diff --git a/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml b/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
index d04d5927..51ed6715 100644
--- a/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
+++ b/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
   <!--//////////-->
   <BehaviorTree
@@ -119,4 +120,11 @@
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="3 Waypoints Pick and Place">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml b/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml
index b9a35cc5..5c85129a 100644
--- a/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml
+++ b/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree ID="Look at table" _collapsed="true" />
       <Action ID="ClearSnapshot" />
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
@@ -69,4 +69,11 @@
       <Action ID="ExecuteMTCTask" solution="{pick_object_solution}" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick April Tag Labeled Object">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/constrained_pick_place.xml b/src/arm_on_rail_sim/objectives/constrained_pick_place.xml
index 52b0b1bc..27768be0 100644
--- a/src/arm_on_rail_sim/objectives/constrained_pick_place.xml
+++ b/src/arm_on_rail_sim/objectives/constrained_pick_place.xml
@@ -148,4 +148,11 @@
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Constrained Pick and Place">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml b/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
index 450bc7a2..054c2195 100644
--- a/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
+++ b/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
@@ -25,4 +25,11 @@
       </Control>
     </Decorator>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Cycle Between Waypoints">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/force_relaxation.xml b/src/arm_on_rail_sim/objectives/force_relaxation.xml
index a62429fe..f137daea 100644
--- a/src/arm_on_rail_sim/objectives/force_relaxation.xml
+++ b/src/arm_on_rail_sim/objectives/force_relaxation.xml
@@ -50,6 +50,9 @@
       <input_port name="wrench_gain" default="0.01" />
       <input_port name="relaxation_time_ms" default="500" />
       <input_port name="tip_link" default="grasp_link" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Controls" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/joint_diagnostic.xml b/src/arm_on_rail_sim/objectives/joint_diagnostic.xml
index 01fb1984..d85ebde7 100644
--- a/src/arm_on_rail_sim/objectives/joint_diagnostic.xml
+++ b/src/arm_on_rail_sim/objectives/joint_diagnostic.xml
@@ -35,4 +35,11 @@
       </Decorator>
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Joint Diagnostic">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml b/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml
index 8c84c48d..ddf320b3 100644
--- a/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml
+++ b/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml
@@ -31,6 +31,9 @@
       <output_port name="point_cloud" default="{green_cloud}" />
       <input_port name="_collapsed" default="true" />
       <input_port name="initial_pose" default="{stamped_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Perception - 3D Point Cloud" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml b/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml
index 15161b30..5a155ccf 100644
--- a/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml
+++ b/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml
@@ -31,6 +31,9 @@
       <output_port name="point_cloud" default="{red_cloud}" />
       <input_port name="_collapsed" default="false" />
       <input_port name="initial_pose" default="{stamped_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Perception - 3D Point Cloud" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/look_at_table.xml b/src/arm_on_rail_sim/objectives/look_at_table.xml
index 3c2d2b2b..e4862f1a 100644
--- a/src/arm_on_rail_sim/objectives/look_at_table.xml
+++ b/src/arm_on_rail_sim/objectives/look_at_table.xml
@@ -13,4 +13,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Look at table">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml b/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
index 730841b1..1b5085d4 100644
--- a/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
+++ b/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
@@ -73,4 +73,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Move until Force Contact">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml b/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml
index ba547d46..6ca263f1 100644
--- a/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml
+++ b/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml
@@ -10,7 +10,7 @@
     _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
@@ -50,4 +50,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick April Tag Object With Approval">
+      <MetadataFields>
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml b/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
index 30bd2bf4..3efa8f15 100644
--- a/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
+++ b/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
@@ -43,6 +43,10 @@
     </Decorator>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Pick first object in vector" />
+    <SubTree ID="Pick first object in vector">
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/pick_object.xml b/src/arm_on_rail_sim/objectives/pick_object.xml
index 66dcbacd..b92faa44 100644
--- a/src/arm_on_rail_sim/objectives/pick_object.xml
+++ b/src/arm_on_rail_sim/objectives/pick_object.xml
@@ -29,4 +29,7 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick object" />
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/pick_up_cube.xml b/src/arm_on_rail_sim/objectives/pick_up_cube.xml
index 73484566..60ca9361 100644
--- a/src/arm_on_rail_sim/objectives/pick_up_cube.xml
+++ b/src/arm_on_rail_sim/objectives/pick_up_cube.xml
@@ -6,8 +6,15 @@
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Look at table" _collapsed="true" />
