/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
index 2ddccda7..a6fcb08f 100644
--- a/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
+++ b/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
@@ -5,7 +5,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper"/>
-        <SubTree ID="Move to Waypoint" waypoint_name="Look at April Tag" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+        <SubTree ID="Move to Waypoint" waypoint_name="Look at April Tag" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
       </Control>
       <SubTree ID="Sample April Tag" num_samples="5" tag_id="1" apriltag_config="51mm_apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
       <Action ID="LoadObjectiveParameters" config_file_name="apriltag1_grasp_offset.yaml" parameters="{pose_parameters}"/>
diff --git a/src/picknik_ur_site_config/objectives/pick_place_object.xml b/src/picknik_ur_site_config/objectives/pick_place_object.xml
index 74d74cc9..1b7b0143 100644
--- a/src/picknik_ur_site_config/objectives/pick_place_object.xml
+++ b/src/picknik_ur_site_config/objectives/pick_place_object.xml
@@ -95,14 +95,14 @@
         </Decorator>
         <!-- The "Then" condition of the TryGraspOuter IfThenElse control. After successful grasp, move to dropoff pose and release object, then return to the Look at Pick and Place Zone pose. -->
         <Control ID="Sequence">
-          <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
           <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.0"/>
-          <SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" 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. -->
         <Control ID="Sequence">
           <Action ID="ResetPlanningSceneObjects" apply_planning_scene_service="/apply_planning_scene"/>
-          <SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+          <SubTree ID="Move to Waypoint" 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>
       </Control>
diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml
index b3199345..c4e734c2 100644
--- a/src/picknik_ur_site_config/objectives/push_button.xml
+++ b/src/picknik_ur_site_config/objectives/push_button.xml
@@ -14,7 +14,7 @@
                 <Decorator ID="ForEachPoseStamped" vector_in="{output_poses}" out="{pose}">
                     <Control ID="Sequence">
                         <Action ID="TransformPose" output_pose="{target_pose}" quaternion_xyzw="0.7071;0.7071;0;0" translation_xyz="0;0;0.1" input_pose="{pose}"/>
-                        <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
+                        <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" planner_interface="moveit_default"/>
                     </Control>
                 </Decorator>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" group_name="gripper" object_name="&lt;octomap&gt;" allow_collision="true" task="{push_button_task}" />
diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
index de1b1779..9745a5ac 100644
--- a/src/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -3,7 +3,7 @@
   <BehaviorTree ID="Push Button ML" _description="Move to a waypoint, and then push a button detected by a image segmentation network with the end effector" _favorite="false">
     <Control ID="Sequence">
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
-      <SubTree ID="Move to Waypoint" waypoint_name="Hinge View" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
+      <SubTree ID="Move to Waypoint" 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"/>
       <Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/>
@@ -30,7 +30,7 @@
       <Control ID="Sequence">
         <Action ID="InitializeMTCTask" task_id="push_button_ml" controller_names="/joint_trajectory_controller" task="{push_along_axis_task}"/>
         <Action ID="SetupMTCCurrentState" task="{push_along_axis_task}"/>
-        <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{button_pose}" task="{push_along_axis_task}" use_all_planners="false"/>
+        <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{button_pose}" task="{push_along_axis_task}" planner_interface="moveit_default"/>
         <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" group_name="gripper" object_name="&lt;octomap&gt;" allow_collision="true" task="{push_along_axis_task}"/>
         <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05"/>
         <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" group_name="gripper" object_name="&lt;octomap&gt;" allow_collision="false" task="{push_along_axis_task}"/>
@@ -59,7 +59,7 @@
       <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" group_name="gripper" object_name="&lt;octomap&gt;" allow_collision="true" task="{retreat_task}"/>
       <Action ID="SetupMTCCartesianMoveToJointState" joint_state="{pre_approach_robot_state}" planning_group_name="manipulator" task="{retreat_task}"/>
       <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" group_name="gripper" object_name="&lt;octomap&gt;" allow_collision="false" task="{retreat_task}"/>
-      <Action ID="SetupMTCMoveToJointState" joint_state="{initial_robot_state}" planning_group_name="manipulator" task="{retreat_task}" use_all_planners="false" />
+      <Action ID="SetupMTCMoveToJointState" joint_state="{initial_robot_state}" planning_group_name="manipulator" task="{retreat_task}" planner_interface="moveit_default" />
       <Action ID="PlanMTCTask" solution="{return_to_initial_waypoint_solution}" task="{retreat_task}"/>
       <Action ID="ExecuteMTCTask" solution="{return_to_initial_waypoint_solution}"/>
     </Control>