diff --git a/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml b/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
index 13430e15..4abdcd3a 100644
--- a/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
+++ b/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
@@ -28,10 +28,6 @@
           <Action ID="AlwaysFailure"/>
         </Decorator>
       </Decorator>
-      <Decorator ID="ForceSuccess">
-        <Action ID="LogMessage" message="Found a GraspableObject for the door." log_level="info"/>
-        <!--<Action ID="ModifyObjectInPlanningScene" object="{door_object}" apply_planning_scene_service="/apply_planning_scene"/>-->
-      </Decorator>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml b/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
index 914fe97b..271a6da7 100644
--- a/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
+++ b/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
@@ -29,7 +29,7 @@
       </Decorator>
       <Action ID="ExtractGraspableObjectPose" graspable_object="{handle_object}" pose="{grasp_pose}"/>
       <Action ID="LogMessage" message="Successfully extracted necessary subframes for the detected pull handle." log_level="info"/>
-      <!--<Action ID="ModifyObjectInPlanningScene" object="{handle_object}" apply_planning_scene_service="/apply_planning_scene"/>-->
+      <Action ID="ModifyObjectInPlanningScene" object="{handle_object}" apply_planning_scene_service="/apply_planning_scene"/>
     </Control>
   </BehaviorTree>
 </root>
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 f1b3756a..359e852f 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
@@ -4,9 +4,8 @@
   <BehaviorTree ID="Open Door Lever Handle ML" _description="Attempts to open a door with a lever handle using machine learning." _favorite="false" _hardcoded="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Load the parameters needed for this Objective -->
-      <!-- Update the admittance controller and reset the FTS -->
-      <!-- Look at the desired location where objects (door) will be present -->
       <Action ID="LoadObjectiveParameters" config_file_name="open_door_lever_handle_MTC_config.yaml" parameters="{parameters}"/>
+      <!-- Update the admittance controller and reset the FTS -->
       <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 -->