diff --git a/ada_feeding/ada_feeding/behaviors/move_to.py b/ada_feeding/ada_feeding/behaviors/move_to.py
index be7f5f91..90fcd22f 100644
--- a/ada_feeding/ada_feeding/behaviors/move_to.py
+++ b/ada_feeding/ada_feeding/behaviors/move_to.py
@@ -13,16 +13,15 @@
 from action_msgs.msg import GoalStatus
 from moveit_msgs.msg import MoveItErrorCodes
 import py_trees
-from pymoveit2 import MoveIt2, MoveIt2State
+from pymoveit2 import MoveIt2State
 from pymoveit2.robots import kinova
-from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.node import Node
 from rclpy.qos import QoSPresetProfiles
 from sensor_msgs.msg import JointState
 from trajectory_msgs.msg import JointTrajectory
 
 # Local imports
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 
 class MoveTo(py_trees.behaviour.Behaviour):
@@ -118,19 +117,10 @@ def __init__(
             key="motion_curr_distance", access=py_trees.common.Access.WRITE
         )
 
-        # Create MoveIt 2 interface for moving the Jaco arm. This must be done
-        # in __init__ and not setup since the MoveIt2 interface must be
-        # initialized before the ROS2 node starts spinning.
-        # Using ReentrantCallbackGroup to align with the examples from pymoveit2.
-        # TODO: Assess whether ReentrantCallbackGroup is necessary for MoveIt2.
-        callback_group = ReentrantCallbackGroup()
-        self.moveit2 = MoveIt2(
-            node=self.node,
-            joint_names=kinova.joint_names(),
-            base_link_name=kinova.base_link_name(),
-            end_effector_name="forkTip",
-            group_name=kinova.MOVE_GROUP_ARM,
-            callback_group=callback_group,
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.move_to_blackboard,
+            self.node,
         )
 
         # Subscribe to the joint state and track the distance to goal while the
@@ -153,20 +143,21 @@ def initialise(self) -> None:
         """
         self.logger.info(f"{self.name} [MoveTo::initialise()]")
 
-        # Set the planner_id
-        self.moveit2.planner_id = get_from_blackboard_with_default(
-            self.move_to_blackboard, "planner_id", "RRTstarkConfigDefault"
-        )
+        with self.moveit2_lock:
+            # Set the planner_id
+            self.moveit2.planner_id = get_from_blackboard_with_default(
+                self.move_to_blackboard, "planner_id", "RRTstarkConfigDefault"
+            )
 
-        # Set the max velocity
-        self.moveit2.max_velocity = get_from_blackboard_with_default(
-            self.move_to_blackboard, "max_velocity_scaling_factor", 0.1
-        )
+            # Set the max velocity
+            self.moveit2.max_velocity = get_from_blackboard_with_default(
+                self.move_to_blackboard, "max_velocity_scaling_factor", 0.1
+            )
 
-        # Set the allowed planning time
-        self.moveit2.allowed_planning_time = get_from_blackboard_with_default(
-            self.move_to_blackboard, "allowed_planning_time", 0.5
-        )
+            # Set the allowed planning time
+            self.moveit2.allowed_planning_time = get_from_blackboard_with_default(
+                self.move_to_blackboard, "allowed_planning_time", 0.5
+            )
 
         # Reset local state variables
         self.prev_query_state = None
@@ -218,7 +209,8 @@ def update(self) -> py_trees.common.Status:
                     )
                     return py_trees.common.Status.FAILURE
                 # Initiate an asynchronous planning call
-                planning_future = self.moveit2.plan_async(cartesian=self.cartesian)
+                with self.moveit2_lock:
+                    planning_future = self.moveit2.plan_async(cartesian=self.cartesian)
                 if planning_future is None:
                     self.logger.error(
                         f"{self.name} [MoveTo::update()] Failed to initiate planning!"
@@ -234,9 +226,10 @@ def update(self) -> py_trees.common.Status:
                 self.motion_start_time = time.time()
 
                 # Get the trajectory
-                traj = self.moveit2.get_trajectory(
-                    self.planning_future, cartesian=self.cartesian
-                )
+                with self.moveit2_lock:
+                    traj = self.moveit2.get_trajectory(
+                        self.planning_future, cartesian=self.cartesian
+                    )
                 self.logger.info(f"Trajectory: {traj} | type {type(traj)}")
                 if traj is None:
                     self.logger.error(
@@ -253,7 +246,8 @@ def update(self) -> py_trees.common.Status:
                 )
 
                 # Send the trajectory to MoveIt
-                self.moveit2.execute(traj)
+                with self.moveit2_lock:
+                    self.moveit2.execute(traj)
                 return py_trees.common.Status.RUNNING
 
