diff --git a/src/example_behaviors/include/example_behaviors/sam2_segmentation.hpp b/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp
similarity index 92%
rename from src/example_behaviors/include/example_behaviors/sam2_segmentation.hpp
rename to src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp
index 06fed8be..1b738b10 100644
--- a/src/example_behaviors/include/example_behaviors/sam2_segmentation.hpp
+++ b/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp
@@ -17,16 +17,16 @@ namespace example_behaviors
 /**
  * @brief Segment an image using the SAM 2 model
  */
-class SAM2Segmentation : public moveit_studio::behaviors::AsyncBehaviorBase
+class ExampleSAM2Segmentation : public moveit_studio::behaviors::AsyncBehaviorBase
 {
 public:
 /**
-   * @brief Constructor for the SAM2Segmentation behavior.
+   * @brief Constructor for the ExampleSAM2Segmentation behavior.
    * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
    * @param config This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
    * @details An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.
    */
- SAM2Segmentation(const std::string& name, const BT::NodeConfiguration& config,
+ ExampleSAM2Segmentation(const std::string& name, const BT::NodeConfiguration& config,
                                      const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
 
  /**
diff --git a/src/example_behaviors/src/sam2_segmentation.cpp b/src/example_behaviors/src/example_sam2_segmentation.cpp
similarity index 94%
rename from src/example_behaviors/src/sam2_segmentation.cpp
rename to src/example_behaviors/src/example_sam2_segmentation.cpp
index a7e27f6d..7e6661fe 100644
--- a/src/example_behaviors/src/sam2_segmentation.cpp
+++ b/src/example_behaviors/src/example_sam2_segmentation.cpp
@@ -3,7 +3,7 @@
 #include <string>
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <example_behaviors/sam2_segmentation.hpp>
+#include <example_behaviors/example_sam2_segmentation.hpp>
 #include <geometry_msgs/msg/point_stamped.hpp>
 #include <moveit_pro_ml/onnx_sam2.hpp>
 #include <moveit_studio_behavior_interface/async_behavior_base.hpp>
@@ -59,7 +59,7 @@ namespace example_behaviors
     mask_msg.y = 0;
   }
 
-  SAM2Segmentation::SAM2Segmentation(const std::string& name, const BT::NodeConfiguration& config,
+  ExampleSAM2Segmentation::ExampleSAM2Segmentation(const std::string& name, const BT::NodeConfiguration& config,
                                      const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources)
     : moveit_studio::behaviors::AsyncBehaviorBase(name, config, shared_resources)
   {
@@ -70,7 +70,7 @@ namespace example_behaviors
     sam2_ = std::make_unique<moveit_pro_ml::SAM2>(encoder_onnx_file, decoder_onnx_file);
   }
 
-  BT::PortsList SAM2Segmentation::providedPorts()
+  BT::PortsList ExampleSAM2Segmentation::providedPorts()
   {
     return {
       BT::InputPort<sensor_msgs::msg::Image>(kPortImage, kPortImageDefault,
@@ -83,7 +83,7 @@ namespace example_behaviors
     };
   }
 
-  tl::expected<bool, std::string> SAM2Segmentation::doWork()
+  tl::expected<bool, std::string> ExampleSAM2Segmentation::doWork()
   {
     const auto ports = moveit_studio::behaviors::getRequiredInputs(getInput<sensor_msgs::msg::Image>(kPortImage),
                                                                    getInput<std::vector<
@@ -130,7 +130,7 @@ namespace example_behaviors
     return true;
   }
 
-  BT::KeyValueVector SAM2Segmentation::metadata()
+  BT::KeyValueVector ExampleSAM2Segmentation::metadata()
   {
     return {
       {
diff --git a/src/example_behaviors/src/register_behaviors.cpp b/src/example_behaviors/src/register_behaviors.cpp
index 80662314..e95a4c03 100644
--- a/src/example_behaviors/src/register_behaviors.cpp
+++ b/src/example_behaviors/src/register_behaviors.cpp
@@ -14,6 +14,7 @@
 #include <example_behaviors/example_setup_mtc_place_from_pose.hpp>
 #include <example_behaviors/example_ndt_registration.hpp>
 #include <example_behaviors/example_ransac_registration.hpp>
+#include <example_behaviors/example_sam2_segmentation.hpp>
 
 #include <pluginlib/class_list_macros.hpp>
 
@@ -40,6 +41,7 @@ class ExampleBehaviorsLoader : public moveit_studio::behaviors::SharedResourcesN
                                                                       shared_resources);
     moveit_studio::behaviors::registerBehavior<ExampleNDTRegistration>(factory, "ExampleNDTRegistration", shared_resources);
     moveit_studio::behaviors::registerBehavior<ExampleRANSACRegistration>(factory, "ExampleRANSACRegistration", shared_resources);
+    moveit_studio::behaviors::registerBehavior<ExampleSAM2Segmentation>(factory, "ExampleSAM2Segmentation", shared_resources);
   }
 };
 }  // namespace example_behaviors
diff --git a/src/lab_sim/objectives/run_sam2_onnx.xml b/src/lab_sim/objectives/run_sam2_onnx.xml
index 2661486b..181bcd83 100644
--- a/src/lab_sim/objectives/run_sam2_onnx.xml
+++ b/src/lab_sim/objectives/run_sam2_onnx.xml
@@ -18,7 +18,7 @@
         point_names="Point1;"
         view_name="/wrist_camera/color"
       />
-      <Action ID="SAM2Segmentation" />
+      <Action ID="ExampleSAM2Segmentation" />
       <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
       <Action
         ID="GetCameraInfo"