diff --git a/src/lab_sim/objectives/stationary_admittance.xml b/src/lab_sim/objectives/stationary_admittance.xml
new file mode 100644
index 00000000..ffa4a008
--- /dev/null
+++ b/src/lab_sim/objectives/stationary_admittance.xml
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Stationary Admittance">
+  <!--//////////-->
+  <BehaviorTree
+    ID="Stationary Admittance"
+    _description="Puts the arm into Cartesian admittance mode"
+    _favorite="false"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree
+        ID="Move to Waypoint"
+        _collapsed="true"
+        controller_names="joint_trajectory_controller"
+        planner_interface="moveit_default"
+        waypoint_name="Home"
+        acceleration_scale_factor="1.0"
+        controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
+        keep_orientation="false"
+        keep_orientation_tolerance="0.05"
+        link_padding="0.01"
+        seed="0"
+        velocity_scale_factor="1.0"
+        joint_group_name="manipulator"
+      />
+      <Action
+        ID="SwitchController"
+        activate_asap="true"
+        automatic_deactivation="true"
+        controller_list_action_name="/controller_manager/list_controllers"
+        controller_switch_action_name="/controller_manager/switch_controller"
+        strictness="1"
+        timeout="-1.000000"
+        activate_controllers="joint_trajectory_admittance_controller"
+      />
+      <Decorator ID="Delay" delay_msec="2000">
+        <Action
+          ID="CallTriggerService"
+          response_timeout="3.000000"
+          service_name="/joint_trajectory_admittance_controller/zero_fts/tool0"
+          wait_for_server_available_timeout="3.000000"
+        />
+      </Decorator>
+      <Action
+        ID="SetAdmittanceParameters"
+        config_file_name="stationary_admittance.yaml"
+        admittance_parameters_msg="{admittance_parameters_msg}"
+      />
+      <Action
+        ID="GetCurrentPlanningScene"
+        planning_scene_msg="{planning_scene}"
+      />
+      <Action
+        ID="GetRobotJointState"
+        joint_state="{joint_state}"
+        planning_scene="{planning_scene}"
+        planning_group_name="manipulator"
+      />
+      <Action
+        ID="CreateStationaryTrajectory"
+        joint_state="{joint_state}"
+        joint_trajectory_msg="{joint_trajectory_msg}"
+        trajectory_duration="10"
+      />
+      <Action
+        ID="LogMessage"
+        log_level="info"
+        message="Running admittance mode for 10 seconds"
+      />
+      <Action
+        ID="ExecuteTrajectoryWithAdmittance"
+        goal_position_tolerance="10;10;10;10;10;10;10;"
+        path_position_tolerance="10;10;10;10;10;10;10"
+        admittance_parameters_msg="{admittance_parameters_msg}"
+        absolute_force_torque_threshold="45;45;45;10;10;10"
+        joint_trajectory_msg="{joint_trajectory_msg}"
+        goal_duration_tolerance="-1.000000"
+        controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Stationary Admittance">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/lab_sim/objectives/stationary_admittance.yaml b/src/lab_sim/objectives/stationary_admittance.yaml
new file mode 100644
index 00000000..9822ff7e
--- /dev/null
+++ b/src/lab_sim/objectives/stationary_admittance.yaml
@@ -0,0 +1,105 @@
+SetAdmittanceParameters:
+  admittance:
+    damping_ratio_position:
+      max: 1000
+      min: 0
+      x: 160
+      y: 160
+      z: 160
+    damping_ratio_rotation:
+      max: 1000
+      min: 0
+      x: 1
+      y: 1
+      z: 1
+    joint_damping:
+      max: 1000
+      min: 0
+      value: 1
+    mass_position:
+      max: 1000
+      min: 0.001
+      x: 4
+      y: 4
+      z: 4
+    mass_rotation:
+      max: 1000
+      min: 0.001
+      x: 1
+      y: 1
+      z: 1
+    selected_axes:
+      rx: true
+      ry: true
+      rz: true
+      x: true
+      y: true
+      z: true
+    stiffness_position:
+      max: 1000
+      min: 0
+      x: 40
+      y: 40
+      z: 40
+    stiffness_rotation:
+      max: 1000
+      min: 0
+      x: 1
+      y: 1
+      z: 1
+  base_frame: base_link
+  control_frame: grasp_link
+  controller_name: ''
+  end_effector_frame: grasp_link
+admittance:
+  damping_ratio_position:
+    max: 1000
+    min: 0
+    x: 160
+    y: 160
+    z: 80
+  damping_ratio_rotation:
+    max: 1000
+    min: 0
+    x: 1
+    y: 1
+    z: 1
+  joint_damping:
+    max: 1000
+    min: 0
+    value: 1
+  mass_position:
+    max: 1000
+    min: 0.001
+    x: 4
+    y: 4
+    z: 4
+  mass_rotation:
+    max: 1000
+    min: 0.001
+    x: 1
+    y: 1
+    z: 1
+  selected_axes:
+    rx: true
+    ry: true
+    rz: true
+    x: true
+    y: true
+    z: true
+  stiffness_position:
+    max: 1000
+    min: 0
+    x: 40
+    y: 40
+    z: 40
+  stiffness_rotation:
+    max: 1000
+    min: 0
+    x: 1
+    y: 1
+    z: 1
+base_frame: base_link
+control_frame: grasp_link
+controller_name: ''
+end_effector_frame: grasp_link
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index 185e09fd..beba7cda 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -39,6 +39,7 @@
 
 cancel_objectives = {
     "3 Waypoints Pick and Place",
+    "Stationary Admittance",
     "Cycle Between Waypoints",
     "Grasp Planning",
     "Grasp Pose Tuning With April Tag",
