diff --git a/src/lab_sim/objectives/51mm_apriltag_detection_config.yaml b/src/lab_sim/objectives/51mm_apriltag_detection_config.yaml
new file mode 100644
index 00000000..6a2926c4
--- /dev/null
+++ b/src/lab_sim/objectives/51mm_apriltag_detection_config.yaml
@@ -0,0 +1,9 @@
+DetectAprilTags:
+  apriltag_family_name: 36h11
+  apriltag_size: 0.051
+  max_hamming: 0
+  n_threads: 1
+  quad_decimate: 1
+  quad_sigma: 0.1
+  refine_edges: false
+  z_up: true
diff --git a/src/lab_sim/objectives/loop_detect_apriltag.xml b/src/lab_sim/objectives/loop_detect_apriltag.xml
new file mode 100644
index 00000000..4c270bc2
--- /dev/null
+++ b/src/lab_sim/objectives/loop_detect_apriltag.xml
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Loop Detect AprilTag">
+  <!-- ////////// -->
+  <BehaviorTree
+    ID="Loop Detect AprilTag"
+    _description="Loops finding April Tag markers until failure."
+    _favorite="false"
+  >
+    <Control ID="Sequence">
+      <!-- Keep executing until failure -->
+      <Decorator ID="KeepRunningUntilFailure">
+        <Control ID="Sequence" name="GetDetection">
+          <Action
+            ID="LoadObjectiveParameters"
+            config_file_name="51mm_apriltag_detection_config.yaml"
+            parameters="{parameters}"
+          />
+          <Action
+            ID="GetCameraInfo"
+            topic_name="/wrist_camera/camera_info"
+            message_out="{camera_info}"
+          />
+          <Action
+            ID="GetImage"
+            topic_name="/wrist_camera/color"
+            message_out="{image}"
+          />
+          <Action
+            ID="DetectAprilTags"
+            image="{image}"
+            camera_info="{camera_info}"
+            parameters="{parameters}"
+            detections="{detections}"
+          />
+        </Control>
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Loop Detect AprilTag">
+      <MetadataFields>
+        <Metadata subcategory="Perception - 2D Image" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/lab_sim/objectives/sample_april_tag.xml b/src/lab_sim/objectives/sample_april_tag.xml
new file mode 100644
index 00000000..f9a0e557
--- /dev/null
+++ b/src/lab_sim/objectives/sample_april_tag.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Sample April Tag">
+  <!--//////////-->
+  <BehaviorTree
+    ID="Sample April Tag"
+    _description="Samples the pose of an AprilTag and returns the average measurement."
+    _favorite="false"
+    _subtreeOnly="true"
+  >
+    <Decorator ID="Repeat" num_cycles="{num_samples}" name="SamplePose">
+      <Control ID="Sequence">
+        <Action
+          ID="LoadObjectiveParameters"
+          config_file_name="{apriltag_config}"
+          parameters="{parameters}"
+        />
+        <Action
+          ID="GetCameraInfo"
+          topic_name="/wrist_camera/camera_info"
+          message_out="{camera_info}"
+        />
+        <Decorator ID="RetryUntilSuccessful" num_attempts="5">
+          <Control ID="Sequence">
+            <Action
+              ID="GetImage"
+              topic_name="/wrist_camera/color"
+              message_out="{image}"
+            />
+            <Action
+              ID="DetectAprilTags"
+              image="{image}"
+              camera_info="{camera_info}"
+              parameters="{parameters}"
+              detections="{detections}"
+            />
+            <Action
+              ID="GetDetectionPose"
+              detections="{detections}"
+              target_id="{tag_id}"
+              target_label=""
+              detection_pose="{detection_pose}"
+            />
+          </Control>
+        </Decorator>
+        <Action
+          ID="AveragePoseStamped"
+          pose_sample="{detection_pose}"
+          avg_pose="{avg_pose}"
+          num_samples="{num_samples}"
+          run_continuously="false"
+        />
+      </Control>
+    </Decorator>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Sample April Tag">
+      <MetadataFields>
+        <Metadata subcategory="Perception - 2D Image" />
+      </MetadataFields>
+      <output_port name="avg_pose" default="{avg_pose}" />
+      <input_port name="tag_id" default="-1" />
+      <input_port
+        name="apriltag_config"
+        default="51mm_apriltag_detection_config.yaml"
+      />
+      <input_port name="num_samples" default="5" />
+    </SubTree>
+  </TreeNodesModel>
+</root>