diff --git a/src/external_dependencies/phoebe_ws b/src/external_dependencies/phoebe_ws
index a17ab03db..6d29f1d2a 160000
--- a/src/external_dependencies/phoebe_ws
+++ b/src/external_dependencies/phoebe_ws
@@ -1 +1 @@
-Subproject commit a17ab03db2ae31ef5986fcf34a8a1fab54c65874
+Subproject commit 6d29f1d2a8e14f58091affebb02400fdd144d977
diff --git a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
index 58d33605c..d6d3a08cf 100644
--- a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
+++ b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml
@@ -81,7 +81,7 @@ joint_trajectory_admittance_controller:
     # provide the gravity vector in the base frame.
     gravity_vector: [0.0, 0.0, -9.8]
     # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
-    default_path_tolerance: 0.5
+    default_path_tolerance: 0.6
     # Default maximum joint-space deviation accepted at the trajectory end-point, if not specified in the goal message.
     default_goal_tolerance: 0.05
     # Default maximum absolute force torque readings allowed from the force torque sensor along each Cartesian space
diff --git a/src/hangar_sim/config/config.yaml b/src/hangar_sim/config/config.yaml
index 0e9ce13a1..feddea7ab 100644
--- a/src/hangar_sim/config/config.yaml
+++ b/src/hangar_sim/config/config.yaml
@@ -60,9 +60,13 @@ objectives:
       - "moveit_pro::behaviors::NavBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     hangar_sim_objectives:
       package_name: "hangar_sim"
       relative_path: "objectives"
diff --git a/src/hangar_sim/config/moveit/picknik_ur.srdf b/src/hangar_sim/config/moveit/picknik_ur.srdf
index 0759937a5..7908226c7 100644
--- a/src/hangar_sim/config/moveit/picknik_ur.srdf
+++ b/src/hangar_sim/config/moveit/picknik_ur.srdf
@@ -361,6 +361,74 @@
     <disable_collisions link1="collision_Cube_002" link2="collision_supports_015" reason="Never"/>
     <disable_collisions link1="collision_Cube_002" link2="collision_vacuum_base" reason="Never"/>
     <disable_collisions link1="collision_Cube_002" link2="collision_vacuum_suction_cups" reason="Never"/>
+    <disable_collisions link1="collision_Cube" link2="collision_Cube_002_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_001" link2="collision_Cube_002_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002" link2="collision_Cube_002_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_004" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_005" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_006" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_007" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_008" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_009" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_010" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_011" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_012" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_013" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_014" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_015" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_002" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_003" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_004" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_005" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_006" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_007" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_008" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_009" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_010" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_011" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_012" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Box_A7_73" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Box_A8" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Box_C7_77" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Floor_376" reason="Adjacent"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar2_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar3_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar4_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar5_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar6_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar7_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar8_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar_10_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_002" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_003" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_004" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallBack_396_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallBack_396_002" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallFront_382_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallFront_382_002" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallSide16_002" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallSide4_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_001" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_002" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_003" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_004" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_005" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_006" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_007" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_008" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_009" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_010" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_011" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_012" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_013" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_014" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_supports_015" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_vacuum_base" reason="Never"/>