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/control/franka_ros2_control.yaml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/control/franka_ros2_control.yaml
index 389c2f68..e17ed023 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/control/franka_ros2_control.yaml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/control/franka_ros2_control.yaml
@@ -27,6 +27,7 @@ joint_trajectory_controller:
     state_interfaces:
       - position
       - velocity
+    allow_partial_joints_goal: true
     joints:
       - left_fr3_joint1
       - left_fr3_joint2
@@ -42,7 +43,6 @@ joint_trajectory_controller:
       - right_fr3_joint5
       - right_fr3_joint6
       - right_fr3_joint7
-    allow_partial_joints_goal: true
     gains:
       left_fr3_joint1: { p: 600., d: 30., i: 0., i_clamp: 1. }
       left_fr3_joint2: { p: 600., d: 30., i: 0., i_clamp: 1. }
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/franka3.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/franka3.xml
index acb31f15..d3f06047 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/franka3.xml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/franka3.xml
@@ -100,7 +100,7 @@
       <body
         name="left_arm"
         pos="0.035 0.050681 0.356"
-        quat="0.8730 -0.4380 -0.0229 -0.2215"
+        quat="0.8657172 -0.4369879 0.0223569 -0.2430545"
       >
         <body name="left_base" childclass="fr3">
           <body name="left_fr3_link0">
@@ -411,7 +411,7 @@
       <body
         name="right_arm"
         pos="0.035 -0.050681 0.356"
-        quat="0.8730 0.4380 0.0229 0.2215"
+        quat="0.8657172 0.4369879 0.0223569 0.2430545"
       >
         <body name="right_base" childclass="fr3">
           <body name="right_fr3_link0">
@@ -775,7 +775,7 @@
       class="fr3"
       name="left_fr3_finger_joint1"
       joint="left_fr3_finger_joint1"
-      kp="5000"
+      kp="1000"
       kv="500"
     />
 
@@ -834,7 +834,7 @@
       class="fr3"
       name="right_fr3_finger_joint1"
       joint="right_fr3_finger_joint1"
-      kp="5000"
+      kp="1000"
       kv="500"
     />
   </actuator>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml
index 848b22c2..4e688606 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/scene.xml
@@ -2,6 +2,8 @@
   <include file="franka3.xml" />
 
   <statistic center="0.2 0.2 0.5" extent="1.8" />
+  <size nkey="1" />
+  <size nuser_jnt="0" />
 
   <visual>
     <global azimuth="120" elevation="-21" fovy="58" />
@@ -43,17 +45,64 @@
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
     <site
       name="scene_camera_optical_frame"
-      pos="1.5 0.7 1.5"
-      euler="2.6 -0.8 -2.14"
+      pos="0.7 0.0 0.65"
+      xyaxes="0 -1 0 -1 0 0"
     />
     <camera
       name="scene_camera"
-      pos="1.5 0.7 1.5"
+      pos="0.7 0.0 0.65"
       fovy="58"
       mode="fixed"
       resolution="640 480"
-      euler="-0.54 0.8 2.14"
+      xyaxes="0 -1 0 1 0 0"
     />
+    <geom
+      name="table_front"
+      type="box"
+      size="0.4 0.3 0.01"
+      pos="0.6 0 0.0"
+      rgba="0.6 0.6 0.6 1"
+    />
+    <geom
+      name="table_left"
+      type="box"
+      size="0.25 0.5 0.01"
+      pos="0 0.9 0.0"
+      rgba="0.3 0.7 0.3 1"
+    />
+    <geom
+      name="table_right"
+      type="box"
+      size="0.25 0.5 0.01"
+      pos="0 -0.9 0.0"
+      rgba="0.7 0.3 0.3 1"
+    />
+
+    <body name="block_green_1" pos="0.6 0 0.2">
+      <freejoint name="block_green_1" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
+    </body>
+    <body name="block_green_2" pos="0.6 0.15 0.2">
+      <freejoint name="block_green_2" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
+    </body>
+    <body name="block_green_3" pos="0.6 -0.15 0.2">
+      <freejoint name="block_green_3" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0 0.8 0 1" />
+    </body>
+
+    <body name="block_red_1" pos="0.7 0 0.2">
+      <freejoint name="block_red_1" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
+    </body>
+    <body name="block_red_2" pos="0.7 0.15 0.2">
+      <freejoint name="block_red_2" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
+    </body>
+    <body name="block_red_3" pos="0.7 -0.15 0.2">
+      <freejoint name="block_red_3" />
+      <geom type="box" size="0.025 0.025 0.025" rgba="0.8 0 0 1" />
+    </body>
   </worldbody>
 
   <keyframe>
@@ -77,6 +126,12 @@
          left_fr3_joint7
          left_fr3_finger1
          left_fr3_finger2
+         block_green_1 [x y z qw qx qy qz]
+         block_green_2 [x y z qw qx qy qz]
+         block_green_3 [x y z qw qx qy qz]
+         block_red_1 [x y z qw qx qy qz]
+         block_red_2 [x y z qw qx qy qz]
+         block_red_3 [x y z qw qx qy qz]
        qvel:
          right_fr3_joint1
          right_fr3_joint2
@@ -96,6 +151,12 @@
          left_fr3_joint7
          left_fr3_finger1
          left_fr3_finger2
+         block_green_1 [x y z r p y]
+         block_green_2 [x y z r p y]
+         block_green_3 [x y z r p y]
+         block_red_1 [x y z r p y]
+         block_red_2 [x y z r p y]
+         block_red_3 [x y z r p y]
        ctrl: 
          right_fr3_joint1
          right_fr3_joint2
@@ -113,14 +174,25 @@
          left_fr3_joint6
          left_fr3_joint7
          left_fr3_finger1 - We control only one finger.
