diff --git a/src/april_tag_sim/config/config.yaml b/src/april_tag_sim/config/config.yaml
index f495a9560..f697cc9e6 100644
--- a/src/april_tag_sim/config/config.yaml
+++ b/src/april_tag_sim/config/config.yaml
@@ -22,7 +22,13 @@ hardware:
 objectives:
   # Specify source folder for objectives
   # [Required]
+  behavior_loader_plugins:
+    core:
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   objective_library_paths:
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     sim_objectives:
       package_name: "april_tag_sim"
       relative_path: "objectives"
diff --git a/src/dual_arm_sim/config/config.yaml b/src/dual_arm_sim/config/config.yaml
index 6065534fe..7aba77b96 100644
--- a/src/dual_arm_sim/config/config.yaml
+++ b/src/dual_arm_sim/config/config.yaml
@@ -86,6 +86,7 @@ objectives:
       - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
@@ -101,6 +102,9 @@ objectives:
     visualization_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/visualization"
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     custom_objectives:
       package_name: "dual_arm_sim"
       relative_path: "objectives"
diff --git a/src/factory_sim/config/config.yaml b/src/factory_sim/config/config.yaml
index 2da457cc7..f12730250 100644
--- a/src/factory_sim/config/config.yaml
+++ b/src/factory_sim/config/config.yaml
@@ -124,6 +124,7 @@ objectives:
       - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
@@ -139,6 +140,9 @@ objectives:
     visualization_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/visualization"
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     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 f144365aa..af9217f43 100644
--- a/src/grinding_sim/config/config.yaml
+++ b/src/grinding_sim/config/config.yaml
@@ -115,6 +115,7 @@ objectives:
       - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
@@ -130,6 +131,9 @@ objectives:
     visualization_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/visualization"
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     sim_objectives:
       package_name: "grinding_sim"
       relative_path: "objectives"
diff --git a/src/kitchen_sim/config/config.yaml b/src/kitchen_sim/config/config.yaml
index 7a0bc2e3d..2c94925ae 100644
--- a/src/kitchen_sim/config/config.yaml
+++ b/src/kitchen_sim/config/config.yaml
@@ -52,6 +52,7 @@ objectives:
       - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
@@ -67,6 +68,9 @@ objectives:
     visualization_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/visualization"
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     sim_objectives:
       package_name: "kitchen_sim"
       relative_path: "objectives"
diff --git a/src/lunar_sim/config/config.yaml b/src/lunar_sim/config/config.yaml
index e0063d763..c62136a02 100644
--- a/src/lunar_sim/config/config.yaml
+++ b/src/lunar_sim/config/config.yaml
@@ -11,3 +11,12 @@ hardware:
     urdf_params:
       - mujoco_model_package: lunar_sim
       - mujoco_model: mjcf/scene.xml
+
+objectives:
+  behavior_loader_plugins:
+    core:
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
+  objective_library_paths:
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml
index f2863422d..86ca8b05c 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml
@@ -51,6 +51,9 @@ ros2_control:
 objectives:
   # Specify source folder for objectives
   # [Required]
+  behavior_loader_plugins:
+    core:
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   objective_library_paths:
     core_objectives:
       package_name: "moveit_pro_objectives"
@@ -61,6 +64,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     sim_objectives:
       package_name: "space_satellite_sim"
       relative_path: "objectives"
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml
index 8a98ea618..ca9709e40 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml
@@ -31,7 +31,13 @@ hardware:
 
 # Configuration for loading behaviors and objectives.
 objectives:
+  behavior_loader_plugins:
+    core:
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   objective_library_paths:
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     sim_objectives:
       package_name: "space_satellite_sim_camera_cal"
       relative_path: "objectives"
diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml b/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml
index f37c1c91a..173396ae8 100644
--- a/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml
+++ b/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml
@@ -162,6 +162,7 @@ objectives:
       - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_pro::behaviors::VisionBehaviorsLoader"
       - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+      - "moveit_pro::behaviors::MujocoBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
@@ -174,6 +175,9 @@ objectives:
     perception_objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
+    mujoco_objectives:
+      package_name: "moveit_pro_objectives"
+      relative_path: "objectives/mujoco"
     sim_objectives:
       package_name: "multi_arm_sim"
       relative_path: "objectives"