+    <disable_collisions link1="collision_Cube_002_001" link2="collision_vacuum_suction_cups" reason="Never"/>
     <disable_collisions link1="collision_Cube_004" link2="collision_Cube_005" reason="Never"/>
     <disable_collisions link1="collision_Cube_004" link2="collision_Cube_006" reason="Never"/>
     <disable_collisions link1="collision_Cube_004" link2="collision_Cube_007" reason="Never"/>
diff --git a/src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae b/src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae
new file mode 100644
index 000000000..d846c611a
--- /dev/null
+++ b/src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1f0bdbaf9a8418cbeb1e8acad1453e3dd8900ea577e50733d7dcbab1445caa1
+size 500443
diff --git a/src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae b/src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae
new file mode 100644
index 000000000..5e38b7c86
--- /dev/null
+++ b/src/hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784e0e7e0f343686844bfaa7628c0f7fc2c64b4d63f3ff8fc038e1747feb3774
+size 276691
diff --git a/src/hangar_sim/description/hangar.xml b/src/hangar_sim/description/hangar.xml
index 9d67fddcf..21c81d0c5 100644
--- a/src/hangar_sim/description/hangar.xml
+++ b/src/hangar_sim/description/hangar.xml
@@ -2517,14 +2517,14 @@
       />
     </body>
     <body
-      name="collision_Cube_002.001"
+      name="collision_Cube_002_001"
       pos="-11.812490463256836 2.936809539794922 0.800389289855957"
       quat="4.371138828673793e-08 0.0 0.0 -1.0"
     >
       <geom
         class="collision"
         type="mesh"
-        name="collision_Cube_002.001 geom"
+        name="collision_Cube_002_001 geom"
         mesh="collision_Cube_002.001"
       />
       <body
@@ -2969,7 +2969,7 @@
     <mesh name="SM_DoorSingle2" file="hangar_mesh/SM_DoorSingle2.obj" />
     <mesh name="SM_AccessStand_441" file="hangar_mesh/SM_AccessStand_441.obj" />
     <mesh
-      name="collision_Cube_002.001"
+      name="collision_Cube_002_001"
       file="hangar_mesh/collision_Cube_002.001.obj"
     />
     <mesh
diff --git a/src/hangar_sim/description/hangar_urdf.xacro b/src/hangar_sim/description/hangar_urdf.xacro
index 9601a436e..6d5e292ff 100644
--- a/src/hangar_sim/description/hangar_urdf.xacro
+++ b/src/hangar_sim/description/hangar_urdf.xacro
@@ -33,11 +33,17 @@
     </link>
     <link name="collision_Cube">
       <collision>
-        <origin rpy="0.0 0.0 0.0" xyz="7.231803894042969 -12.968037605285645 1.2229089736938477"/>
+        <origin rpy="0.0 0.0 0.0" xyz="-11.642203330993652 -23.97299122810723 0.93372729420661926"/>
         <geometry>
           <mesh filename="package://hangar_sim/description/assets/hangar_mesh/collision_Cube.obj" scale="1.0 1.0 1.0"/>
         </geometry>
       </collision>
+      <visual>
+        <origin rpy="0.0 0.0 0.0" xyz="-11.641720771789551 -23.939123630523683 0.9243095517158508"/>
+        <geometry>
+          <mesh filename="package://hangar_sim/description/assets/hangar_mesh/SM_Cart_28.dae" scale="1.0 1.0 1.0"/>
+        </geometry>
+      </visual>
     </link>
     <link name="collision_Cube_001">
       <collision>
@@ -151,6 +157,20 @@
         </geometry>
       </collision>
     </link>
+    <link name="collision_Cube_002_001">
+      <collision>
+        <origin rpy="0.0 0.0 0.0" xyz="-11.812490463256836 -22.871850967407228 1.300389289855957"/>
+        <geometry>
+          <mesh filename="package://hangar_sim/description/assets/hangar_mesh/collision_Cube_002.001.obj" scale="1.0 1.0 1.0"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin rpy="0.0 0.0 3.141592653589793" xyz="-11.796743392944336 -22.872787143707277 1.380396664142609"/>
+        <geometry>
+          <mesh filename="package://hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae" scale="1.0 1.0 1.0"/>
+        </geometry>
+      </visual>
+    </link>
     <link name="collision_Plane">
       <collision>
         <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.5"/>
@@ -640,6 +660,12 @@
       <child link="collision_Cube_015"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.0 25.80866050720215 -0.5"/>
 
+    </joint>
+    <joint name="collision_SM_Floor_376_collision_Cube_002_001_joint" type="fixed">
+      <parent link="collision_SM_Floor_376"/>
+      <child link="collision_Cube_002_001"/>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 25.80866050720215 -0.5"/>
+
     </joint>
     <joint name="collision_SM_Floor_376_collision_Plane_joint" type="fixed">
