diff --git a/src/lab_sim/description/picknik_ur.xacro b/src/lab_sim/description/picknik_ur.xacro
index f1ec4b17..73a1f420 100644
--- a/src/lab_sim/description/picknik_ur.xacro
+++ b/src/lab_sim/description/picknik_ur.xacro
@@ -7,6 +7,9 @@
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@@ -1174,57 +1177,15 @@
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diff --git a/src/lab_sim/objectives/apriltag_pick_object.xml b/src/lab_sim/objectives/apriltag_pick_object.xml
index 6fb0d97e..00a6ca45 100644
--- a/src/lab_sim/objectives/apriltag_pick_object.xml
+++ b/src/lab_sim/objectives/apriltag_pick_object.xml
@@ -3,7 +3,7 @@
diff --git a/src/lab_sim/objectives/constrained_pick_place.xml b/src/lab_sim/objectives/constrained_pick_place.xml
index 4885df26..9b680044 100644
--- a/src/lab_sim/objectives/constrained_pick_place.xml
+++ b/src/lab_sim/objectives/constrained_pick_place.xml
@@ -51,8 +51,10 @@
constraints="{constraints}"
/>
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diff --git a/src/lab_sim/objectives/look_at_table.xml b/src/lab_sim/objectives/look_at_table.xml
index d7a11bed..d293fe2d 100644
--- a/src/lab_sim/objectives/look_at_table.xml
+++ b/src/lab_sim/objectives/look_at_table.xml
@@ -1,6 +1,6 @@
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diff --git a/src/lab_sim/objectives/record_trajectory.xml b/src/lab_sim/objectives/record_trajectory.xml
deleted file mode 100644
index e850d695..00000000
--- a/src/lab_sim/objectives/record_trajectory.xml
+++ /dev/null
@@ -1,29 +0,0 @@
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diff --git a/src/lab_sim/objectives/register_cad_part.xml b/src/lab_sim/objectives/register_cad_part.xml
index 83cdbb6e..f43db67f 100644
--- a/src/lab_sim/objectives/register_cad_part.xml
+++ b/src/lab_sim/objectives/register_cad_part.xml
@@ -1,6 +1,6 @@
-
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diff --git a/src/lab_sim/objectives/take_snap.xml b/src/lab_sim/objectives/take_snap.xml
index a4aed6e5..3692316f 100644
--- a/src/lab_sim/objectives/take_snap.xml
+++ b/src/lab_sim/objectives/take_snap.xml
@@ -1,6 +1,6 @@
-
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diff --git a/src/lab_sim/objectives/wrist_snap.xml b/src/lab_sim/objectives/wrist_snap.xml
index be708d77..83c58612 100644
--- a/src/lab_sim/objectives/wrist_snap.xml
+++ b/src/lab_sim/objectives/wrist_snap.xml
@@ -1,6 +1,6 @@
-
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diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
index cc90bbe4..d6836ba3 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
@@ -1,4 +1,4 @@
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@@ -10,4 +10,7 @@
/>
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diff --git a/src/picknik_accessories b/src/picknik_accessories
index b660614d..c9b1e709 160000
--- a/src/picknik_accessories
+++ b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit b660614d2977ddfa78668986ef554ecc523c716d
+Subproject commit c9b1e709df2de65c1087d4433cbc7f079601cf70