diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/config/config.yaml b/src/moveit_pro_ur_configs/arm_on_rail_sim/config/config.yaml
index 292dfd10..c77dcfe7 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/config/config.yaml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/config/config.yaml
@@ -42,7 +42,6 @@ objectives:
       - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_studio::behaviors::ServoBehaviorsLoader"
       - "moveit_studio::behaviors::VisionBehaviorsLoader"
-      - "picknik_registration::PicknikRegistrationBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
index 7c04c0c4..324be61b 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/wrist_snap.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute=" Take wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
   <!--//////////-->
   <BehaviorTree
     ID="Take wrist camera snapshot"
diff --git a/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml b/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
index f0769f30..3081ca36 100644
--- a/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
+++ b/src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
@@ -1,8 +1,7 @@
 <?xml version="1.0" ?>
 <package format="3">
   <name>arm_on_rail_sim</name>
-  <version>6.0.0</version>
-
+  <version>6.5.0</version>
   <description>
     MuJoCo simulation configuration package for Picknik's UR robot on a linear
     rail
diff --git a/src/picknik_accessories b/src/picknik_accessories
index b5fa6754..18b1e9f5 160000
--- a/src/picknik_accessories
+++ b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit b5fa675442c5c45aeaae589e20be730039c9c28d
+Subproject commit 18b1e9f50f8f566b979e7251baf8744fa6387b29
diff --git a/sync_subtrees.sh b/sync_subtrees.sh
index 3e85e574..bddaac3c 100755
--- a/sync_subtrees.sh
+++ b/sync_subtrees.sh
@@ -7,6 +7,6 @@ git subtree pull --prefix src/moveit_pro_kinova_configs https://github.com/PickN
 git subtree pull --prefix src/moveit_pro_mobile_manipulation https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation main --squash
 git subtree pull --prefix src/fanuc_sim https://github.com/PickNikRobotics/fanuc_sim main --squash
 git subtree pull --prefix src/external_dependencies/ridgeback https://github.com/sjahr/ridgeback ros2 --squash
-git subtree pull --prefix src/external_dependencies/ros2_robotiq_gripper https://github.com/PickNikRobotics/ros2_robotiq_gripper main --squash
+git subtree pull --prefix src/external_dependencies/ros2_robotiq_gripper https://github.com/PickNikRobotics/ros2_robotiq_gripper humble --squash
 git subtree pull --prefix src/external_dependencies/serial https://github.com/tylerjw/serial.git ros2 --squash
-gis submodule update --recursive --init
+git submodule update --recursive --init