       <parent link="collision_SM_Floor_376"/>
diff --git a/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
new file mode 100644
index 000000000..792087ef0
--- /dev/null
+++ b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Plan Path Along Surface - Loop">
+  <BehaviorTree
+    ID="Plan Path Along Surface - Loop"
+    _description="Plan and execute a path following a surface"
+    _favorite="true"
+  >
+    <Decorator ID="KeepRunningUntilFailure">
+      <Control ID="Sequence" name="TopLevelSequence" _collapsed="true">
+        <SubTree
+          ID="Move to Waypoint (JTC)"
+          _collapsed="true"
+          acceleration_scale_factor="1.0"
+          controller_names="joint_trajectory_controller"
+          joint_group_name="manipulator"
+          keep_orientation="false"
+          keep_orientation_tolerance="0.05"
+          link_padding="0.0"
+          seed="0"
+          velocity_scale_factor="1.0"
+          waypoint_name="Look at Plane"
+        />
+        <Control ID="Sequence" _collapsed="true">
+          <!--Get a point cloud and crop it to the area of interest-->
+          <Action
+            ID="GetPointCloud"
+            topic_name="/wrist_camera/points"
+            message_out="{point_cloud}"
+            publisher_timeout_sec="5.000000"
+            message_timeout_sec="5.000000"
+          />
+          <Action
+            ID="TransformPointCloudFrame"
+            input_cloud="{point_cloud}"
+            output_cloud="{point_cloud}"
+            target_frame="world"
+          />
+          <Action
+            ID="CreateStampedPose"
+            reference_frame="world"
+            stamped_pose="{roi_frame}"
+            position_xyz="0;12;1.7"
+          />
+          <Action
+            ID="CropPointsInBox"
+            crop_box_centroid_pose="{roi_frame}"
+            point_cloud="{point_cloud}"
+            point_cloud_cropped="{point_cloud}"
+            crop_box_size="5;15;0.2"
+          />
+          <!--Visualize the cropped point cloud-->
+          <Action
+            ID="SendPointCloudToUI"
+            pcd_topic="/pcd_pointcloud_captures"
+            point_cloud="{point_cloud}"
+          />
+        </Control>
+        <Control ID="Sequence" _collapsed="true">
+          <!--Get the centroid of the cropped point cloud and use it to get a contour-->
+          <Action
+            ID="GetCentroidFromPointCloud"
+            output_pose="{centroid}"
+            point_cloud="{point_cloud}"
+          />
+          <Action
+            ID="VisualizePose"
+            marker_lifetime="20"
+            marker_name="centroid"
+            marker_size="0.200000"
+            pose="{centroid}"
+          />
+          <Action
+            ID="GetContourFromPointCloudSlice"
+            contour_path="{contour_path}"
+            max_pose_spacing="0.200000"
+            hull_alpha="-1.000000"
+            input_cloud="{point_cloud}"
+            slice_distance_from_plane="0.100000"
+            slice_plane="{centroid}"
+            contour_crop_angle_span="3.2"
+            contour_crop_angle_start="1.58"
+          />
+          <Action
+            ID="VisualizePath"
+            marker_lifetime="20"
+            marker_name="path"
+            path="{contour_path}"
+            pose_marker_size="0.100000"
+            show_poses="true"
+          />
+        </Control>
+        <Control ID="Sequence" _collapsed="true">
+          <!--Plan and execute a path following the contour at a small distance-->
+          <Action
+            ID="PlanCartesianPath"
+            acceleration_scale_factor="1.000000"
+            blending_radius="0.0050000"
+            ik_cartesian_space_density="0.010000"
+            ik_joint_space_density="0.100000"
+            joint_trajectory_msg="{joint_trajectory_msg}"
+            path="{contour_path}"
+            planning_group_name="manipulator"
+            position_only="false"
+            trajectory_sampling_rate="100"
+            velocity_scale_factor="1.000000"
+            tip_offset="0;0;0.1;0;0;0"
+            debug_solution="{debug_solution}"
+          />
+          <Action
+            ID="ExecuteTrajectory"
+            execution_pipeline="jtc"
+            controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
+          />
+        </Control>
+        <SubTree
+          ID="Move to Waypoint (JTC)"
+          _collapsed="true"
+          waypoint_name="Look at Plane"
+          link_padding="0"
+          acceleration_scale_factor="1.0"
+          _skipIf="true"
+        />
+      </Control>
+    </Decorator>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Plan Path Along Surface - Loop">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Training Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/kitchen_sim/config/control/franka_ros2_control.yaml b/src/kitchen_sim/config/control/franka_ros2_control.yaml
index 91f14c9b1..97e322e58 100644
--- a/src/kitchen_sim/config/control/franka_ros2_control.yaml
+++ b/src/kitchen_sim/config/control/franka_ros2_control.yaml
@@ -21,7 +21,7 @@ joint_trajectory_admittance_controller:
     # Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory).
     stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0]
     # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
-    default_path_tolerance: 0.5
+    default_path_tolerance: 0.6
 
 franka_gripper_controller:
   ros__parameters:
diff --git a/src/lab_sim/objectives/cycle_between_waypoints.xml b/src/lab_sim/objectives/cycle_between_waypoints.xml
index 477b9bcba..4c8e72f39 100644
--- a/src/lab_sim/objectives/cycle_between_waypoints.xml
+++ b/src/lab_sim/objectives/cycle_between_waypoints.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0" ?>
+<?xml version="1.0" encoding="UTF-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
   <BehaviorTree
     ID="Cycle Between Waypoints"
@@ -9,7 +9,7 @@
       <Control ID="Sequence">
         <SubTree
           ID="Move to Waypoint"
-          waypoint_name="Above Pick Cube"
+          waypoint_name="Above Pick Object"
           joint_group_name="manipulator"
         />
         <SubTree
diff --git a/src/lab_sim/objectives/pick_1_pill_bottle.xml b/src/lab_sim/objectives/pick_1_pill_bottle.xml
index 19c048cf2..10d32a456 100644
--- a/src/lab_sim/objectives/pick_1_pill_bottle.xml
+++ b/src/lab_sim/objectives/pick_1_pill_bottle.xml
@@ -13,7 +13,7 @@
         _collapsed="true"
         joint_group_name="manipulator"
         keep_orientation_link_names="grasp_link"
-        waypoint_name="Above Pick Cube"
+        waypoint_name="Above Pick Object"
       />
       <SubTree
         ID="Segment Point Cloud from Text Prompt Subtree"
@@ -105,7 +105,7 @@
         _collapsed="true"
         joint_group_name="manipulator"
         keep_orientation_link_names="grasp_link"
-        waypoint_name="Above Pick Cube"
+        waypoint_name="Above Pick Object"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/register_cad_part_subtree.xml b/src/lab_sim/objectives/register_cad_part_subtree.xml
index 76d950eef..cdb43a48f 100644
--- a/src/lab_sim/objectives/register_cad_part_subtree.xml
+++ b/src/lab_sim/objectives/register_cad_part_subtree.xml
@@ -33,6 +33,7 @@
         ID="TransformPointCloud"
         input_cloud="{red_cloud}"
         transform_pose="{stamped_pose}"
+        output_cloud="{red_cloud}"
       />
       <Action
         ID="SendPointCloudToUI"
@@ -81,6 +82,7 @@
         ID="TransformPointCloud"
         input_cloud="{green_cloud}"
         transform_pose="{stamped_pose}"
+        output_cloud="{green_cloud}"
       />
       <Action
         ID="TransformPointCloud"
diff --git a/src/lab_sim_behaviors/CMakeLists.txt b/src/lab_sim_behaviors/CMakeLists.txt
index f0392151a..b6fb5ef93 100644
--- a/src/lab_sim_behaviors/CMakeLists.txt
+++ b/src/lab_sim_behaviors/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(lab_sim_behaviors CXX)
+project(lab_sim_behaviors)
 
 find_package(moveit_pro_package REQUIRED)
 moveit_pro_package()
diff --git a/src/lunar_sim/CMakeLists.txt b/src/lunar_sim/CMakeLists.txt
index 009a7ed68..b05cf9a18 100644
--- a/src/lunar_sim/CMakeLists.txt
+++ b/src/lunar_sim/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(phoebe_sim REQUIRED)
 install(
   DIRECTORY
     config
+    launch
     mjcf
   DESTINATION
     share/${PROJECT_NAME}
diff --git a/src/lunar_sim/launch/agent_bridge.launch.xml b/src/lunar_sim/launch/agent_bridge.launch.xml
new file mode 100644
index 000000000..b2aa75434
--- /dev/null
+++ b/src/lunar_sim/launch/agent_bridge.launch.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<launch>
+  <include
+    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
+  />
+</launch>