-
     -->
     <key
       name="default"
       qpos="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
-            0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0"
+            0 -0.7854 0 -2.3562 0 1.5707 0.7853 0 0
+            0.6 0 0.2 1 0 0 0
+            0.6 0.15 0.2 1 0 0 0
+            0.6 -0.15 0.2 1 0 0 0
+            0.7 0 0.2 1 0 0 0
+            0.7 0.15 0.2 1 0 0 0
+            0.7 -0.15 0.2 1 0 0 0"
       qvel="0 0 0 0 0 0 0 0 0
-            0 0 0 0 0 0 0 0 0"
+            0 0 0 0 0 0 0 0 0
+            0 0 0 0 0 0
+            0 0 0 0 0 0
+            0 0 0 0 0 0
+            0 0 0 0 0 0
+            0 0 0 0 0 0
+            0 0 0 0 0 0"
       ctrl="0 -0.7854 0 -2.3562 0 1.5707 0.7853 0
             0 -0.7854 0 -2.3562 0 1.5707 0.7853 0"
     />
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml
new file mode 100644
index 00000000..6c52cef8
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml
@@ -0,0 +1,49 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Create Point Cloud Vector From Masks"
+>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Create Point Cloud Vector From Masks"
+    _description="Create point cloud vector From masks"
+    _favorite="false"
+    masks3d="/wrist_camera/camera_info"
+    point_cloud="/wrist_camera/camera_info"
+  >
+    <Control ID="Sequence">
+      <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
+      <Decorator
+        ID="ForEach"
+        vector_in="{masks3d}"
+        out="{mask3d}"
+        index="{index}"
+      >
+        <Control ID="Sequence">
+          <Action
+            ID="GetPointCloudFromMask3D"
+            point_cloud="{point_cloud}"
+            mask3d="{mask3d}"
+            point_cloud_fragment="{point_cloud_fragment}"
+          />
+          <Action
+            ID="AddPointCloudToVector"
+            point_cloud="{point_cloud_fragment}"
+            point_cloud_vector="{point_cloud_vector}"
+          />
+        </Control>
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Create Point Cloud Vector From Masks">
+      <input_port name="masks3d" default="/wrist_camera/camera_info" />
+      <input_port name="point_cloud" default="/wrist_camera/camera_info" />
+      <output_port name="point_cloud_vector" default="{point_cloud_vector}" />
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/draw.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/draw.xml
index d9d31011..26988ada 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/draw.xml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/draw.xml
@@ -50,6 +50,7 @@
           debug_solution="{debug_solution}"
           ik_cartesian_space_density="0.01000"
           ik_joint_space_density="0.050000"
+          tip_offset="0;0;0.005;0;0;0"
           planning_group_name="{planning_group_name}"
           tip_links="{tip_link}"
         />
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_green_block.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_green_block.xml
new file mode 100644
index 00000000..699e340a
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_green_block.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Find Green Block">
+  <!--//////////-->
+  <BehaviorTree ID="Find Green Block" _description="" _favorite="false">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree
+        ID="Find with prompt"
+        _collapsed="true"
+        prompt="a green block"
+        object_centroid="{object_centroid}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Find Green Block">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+      <inout_port name="object_centroid" default="{object_centroid}" />
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_red_block.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_red_block.xml
new file mode 100644
index 00000000..6e77dce2
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_red_block.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Find Red Block">
+  <!--//////////-->
+  <BehaviorTree ID="Find Red Block" _description="" _favorite="false">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree
+        ID="Find with prompt"
+        _collapsed="false"
+        prompt="a red block"
+        object_centroid="{object_centroid}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Find Red Block">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+      <inout_port name="object_centroid" default="{object_centroid}" />
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_with_prompt.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_with_prompt.xml
new file mode 100644
index 00000000..6aa339e6
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/find_with_prompt.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Find with prompt">
+  <!--//////////-->
+  <BehaviorTree ID="Find with prompt" _description="" _favorite="false">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree
+        ID="Segment Point Cloud from Text Prompt Subtree"
+        _collapsed="false"
+        camera_topic_name="/scene_camera/camera_info"
+        decoder_model_path="models/decoder.onnx"
+        encoder_model_path="models/sam2_hiera_large_encoder.onnx"
+        image_topic_name="/scene_camera/color"
+        masks_visualization_topic="/masks_visualization"
+        model_package="moveit_pro_clipseg"
+        points_topic_name="/scene_camera/points"
+        clip_model_path="models/clip.onnx"
+        clipseg_model_path="models/clipseg.onnx"
+        erosion_size="5"
