diff --git a/intrinsic_pybind11_vendor/package.xml b/intrinsic_pybind11_vendor/package.xml
index be4a88d..033f79f 100644
--- a/intrinsic_pybind11_vendor/package.xml
+++ b/intrinsic_pybind11_vendor/package.xml
@@ -20,6 +20,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
+  <buildtool_depend>python3-dev</buildtool_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/intrinsic_sdk_cmake/cmake/api/all.cmake b/intrinsic_sdk_cmake/cmake/api/all.cmake
index a8119ba..312819a 100644
--- a/intrinsic_sdk_cmake/cmake/api/all.cmake
+++ b/intrinsic_sdk_cmake/cmake/api/all.cmake
@@ -41,7 +41,7 @@ include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill.cmake
 include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_config.cmake")
 include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_container_image.cmake")
 include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_main_cc.cmake")
-include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_manifest_pbbin.cmake")
+include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_bundle.cmake")
 
 # Service APIs
 include("${intrinsic_sdk_cmake_API_DIR}/service/intrinsic_sdk_generate_service_manifest.cmake")
diff --git a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_bundle.cmake b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_bundle.cmake
new file mode 100644
index 0000000..913164e
--- /dev/null
+++ b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_bundle.cmake
@@ -0,0 +1,76 @@
+# Copyright 2025 Intrinsic Innovation LLC
+#
+# You are hereby granted a non-exclusive, worldwide, royalty-free license to use,
+# copy, modify, and distribute this Intrinsic SDK in source code or binary form for use
+# in connection with the services and APIs provided by Intrinsic Innovation LLC (“Intrinsic”).
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# If you use this Intrinsic SDK with any Intrinsic services, your use is subject to the Intrinsic
+# Platform Terms of Service [https://intrinsic.ai/platform-terms].  If you create works that call
+# Intrinsic APIs, you must agree to the terms of service for those APIs separately. This license
+# does not grant you any special rights to use the services.
+#
+# This copyright notice shall be included in all copies or substantial portions of the software.
+
+include_guard(GLOBAL)
+
+#
+# Generate a skill bundle that can be deployed to Flowstate.
+#
+# :param MANIFEST: the path to the manifest file
+# :type MANIFEST: string
+# :param PROTOS_TARGET: the cmake target for generating the skill's proto files
+# :type PROTOS_TARGET: cmake target
+# :param SOURCES: the list of source files for the skill target
+# :type SOURCES: list of strings
+#
+# @public
+#
+function(intrinsic_sdk_generate_skill_bundle)
+set(options)
+set(one_value_args
+  TARGET
+  MANIFEST
+  PROTO_DESCRIPTOR_FILE
+  OCI_IMAGE
+  SKILL_BUNDLE_OUTPUT
+)
+set(multi_value_args)
+
+cmake_parse_arguments(
+  arg
+  "${options}"
+  "${one_value_args}"
+  "${multi_value_args}"
+  ${ARGN}
+)
+
+set(OUT_DIR ${CMAKE_CURRENT_BINARY_DIR})
+
+# Generate the binary proto skill config
+add_custom_command(
+  OUTPUT ${arg_SKILL_BUNDLE_OUTPUT}
+  COMMAND inbuild_import
+  ARGS
+    skill bundle
+    --manifest=${arg_MANIFEST}
+    --file_descriptor_set=${arg_PROTO_DESCRIPTOR_FILE}
+    --oci_image=${arg_OCI_IMAGE}
+    --output=${arg_SKILL_BUNDLE_OUTPUT}
+  COMMENT "Generating skill config for ${arg_TARGET}"
+  DEPENDS
+    ${arg_PROTO_DESCRIPTOR_FILE}
+    ${arg_OCI_IMAGE}
+)
+
+add_custom_target(${arg_TARGET} ALL
+  DEPENDS
+    ${arg_SKILL_BUNDLE_OUTPUT}
+)
+endfunction()
diff --git a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_config.cmake b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_config.cmake
index e4333db..016da39 100644
--- a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_config.cmake
+++ b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_config.cmake
@@ -25,10 +25,8 @@ include_guard(GLOBAL)
 #
 # :param TARGET: the name for the target that generates the skill config file
 # :type TARGET: string
-# :param SKILL_NAME: the name of the skill
-# :type SKILL_NAME: string
-# :param MANIFEST_PBBIN: the path to the manifest file
-# :type MANIFEST_PBBIN: string
+# :param MANIFEST: the path to the manifest textproto file
+# :type MANIFEST: string
 # :param PROTO_DESCRIPTOR_FILE: the path to the proto descriptor file
 # :type PROTO_DESCRIPTOR_FILE: string
 # :param SKILL_CONFIG_FILE_OUTPUT: the output path for the skill config file
@@ -40,9 +38,7 @@ function(intrinsic_sdk_generate_skill_config)
   set(options)
   set(one_value_args
     TARGET
-    # TODO(wjwwood): extract skill name from manifest
-    SKILL_NAME
-    MANIFEST_PBBIN
+    MANIFEST
     PROTO_DESCRIPTOR_FILE
     SKILL_CONFIG_FILE_OUTPUT
   )
@@ -61,16 +57,14 @@ function(intrinsic_sdk_generate_skill_config)
   # Generate the binary proto skill config
   add_custom_command(
     OUTPUT ${arg_SKILL_CONFIG_FILE_OUTPUT}
-    # TODO(wjwwood): figure out why the alias does not work...
-    # COMMAND intrinsic_sdk_cmake::skillserviceconfiggen_main
-    COMMAND skillserviceconfiggen_main_import
+    COMMAND inbuild_import
     ARGS
-      --manifest_pbbin_filename=${arg_MANIFEST_PBBIN}
-      --proto_descriptor_filename=${arg_PROTO_DESCRIPTOR_FILE}
-      --output_config_filename=${arg_SKILL_CONFIG_FILE_OUTPUT}
-    COMMENT "Generating skill config for ${arg_SKILL_NAME}"
+      skill generate config
+      --manifest=${arg_MANIFEST}
+      --file_descriptor_set=${arg_PROTO_DESCRIPTOR_FILE}
+      --output=${arg_SKILL_CONFIG_FILE_OUTPUT}
+    COMMENT "Generating skill config for ${arg_TARGET}"
     DEPENDS
-      ${arg_MANIFEST_PBBIN}
       ${arg_PROTO_DESCRIPTOR_FILE}
   )
 
diff --git a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_main_cc.cmake b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_main_cc.cmake
index eadf9bb..76e4289 100644
--- a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_main_cc.cmake
+++ b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_main_cc.cmake
@@ -26,11 +26,11 @@ include_guard(GLOBAL)
 # This file needs to be generated because it contains variable things like the
 # skill name and the name of the skill's header, etc.
 #
-# :param MANIFEST_PBBIN: the path to the pbbin file for the skill manifest.
-#   This can be generated using intrinsic_sdk_generate_skill_manifest_pbbin().
-# :type MANIFEST_PBBIN: string
-# :param HEADER_FILES: the paths to additional header files that need to be included
-# :type HEADER_FILES: list of strings
+# :param MANIFEST: the path to the skill manifest in textproto format.
+# :type MANIFEST: string
+# :param HEADER_FILE: the path to the header file containing the
+#     "create skill" method referenced in the Skill Manifest.
+# :type HEADER_FILE: lstring
 # :param MAIN_FILE_OUTPUT: the path of the output C++ main function file
 # :type MAIN_FILE_OUTPUT: string
 #
@@ -38,8 +38,8 @@ include_guard(GLOBAL)
 #
 function(intrinsic_sdk_generate_skill_main_cc)
   set(options)
-  set(one_value_args MANIFEST_PBBIN MAIN_FILE_OUTPUT)
-  set(multi_value_args HEADER_FILES)
+  set(one_value_args MANIFEST MAIN_FILE_OUTPUT HEADER_FILE)
+  set(multi_value_args)
 
   cmake_parse_arguments(
     arg
@@ -49,23 +49,15 @@ function(intrinsic_sdk_generate_skill_main_cc)
     ${ARGN}
   )
 