       <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Pick up Cube">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml b/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
index 0e058131..efde08c0 100644
--- a/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
+++ b/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
@@ -42,4 +42,11 @@
       </Control>
     </Decorator>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Place first object in vector">
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/place_object.xml b/src/arm_on_rail_sim/objectives/place_object.xml
index 77d88884..516c04e9 100644
--- a/src/arm_on_rail_sim/objectives/place_object.xml
+++ b/src/arm_on_rail_sim/objectives/place_object.xml
@@ -25,6 +25,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Place object" />
+    <SubTree ID="Place object">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/register_cad_part.xml b/src/arm_on_rail_sim/objectives/register_cad_part.xml
index 07a10784..1443fcc6 100644
--- a/src/arm_on_rail_sim/objectives/register_cad_part.xml
+++ b/src/arm_on_rail_sim/objectives/register_cad_part.xml
@@ -53,4 +53,11 @@
       <Action ID="SendPointCloudToUI" point_cloud="{output_cloud_aligned}" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Register CAD Part">
+      <MetadataFields>
+        <Metadata subcategory="Perception - Planning Scene" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/take_snap.xml b/src/arm_on_rail_sim/objectives/take_snap.xml
index 7fefe4db..199efdd3 100644
--- a/src/arm_on_rail_sim/objectives/take_snap.xml
+++ b/src/arm_on_rail_sim/objectives/take_snap.xml
@@ -1,15 +1,23 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Scene camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take scene camera snapshot">
   <!--//////////-->
-  <BehaviorTree ID="Scene camera snapshot" _description="" _favorite="true">
+  <BehaviorTree
+    ID="Take scene camera snapshot"
+    _description=""
+    _favorite="true"
+  >
     <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Clear out old snapshot data -->
+      <!--Clear out old snapshot data-->
       <Action ID="ClearSnapshot" />
       <Action ID="GetPointCloud" topic_name="/scene_camera/points" />
       <Action ID="SendPointCloudToUI" />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot" />
+    <SubTree ID="Take scene camera snapshot">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/arm_on_rail_sim/objectives/wrist_snap.xml b/src/arm_on_rail_sim/objectives/wrist_snap.xml
index 80209f36..7c04c0c4 100644
--- a/src/arm_on_rail_sim/objectives/wrist_snap.xml
+++ b/src/arm_on_rail_sim/objectives/wrist_snap.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute=" Take wrist camera snapshot">
   <!--//////////-->
-  <BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
+  <BehaviorTree
+    ID="Take wrist camera snapshot"
+    _description=""
+    _favorite="true"
+  >
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
       <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
@@ -9,6 +13,10 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Wrist camera snapshot" />
+    <SubTree ID="Take wrist camera snapshot">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/example_behaviors/call_my_service_solution/src/call_my_service.cpp b/src/example_behaviors/call_my_service_solution/src/call_my_service.cpp
index 5279126b..7de79b9e 100644
--- a/src/example_behaviors/call_my_service_solution/src/call_my_service.cpp
+++ b/src/example_behaviors/call_my_service_solution/src/call_my_service.cpp
@@ -23,7 +23,7 @@ BT::PortsList CallMyService::providedPorts()
 
 BT::KeyValueVector CallMyService::metadata()
 {
-  return { { "subcategory", "Example" },
+  return { { "subcategory", "ROS Messaging" },
            { "description", "Example of calling a ROS2 service." } };
 }
 
diff --git a/src/example_behaviors/translate_pose_solution/src/translate_pose.cpp b/src/example_behaviors/translate_pose_solution/src/translate_pose.cpp
index 50ccf4b3..96f2bec5 100644
--- a/src/example_behaviors/translate_pose_solution/src/translate_pose.cpp
+++ b/src/example_behaviors/translate_pose_solution/src/translate_pose.cpp
@@ -19,7 +19,7 @@ BT::PortsList TranslatePose::providedPorts()
 
 BT::KeyValueVector TranslatePose::metadata()
 {
-  return { { "description", "Translates a PoseStamped, given x,y,z" } };
+  return { {"subcategory", "Pose Handling"}, { "description", "Translates a PoseStamped, given x,y,z" } };
 }
 
 BT::NodeStatus TranslatePose::tick()
diff --git a/src/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
index e8095851..b4f943f0 100644
--- a/src/picknik_ur_base_config/objectives/clear_snapshot.xml
+++ b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
@@ -7,4 +7,10 @@
   >
     <Action ID="ClearSnapshot" />
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="ClearSnapshot" />
+    <MetadataFields>
+      <Metadata subcategory="Perception - 3D Point Cloud" />
+    </MetadataFields>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/close_gripper.xml b/src/picknik_ur_base_config/objectives/close_gripper.xml
index cc90bbe4..e96d3dba 100644
--- a/src/picknik_ur_base_config/objectives/close_gripper.xml
+++ b/src/picknik_ur_base_config/objectives/close_gripper.xml
@@ -10,4 +10,10 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Close Gripper" />
+    <MetadataFields>
+      <Metadata subcategory="Grasping" />
+    </MetadataFields>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml b/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
index 955ea9b8..4e7f829a 100644
--- a/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
+++ b/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
@@ -27,6 +27,9 @@
       <input_port name="mesh_path" default="{mesh_path}" />
       <input_port name="mesh_pose" default="{mesh_pose}" />
       <input_port name="_collapsed" default="true" />
+      <MetadataFields>
+        <Metadata subcategory="Visualization" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml b/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
index e9e294e0..885ddb5c 100644
--- a/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
+++ b/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
@@ -34,6 +34,9 @@
   <TreeNodesModel>
     <SubTree ID="Interpolate to Joint State">