+        prompts="{prompt}"
+        threshold="0.28"
+        masks3d="{masks3d}"
+        point_cloud="{point_cloud}"
+        point_cloud_vector="{point_cloud_vector}"
+      />
+      <Action
+        ID="GetElementOfVector"
+        index="0"
+        vector_in="{point_cloud_vector}"
+        element="{object_cloud}"
+      />
+      <Action
+        ID="GetCentroidFromPointCloud"
+        output_pose="{object_centroid}"
+        point_cloud="{object_cloud}"
+      />
+      <Action
+        ID="VisualizePose"
+        marker_lifetime="0.000000"
+        marker_name="pose"
+        marker_size="0.100000"
+        pose="{object_centroid}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Find with prompt">
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Motion - Execute" />
+      </MetadataFields>
+      <inout_port name="object_centroid" default="{object_centroid}" />
+      <inout_port name="prompt" default="{prompt}" />
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/ml_segment_image_from_text_prompt.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/ml_segment_image_from_text_prompt.xml
new file mode 100644
index 00000000..68ff8a22
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/ml_segment_image_from_text_prompt.xml
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="ML Segment Image from Text Prompt">
+  <!--//////////-->
+  <BehaviorTree
+    ID="ML Segment Image from Text Prompt"
+    _description="Run an ML model to find all objects and visualize the masks with bounding boxes."
+    _favorite="false"
+  >
+    <Control ID="Sequence">
+      <Action
+        ID="SwitchUIPrimaryView"
+        primary_view_name="/masks_visualization"
+      />
+      <SubTree
+        ID="Segment Image from No Negative Text Prompt Subtree"
+        _collapsed="true"
+        clip_model_path="models/clip.onnx"
+        clipseg_model_path="models/clipseg.onnx"
+        erosion_size="2"
+        masks_visualization_topic="/masks_visualization"
+        model_package="moveit_pro_clipseg"
+        threshold="0.15"
+        prompts="an object"
+        image_topic_name="/wrist_camera/color"
+        masks2d="{masks2d}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="ML Segment Image from Text Prompt">
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Application - ML (GPU Recommended)" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_left_home.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_left_home.xml
index 5079562c..a4974137 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_left_home.xml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_left_home.xml
@@ -19,7 +19,7 @@
         link_padding="0.01"
         seed="0"
         velocity_scale_factor="1.0"
-        waypoint_name="Left Home"
+        waypoint_name="Home"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_right_home.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_right_home.xml
index 15225c32..b0de5efa 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_right_home.xml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/move_right_home.xml
@@ -19,7 +19,7 @@
         link_padding="0.01"
         seed="0"
         velocity_scale_factor="1.0"
-        waypoint_name="Right Home"
+        waypoint_name="Home"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
new file mode 100644
index 00000000..f99a0b1d
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
@@ -0,0 +1,64 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Segment Image from No Negative Text Prompt Subtree"
+>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Segment Image from No Negative Text Prompt Subtree"
+    _description="Run text based segmentation and visualize the masks."
+    _favorite="false"
+  >
+    <Control ID="Sequence">
+      <Action
+        ID="GetImage"
+        timeout_sec="5.000000"
+        topic_name="{image_topic_name}"
+        message_out="{image}"
+      />
+      <Action
+        ID="GetMasks2DFromTextQuery"
+        image="{image}"
+        masks2d="{masks2d}"
+        clipseg_model_path="{clipseg_model_path}"
+        clip_model_path="{clip_model_path}"
+        model_package="{model_package}"
+        prompts="{prompts}"
+        erosion_size="{erosion_size}"
+        threshold="{threshold}"
+      />
+      <Action
+        ID="PublishMask2D"
+        image="{image}"
+        masks="{masks2d}"
+        masks_visualization_topic="{masks_visualization_topic}"
+        opacity="0.500000"
+        bounding_box_detection_class="{prompts}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Segment Image from No Negative Text Prompt Subtree">
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+      <input_port name="clip_model_path" default="{clip_model_path}" />
+      <input_port name="clipseg_model_path" default="{clipseg_model_path}" />
+      <input_port name="erosion_size" default="{erosion_size}" />
+      <input_port name="image_topic_name" default="{image_topic_name}" />
+      <input_port
+        name="masks_visualization_topic"
+        default="{masks_visualization_topic}"
+      />
+      <output_port name="masks2d" default="{masks2d}" />
+      <input_port name="model_package" default="{model_package}" />
+      <input_port name="prompts" default="{prompts}" />
+      <input_port name="threshold" default="{threshold}" />
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/segment_point_cloud_from_text.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/segment_point_cloud_from_text.xml