             # Still planning
@@ -262,16 +256,20 @@ def update(self) -> py_trees.common.Status:
         # Is moving
         self.tree_blackboard.motion_time = time.time() - self.motion_start_time
         if self.motion_future is None:
-            if self.moveit2.query_state() == MoveIt2State.REQUESTING:
+            with self.moveit2_lock:
+                query_state = self.moveit2.query_state()
+            if query_state == MoveIt2State.REQUESTING:
                 # The goal has been sent to the action server, but not yet accepted
                 return py_trees.common.Status.RUNNING
-            if self.moveit2.query_state() == MoveIt2State.EXECUTING:
+            if query_state == MoveIt2State.EXECUTING:
                 # The goal has been accepted and is executing. In this case
                 # don't return a status since we drop down into the below
                 # for when the robot is in motion.
-                self.motion_future = self.moveit2.get_execution_future()
-            elif self.moveit2.query_state() == MoveIt2State.IDLE:
-                last_error_code = self.moveit2.get_last_execution_error_code()
+                with self.moveit2_lock:
+                    self.motion_future = self.moveit2.get_execution_future()
+            elif query_state == MoveIt2State.IDLE:
+                with self.moveit2_lock:
+                    last_error_code = self.moveit2.get_last_execution_error_code()
                 if last_error_code is None or last_error_code.val != 1:
                     # If we get here then something went wrong (e.g., controller
                     # is already executing a trajectory, action server not
@@ -327,23 +325,24 @@ def terminate(self, new_status: py_trees.common.Status) -> None:
         terminate_requested_time = time.time()
         rate = self.node.create_rate(self.terminate_rate_hz)
         # A termination request has not succeeded until the MoveIt2 action server is IDLE
-        while self.moveit2.query_state() != MoveIt2State.IDLE:
-            self.node.get_logger().info(
-                f"MoveTo Update MoveIt2State not Idle {time.time()} {terminate_requested_time} "
-                f"{self.terminate_timeout_s}"
-            )
-            # If the goal is executing, cancel it
-            if self.moveit2.query_state() == MoveIt2State.EXECUTING:
-                self.moveit2.cancel_execution()
-
-            # Check for terminate timeout
-            if time.time() - terminate_requested_time > self.terminate_timeout_s:
-                self.logger.error(
-                    f"{self.name} [MoveTo::terminate()] Terminate timed out!"
+        with self.moveit2_lock:
+            while self.moveit2.query_state() != MoveIt2State.IDLE:
+                self.node.get_logger().info(
+                    f"MoveTo Update MoveIt2State not Idle {time.time()} {terminate_requested_time} "
+                    f"{self.terminate_timeout_s}"
                 )
-                break
+                # If the goal is executing, cancel it
+                if self.moveit2.query_state() == MoveIt2State.EXECUTING:
+                    self.moveit2.cancel_execution()
+
+                # Check for terminate timeout
+                if time.time() - terminate_requested_time > self.terminate_timeout_s:
+                    self.logger.error(
+                        f"{self.name} [MoveTo::terminate()] Terminate timed out!"
+                    )
+                    break
 
-            rate.sleep()
+                rate.sleep()
 
     def shutdown(self) -> None:
         """
diff --git a/ada_feeding/ada_feeding/behaviors/toggle_collision_object.py b/ada_feeding/ada_feeding/behaviors/toggle_collision_object.py
index e802c4c4..abbb8914 100644
--- a/ada_feeding/ada_feeding/behaviors/toggle_collision_object.py
+++ b/ada_feeding/ada_feeding/behaviors/toggle_collision_object.py
@@ -10,12 +10,10 @@
 
 # Third-party imports
 import py_trees
-from pymoveit2 import MoveIt2
-from pymoveit2.robots import kinova
-from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.node import Node
 
 # Local imports
+from ada_feeding.helpers import get_moveit2_object
 
 
 class ToggleCollisionObject(py_trees.behaviour.Behaviour):
@@ -53,19 +51,13 @@ def __init__(
         self.collision_object_id = collision_object_id
         self.allow = allow
 
-        # Create MoveIt 2 interface for moving the Jaco arm. This must be done
-        # in __init__ and not setup since the MoveIt2 interface must be
-        # initialized before the ROS2 node starts spinning.
-        # Using ReentrantCallbackGroup to align with the examples from pymoveit2.
-        # TODO: Assess whether ReentrantCallbackGroup is necessary for MoveIt2.
-        callback_group = ReentrantCallbackGroup()
-        self.moveit2 = MoveIt2(
-            node=self.node,
-            joint_names=kinova.joint_names(),
-            base_link_name=kinova.base_link_name(),
-            end_effector_name="forkTip",
-            group_name=kinova.MOVE_GROUP_ARM,
-            callback_group=callback_group,
+        # Get the MoveIt2 object.
+        self.blackboard = self.attach_blackboard_client(
+            name=name + " ToggleCollisionObject", namespace=name
+        )
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            self.node,
         )
 
     def update(self) -> py_trees.common.Status:
@@ -79,7 +71,8 @@ def update(self) -> py_trees.common.Status:
         """
         self.logger.info(f"{self.name} [ToggleCollisionObject::update()]")
         # (Dis)allow collisions between the robot and the collision object
-        succ = self.moveit2.allow_collisions(self.collision_object_id, self.allow)
+        with self.moveit2_lock:
+            succ = self.moveit2.allow_collisions(self.collision_object_id, self.allow)
 
         # Return success
         if succ:
diff --git a/ada_feeding/ada_feeding/decorators/__init__.py b/ada_feeding/ada_feeding/decorators/__init__.py
index 3258a92e..3a4f9236 100644
--- a/ada_feeding/ada_feeding/decorators/__init__.py
+++ b/ada_feeding/ada_feeding/decorators/__init__.py
@@ -10,6 +10,9 @@
 # Parent class for all decorators that add constraints
 from .move_to_constraint import MoveToConstraint
 
+# Clear constraints
+from .clear_constraints import ClearConstraints
+
 # Goal constraints
 from .set_joint_goal_constraint import SetJointGoalConstraint
 from .set_position_goal_constraint import SetPositionGoalConstraint
diff --git a/ada_feeding/ada_feeding/decorators/clear_constraints.py b/ada_feeding/ada_feeding/decorators/clear_constraints.py
new file mode 100644
index 00000000..8e54a298
--- /dev/null
+++ b/ada_feeding/ada_feeding/decorators/clear_constraints.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+This module defines the ClearConstraints decorator, which clears all constraints
+on the MoveIt2 object.
+"""
+# Third-party imports
+import py_trees
+from rclpy.node import Node
+
+# Local imports
+from ada_feeding.decorators import MoveToConstraint
+from ada_feeding.helpers import get_moveit2_object
+
+# pylint: disable=duplicate-code
+# All the constraints have similar code when registering and setting blackboard
+# keys, since the parameters for constraints are similar. This is not a problem.
+
+
+class ClearConstraints(MoveToConstraint):
+    """
+    ClearConstraints clears all constraints on the MoveIt2 object. This
+    Should be at the top of a branch of constraints and the MoveTo behavior,
+    in case any previous behavior left lingering constraints (e.g., due to
+    an error).
+    """
+
+    def __init__(
+        self,
+        name: str,
+        child: py_trees.behaviour.Behaviour,
+        node: Node,
+    ):
+        """
+        Initialize the MoveToConstraint decorator.
+
+        Parameters
+        ----------
+        name: The name of the behavior.
+        child: The child behavior.
+        """
+        # Initiatilize the decorator
+        super().__init__(name=name, child=child)
+
+        # Define inputs from the blackboard
+        self.blackboard = self.attach_blackboard_client(
+            name=name + " ClearConstraints", namespace=name
+        )
+
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
+    def set_constraint(self) -> None:
+        """
+        Sets the joint goal constraint.
+        """
+        self.logger.info(f"{self.name} [ClearConstraints::set_constraint()]")
+
+        # Set the constraint
+        with self.moveit2_lock:
+            self.moveit2.clear_goal_constraints()
+            self.moveit2.clear_path_constraints()
diff --git a/ada_feeding/ada_feeding/decorators/move_to_constraint.py b/ada_feeding/ada_feeding/decorators/move_to_constraint.py
index a1f075a5..a96887e0 100644
--- a/ada_feeding/ada_feeding/decorators/move_to_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/move_to_constraint.py
@@ -12,10 +12,8 @@
 