-  list(JOIN arg_HEADER_FILES "," joined_header_files)
-
-  # get_property(skill_service_generator_path
-  #   TARGET skill_service_generator_import
-  #   PROPERTY IMPORTED_LOCATION
-  # )
-  # message(FATAL_ERROR "skill_service_generator_path: ${skill_service_generator_path}")
   add_custom_command(
     OUTPUT ${arg_MAIN_FILE_OUTPUT}
-    # TODO(wjwwood): figure out why the alias does not work...
-    # COMMAND intrinsic_sdk_cmake::skill_service_generator
-    COMMAND skill_service_generator_import
-      --manifest=${arg_MANIFEST_PBBIN}
-      --lang=cpp
-      --out=${arg_MAIN_FILE_OUTPUT}
-      --cc_headers=${joined_header_files}
-    DEPENDS ${arg_MANIFEST_PBBIN}
+    COMMAND inbuild_import
+      skill generate entrypoint
+      --manifest=${arg_MANIFEST}
+      --language=cpp
+      --output=${arg_MAIN_FILE_OUTPUT}
+      --cc_header=${arg_HEADER_FILE}
+    DEPENDS ${arg_MANIFEST}
     COMMENT "Generating skill cpp main file: ${arg_MAIN_FILE_OUTPUT}"
   )
 endfunction()
diff --git a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_manifest_pbbin.cmake b/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_manifest_pbbin.cmake
deleted file mode 100644
index 26ed665..0000000
--- a/intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_manifest_pbbin.cmake
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 2025 Intrinsic Innovation LLC
-#
-# You are hereby granted a non-exclusive, worldwide, royalty-free license to use,
-# copy, modify, and distribute this Intrinsic SDK in source code or binary form for use
-# in connection with the services and APIs provided by Intrinsic Innovation LLC (“Intrinsic”).
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
-# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
-# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
-# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-#
-# If you use this Intrinsic SDK with any Intrinsic services, your use is subject to the Intrinsic
-# Platform Terms of Service [https://intrinsic.ai/platform-terms].  If you create works that call
-# Intrinsic APIs, you must agree to the terms of service for those APIs separately. This license
-# does not grant you any special rights to use the services.
-#
-# This copyright notice shall be included in all copies or substantial portions of the software.
-
-include_guard(GLOBAL)
-
-#
-# Generate a protobuf bin file (pbbin) from the skill manifest textproto file.
-#
-# Other commands require the skill manifest in the pbbin format.
-#
-# :param TARGET: the name for the target that generates the pbbin file
-# :type TARGET: string
-# :param MANIFEST_TEXTPROTO: the path to the manifest textproto file
-# :type MANIFEST_TEXTPROTO: string
-# :param MANIFEST_PBBIN_OUTPUT: the output path for the new pbbin manifest file
-# :type MANIFEST_PBBIN_OUTPUT: string
-#
-# @public
-#
-function(intrinsic_sdk_generate_skill_manifest_pbbin)
-  set(options)
-  set(one_value_args TARGET MANIFEST_TEXTPROTO MANIFEST_PBBIN_OUTPUT)
-  set(multi_value_args)
-
-  cmake_parse_arguments(
-    arg
-    "${options}"
-    "${one_value_args}"
-    "${multi_value_args}"
-    ${ARGN})
-
-  add_custom_command(
-    OUTPUT ${arg_MANIFEST_PBBIN_OUTPUT}
-    COMMAND protobuf::protoc
-      --encode=intrinsic_proto.skills.SkillManifest
-      --descriptor_set_in=${intrinsic_sdk_cmake_DESCRIPTOR_SET_FILE}
-      < ${CMAKE_CURRENT_SOURCE_DIR}/${arg_MANIFEST_TEXTPROTO}
-      > ${arg_MANIFEST_PBBIN_OUTPUT}
-    DEPENDS ${arg_MANIFEST_TEXTPROTO}
-    COMMENT "Generating skill manifest pbbin file: ${arg_MANIFEST_PBBIN_OUTPUT}"
-    VERBATIM
-  )
-
-  add_custom_target(${arg_TARGET}
-    DEPENDS
-      ${arg_MANIFEST_PBBIN_OUTPUT}
-  )
-
-  if(TARGET intrinsic_proto_desc)
-    add_dependencies(${arg_TARGET} intrinsic_proto_desc)
-  endif()
-endfunction()
diff --git a/intrinsic_sdk_cmake/cmake/fetch_sdk.cmake b/intrinsic_sdk_cmake/cmake/fetch_sdk.cmake
index d522835..8fc75cb 100644
--- a/intrinsic_sdk_cmake/cmake/fetch_sdk.cmake
+++ b/intrinsic_sdk_cmake/cmake/fetch_sdk.cmake
@@ -4,8 +4,8 @@ include(FetchContent)
 # Fetch the intrinsic sdk source code during configure stage.
 FetchContent_Declare(
   intrinsic_sdk
-  URL https://github.com/intrinsic-ai/sdk/archive/refs/tags/v1.16.20250210.tar.gz
-  URL_HASH SHA256=be55bdb2c761b7d55476c2ee843c4e444e0953f03aafce2481797eec98e19ac0
+  URL https://github.com/intrinsic-ai/sdk/archive/refs/tags/v1.16.20250303.tar.gz
+  URL_HASH SHA256=2181ae09684bc35e47b251e21d969a4e0f3cbf72818470caaa416e2834748d32
   DOWNLOAD_EXTRACT_TIMESTAMP FALSE
 )
 FetchContent_GetProperties(intrinsic_sdk)
diff --git a/intrinsic_sdk_cmake/cmake/sdk.cmake b/intrinsic_sdk_cmake/cmake/sdk.cmake
index 4d42f61..5af8204 100644
--- a/intrinsic_sdk_cmake/cmake/sdk.cmake
+++ b/intrinsic_sdk_cmake/cmake/sdk.cmake
@@ -43,6 +43,7 @@ list(FILTER intrinsic_SRCS EXCLUDE REGEX "_main\\.cc$")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "_tmpl\\.cc$")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/examples/")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/skills/testing/")