new file mode 100644
index 00000000..941fc9ea
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/segment_point_cloud_from_text.xml
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Segment Point Cloud from Text Prompt Subtree"
+>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Segment Point Cloud from Text Prompt Subtree"
+    _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
+    _favorite="false"
+    camera_topic_name="/wrist_camera/camera_info"
+    decoder_model_path="models/decoder.onnx"
+    encoder_model_path="models/sam2_hiera_large_encoder.onnx"
+    image_topic_name="/wrist_camera/color"
+    masks_visualization_topic="/masks_visualization"
+    model_package="moveit_pro_clipseg"
+    points_topic_name="/wrist_camera/points"
+    clip_model_path="{clip_model_path}"
+    clipseg_model_path="{clipseg_model_path}"
+    erosion_size="{erosion_size}"
+    prompts="{prompts}"
+    threshold="{threshold}"
+    masks3d="{masks3d}"
+    point_cloud="{point_cloud}"
+  >
+    <Control ID="Sequence">
+      <Action ID="ClearSnapshot" />
+      <SubTree
+        ID="Segment Image from No Negative Text Prompt Subtree"
+        _collapsed="true"
+        clip_model_path="{clip_model_path}"
+        clipseg_model_path="{clipseg_model_path}"
+        erosion_size="{erosion_size}"
+        masks_visualization_topic="{masks_visualization_topic}"
+        model_package="{model_package}"
+        prompts="{prompts}"
+        threshold="{threshold}"
+        topic_name="{topic_name}"
+        image_topic_name="{image_topic_name}"
+        masks2d="{masks2d}"
+      />
+      <Action
+        ID="GetPointCloud"
+        topic_name="{points_topic_name}"
+        timeout_sec="10.000000"
+        message_out="{point_cloud}"
+      />
+      <Action
+        ID="GetCameraInfo"
+        topic_name="{camera_topic_name}"
+        message_out="{camera_info}"
+        timeout_sec="5.000000"
+      />
+      <Action
+        ID="GetMasks3DFromMasks2D"
+        camera_info="{camera_info}"
+        masks2d="{masks2d}"
+        point_cloud="{point_cloud}"
+        masks3d="{masks3d}"
+      />
+      <SubTree
+        ID="Create Point Cloud Vector From Masks"
+        _collapsed="false"
+        masks3d="{masks3d}"
+        point_cloud="{point_cloud}"
+        point_cloud_vector="{point_cloud_vector}"
+      />
+      <Decorator
+        ID="ForEach"
+        index="{index}"
+        out="{point_cloud_fragment}"
+        vector_in="{point_cloud_vector}"
+      >
+        <Action
+          ID="SendPointCloudToUI"
+          pcd_topic="/pcd_pointcloud_captures"
+          point_cloud="{point_cloud_fragment}"
+        />
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Segment Point Cloud from Text Prompt Subtree">
+      <input_port
+        name="camera_topic_name"
+        default="/wrist_camera/camera_info"
+      />
+      <input_port name="clip_model_path" default="{clip_model_path}" />
+      <input_port name="clipseg_model_path" default="{clipseg_model_path}" />
+      <input_port name="decoder_model_path" default="models/decoder.onnx" />
+      <input_port
+        name="encoder_model_path"
+        default="models/sam2_hiera_large_encoder.onnx"
+      />
+      <input_port name="erosion_size" default="{erosion_size}" />
+      <input_port name="image_topic_name" default="/wrist_camera/color" />
+      <input_port
+        name="masks_visualization_topic"
+        default="/masks_visualization"
+      />
+      <output_port name="masks3d" default="{masks3d}" />
+      <input_port name="model_package" default="lab_sim" />
+      <output_port name="point_cloud" default="{point_cloud}" />
+      <output_port name="point_cloud_vector" default="{point_cloud_vector}" />
+      <input_port name="points_topic_name" default="/wrist_camera/points" />
+      <input_port name="prompts" default="{prompts}" />
+      <input_port name="threshold" default="{threshold}" />
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Perception - ML" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/sort_blocks.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/sort_blocks.xml
new file mode 100644
index 00000000..11673a1a
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/sort_blocks.xml
@@ -0,0 +1,305 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Sort Blocks">
+  <BehaviorTree ID="Sort Blocks" _description="" _favorite="true">
+    <Control ID="Sequence">
+      <Action
+        ID="LogMessage"
+        log_level="warn"
+        message="Work in progress. The robot may miss blocks. Enable 'info' logs to see cycle time"
+      />
+      <Decorator ID="KeepRunningUntilFailure">
+        <Control ID="Fallback">
+          <Control ID="Sequence">
+            <Action ID="BiasedCoinFlip" success_probability="0.500000" />
+            <Action ID="StopwatchBegin" timepoint="{timepoint_right}" />
+            <SubTree
+              ID="Find Red Block"
+              _collapsed="false"
+              object_centroid="{object_centroid}"
+            />
+            <Action
+              ID="TransformPose"
+              input_pose="{object_centroid}"
+              output_pose="{object_centroid}"
+              translation_xyz="0;0;-0.1"
+            />
+            <Control ID="Sequence">
+              <SubTree ID="Open Right Gripper" _collapsed="true" />
+              <Action
+                ID="InitializeMTCTask"
+                task="{mtc_task}"
+                timeout="-1.000000"
