diff --git a/src/example_behaviors/CMakeLists.txt b/src/example_behaviors/CMakeLists.txt
index 2c7cd6a0..6f54a740 100644
--- a/src/example_behaviors/CMakeLists.txt
+++ b/src/example_behaviors/CMakeLists.txt
@@ -15,7 +15,6 @@ example_interfaces)
 foreach(package IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${package} REQUIRED)
 endforeach()
-find_package(moveit_pro_ml REQUIRED)
 
 add_library(
   example_behaviors
@@ -41,7 +40,6 @@ target_include_directories(
   PRIVATE ${PCL_INCLUDE_DIRS})
 ament_target_dependencies(example_behaviors
                           ${THIS_PACKAGE_INCLUDE_DEPENDS})
-target_link_libraries(example_behaviors onnx_sam2)
 
 # Install Libraries
 install(
diff --git a/src/lab_sim/CMakeLists.txt b/src/lab_sim/CMakeLists.txt
index a2db2edd..2b665a3f 100644
--- a/src/lab_sim/CMakeLists.txt
+++ b/src/lab_sim/CMakeLists.txt
@@ -33,6 +33,7 @@ install(
     config
     description
     launch
+    models
     objectives
     waypoints
   DESTINATION
diff --git a/src/example_behaviors/models/decoder.onnx b/src/lab_sim/models/decoder.onnx
similarity index 100%
rename from src/example_behaviors/models/decoder.onnx
rename to src/lab_sim/models/decoder.onnx
diff --git a/src/example_behaviors/models/sam2_hiera_large_encoder.onnx b/src/lab_sim/models/sam2_hiera_large_encoder.onnx
similarity index 100%
rename from src/example_behaviors/models/sam2_hiera_large_encoder.onnx
rename to src/lab_sim/models/sam2_hiera_large_encoder.onnx
diff --git a/src/lab_sim/objectives/run_sam2_onnx.xml b/src/lab_sim/objectives/run_sam2_onnx.xml
deleted file mode 100644
index f05b6821..00000000
--- a/src/lab_sim/objectives/run_sam2_onnx.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Segment Point Cloud from Clicked Point"
->
-  <!--//////////-->
-  <BehaviorTree
-    ID="Segment Point Cloud from Clicked Point"
-    _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="true"
-  >
-    <Control ID="Sequence">
-      <Action ID="ClearSnapshot" />
-      <Action ID="GetImage" topic_name="/wrist_camera/color" />
-      <Action
-        ID="GetPointsFromUser"
-        point_prompts="Select the object to be segmented;"
-        point_names="Point1;"
-        view_name="/wrist_camera/color"
-      />
-      <Action ID="ExampleSAM2Segmentation" />
-      <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_camera/camera_info"
-        message_out="{camera_info}"
-        timeout_sec="5.000000"
-      />
-      <Action ID="GetMasks3DFromMasks2D" />
-      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}">
-        <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" />
-      </Decorator>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" />
-      <Action ID="PublishPointCloud" point_cloud="{point_cloud_fragment}" />
-      <Action ID="SwitchUIPrimaryView" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Segment Point Cloud from Clicked Point" />
-  </TreeNodesModel>
-</root>
diff --git a/src/lab_sim/objectives/segment_point_cloud_from_clicked_point.xml b/src/lab_sim/objectives/segment_point_cloud_from_clicked_point.xml
new file mode 100644
index 00000000..ade8c381
--- /dev/null
+++ b/src/lab_sim/objectives/segment_point_cloud_from_clicked_point.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<root BTCPP_format="4" main_tree_to_execute="Segment Point Cloud from Clicked Point">
+  <!--//////////-->
+  <BehaviorTree ID="Segment Point Cloud from Clicked Point" _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="true">
+    <Control ID="Sequence">
+      <Action ID="ClearSnapshot"/>
+      <Action ID="GetImage" topic_name="/wrist_camera/color" timeout_sec="5.000000" message_out="{image}"/>
+      <Action ID="GetPointsFromUser" point_prompts="Select the object to be segmented;" point_names="Point1;" view_name="/wrist_camera/color" pixel_coords="{pixel_coords}"/>
+      <Action ID="GetMasks2DFromPointQuery" image="{image}" pixel_coords="{pixel_coords}" masks2d="{masks2d}" decoder_model_path="models/decoder.onnx" encoder_model_path="models/sam2_hiera_large_encoder.onnx" model_package="lab_sim"/>
+      <Action ID="GetPointCloud" topic_name="/wrist_camera/points" timeout_sec="5.000000" message_out="{point_cloud}"/>
+      <Action ID="GetCameraInfo" topic_name="/wrist_camera/camera_info" message_out="{camera_info}" timeout_sec="5.000000"/>
+      <Action ID="GetMasks3DFromMasks2D" camera_info="{camera_info}" masks2d="{masks2d}" point_cloud="{point_cloud}" masks3d="{masks3d}"/>
+      <Decorator ID="ForEach" vector_in="{masks3d}" out="{mask3d}" index="{index}">
+        <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/>
+      </Decorator>
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" pcd_topic="/pcd_pointcloud_captures"/>
+      <Action ID="PublishPointCloud" point_cloud="{point_cloud_fragment}" point_cloud_topic="/my_point_cloud"/>
+      <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Segment Point Cloud from Clicked Point"><MetadataFields>
+        <Metadata runnable="true"/>
+      </MetadataFields></SubTree>
+  </TreeNodesModel>
+</root>