diff --git a/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml b/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
index 3c74bc34..78346cc6 100644
--- a/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
+++ b/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
                 <Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
diff --git a/src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml b/src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml
index 716c2dc6..36876760 100644
--- a/src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml
+++ b/src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml
@@ -1,8 +1,3 @@
-SetupMTCMoveAlongFrameAxis:
-  arm_group_name: "manipulator"
-  hand_frame_name: "manual_grasp_link"
-  velocity_acceleration_scaling_factor: 0.05
-
 AllowGripperCollisionWithOctomap:
   group_name: "gripper"
   object_name: "<octomap>"
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button.xml b/src/picknik_ur_gazebo_config/objectives/push_button.xml
index c55c3fb5..e0c554d8 100644
--- a/src/picknik_ur_gazebo_config/objectives/push_button.xml
+++ b/src/picknik_ur_gazebo_config/objectives/push_button.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_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" parameters="{parameters}" task="{push_button_task}" />
                 <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml b/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
index 716c2dc6..36876760 100644
--- a/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
+++ b/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
@@ -1,8 +1,3 @@
-SetupMTCMoveAlongFrameAxis:
-  arm_group_name: "manipulator"
-  hand_frame_name: "manual_grasp_link"
-  velocity_acceleration_scaling_factor: 0.05
-
 AllowGripperCollisionWithOctomap:
   group_name: "gripper"
   object_name: "<octomap>"
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml b/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
index 27351583..ae56060f 100644
--- a/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
@@ -43,8 +43,7 @@
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2"
-                    min_distance="0.05" parameters="{parameters}" task="{push_along_axis_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_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" parameters="{parameters}"
                     task="{push_along_axis_task}" />
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 a492c10f..85f45607 100644
--- a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
+++ b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{close_cabinet_door_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />                
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
                 <Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
diff --git a/src/picknik_ur_site_config/objectives/push_along_axis_config.yaml b/src/picknik_ur_site_config/objectives/push_along_axis_config.yaml
index 716c2dc6..36876760 100644
--- a/src/picknik_ur_site_config/objectives/push_along_axis_config.yaml
+++ b/src/picknik_ur_site_config/objectives/push_along_axis_config.yaml
@@ -1,8 +1,3 @@
-SetupMTCMoveAlongFrameAxis:
-  arm_group_name: "manipulator"
-  hand_frame_name: "manual_grasp_link"
-  velocity_acceleration_scaling_factor: 0.05
-
 AllowGripperCollisionWithOctomap:
   group_name: "gripper"
   object_name: "<octomap>"
diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml
index c3ce7f90..99832677 100644
--- a/src/picknik_ur_site_config/objectives/push_button.xml
+++ b/src/picknik_ur_site_config/objectives/push_button.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_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" parameters="{parameters}" task="{push_button_task}" />
                 <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
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 9d3acf35..082621f4 100644
--- a/src/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -43,8 +43,7 @@
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2"
-                    min_distance="0.05" parameters="{parameters}" task="{push_along_axis_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />