diff --git a/src/april_tag_sim/package.xml b/src/april_tag_sim/package.xml
index 355513f09..9f31b53e3 100644
--- a/src/april_tag_sim/package.xml
+++ b/src/april_tag_sim/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>admittance_controller</exec_depend>
+  <exec_depend>lab_sim</exec_depend>
   <exec_depend>moveit_ros_perception</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_pro_behavior</exec_depend>
diff --git a/src/april_tag_sim/test/objectives_integration_test.py b/src/april_tag_sim/test/objectives_integration_test.py
index c7f0431ac..19e594d6a 100644
--- a/src/april_tag_sim/test/objectives_integration_test.py
+++ b/src/april_tag_sim/test/objectives_integration_test.py
@@ -57,6 +57,10 @@
     "Collect Angled AprilTag Detection Data",  # Data-collection loop driven by a camera feed.
     "Collect Parallel AprilTag Detection Data",  # Data-collection loop driven by a camera feed.
     "Pick April Tag Labeled Object",  # Requires AprilTag detection + a live grasp.
+    # Core-library objectives aggregated into every config; both need a
+    # primary UI and cannot run in headless CI.
+    "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
 }
 
 
diff --git a/src/dual_arm_sim/test/objectives_integration_test.py b/src/dual_arm_sim/test/objectives_integration_test.py
index 70270068d..83adcd7d8 100644
--- a/src/dual_arm_sim/test/objectives_integration_test.py
+++ b/src/dual_arm_sim/test/objectives_integration_test.py
@@ -55,6 +55,8 @@
 # than guessing more aggressively up front.
 skip_objectives: set[str] = {
     "Teleoperate",  # Waits on UI teleoperation input.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
+    "Writing Demo",  # Long-running drawing objective times out on the CI backend.
     "Find Green Block",  # ML text-prompt segmentation.
     "Find Red Block",  # ML text-prompt segmentation.
     "Sort Blocks",  # ML perception + multi-step grasp pipeline.
diff --git a/src/factory_sim/test/objectives_integration_test.py b/src/factory_sim/test/objectives_integration_test.py
index 3982a6746..c2b3d7e1f 100644
--- a/src/factory_sim/test/objectives_integration_test.py
+++ b/src/factory_sim/test/objectives_integration_test.py
@@ -58,6 +58,19 @@
     "Automask Camera Iterate Masks",  # ML segmentation model + camera feed.
     "Pick Brackets from Left Bin",  # ML perception + grasp pipeline.
     "Pick and Place Brackets from Left Bin",  # ML perception + grasp pipeline.
+    # Core-library objectives aggregated into every config; both need a
+    # primary UI and cannot run in headless CI.
+    "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
+    # Factory demos are not deterministic as standalone success checks in
+    # headless CI: planning-scene setup is not idempotent across the sweep,
+    # reachability loops exceed the fixture timeout, and surface-planning demos
+    # intermittently hit MTC planning failures.
+    "Inspect Convex Bowl",
+    "Plan Path Along Surface",
+    "Reachability Analysis - blocks",
+    "Reachability Analysis - bowls",
+    "Setup Initial Planning Scene",
 }
 
 
diff --git a/src/grinding_sim/test/objectives_integration_test.py b/src/grinding_sim/test/objectives_integration_test.py
index 9b4b7d1c0..efd96f9ac 100644
--- a/src/grinding_sim/test/objectives_integration_test.py
+++ b/src/grinding_sim/test/objectives_integration_test.py
@@ -53,6 +53,11 @@
 # more aggressively up front.
 skip_objectives: set[str] = {
     "Grind Machined Part",  # Admittance surface pass never converges in CI: no contact force.
+    # Core-library objectives aggregated into every config; both need a
+    # primary UI and cannot run in headless CI.
+    "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
+    "Register Machined Part",  # Registration flow exceeds the fixture timeout headless.
 }
 
 
diff --git a/src/kitchen_sim/test/objectives_integration_test.py b/src/kitchen_sim/test/objectives_integration_test.py
index 22722140e..4c7940ecf 100644
--- a/src/kitchen_sim/test/objectives_integration_test.py
+++ b/src/kitchen_sim/test/objectives_integration_test.py
@@ -59,6 +59,11 @@
     "Segment Point Cloud from Point",  # Clicked point + ML segmentation.
     "Generate Graspable Object",  # ML segmentation.
     "Grasp Object from Point",  # Clicked point + ML segmentation.
+    # Core-library objectives aggregated into every config; both need a
+    # primary UI and cannot run in headless CI.
+    "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
+    "Writing Demo",  # Long-running drawing objective times out on the CI backend.
 }
 
 # End-state correctness checks beyond SUCCESS/FAILURE. "Move Home" and "Move