+                trajectory_monitoring="false"
+                controller_names="joint_trajectory_controller"
+                task_id="right_grasp_task"
+              />
+              <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
+              <Action
+                ID="SetupMTCPlanToPose"
+                acceleration_scale_factor="1.000000"
+                ik_frame="right_fr3_hand_tcp"
+                keep_orientation="false"
+                keep_orientation_link_names="right_fr3_hand_tcp"
+                keep_orientation_tolerance="0.100000"
+                link_padding="0.000000"
+                max_iterations="5000"
+                monitored_stage="current state"
+                planning_group_name="right_manipulator"
+                target_pose="{object_centroid}"
+                task="{mtc_task}"
+                trajectory_sampling_rate="100"
+                velocity_scale_factor="1.000000"
+              />
+              <Action
+                ID="SetupMTCMoveAlongFrameAxis"
+                acceleration_scale="1.000000"
+                axis_frame="world"
+                axis_x="0.000000"
+                axis_y="0.000000"
+                axis_z="-1.000000"
+                hand_frame="right_fr3_hand_tcp"
+                ignore_environment_collisions="false"
+                max_distance="0.100000"
+                min_distance="0.100000"
+                planning_group_name="right_manipulator"
+                task="{mtc_task}"
+                velocity_scale="1.000000"
+              />
+              <Action
+                ID="PlanMTCTask"
+                solution="{mtc_solution}"
+                task="{mtc_task}"
+              />
+              <Action
+                ID="ExecuteMTCTask"
+                goal_duration_tolerance="-1.000000"
+                solution="{mtc_solution}"
+              />
+              <Action ID="WaitForDuration" delay_duration="1.0" />
+              <SubTree ID="Close Right Gripper" _collapsed="true" />
+              <Action
+                ID="InitializeMTCTask"
+                task="{mtc_task}"
+                timeout="-1.000000"
+                trajectory_monitoring="false"
+                controller_names="joint_trajectory_controller"
+                task_id="right_place_task"
+              />
+              <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
+              <Action
+                ID="RetrieveWaypoint"
+                joint_group_name="right_manipulator"
+                waypoint_joint_state="{target_joint_state}"
+                waypoint_name="Place Right"
+              />
+              <Action
+                ID="SetupMTCMoveAlongFrameAxis"
+                acceleration_scale="1.000000"
+                axis_frame="world"
+                axis_x="0.000000"
+                axis_y="0.000000"
+                axis_z="1.000000"
+                hand_frame="right_fr3_hand_tcp"
+                ignore_environment_collisions="false"
+                max_distance="0.1"
+                min_distance="0.100000"
+                planning_group_name="right_manipulator"
+                task="{mtc_task}"
+                velocity_scale="1.000000"
+              />
+              <Action
+                ID="SetupMTCPlanToJointState"
+                acceleration_scale_factor="1.000000"
+                joint_state="{target_joint_state}"
+                keep_orientation="false"
+                keep_orientation_link_names="grasp_link"
+                keep_orientation_tolerance="0.100000"
+                link_padding="0.000000"
+                max_iterations="5000"
+                planning_group_name="manipulator"
+                seed="0"
+                task="{mtc_task}"
+                trajectory_sampling_rate="100"
+                velocity_scale_factor="1.000000"
+              />
+              <Action
+                ID="PlanMTCTask"
+                solution="{mtc_solution}"
+                task="{mtc_task}"
+              />
+              <Action
+                ID="ExecuteMTCTask"
+                goal_duration_tolerance="-1.000000"
+                solution="{mtc_solution}"
+              />
+              <SubTree ID="Open Right Gripper" _collapsed="true" />
+              <SubTree
+                ID="Move to Waypoint"
+                _collapsed="true"
+                acceleration_scale_factor="1.0"
+                controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
+                controller_names="joint_trajectory_controller"
+                joint_group_name="manipulator"
+                keep_orientation="false"
+                keep_orientation_tolerance="0.05"
+                link_padding="0.01"
+                seed="0"
+                velocity_scale_factor="1.0"
+                waypoint_name="Home"
+              />
+            </Control>
+            <Action ID="StopwatchEnd" timepoint="{timepoint_right}" />
+          </Control>
+          <Control ID="Sequence">
+            <Action ID="StopwatchBegin" timepoint="{timepoint_left}" />
+            <SubTree
+              ID="Find Green Block"
+              _collapsed="true"
+              object_centroid="{object_centroid}"
+            />
+            <Action
+              ID="TransformPose"
+              input_pose="{object_centroid}"
+              output_pose="{object_centroid}"
+              translation_xyz="0;0;-0.1"
+            />
+            <Control ID="Sequence">