 # Third-party imports
 import py_trees
-from pymoveit2 import MoveIt2
 
 # Local imports
-from ada_feeding.behaviors import MoveTo
 
 
 class MoveToConstraint(py_trees.decorators.Decorator, ABC):
@@ -24,36 +22,6 @@ class MoveToConstraint(py_trees.decorators.Decorator, ABC):
     the robot using MoveIt2.
     """
 
-    def __init__(
-        self,
-        name: str,
-        child: py_trees.behaviour.Behaviour,
-    ):
-        """
-        Initialize the MoveToConstraint decorator.
-
-        Parameters
-        ----------
-        name: The name of the behavior.
-        child: The child behavior.
-        """
-        # Check the child behavior type
-        if not isinstance(child, (MoveTo, MoveToConstraint)):
-            raise TypeError(
-                f"{name} [MoveToConstraint::__init__()] Child must be of "
-                "type MoveTo or MoveToConstraint!"
-            )
-
-        # Initiatilize the decorator
-        super().__init__(name=name, child=child)
-
-    @property
-    def moveit2(self) -> MoveIt2:
-        """
-        Get the MoveIt2 interface.
-        """
-        return self.decorated.moveit2
-
     def initialise(self) -> None:
         """
         Set the constraints before the child behavior starts executing.
@@ -78,15 +46,3 @@ def update(self) -> py_trees.common.Status:
         Just pass through the child's status
         """
         return self.decorated.status
-
-    def terminate(self, new_status: py_trees.common.Status) -> None:
-        """
-        Clear the constraints.
-        """
-        self.logger.info(
-            f"{self.name} [MoveToConstraint::terminate()][{self.status}->{new_status}]"
-        )
-
-        # Clear the constraints
-        self.moveit2.clear_goal_constraints()
-        self.moveit2.clear_path_constraints()
diff --git a/ada_feeding/ada_feeding/decorators/set_joint_goal_constraint.py b/ada_feeding/ada_feeding/decorators/set_joint_goal_constraint.py
index 85ba1413..4669ab88 100644
--- a/ada_feeding/ada_feeding/decorators/set_joint_goal_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/set_joint_goal_constraint.py
@@ -6,10 +6,11 @@
 """
 # Third-party imports
 import py_trees
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import MoveToConstraint
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 # pylint: disable=duplicate-code
 # All the constraints have similar code when registering and setting blackboard
@@ -26,6 +27,7 @@ def __init__(
         self,
         name: str,
         child: py_trees.behaviour.Behaviour,
+        node: Node,
     ):
         """
         Initialize the MoveToConstraint decorator.
@@ -53,6 +55,12 @@ def __init__(
         )
         self.blackboard.register_key(key="weight", access=py_trees.common.Access.READ)
 
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
     def set_constraint(self) -> None:
         """
         Sets the joint goal constraint.
@@ -70,9 +78,10 @@ def set_constraint(self) -> None:
         weight = get_from_blackboard_with_default(self.blackboard, "weight", 1.0)
 
         # Set the constraint
-        self.moveit2.set_joint_goal(
-            joint_positions=joint_positions,
-            joint_names=joint_names,
-            tolerance=tolerance,
-            weight=weight,
-        )
+        with self.moveit2_lock:
+            self.moveit2.set_joint_goal(
+                joint_positions=joint_positions,
+                joint_names=joint_names,
+                tolerance=tolerance,
+                weight=weight,
+            )
diff --git a/ada_feeding/ada_feeding/decorators/set_joint_path_constraint.py b/ada_feeding/ada_feeding/decorators/set_joint_path_constraint.py
index 31d1803e..78343a7d 100644
--- a/ada_feeding/ada_feeding/decorators/set_joint_path_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/set_joint_path_constraint.py
@@ -6,10 +6,11 @@
 """
 # Third-party imports
 import py_trees
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import MoveToConstraint
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 # pylint: disable=duplicate-code
 # All the constraints have similar code when registering and setting blackboard
@@ -26,6 +27,7 @@ def __init__(
         self,
         name: str,
         child: py_trees.behaviour.Behaviour,
+        node: Node,
     ):
         """
         Initialize the MoveToConstraint decorator.
@@ -53,6 +55,12 @@ def __init__(
         )
         self.blackboard.register_key(key="weight", access=py_trees.common.Access.READ)
 
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
     def set_constraint(self) -> None:
         """
         Sets the joint path constraint.
@@ -70,9 +78,10 @@ def set_constraint(self) -> None:
         weight = get_from_blackboard_with_default(self.blackboard, "weight", 1.0)
 
         # Set the constraint
-        self.moveit2.set_path_joint_constraint(
-            joint_positions=joint_positions,
-            joint_names=joint_names,
-            tolerance=tolerance,
-            weight=weight,
-        )
+        with self.moveit2_lock:
+            self.moveit2.set_path_joint_constraint(
+                joint_positions=joint_positions,
+                joint_names=joint_names,
+                tolerance=tolerance,
+                weight=weight,
+            )
diff --git a/ada_feeding/ada_feeding/decorators/set_orientation_goal_constraint.py b/ada_feeding/ada_feeding/decorators/set_orientation_goal_constraint.py
index a75ace84..2c45a9d5 100644
--- a/ada_feeding/ada_feeding/decorators/set_orientation_goal_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/set_orientation_goal_constraint.py
@@ -6,10 +6,11 @@
 """
 # Third-party imports
 import py_trees
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import MoveToConstraint
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 # pylint: disable=duplicate-code
 # All the constraints have similar code when registering and setting blackboard
@@ -26,6 +27,7 @@ def __init__(
         self,
         name: str,
         child: py_trees.behaviour.Behaviour,
+        node: Node,
     ):
         """
         Initialize the MoveToConstraint decorator.
@@ -57,6 +59,12 @@ def __init__(
             key="parameterization", access=py_trees.common.Access.READ
         )
 