+list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/control/c_api/external_action_api/.*\.cc")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/release/hello_world.cc")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/release/reset_simulation.cc")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/tools")
diff --git a/intrinsic_sdk_cmake/cmake/sdk_tools.cmake b/intrinsic_sdk_cmake/cmake/sdk_tools.cmake
index 450dc71..a454542 100644
--- a/intrinsic_sdk_cmake/cmake/sdk_tools.cmake
+++ b/intrinsic_sdk_cmake/cmake/sdk_tools.cmake
@@ -1,14 +1,8 @@
-# TODO(wjwwood): a few dirty hacks here to get tools we need out of the sdk.
-#   This wouldn't be necessary with inbuild, so replace with that when possible.
-#   This also only works because these are static binaries with no dependencies.
-#   Also, it does not capture stderr from the bazel build, which is noisy.
-#   Also, probably other significant issues I'm overlooking, but this works for now.
-
-# Build the static binary for generating service bundles.
+# Build inbuild from the SDK
 set(sdk_bins_DIR "${CMAKE_CURRENT_BINARY_DIR}/sdk_bins")
 file(MAKE_DIRECTORY "${sdk_bins_DIR}")
 add_custom_command(
-  OUTPUT "${sdk_bins_DIR}/skillbundlegen"
+  OUTPUT "${sdk_bins_DIR}/inbuild"
   WORKING_DIRECTORY "${intrinsic_sdk_SOURCE_DIR}/intrinsic"
   COMMAND
     ${bazelisk_vendor_EXECUTABLE}
@@ -17,93 +11,25 @@ add_custom_command(
       run
         --experimental_convenience_symlinks=ignore
         --run_under=cp
-        //intrinsic/skills/build_defs:skillbundlegen
-        "${sdk_bins_DIR}/skillbundlegen"
+        //intrinsic/tools/inbuild
+        "${sdk_bins_DIR}/inbuild"
   VERBATIM
 )
-add_custom_target(skillbundlegen
+add_custom_target(inbuild
   ALL
   DEPENDS
-    "${sdk_bins_DIR}/skillbundlegen"
+    "${sdk_bins_DIR}/inbuild"
 )
 install(
   PROGRAMS
-    "${sdk_bins_DIR}/skillbundlegen"
+    "${sdk_bins_DIR}/inbuild"
   DESTINATION bin
 )
 # Create an imported executable and namespace it to imitate find_package()
-add_executable(skillbundlegen_import IMPORTED)
-set_target_properties(skillbundlegen_import
+add_executable(inbuild_import IMPORTED)
+set_target_properties(inbuild_import
   PROPERTIES
-    IMPORTED_LOCATION "${sdk_bins_DIR}/skillbundlegen"
+    IMPORTED_LOCATION "${sdk_bins_DIR}/inbuild"
 )
-add_dependencies(skillbundlegen_import skillbundlegen)
-add_executable(${PROJECT_NAME}::skillbundlegen ALIAS skillbundlegen_import)
-
-# Build the static binary for generating service configs.
-add_custom_command(
-  OUTPUT "${sdk_bins_DIR}/skillserviceconfiggen_main"
-  WORKING_DIRECTORY "${intrinsic_sdk_SOURCE_DIR}/intrinsic"
-  COMMAND
-    ${bazelisk_vendor_EXECUTABLE}
-      --nohome_rc
-      --quiet
-      run
-        --experimental_convenience_symlinks=ignore
-        --run_under=cp
-        //intrinsic/skills/build_defs:skillserviceconfiggen_main
-        "${sdk_bins_DIR}/skillserviceconfiggen_main"
-  VERBATIM
-)
-add_custom_target(skillserviceconfiggen_main
-  ALL
-  DEPENDS
-    "${sdk_bins_DIR}/skillserviceconfiggen_main"
-)
-install(
-  PROGRAMS
-    "${sdk_bins_DIR}/skillserviceconfiggen_main"
-  DESTINATION bin
-)
-# Create an imported executable and namespace it to imitate find_package()
-add_executable(skillserviceconfiggen_main_import IMPORTED)
-set_target_properties(skillserviceconfiggen_main_import
-  PROPERTIES
-    IMPORTED_LOCATION "${sdk_bins_DIR}/skillserviceconfiggen_main"
-)
-add_dependencies(skillserviceconfiggen_main_import skillserviceconfiggen_main)
-add_executable(${PROJECT_NAME}::skillserviceconfiggen_main ALIAS skillserviceconfiggen_main_import)
-
-# Build the static binary for generating service main files.
-add_custom_command(
-  OUTPUT "${sdk_bins_DIR}/skill_service_generator"
-  WORKING_DIRECTORY "${intrinsic_sdk_SOURCE_DIR}/intrinsic"
-  COMMAND
-    ${bazelisk_vendor_EXECUTABLE}
-      --nohome_rc
-      --quiet
-      run
-        --experimental_convenience_symlinks=ignore
-        --run_under=cp
-        //intrinsic/skills/generator:skill_service_generator
-        "${sdk_bins_DIR}/skill_service_generator"
-  VERBATIM
-)
-add_custom_target(skill_service_generator
-  ALL
-  DEPENDS
-    "${sdk_bins_DIR}/skill_service_generator"
-)
-install(
-  PROGRAMS
-    "${sdk_bins_DIR}/skill_service_generator"
-  DESTINATION bin
-)
-# Create an imported executable and namespace it to imitate find_package()
-add_executable(skill_service_generator_import IMPORTED)
-set_target_properties(skill_service_generator_import
-  PROPERTIES
-    IMPORTED_LOCATION "${sdk_bins_DIR}/skill_service_generator"
-)
-add_dependencies(skill_service_generator_import skill_service_generator)
-add_executable(${PROJECT_NAME}::skill_service_generator ALIAS skill_service_generator_import)
+add_dependencies(inbuild_import inbuild)
+add_executable(${PROJECT_NAME}::inbuild ALIAS inbuild_import)
\ No newline at end of file
diff --git a/intrinsic_sdk_cmake/intrinsic_sdk_cmakeConfig.cmake.in b/intrinsic_sdk_cmake/intrinsic_sdk_cmakeConfig.cmake.in
index 40ea829..809b290 100644
--- a/intrinsic_sdk_cmake/intrinsic_sdk_cmakeConfig.cmake.in
+++ b/intrinsic_sdk_cmake/intrinsic_sdk_cmakeConfig.cmake.in
@@ -8,32 +8,14 @@ set(intrinsic_sdk_cmake_DESCRIPTOR_SET_FILE
   "${_prefix}/share/intrinsic_sdk_cmake/intrinsic_proto.desc"
 )
 