+              <SubTree ID="Open Left Gripper" _collapsed="true" />
+              <Action
+                ID="InitializeMTCTask"
+                task="{mtc_task}"
+                timeout="-1.000000"
+                trajectory_monitoring="false"
+                controller_names="joint_trajectory_controller"
+                task_id="left_grasp_task"
+              />
+              <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
+              <Action
+                ID="SetupMTCPlanToPose"
+                acceleration_scale_factor="1.000000"
+                ik_frame="left_fr3_hand_tcp"
+                keep_orientation="false"
+                keep_orientation_link_names="left_fr3_hand_tcp"
+                keep_orientation_tolerance="0.100000"
+                link_padding="0.000000"
+                max_iterations="5000"
+                monitored_stage="current state"
+                planning_group_name="left_manipulator"
+                target_pose="{object_centroid}"
+                task="{mtc_task}"
+                trajectory_sampling_rate="100"
+                velocity_scale_factor="1.000000"
+              />
+              <Action
+                ID="SetupMTCMoveAlongFrameAxis"
+                acceleration_scale="1.000000"
+                axis_frame="world"
+                axis_x="0.000000"
+                axis_y="0.000000"
+                axis_z="-1.000000"
+                hand_frame="left_fr3_hand_tcp"
+                ignore_environment_collisions="false"
+                max_distance="0.1"
+                min_distance="0.100000"
+                planning_group_name="left_manipulator"
+                task="{mtc_task}"
+                velocity_scale="1.000000"
+              />
+              <Action
+                ID="PlanMTCTask"
+                solution="{mtc_solution}"
+                task="{mtc_task}"
+              />
+              <Action
+                ID="ExecuteMTCTask"
+                goal_duration_tolerance="-1.000000"
+                solution="{mtc_solution}"
+              />
+              <Action ID="WaitForDuration" delay_duration="1.0" />
+              <SubTree ID="Close Left Gripper" _collapsed="true" />
+              <Action
+                ID="InitializeMTCTask"
+                task="{mtc_task}"
+                timeout="-1.000000"
+                trajectory_monitoring="false"
+                controller_names="joint_trajectory_controller"
+                task_id="left_place_task"
+              />
+              <Action
+                ID="RetrieveWaypoint"
+                joint_group_name="left_manipulator"
+                waypoint_joint_state="{target_joint_state}"
+                waypoint_name="Place Left"
+              />
+              <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
+              <Action
+                ID="SetupMTCMoveAlongFrameAxis"
+                acceleration_scale="1.000000"
+                axis_frame="world"
+                axis_x="0.000000"
+                axis_y="0.000000"
+                axis_z="1.000000"
+                hand_frame="left_fr3_hand_tcp"
+                ignore_environment_collisions="false"
+                max_distance="0.1"
+                min_distance="0.100000"
+                planning_group_name="left_manipulator"
+                task="{mtc_task}"
+                velocity_scale="1.000000"
+              />
+              <Action
+                ID="SetupMTCPlanToJointState"
+                acceleration_scale_factor="1.000000"
+                joint_state="{target_joint_state}"
+                keep_orientation="false"
+                keep_orientation_link_names="grasp_link"
+                keep_orientation_tolerance="0.100000"
+                link_padding="0.000000"
+                max_iterations="5000"
+                planning_group_name="manipulator"
+                seed="0"
+                task="{mtc_task}"
+                trajectory_sampling_rate="100"
+                velocity_scale_factor="1.000000"
+              />
+              <Action
+                ID="PlanMTCTask"
+                solution="{mtc_solution}"
+                task="{mtc_task}"
+              />
+              <Action
+                ID="ExecuteMTCTask"
+                goal_duration_tolerance="-1.000000"
+                solution="{mtc_solution}"
+              />
+              <SubTree ID="Open Left Gripper" _collapsed="true" />
+              <SubTree
+                ID="Move to Waypoint"
+                _collapsed="true"
+                acceleration_scale_factor="1.0"
+                controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
+                controller_names="joint_trajectory_controller"
+                joint_group_name="manipulator"
+                keep_orientation="false"
+                keep_orientation_tolerance="0.05"
+                link_padding="0.01"
+                seed="0"
+                velocity_scale_factor="1.0"
+                waypoint_name="Home"
+              />
+            </Control>
+            <Action ID="StopwatchEnd" timepoint="{timepoint_left}" />
+          </Control>
+        </Control>
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Sort Blocks">
+      <MetadataFields>
+        <Metadata subcategory="Motion - Execute" />
+        <Metadata runnable="true" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/take_snap.xml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/take_snap.xml
new file mode 100644