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
     def set_constraint(self) -> None:
         """
         Sets the orientation goal constraint.
@@ -80,11 +88,12 @@ def set_constraint(self) -> None:
         )
 
         # Set the constraint
-        self.moveit2.set_orientation_goal(
-            quat_xyzw=quat_xyzw,
-            frame_id=frame_id,
-            target_link=target_link,
-            tolerance=tolerance,
-            weight=weight,
-            parameterization=parameterization,
-        )
+        with self.moveit2_lock:
+            self.moveit2.set_orientation_goal(
+                quat_xyzw=quat_xyzw,
+                frame_id=frame_id,
+                target_link=target_link,
+                tolerance=tolerance,
+                weight=weight,
+                parameterization=parameterization,
+            )
diff --git a/ada_feeding/ada_feeding/decorators/set_orientation_path_constraint.py b/ada_feeding/ada_feeding/decorators/set_orientation_path_constraint.py
index 0ff4fd51..1df0107f 100644
--- a/ada_feeding/ada_feeding/decorators/set_orientation_path_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/set_orientation_path_constraint.py
@@ -7,10 +7,11 @@
 """
 # Third-party imports
 import py_trees
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import MoveToConstraint
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 # pylint: disable=duplicate-code
 # All the constraints have similar code when registering and setting blackboard
@@ -27,6 +28,7 @@ def __init__(
         self,
         name: str,
         child: py_trees.behaviour.Behaviour,
+        node: Node,
     ):
         """
         Initialize the MoveToConstraint decorator.
@@ -58,6 +60,12 @@ def __init__(
             key="parameterization", access=py_trees.common.Access.READ
         )
 
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
     def set_constraint(self) -> None:
         """
         Sets the orientation goal constraint.
@@ -81,11 +89,12 @@ def set_constraint(self) -> None:
         )
 
         # Set the constraint
-        self.moveit2.set_path_orientation_constraint(
-            quat_xyzw=quat_xyzw,
-            frame_id=frame_id,
-            target_link=target_link,
-            tolerance=tolerance,
-            weight=weight,
-            parameterization=parameterization,
-        )
+        with self.moveit2_lock:
+            self.moveit2.set_path_orientation_constraint(
+                quat_xyzw=quat_xyzw,
+                frame_id=frame_id,
+                target_link=target_link,
+                tolerance=tolerance,
+                weight=weight,
+                parameterization=parameterization,
+            )
diff --git a/ada_feeding/ada_feeding/decorators/set_position_goal_constraint.py b/ada_feeding/ada_feeding/decorators/set_position_goal_constraint.py
index 45b74b21..f19db40c 100644
--- a/ada_feeding/ada_feeding/decorators/set_position_goal_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/set_position_goal_constraint.py
@@ -6,10 +6,11 @@
 """
 # Third-party imports
 import py_trees
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import MoveToConstraint
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 # pylint: disable=duplicate-code
 # All the constraints have similar code when registering and setting blackboard
@@ -26,6 +27,7 @@ def __init__(
         self,
         name: str,
         child: py_trees.behaviour.Behaviour,
+        node: Node,
     ):
         """
         Initialize the MoveToConstraint decorator.
@@ -52,6 +54,12 @@ def __init__(
         )
         self.blackboard.register_key(key="weight", access=py_trees.common.Access.READ)
 
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
     def set_constraint(self) -> None:
         """
         Sets the position goal constraint.
@@ -70,10 +78,11 @@ def set_constraint(self) -> None:
         weight = get_from_blackboard_with_default(self.blackboard, "weight", 1.0)
 
         # Set the constraint
-        self.moveit2.set_position_goal(
-            position=position,
-            frame_id=frame_id,
-            target_link=target_link,
-            tolerance=tolerance,
-            weight=weight,
-        )
+        with self.moveit2_lock:
+            self.moveit2.set_position_goal(
+                position=position,
+                frame_id=frame_id,
+                target_link=target_link,
+                tolerance=tolerance,
+                weight=weight,
+            )
diff --git a/ada_feeding/ada_feeding/decorators/set_position_path_constraint.py b/ada_feeding/ada_feeding/decorators/set_position_path_constraint.py
index 2a811597..33598831 100644
--- a/ada_feeding/ada_feeding/decorators/set_position_path_constraint.py
+++ b/ada_feeding/ada_feeding/decorators/set_position_path_constraint.py
@@ -7,10 +7,11 @@
 """
 # Third-party imports
 import py_trees
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import MoveToConstraint
-from ada_feeding.helpers import get_from_blackboard_with_default
+from ada_feeding.helpers import get_from_blackboard_with_default, get_moveit2_object
 
 # pylint: disable=duplicate-code
 # All the constraints have similar code when registering and setting blackboard
@@ -27,6 +28,7 @@ def __init__(
         self,
         name: str,
         child: py_trees.behaviour.Behaviour,
+        node: Node,
     ):
         """
         Initialize the MoveToConstraint decorator.
@@ -53,6 +55,12 @@ def __init__(
         )
         self.blackboard.register_key(key="weight", access=py_trees.common.Access.READ)
 
+        # Get the MoveIt2 object.
+        self.moveit2, self.moveit2_lock = get_moveit2_object(
+            self.blackboard,
+            node,
+        )
+
     def set_constraint(self) -> None:
         """
         Sets the position path constraint.
@@ -71,10 +79,11 @@ def set_constraint(self) -> None:
         weight = get_from_blackboard_with_default(self.blackboard, "weight", 1.0)
 