       <input_port name="target_joint_state" default="{target_joint_state}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
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 0b3c3e9a..d46e09bb 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
@@ -32,6 +32,9 @@
   <TreeNodesModel>
     <SubTree ID="Move to Joint State">
       <input_port name="target_joint_state" default="{target_joint_state}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
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 b5e1e6b8..38a358a0 100644
--- a/src/picknik_ur_base_config/objectives/move_to_pose.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_pose.xml
@@ -36,6 +36,9 @@
   <TreeNodesModel>
     <SubTree ID="Move to Pose">
       <input_port name="target_pose" default="{target_pose}" />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
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 4733f815..c81b5485 100644
--- a/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
@@ -45,6 +45,9 @@
         name="controller_names"
         default="/joint_trajectory_controller"
       />
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/open_gripper.xml b/src/picknik_ur_base_config/objectives/open_gripper.xml
index 10084d1f..f2d84d47 100644
--- a/src/picknik_ur_base_config/objectives/open_gripper.xml
+++ b/src/picknik_ur_base_config/objectives/open_gripper.xml
@@ -11,4 +11,11 @@
       />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Open Gripper">
+      <MetadataFields>
+        <Metadata subcategory="Grasping" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/request_teleoperation.xml b/src/picknik_ur_base_config/objectives/request_teleoperation.xml
index 33c019f1..c5b5dafc 100644
--- a/src/picknik_ur_base_config/objectives/request_teleoperation.xml
+++ b/src/picknik_ur_base_config/objectives/request_teleoperation.xml
@@ -164,6 +164,9 @@
       <input_port name="enable_user_interaction" default="false" />
       <input_port name="user_interaction_prompt" default="" />
       <input_port name="initial_teleop_mode" default="3" />
+      <MetadataFields>
+        <Metadata subcategory="User Input" />
+      </MetadataFields>
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/reset_planning_scene.xml b/src/picknik_ur_base_config/objectives/reset_planning_scene.xml
index 999da975..21d122b2 100644
--- a/src/picknik_ur_base_config/objectives/reset_planning_scene.xml
+++ b/src/picknik_ur_base_config/objectives/reset_planning_scene.xml
@@ -12,4 +12,11 @@
       apply_planning_scene_service="/apply_planning_scene"
     />
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Reset Planning Scene">
+      <MetadataFields>
+        <Metadata subcategory="Perception - Planning Scene" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/teleoperate.xml b/src/picknik_ur_base_config/objectives/teleoperate.xml
index c4fdcdab..7cffc592 100644
--- a/src/picknik_ur_base_config/objectives/teleoperate.xml
+++ b/src/picknik_ur_base_config/objectives/teleoperate.xml
@@ -14,4 +14,11 @@
       initial_teleop_mode="3"
     />
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Teleoperate">
+      <MetadataFields>
+        <Metadata subcategory="User Input" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml b/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml
index 97b82b14..2f6a4131 100644
--- a/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml
+++ b/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml
@@ -15,4 +15,11 @@
       <Action ID="WaitForUserTrajectoryApproval" solution="{solution}" />
     </Control>
   </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Wait for Trajectory Approval if User Available">
+      <MetadataFields>
+        <Metadata subcategory="User Input" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml b/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
index 2f4e297d..ad22362e 100644
--- a/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
+++ b/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
@@ -7,7 +7,7 @@
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
diff --git a/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml b/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml
index 8bb2bea7..670e2cba 100644
--- a/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml
+++ b/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml
@@ -4,7 +4,7 @@
   <BehaviorTree ID="Pick up Cube" _description="" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
diff --git a/src/picknik_ur_mobile_config/objectives/take_snap.xml b/src/picknik_ur_mobile_config/objectives/take_snap.xml
index 7fefe4db..07878d8d 100644
--- a/src/picknik_ur_mobile_config/objectives/take_snap.xml
+++ b/src/picknik_ur_mobile_config/objectives/take_snap.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Scene camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take scene camera snapshot">
   <!--//////////-->
-  <BehaviorTree ID="Scene camera snapshot" _description="" _favorite="true">
+  <BehaviorTree
+    ID="Take scene camera snapshot"
+    _description=""
+    _favorite="true"
+  >
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Clear out old snapshot data -->
       <Action ID="ClearSnapshot" />
@@ -10,6 +14,6 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot" />
+    <SubTree ID="Take scene camera snapshot" />
   </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_mobile_config/objectives/wrist_snap.xml b/src/picknik_ur_mobile_config/objectives/wrist_snap.xml
index 80209f36..97c4f73b 100644
--- a/src/picknik_ur_mobile_config/objectives/wrist_snap.xml
+++ b/src/picknik_ur_mobile_config/objectives/wrist_snap.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
   <!--//////////-->
-  <BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
+  <BehaviorTree
+    ID="Take wrist camera snapshot"
+    _description=""
+    _favorite="true"
+  >
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
       <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
@@ -9,6 +13,6 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Wrist camera snapshot" />
+    <SubTree ID="Take wrist camera snapshot" />
   </TreeNodesModel>
 </root>