-# Import skillbundlegen binary
-add_executable(skillbundlegen_import IMPORTED)
-set_target_properties(skillbundlegen_import
+# Import inbuild binary
+add_executable(inbuild_import IMPORTED)
+set_target_properties(inbuild_import
   PROPERTIES
-    IMPORTED_LOCATION "${_prefix}/bin/skillbundlegen"
+    IMPORTED_LOCATION "${_prefix}/bin/inbuild"
 )
-add_executable(${PROJECT_NAME}::skillbundlegen ALIAS skillbundlegen_import)
-set_property(TARGET skillbundlegen_import PROPERTY ALIAS_GLOBAL TRUE)
-
-# Import skillserviceconfiggen_main binary
-add_executable(skillserviceconfiggen_main_import IMPORTED)
-set_target_properties(skillserviceconfiggen_main_import
-  PROPERTIES
-    IMPORTED_LOCATION "${_prefix}/bin/skillserviceconfiggen_main"
-)
-add_executable(${PROJECT_NAME}::skillserviceconfiggen_main ALIAS skillserviceconfiggen_main_import)
-set_property(TARGET skillserviceconfiggen_main_import PROPERTY ALIAS_GLOBAL TRUE)
-
-# Import skill_service_generator binary
-add_executable(skill_service_generator_import IMPORTED)
-set_target_properties(skill_service_generator_import
-  PROPERTIES
-    IMPORTED_LOCATION "${_prefix}/bin/skill_service_generator"
-)
-add_executable(${PROJECT_NAME}::skill_service_generator ALIAS skill_service_generator_import)
-set_property(TARGET skill_service_generator_import PROPERTY ALIAS_GLOBAL TRUE)
+add_executable(${PROJECT_NAME}::inbuild ALIAS inbuild_import)
+set_property(TARGET inbuild_import PROPERTY ALIAS_GLOBAL TRUE)
 
