diff --git a/src/factory_sim/config/config.yaml b/src/factory_sim/config/config.yaml
index 07dae9f77..c1e3280cf 100644
--- a/src/factory_sim/config/config.yaml
+++ b/src/factory_sim/config/config.yaml
@@ -146,6 +146,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "factory_sim"
       relative_path: "objectives"
diff --git a/src/grinding_sim/config/config.yaml b/src/grinding_sim/config/config.yaml
index b04e01281..20d36f8f2 100644
--- a/src/grinding_sim/config/config.yaml
+++ b/src/grinding_sim/config/config.yaml
@@ -137,6 +137,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "grinding_sim"
       relative_path: "objectives"
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index 14845858d..d12e0bff4 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -76,6 +76,7 @@
     "Inspector",
     "Pick 1 Pill Bottle",
     "AddBottlesToPlanningScene",
+    "Interactive Marker Visualization",  # Server not available for GetTextFromUser
 }
 
 
diff --git a/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml
index 053cb7da1..867e472db 100644
--- a/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml
+++ b/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml
@@ -111,6 +111,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     custom_objectives:
       package_name: "dual_arm_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml b/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml
index 4eaae526d..dc7bffe73 100644
--- a/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml
+++ b/src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml
@@ -65,6 +65,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "kitchen_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
index 1cc3b3d32..ab079ce91 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
@@ -171,6 +171,9 @@ objectives:
     mujoco_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/mujoco"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     sim_objectives:
       package_name: "kinova_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
index 8a85c5d99..56b238d9d 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
@@ -184,6 +184,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    visualization_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/visualization"
     simulation_objectives:
       package_name: "picknik_ur_base_config"
       relative_path: "objectives"