index 00000000..672f5f06
--- /dev/null
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/take_snap.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Take Scene Camera Snapshot">
+  <!--//////////-->
+  <BehaviorTree
+    ID="Take Scene Camera Snapshot"
+    _description="Take a pointcloud snapshot of the scene with a depth camera"
+    _favorite="false"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <!--Clear out old snapshot data-->
+      <Action ID="ClearSnapshot" />
+      <Action
+        ID="GetPointCloud"
+        topic_name="/scene_camera/points"
+        message_out="{point_cloud}"
+        publisher_timeout_sec="5.000000"
+        timeout_sec="10"
+      />
+      <Action
+        ID="SendPointCloudToUI"
+        pcd_topic="/pcd_pointcloud_captures"
+        point_cloud="{point_cloud}"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Take Scene Camera Snapshot">
+      <MetadataFields>
+        <Metadata subcategory="Application - Basic Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/waypoints/waypoints.yaml b/src/moveit_pro_franka_configs/franka_dual_arm_sim/waypoints/waypoints.yaml
index 28d6c46d..d664a66a 100644
--- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/waypoints/waypoints.yaml
+++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/waypoints/waypoints.yaml
@@ -1,41 +1,173 @@
-- name: Left Home
+- description: ''
+  favorite: false
   joint_group_names:
     - left_manipulator
+    - right_manipulator
+    - manipulator
   joint_state:
+    effort: []
     header:
       frame_id: world
       stamp:
-        sec: 0
         nanosec: 0
-    name: [left_fr3_joint1, left_fr3_joint2, left_fr3_joint3, left_fr3_joint4, left_fr3_joint5, left_fr3_joint6, left_fr3_joint7]
-    position: [0, -0.7854, 0, -2.3562, 0, 1.5707, 0.7853]
+        sec: 0
+    name:
+    - right_fr3_joint1
+    - right_fr3_joint2
+    - right_fr3_joint3
+    - right_fr3_joint4
+    - right_fr3_joint5
+    - right_fr3_joint6
+    - right_fr3_joint7
+    - left_fr3_joint1
+    - left_fr3_joint2
+    - left_fr3_joint3
+    - left_fr3_joint4
+    - left_fr3_joint5
+    - left_fr3_joint6
+    - left_fr3_joint7
+    position:
+    - 0
+    - -0.7854
+    - 0
+    - -2.3562
+    - 0
+    - 1.5707
+    - 0.7853
+    - 0
+    - -0.7854
+    - 0
+    - -2.3562
+    - 0
+    - 1.5707
+    - 0.7853
     velocity: []
-    effort: []
-- name: Right Home
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Home
+- description: ''
+  favorite: false
   joint_group_names:
+    - left_manipulator
     - right_manipulator
+    - manipulator
   joint_state:
+    effort: []
     header:
-      frame_id: world
+      frame_id: ''
       stamp:
-        sec: 0
         nanosec: 0
-    name: [right_fr3_joint1, right_fr3_joint2, right_fr3_joint3, right_fr3_joint4, right_fr3_joint5, right_fr3_joint6, right_fr3_joint7]
-    position: [0, -0.7854, 0, -2.3562, 0, 1.5707, 0.7853]
+        sec: 0
+    name:
+    - left_fr3_joint1
+    - left_fr3_joint2
+    - left_fr3_joint3
+    - left_fr3_joint4
+    - left_fr3_joint5
+    - left_fr3_joint6
+    - left_fr3_joint7
+    - left_fr3_finger_joint1
+    - right_fr3_joint1
+    - right_fr3_joint2
+    - right_fr3_joint3
+    - right_fr3_joint4
+    - right_fr3_joint5
+    - right_fr3_joint6
+    - right_fr3_joint7
+    - right_fr3_finger_joint1
+    position:
+    - 0.7631439836051002
+    - -1.7256971279852666
+    - 1.0600563247617216
+    - -2.389989603996341
+    - 1.5875756227741065
+    - 1.946673982728032
+    - 1.228841619420035
+    - -1.206526992588383e-06
+    - -0.0013177742221101801
+    - -0.78657302417956
+    - -0.011311296228273288
+    - -2.363709370359536
+    - -0.0017492815088556665
+    - 1.5691264546747385
+    - 0.7852388406584784
+    - 0.0001266099321349138
     velocity: []
-    effort: []
-- name: Home
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Place Left
+- description: ''
+  favorite: false
   joint_group_names:
+    - left_manipulator
+    - right_manipulator
     - manipulator
   joint_state:
+    effort: []
     header:
-      frame_id: world
+      frame_id: ''
       stamp:
-        sec: 0
         nanosec: 0
-    name: [right_fr3_joint1, right_fr3_joint2, right_fr3_joint3, right_fr3_joint4, right_fr3_joint5, right_fr3_joint6, right_fr3_joint7,
-         left_fr3_joint1, left_fr3_joint2, left_fr3_joint3, left_fr3_joint4, left_fr3_joint5, left_fr3_joint6, left_fr3_joint7]
-    position: [0, -0.7854, 0, -2.3562, 0, 1.5707, 0.7853,
-           0, -0.7854, 0, -2.3562, 0, 1.5707, 0.7853]
+        sec: 0
+    name:
+    - left_fr3_joint1
+    - left_fr3_joint2
+    - left_fr3_joint3
+    - left_fr3_joint4
+    - left_fr3_joint5
+    - left_fr3_joint6
+    - left_fr3_joint7
+    - left_fr3_finger_joint1
+    - right_fr3_joint1
+    - right_fr3_joint2
+    - right_fr3_joint3
+    - right_fr3_joint4
+    - right_fr3_joint5
+    - right_fr3_joint6
+    - right_fr3_joint7
+    - right_fr3_finger_joint1
+    position:
+    - 0.0007136559011727871
+    - -0.7866070922383005
+    - 0.0058260641539913584
+    - -2.3598693918370577
+    - 0.0004167706563591327
+    - 1.5698542053401963
+    - 0.7853530142146962
+    - -3.102443235020368e-05
+    - -0.9123206417362171
+    - -1.6248200992913444
+    - -0.8998577753262823
+    - -2.488156178512647
+    - -1.4102913730535007
+    - 2.102824648497987
+    - -0.896605178475249
+    - 3.0056037776778505e-07
     velocity: []
-    effort: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Place Right