         # Set the constraint
-        self.moveit2.set_path_position_constraint(
-            position=position,
-            frame_id=frame_id,
-            target_link=target_link,
-            tolerance=tolerance,
-            weight=weight,
-        )
+        with self.moveit2_lock:
+            self.moveit2.set_path_position_constraint(
+                position=position,
+                frame_id=frame_id,
+                target_link=target_link,
+                tolerance=tolerance,
+                weight=weight,
+            )
diff --git a/ada_feeding/ada_feeding/helpers.py b/ada_feeding/ada_feeding/helpers.py
index 1493d5e0..a92616bd 100644
--- a/ada_feeding/ada_feeding/helpers.py
+++ b/ada_feeding/ada_feeding/helpers.py
@@ -4,10 +4,16 @@
 """
 
 # Standard imports
-from typing import Any, Set
+from threading import Lock
+from typing import Any, Optional, Set, Tuple
 
 # Third-party imports
 import py_trees
+from py_trees.common import Access
+from pymoveit2 import MoveIt2
+from pymoveit2.robots import kinova
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
 
 # These prefixes are used to separate namespaces from each other.
 # For example, if we have a behavior `foo` that has a position goal constraint,
@@ -19,6 +25,7 @@
 # Note that this norm can only be used if each MoveTo behavior has maximally
 # one constraint of each type. When creating a behavior with multiple constraints
 # of the same time, you'll have to create custom namespaces.
+CLEAR_CONSTRAINTS_NAMESPACE_PREFIX = "clear_constraints"
 POSITION_GOAL_CONSTRAINT_NAMESPACE_PREFIX = "position_goal_constraint"
 ORIENTATION_GOAL_CONSTRAINT_NAMESPACE_PREFIX = "orientation_goal_constraint"
 JOINT_GOAL_CONSTRAINT_NAMESPACE_PREFIX = "joint_goal_constraint"
@@ -28,6 +35,79 @@
 MOVE_TO_NAMESPACE_PREFIX = "move_to"
 
 
+def get_moveit2_object(
+    blackboard: py_trees.blackboard.Client,
+    node: Optional[Node] = None,
+) -> Tuple[MoveIt2, Lock]:
+    """
+    Gets the MoveIt2 object and its corresponding lock from the blackboard.
+    If they do not exist on the blackboard, they are created.
+
+    Parameters
+    ----------
+    blackboard: The blackboard client. Any blackboard client can be used, as
+        this function: (a) uses absolute paths; and (b) registers the keys if
+        they are not already registered.
+    node: The ROS2 node that the MoveIt2 object should be associated with, if
+        we need to create it from scratch. If None, this function will not create
+        the MoveIt2 object if it doesn't exist, and will instead raise a KeyError.
+
+    Returns
+    -------
+    moveit2: The MoveIt2 object.
+    lock: The lock for the MoveIt2 object.
+
+    Raises
+    -------
+    KeyError: if the MoveIt2 object does not exist and node is None.
+    """
+    # These Blackboard keys are used to store the single, global MoveIt2 object
+    # and its corresponding lock. Note that it is important that these keys start with
+    # a "/" because to indicate it is an absolute path, so all behaviors can access
+    # the same object.
+    moveit2_blackboard_key = "/moveit2"
+    moveit2_lock_blackboard_key = "/moveit2_lock"
+
+    # First, register the MoveIt2 object and its corresponding lock for READ access
+    if not blackboard.is_registered(moveit2_blackboard_key, Access.READ):
+        blackboard.register_key(moveit2_blackboard_key, Access.READ)
+    if not blackboard.is_registered(moveit2_lock_blackboard_key, Access.READ):
+        blackboard.register_key(moveit2_lock_blackboard_key, Access.READ)
+
+    # Second, check if the MoveIt2 object and its corresponding lock exist on the
+    # blackboard. If they do not, register the blackboard for WRITE access to those
+    # keys and create them.
+    try:
+        moveit2 = blackboard.get(moveit2_blackboard_key)
+        lock = blackboard.get(moveit2_lock_blackboard_key)
+    except KeyError as exc:
+        # If no node is passed in, raise an error.
+        if node is None:
+            raise KeyError("MoveIt2 object does not exist on the blackboard") from exc
+
+        # If a node is passed in, create a new MoveIt2 object and lock.
+        node.get_logger().info(
+            "MoveIt2 object and lock do not exist on the blackboard. Creating them now."
+        )
+        blackboard.register_key(moveit2_blackboard_key, Access.WRITE)
+        blackboard.register_key(moveit2_lock_blackboard_key, Access.WRITE)
+        # TODO: Assess whether ReentrantCallbackGroup is necessary for MoveIt2.
+        callback_group = ReentrantCallbackGroup()
+        moveit2 = MoveIt2(
+            node=node,
+            joint_names=kinova.joint_names(),
+            base_link_name=kinova.base_link_name(),
+            end_effector_name="forkTip",
+            group_name=kinova.MOVE_GROUP_ARM,
+            callback_group=callback_group,
+        )
+        lock = Lock()
+        blackboard.set(moveit2_blackboard_key, moveit2)
+        blackboard.set(moveit2_lock_blackboard_key, lock)
+
+    return moveit2, lock
+
+
 def get_from_blackboard_with_default(
     blackboard: py_trees.blackboard.Client, key: str, default: Any
 ) -> Any:
diff --git a/ada_feeding/ada_feeding/idioms/add_pose_path_constraints.py b/ada_feeding/ada_feeding/idioms/add_pose_path_constraints.py
index 5b39eae2..b9cb3981 100644
--- a/ada_feeding/ada_feeding/idioms/add_pose_path_constraints.py
+++ b/ada_feeding/ada_feeding/idioms/add_pose_path_constraints.py
@@ -13,13 +13,16 @@
 # Third-party imports
 import py_trees
 from py_trees.blackboard import Blackboard
+from rclpy.node import Node
 