 include("${_prefix}/share/intrinsic_sdk_cmake/cmake/api/all.cmake")
 
diff --git a/intrinsic_sdk_cmake/test/test_cpp_skill/CMakeLists.txt b/intrinsic_sdk_cmake/test/test_cpp_skill/CMakeLists.txt
index 19f4731..2950c8c 100644
--- a/intrinsic_sdk_cmake/test/test_cpp_skill/CMakeLists.txt
+++ b/intrinsic_sdk_cmake/test/test_cpp_skill/CMakeLists.txt
@@ -6,18 +6,10 @@ intrinsic_sdk_protobuf_generate(
   DESCRIPTOR_SET_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.desc"
 )
 
-# Generate the protobufbin (pbbin) file for the skill manifest.
-intrinsic_sdk_generate_skill_manifest_pbbin(
-  TARGET test_cpp_skill_manifest
-  MANIFEST_TEXTPROTO test_cpp_skill.manifest.textproto
-  MANIFEST_PBBIN_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.manifest.pbbin"
-)
-
 # Generate the skill config file.
 intrinsic_sdk_generate_skill_config(
   TARGET test_cpp_skill_skill_config
-  SKILL_NAME test_cpp_skill
-  MANIFEST_PBBIN "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.manifest.pbbin"
+  MANIFEST "${CMAKE_CURRENT_SOURCE_DIR}/test_cpp_skill.manifest.textproto"
   PROTO_DESCRIPTOR_FILE "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.desc"
   SKILL_CONFIG_FILE_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill_config.pbbin"
 )
@@ -28,8 +20,8 @@ install(
 
 # Generate the c++ main file for the skill.
 intrinsic_sdk_generate_skill_main_cc(
-  MANIFEST_PBBIN "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.manifest.pbbin"
-  HEADER_FILES test_cpp_skill.h
+  MANIFEST "${CMAKE_CURRENT_SOURCE_DIR}/test_cpp_skill.manifest.textproto"
+  HEADER_FILE test_cpp_skill.h
   MAIN_FILE_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill_main.cc"
 )
 
@@ -70,7 +62,13 @@ intrinsic_sdk_generate_skill_container_image(
   # DOCKERFILE my_custom_skill.Dockerfile
 )
 
-# # Create the skill bundle.
-# intrisic_sdk_generate_skill_bundle(
+# Create the skill bundle.
+intrinsic_sdk_generate_skill_bundle(
+  TARGET test_cpp_skill_bundle
+  MANIFEST "${CMAKE_CURRENT_SOURCE_DIR}/test_cpp_skill.manifest.textproto"
+  PROTO_DESCRIPTOR_FILE "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.desc"
+  OCI_IMAGE "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill_container_image.tar"
+  SKILL_BUNDLE_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.bundle.tar"
+)
 
-# )
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/test_cpp_skill.bundle.tar" DESTINATION share/${PROJECT_NAME})
\ No newline at end of file