diff --git a/src/kinova_gen3_base_config/objectives/interpolate_to_joint_state.xml b/src/kinova_gen3_base_config/objectives/interpolate_to_joint_state.xml
index 2081f49..8084cf2 100644
--- a/src/kinova_gen3_base_config/objectives/interpolate_to_joint_state.xml
+++ b/src/kinova_gen3_base_config/objectives/interpolate_to_joint_state.xml
@@ -1,13 +1,20 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Interpolate to Joint State">
     <BehaviorTree ID="Interpolate to Joint State" _description="Move to a specified joint state using joint interpolation">
-        <Control ID="Sequence" name="root">
-            <Action ID="RetrieveJointStateParameter" timeout_sec="" joint_state="{target_joint_state}"/>
-            <Action ID="InitializeMTCTask" task_id="interpolate_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{interpolate_to_waypoint_task}"/>
-            <Action ID="SetupMTCCurrentState" task="{interpolate_to_waypoint_task}"/>
-            <Action ID="SetupMTCInterpolateToJointState" joint_state="{target_joint_state}" name="SetupMTCInterpolateToJointState_First" planning_group_name="manipulator" task="{interpolate_to_waypoint_task}"/>
-            <Action ID="PlanMTCTask" solution="{interpolate_to_waypoint_solution}" task="{interpolate_to_waypoint_task}"/>
-            <Action ID="ExecuteMTCTask" solution="{interpolate_to_waypoint_solution}"/>
+        <Control ID="Fallback" name="root">
+            <Control ID="Sequence">
+                <Action ID="RetrieveJointStateParameter" timeout_sec="" joint_state="{target_joint_state}"/>
+                <Action ID="InitializeMTCTask" task_id="interpolate_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{interpolate_to_waypoint_task}"/>
+                <Action ID="SetupMTCCurrentState" task="{interpolate_to_waypoint_task}"/>
+                <Action ID="SetupMTCInterpolateToJointState" joint_state="{target_joint_state}" name="SetupMTCInterpolateToJointState_First" planning_group_name="manipulator" task="{interpolate_to_waypoint_task}"/>
+                <Action ID="PlanMTCTask" solution="{interpolate_to_waypoint_solution}" task="{interpolate_to_waypoint_task}"/>
+                <Action ID="ExecuteMTCTask" solution="{interpolate_to_waypoint_solution}"/>
+                <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
+            </Control>
+            <Control ID="Sequence">
+                <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
+                <Action ID="AlwaysFailure"/>
+            </Control>
         </Control>
     </BehaviorTree>
 </root>
diff --git a/src/kinova_gen3_base_config/objectives/move_to_joint_state.xml b/src/kinova_gen3_base_config/objectives/move_to_joint_state.xml
index 37b21e6..d4cf653 100644
--- a/src/kinova_gen3_base_config/objectives/move_to_joint_state.xml
+++ b/src/kinova_gen3_base_config/objectives/move_to_joint_state.xml
@@ -1,13 +1,20 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Move to Joint State">
     <BehaviorTree ID="Move to Joint State" _description="Move to a specified joint state">
-        <Control ID="Sequence" name="root">
-            <Action ID="RetrieveJointStateParameter" timeout_sec="" 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="true" constraints=""/>
-            <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
-            <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
+        <Control ID="Fallback" name="root">
+            <Control ID="Sequence">
+                <Action ID="RetrieveJointStateParameter" timeout_sec="" 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="true" constraints=""/>
+                <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"/>
+            </Control>
+            <Control ID="Sequence">
+                <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
+                <Action ID="AlwaysFailure"/>
+            </Control>
         </Control>
     </BehaviorTree>
 </root>
diff --git a/src/kinova_gen3_base_config/objectives/move_to_pose.xml b/src/kinova_gen3_base_config/objectives/move_to_pose.xml
index 956d85d..7e637b0 100644
--- a/src/kinova_gen3_base_config/objectives/move_to_pose.xml
+++ b/src/kinova_gen3_base_config/objectives/move_to_pose.xml
@@ -1,14 +1,21 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Move to Pose">
     <BehaviorTree ID="Move to Pose" _description="Uses inverse kinematics to move the robot to a set gripper position">
-        <Control ID="Sequence">
-            <Action ID="RetrievePoseParameter" timeout_sec="" pose="{target_pose}"/>
-            <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" 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="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}" />
+        <Control ID="Fallback" name="root">
+            <Control ID="Sequence">
+                <Action ID="RetrievePoseParameter" timeout_sec="" pose="{target_pose}"/>
+                <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" 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="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}" />
+                <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
+            </Control>
+            <Control ID="Sequence">
+                <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
+                <Action ID="AlwaysFailure"/>
+            </Control>
         </Control>
     </BehaviorTree>
 </root>
diff --git a/src/kinova_gen3_base_config/objectives/take_snapshot.xml b/src/kinova_gen3_base_config/objectives/take_snapshot.xml
index a5ab6f1..9c6689f 100644
--- a/src/kinova_gen3_base_config/objectives/take_snapshot.xml
+++ b/src/kinova_gen3_base_config/objectives/take_snapshot.xml
@@ -1,11 +1,15 @@
 <?xml version="1.0"?>
   <root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
     <!-- ////////// -->
-    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene">
+    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene" _favorite="true">
         <Control ID="Sequence">
             <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}" />
             <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
-            <Action ID="GetStringFromUser" parameter_name="take_snapshot.uuid" parameter_value="{uuid}" />
+            <Control ID="Fallback" name="TryGetStringFromUser">
+                <Action ID="GetStringFromUser" parameter_name="take_snapshot.uuid" parameter_value="{uuid}" />
+                <!-- if we fail to get the string from the user fallback to an empty value for the uuid -->
+                <Action ID="Script" code="uuid := ''"/>
+            </Control>
             <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid="{uuid}"/>
         </Control>
     </BehaviorTree>