 # Local imports
 from ada_feeding.decorators import (
+    ClearConstraints,
     SetPositionPathConstraint,
     SetOrientationPathConstraint,
 )
 from ada_feeding.helpers import (
+    CLEAR_CONSTRAINTS_NAMESPACE_PREFIX,
     POSITION_PATH_CONSTRAINT_NAMESPACE_PREFIX,
     ORIENTATION_PATH_CONSTRAINT_NAMESPACE_PREFIX,
     set_to_blackboard,
@@ -38,6 +41,7 @@ def add_pose_path_constraints(
     name: str,
     blackboard: py_trees.blackboard.Blackboard,
     logger: logging.Logger,
+    node: Node,
     keys_to_not_write_to_blackboard: Set[str] = set(),
     # Optional parameters for the pose path constraint
     position_path: Optional[Tuple[float, float, float]] = None,
@@ -49,6 +53,7 @@ def add_pose_path_constraints(
     parameterization_orientation_path: int = 0,
     weight_position_path: float = 1.0,
     weight_orientation_path: float = 1.0,
+    clear_constraints: bool = True,
 ) -> py_trees.behaviour.Behaviour:
     """
     Adds a SetPositionPathConstraint and/or SetOrientationPathConstraint to a
@@ -62,6 +67,7 @@ def add_pose_path_constraints(
     name: The name for the tree that this behavior is in.
     blackboard: The blackboard for the tree that this behavior is in.
     logger: The logger for the tree that this behavior is in.
+    node: The ROS2 node that the MoveIt2 object is associated with.
     keys_to_not_write_to_blackboard: the keys to not write to the blackboard.
         Note that the keys need to be exact e.g., "move_to.cartesian,"
         "position_goal_constraint.tolerance," "orientation_goal_constraint.tolerance,"
@@ -78,6 +84,9 @@ def add_pose_path_constraints(
         orientation tolerance.
     weight_position_path: the weight for the position path.
     weight_orientation_path: the weight for the orientation path.
+    clear_constraints: Whether or not to put a ClearConstraints decorator at the top
+        of this branch. If you will be adding additional Constraints on top of this
+        tree, this should be False. Else (e.g., if this is a standalone tree), True.
     """
 
     # Separate blackboard namespaces for decorators
@@ -89,6 +98,7 @@ def add_pose_path_constraints(
         orientation_path_constraint_namespace_prefix = (
             ORIENTATION_PATH_CONSTRAINT_NAMESPACE_PREFIX
         )
+    clear_constraints_namespace_prefix = CLEAR_CONSTRAINTS_NAMESPACE_PREFIX
 
     # Position constraints
     if position_path is not None:
@@ -230,7 +240,7 @@ def add_pose_path_constraints(
             [name, position_path_constraint_namespace_prefix]
         )
         position_constraint = SetPositionPathConstraint(
-            position_path_constaint_name, child
+            position_path_constaint_name, child, node
         )
         position_constraint.logger = logger
     else:
@@ -242,10 +252,22 @@ def add_pose_path_constraints(
             [name, orientation_path_constraint_namespace_prefix]
         )
         orientation_constraint = SetOrientationPathConstraint(
-            orientation_goal_constaint_name, position_constraint
+            orientation_goal_constaint_name, position_constraint, node
         )
         orientation_constraint.logger = logger
     else:
         orientation_constraint = position_constraint
 
-    return orientation_constraint
+    # Clear any previous constraints that may be in the MoveIt2 object
+    if clear_constraints:
+        clear_constraints_name = Blackboard.separator.join(
+            [name, clear_constraints_namespace_prefix]
+        )
+        clear_constraints_behavior = ClearConstraints(
+            clear_constraints_name, orientation_constraint, node
+        )
+        clear_constraints_behavior.logger = logger
+    else:
+        clear_constraints_behavior = orientation_constraint
+
+    return clear_constraints_behavior
diff --git a/ada_feeding/ada_feeding/trees/move_to_configuration_tree.py b/ada_feeding/ada_feeding/trees/move_to_configuration_tree.py
index b46c81c6..26a54578 100644
--- a/ada_feeding/ada_feeding/trees/move_to_configuration_tree.py
+++ b/ada_feeding/ada_feeding/trees/move_to_configuration_tree.py
@@ -16,8 +16,13 @@
 
 # Local imports
 from ada_feeding.behaviors import MoveTo
-from ada_feeding.decorators import SetJointGoalConstraint
-from ada_feeding.helpers import set_to_blackboard
+from ada_feeding.decorators import ClearConstraints, SetJointGoalConstraint
+from ada_feeding.helpers import (
+    CLEAR_CONSTRAINTS_NAMESPACE_PREFIX,
+    JOINT_GOAL_CONSTRAINT_NAMESPACE_PREFIX,
+    MOVE_TO_NAMESPACE_PREFIX,
+    set_to_blackboard,
+)
 from ada_feeding.trees import MoveToTree
 
 # pylint: disable=duplicate-code
@@ -45,6 +50,7 @@ def __init__(
         allowed_planning_time: float = 0.5,
         max_velocity_scaling_factor: float = 0.1,
         keys_to_not_write_to_blackboard: Set[str] = set(),
+        clear_constraints: bool = True,
     ):
         """
         Initializes tree-specific parameters.
@@ -63,6 +69,9 @@ def __init__(
             Note that the keys need to be exact e.g., "move_to.cartesian,"
             "position_goal_constraint.tolerance," "orientation_goal_constraint.tolerance,"
             etc.
+        clear_constraints: Whether or not to put a ClearConstraints decorator at the top
+            of this branch. If you will be adding additional Constraints on top of this
+            tree, this should be False. Else (e.g., if this is a standalone tree), True.
         """
         # Initialize MoveToTree
         super().__init__()
@@ -76,6 +85,7 @@ def __init__(
         self.allowed_planning_time = allowed_planning_time
         self.max_velocity_scaling_factor = max_velocity_scaling_factor
         self.keys_to_not_write_to_blackboard = keys_to_not_write_to_blackboard
+        self.clear_constraints = clear_constraints
 
     # pylint: disable=too-many-locals
     # Unfortunately, many local variables are required here to isolate the keys
@@ -105,8 +115,9 @@ def create_move_to_tree(
         tree: The behavior tree that moves the robot above the plate.
         """
         # Separate blackboard namespaces for children
-        joint_constraint_namespace_prefix = "joint_goal_constraint"
-        move_to_namespace_prefix = "move_to"
+        joint_constraint_namespace_prefix = JOINT_GOAL_CONSTRAINT_NAMESPACE_PREFIX
+        clear_constraints_namespace_prefix = CLEAR_CONSTRAINTS_NAMESPACE_PREFIX
+        move_to_namespace_prefix = MOVE_TO_NAMESPACE_PREFIX
 
         # Inputs for MoveToConfiguration
         joint_positions_key = Blackboard.separator.join(
@@ -195,8 +206,20 @@ def create_move_to_tree(
         joint_goal_constaint_name = Blackboard.separator.join(
             [name, joint_constraint_namespace_prefix]
         )
-        root = SetJointGoalConstraint(joint_goal_constaint_name, move_to)
-        root.logger = logger
+        joint_constraints = SetJointGoalConstraint(
+            joint_goal_constaint_name, move_to, node
+        )
+        joint_constraints.logger = logger
+
+        # Clear the constraints
+        if self.clear_constraints:
+            clear_constraints_name = Blackboard.separator.join(
+                [name, clear_constraints_namespace_prefix]
+            )
+            root = ClearConstraints(clear_constraints_name, joint_constraints, node)
+            root.logger = logger
+        else:
+            root = joint_constraints
 
         tree = py_trees.trees.BehaviourTree(root)
         return tree
diff --git a/ada_feeding/ada_feeding/trees/move_to_configuration_with_ft_thresholds_tree.py b/ada_feeding/ada_feeding/trees/move_to_configuration_with_ft_thresholds_tree.py
index 940a8f7a..48efd2f1 100644
--- a/ada_feeding/ada_feeding/trees/move_to_configuration_with_ft_thresholds_tree.py
+++ b/ada_feeding/ada_feeding/trees/move_to_configuration_with_ft_thresholds_tree.py
@@ -51,6 +51,7 @@ def __init__(
         t_y: float = 0.0,
         t_z: float = 0.0,
         keys_to_not_write_to_blackboard: Set[str] = set(),
+        clear_constraints: bool = True,
     ):
         """
         Initializes tree-specific parameters.
@@ -80,6 +81,9 @@ def __init__(
             Note that the keys need to be exact e.g., "move_to.cartesian,"
             "position_goal_constraint.tolerance," "orientation_goal_constraint.tolerance,"
             etc.
+        clear_constraints: Whether or not to put a ClearConstraints decorator at the top
+            of this branch. If you will be adding additional Constraints on top of this
+            tree, this should be False. Else (e.g., if this is a standalone tree), True.
         """
 
         # pylint: disable=too-many-locals
@@ -110,6 +114,7 @@ def __init__(
         self.t_z = t_z
 
         self.keys_to_not_write_to_blackboard = keys_to_not_write_to_blackboard
+        self.clear_constraints = clear_constraints
 
     def create_move_to_tree(
         self,
@@ -143,6 +148,7 @@ def create_move_to_tree(
                 allowed_planning_time=self.allowed_planning_time,
                 max_velocity_scaling_factor=self.max_velocity_scaling_factor,
                 keys_to_not_write_to_blackboard=self.keys_to_not_write_to_blackboard,
+                clear_constraints=self.clear_constraints,
             )
             .create_tree(name, self.action_type, tree_root_name, logger, node)
             .root
diff --git a/ada_feeding/ada_feeding/trees/move_to_configuration_with_pose_path_constraints_tree.py b/ada_feeding/ada_feeding/trees/move_to_configuration_with_pose_path_constraints_tree.py
index 6e8145a4..cb442512 100644
--- a/ada_feeding/ada_feeding/trees/move_to_configuration_with_pose_path_constraints_tree.py
+++ b/ada_feeding/ada_feeding/trees/move_to_configuration_with_pose_path_constraints_tree.py
@@ -55,6 +55,7 @@ def __init__(
         weight_position_path: float = 1.0,
         weight_orientation_path: float = 1.0,
         keys_to_not_write_to_blackboard: Set[str] = set(),
+        clear_constraints: bool = True,
     ):
         """
         Initializes tree-specific parameters.
@@ -88,6 +89,9 @@ def __init__(
             Note that the keys need to be exact e.g., "move_to.cartesian,"
             "position_goal_constraint.tolerance," "orientation_goal_constraint.tolerance,"
             etc.
+        clear_constraints: Whether or not to put a ClearConstraints decorator at the top
+            of this branch. If you will be adding additional Constraints on top of this
+            tree, this should be False. Else (e.g., if this is a standalone tree), True.
         """
         # Initialize MoveToTree
         super().__init__()
@@ -113,6 +117,7 @@ def __init__(
         self.weight_orientation_path = weight_orientation_path
 
         self.keys_to_not_write_to_blackboard = keys_to_not_write_to_blackboard
+        self.clear_constraints = clear_constraints
 
     def create_move_to_tree(
         self,
@@ -149,6 +154,7 @@ def create_move_to_tree(
                 allowed_planning_time=self.allowed_planning_time,
                 max_velocity_scaling_factor=self.max_velocity_scaling_factor,
                 keys_to_not_write_to_blackboard=self.keys_to_not_write_to_blackboard,
+                clear_constraints=False,
             )
             .create_tree(name, self.action_type, tree_root_name, logger, node)
             .root
@@ -170,6 +176,8 @@ def create_move_to_tree(
             parameterization_orientation_path=self.parameterization_orientation_path,
             weight_position_path=self.weight_position_path,
             weight_orientation_path=self.weight_orientation_path,
+            node=node,
+            clear_constraints=self.clear_constraints,
         )
 
         tree = py_trees.trees.BehaviourTree(root)
diff --git a/ada_feeding/ada_feeding/trees/move_to_pose_tree.py b/ada_feeding/ada_feeding/trees/move_to_pose_tree.py
index 1de96925..58b0a01f 100644
--- a/ada_feeding/ada_feeding/trees/move_to_pose_tree.py
+++ b/ada_feeding/ada_feeding/trees/move_to_pose_tree.py
@@ -17,10 +17,12 @@
 # Local imports
 from ada_feeding.behaviors import MoveTo
 from ada_feeding.decorators import (
+    ClearConstraints,
     SetPositionGoalConstraint,
     SetOrientationGoalConstraint,
 )
 from ada_feeding.helpers import (
+    CLEAR_CONSTRAINTS_NAMESPACE_PREFIX,
     POSITION_GOAL_CONSTRAINT_NAMESPACE_PREFIX,
     ORIENTATION_GOAL_CONSTRAINT_NAMESPACE_PREFIX,
     MOVE_TO_NAMESPACE_PREFIX,
@@ -39,7 +41,7 @@ class MoveToPoseTree(MoveToTree):
     A behavior tree that consists of a single behavior, MoveToPose.
     """
 
-    # pylint: disable=too-many-instance-attributes, too-many-arguments
+    # pylint: disable=too-many-instance-attributes, too-many-arguments, too-many-locals
     # Many arguments is fine for this class since it has to be able to configure all parameters
     # of its constraints.
     # pylint: disable=dangerous-default-value
@@ -60,6 +62,7 @@ def __init__(
         allowed_planning_time: float = 0.5,
         max_velocity_scaling_factor: float = 0.1,
         keys_to_not_write_to_blackboard: Set[str] = set(),
+        clear_constraints: bool = True,
     ):
         """
         Initializes tree-specific parameters.
@@ -86,6 +89,9 @@ def __init__(
             Note that the keys need to be exact e.g., "move_to.cartesian,"
             "position_goal_constraint.tolerance," "orientation_goal_constraint.tolerance,"
             etc.
+        clear_constraints: Whether or not to put a ClearConstraints decorator at the top
+            of this branch. If you will be adding additional Constraints on top of this
+            tree, this should be False. Else (e.g., if this is a standalone tree), True.
         """
         # Initialize MoveTo
         super().__init__()
@@ -105,6 +111,7 @@ def __init__(
         self.allowed_planning_time = allowed_planning_time
         self.max_velocity_scaling_factor = max_velocity_scaling_factor
         self.keys_to_not_write_to_blackboard = keys_to_not_write_to_blackboard
+        self.clear_constraints = clear_constraints
 
     # pylint: disable=too-many-locals, too-many-statements
     # Unfortunately, many locals/statements are required here to isolate the keys
@@ -142,6 +149,7 @@ def create_move_to_tree(
             orientation_goal_constraint_namespace_prefix = (
                 ORIENTATION_GOAL_CONSTRAINT_NAMESPACE_PREFIX
             )
+        clear_constraints_namespace_prefix = CLEAR_CONSTRAINTS_NAMESPACE_PREFIX
         move_to_namespace_prefix = MOVE_TO_NAMESPACE_PREFIX
 
         # Position constraints
@@ -348,7 +356,7 @@ def create_move_to_tree(
                 [name, position_goal_constraint_namespace_prefix]
             )
             position_constraint = SetPositionGoalConstraint(
-                position_goal_constaint_name, move_to
+                position_goal_constaint_name, move_to, node
             )
             position_constraint.logger = logger
         else:
@@ -356,15 +364,27 @@ def create_move_to_tree(
 
         # Add the orientation goal constraint to the MoveTo behavior
         if self.quat_xyzw is not None:
-            orientation_goal_constaint_name = Blackboard.separator.join(
+            orientation_goal_constraint_name = Blackboard.separator.join(
                 [name, orientation_goal_constraint_namespace_prefix]
             )
-            root = SetOrientationGoalConstraint(
-                orientation_goal_constaint_name, position_constraint
+            orientation_constraint = SetOrientationGoalConstraint(
+                orientation_goal_constraint_name, position_constraint, node
+            )
+            orientation_constraint.logger = logger
+        else:
+            orientation_constraint = position_constraint
+
+        # Clear the constraints
+        if self.clear_constraints:
+            clear_constraints_name = Blackboard.separator.join(
+                [name, clear_constraints_namespace_prefix]
+            )
+            root = ClearConstraints(
+                clear_constraints_name, orientation_constraint, node
             )
             root.logger = logger
         else:
-            root = position_constraint
+            root = orientation_constraint
 
         tree = py_trees.trees.BehaviourTree(root)
         return tree
diff --git a/ada_feeding/ada_feeding/trees/move_to_pose_with_pose_path_constraints_tree.py b/ada_feeding/ada_feeding/trees/move_to_pose_with_pose_path_constraints_tree.py
index 5a0d9300..a01d3ad0 100644
--- a/ada_feeding/ada_feeding/trees/move_to_pose_with_pose_path_constraints_tree.py
+++ b/ada_feeding/ada_feeding/trees/move_to_pose_with_pose_path_constraints_tree.py
@@ -62,6 +62,7 @@ def __init__(
         weight_position_path: float = 1.0,
         weight_orientation_path: float = 1.0,
         keys_to_not_write_to_blackboard: Set[str] = set(),
+        clear_constraints: bool = True,
     ):
         """
         Initializes tree-specific parameters.
@@ -101,6 +102,9 @@ def __init__(
             Note that the keys need to be exact e.g., "move_to.cartesian,"
             "position_goal_constraint.tolerance," "orientation_goal_constraint.tolerance,"
             etc.
+        clear_constraints: Whether or not to put a ClearConstraints decorator at the top
+            of this branch. If you will be adding additional Constraints on top of this
+            tree, this should be False. Else (e.g., if this is a standalone tree), True.
         """
         # Initialize MoveToTree
         super().__init__()
@@ -132,6 +136,7 @@ def __init__(
         self.weight_orientation_path = weight_orientation_path
 
         self.keys_to_not_write_to_blackboard = keys_to_not_write_to_blackboard
+        self.clear_constraints = clear_constraints
 
     def create_move_to_tree(
         self,
@@ -175,6 +180,7 @@ def create_move_to_tree(
                 allowed_planning_time=self.allowed_planning_time,
                 max_velocity_scaling_factor=self.max_velocity_scaling_factor,
                 keys_to_not_write_to_blackboard=self.keys_to_not_write_to_blackboard,
+                clear_constraints=False,
             )
             .create_tree(name, self.action_type, tree_root_name, logger, node)
             .root
@@ -195,6 +201,8 @@ def create_move_to_tree(
             parameterization_orientation_path=self.parameterization_orientation_path,
             weight_position_path=self.weight_position_path,
             weight_orientation_path=self.weight_orientation_path,
+            node=node,
+            clear_constraints=self.clear_constraints,
         )
 
         tree = py_trees.trees.BehaviourTree(root)