diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 51526802..61704760 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -150,8 +150,8 @@ jobs:
       fail-fast: false
       matrix:
         # Stream 2 expands this list one PR at a time as each sim gains a
-        # pytest entry. Today only lab_sim has one.
-        config_package: [lab_sim]
+        # pytest entry.
+        config_package: [lab_sim, hangar_sim]
     permissions:
       # contents: read for checkout; id-token: write so the reusable workflow
       # can assume the LFS S3 cache IAM role via OIDC (moveit_pro_ci v0.5.x).
@@ -306,7 +306,13 @@ jobs:
         # Keep in sync with `integration-test.matrix.config_package` above and
         # with the reusable workflow's internal ros_distro matrix. Stream 2
         # expands `config_package` per sim; this matrix expands alongside.
-        config_package: [lab_sim]
+        # NOTE: the publish-and-comment job below is still pinned to lab_sim
+        # (see the `integration-test-report-lab_sim-*` downloads), so reports
+        # for other sims are produced as artifacts here but not yet surfaced in
+        # the PR comment. Merge gating is unaffected — the aggregate
+        # `example_ws / integration` status covers every config_package. The
+        # follow-up templates publish-and-comment over config_package.
+        config_package: [lab_sim, hangar_sim]
         ros_distro: [humble, jazzy]
     steps:
       - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
diff --git a/src/hangar_sim/CMakeLists.txt b/src/hangar_sim/CMakeLists.txt
index 14a7e163..9f7ecb8e 100644
--- a/src/hangar_sim/CMakeLists.txt
+++ b/src/hangar_sim/CMakeLists.txt
@@ -32,8 +32,25 @@ install(IMPORTED_RUNTIME_ARTIFACTS moveit_studio_plugins::dummy_controller_handl
         lib)
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  # Redirect ROS node logs into the test_results tree so the test-results CI
+  # artifact ships them back too. Default would be ~/.ros/log/, which lives
+  # on the doomed container filesystem and never gets uploaded -- making
+  # post-mortem of objective failures impossible.
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=hangar_sim
+              MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR}
+              ROS_LOG_DIR=${CMAKE_CURRENT_BINARY_DIR}/test_results/${PROJECT_NAME}/ros_logs)
+  # TEMPORARY: diagnose why hangar's MuJoCo model fails to load on the CI
+  # runtime image. No backend; just probes the MuJoCo plugin/version/mesh
+  # state and reproduces mj_loadXML. Remove once root cause is known.
+  ament_add_pytest_test(
+          mujoco_env_diagnostic test/mujoco_env_diagnostic_test.py
+          TIMEOUT 120)
 endif()
 
 ament_package()
diff --git a/src/hangar_sim/description/hangar_scene.xml b/src/hangar_sim/description/hangar_scene.xml
index 6629ca67..e4d3a392 100644
--- a/src/hangar_sim/description/hangar_scene.xml
+++ b/src/hangar_sim/description/hangar_scene.xml
@@ -1,17 +1,16 @@
 <mujoco>
-  <option>
-    <flag multiccd="enable" />
-  </option>
-  <compiler angle="radian" meshdir="assets" autolimits="true" />
-  <include file="ur5e_ridgeback.xml" />
-  <include file="hangar.xml" />
   <option
     integrator="implicitfast"
     timestep="0.025"
     noslip_iterations="5"
     impratio="20"
     cone="elliptic"
-  />
+  >
+    <flag multiccd="enable" />
+  </option>
+  <compiler angle="radian" meshdir="assets" autolimits="true" />
+  <include file="ur5e_ridgeback.xml" />
+  <include file="hangar.xml" />
   <visual>
     <headlight diffuse="1.0 1.0 1.0" ambient="0.4 0.4 0.4" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
diff --git a/src/hangar_sim/description/ur5e_ridgeback.xml b/src/hangar_sim/description/ur5e_ridgeback.xml
index 2ac746e5..17a47f43 100644
--- a/src/hangar_sim/description/ur5e_ridgeback.xml
+++ b/src/hangar_sim/description/ur5e_ridgeback.xml
@@ -1,8 +1,6 @@
 <mujoco model="ur5e_ridgeback">
   <compiler angle="radian" meshdir="assets" autolimits="true" />
 
-  <option integrator="implicitfast" />
-
   <size nuser_sensor="6" />
 
   <default>
diff --git a/src/hangar_sim/package.xml b/src/hangar_sim/package.xml
index 91578728..8d120711 100644
--- a/src/hangar_sim/package.xml
+++ b/src/hangar_sim/package.xml
@@ -26,6 +26,9 @@
   <exec_depend>picknik_ur_base_config</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
+  <exec_depend>ridgeback_description</exec_depend>
+  <exec_depend>robotiq_description</exec_depend>
+  <exec_depend>clearpath_mecanum_drive_controller</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
@@ -39,6 +42,9 @@
   <test_depend>ament_cmake_lint_cmake</test_depend>
   <test_depend>picknik_ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
+  <test_depend>rclpy</test_depend>
+  <test_depend>rcl_interfaces</test_depend>
+  <test_depend>control_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/src/hangar_sim/test/capture_rosout.py b/src/hangar_sim/test/capture_rosout.py
new file mode 100644
index 00000000..d3526f0f
--- /dev/null
+++ b/src/hangar_sim/test/capture_rosout.py
@@ -0,0 +1,116 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Standalone /rosout → NDJSON capture, invoked as a subprocess from
+the sibling conftest.py.
+
+Runs in its own process so no rclpy state lives in the pytest process. The
+integration test's ``execute_objective_resource`` fixture (in
+moveit_pro_test_utils/objective_test_fixture.py) launches the backend via
+``multiprocessing.Process(target=run_launch_files).start()`` — on Linux that
+forks pytest. If pytest has called ``rclpy.init()`` at fork time, the child
+inherits the DDS participant's FDs but not its spinner thread, leaving DDS
+discovery half-initialized; /robot_description then never reaches
+move_group / objective_server_node and BehaviorContext SIGABRTs on boot.
+
+Subscribes to /rosout with the same QoS the rcl logging publisher uses
+(depth=1000, RELIABLE, TRANSIENT_LOCAL, KEEP_LAST). Writes one JSON object
+per line to ``$ROS_LOG_DIR/rosout.ndjson`` (fallback: current dir).
+"""
+
+import json
+import os
+import sys
+import threading
+from pathlib import Path
+
+import rclpy
+from rcl_interfaces.msg import Log
+from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
+
+# Log message severity byte → ROS log level name. Use literal ints rather
+# than `Log.DEBUG` etc. — the message constants are numpy uint8 in some
+# rclpy builds, which hash differently from Python int and miss the dict
+# lookup, leaving levels in the NDJSON as bare numbers like "30".
+_LEVEL_NAMES = {10: "DEBUG", 20: "INFO", 30: "WARN", 40: "ERROR", 50: "FATAL"}
+
+# Match the /rosout publisher's QoS exactly so a late-joining subscriber gets
+# replayed history (TRANSIENT_LOCAL) up to the publisher's depth. ROS 2's rcl
+# logging handler publishes /rosout with depth=1000 / RELIABLE /
+# TRANSIENT_LOCAL / KEEP_LAST. If the subscriber is VOLATILE, no historical
+# replay happens even if the publisher stores history — both ends must opt in.
+_ROSOUT_QOS = QoSProfile(
+    depth=1000,
+    history=HistoryPolicy.KEEP_LAST,
+    reliability=ReliabilityPolicy.RELIABLE,
+    durability=DurabilityPolicy.TRANSIENT_LOCAL,
+)
+
+
+def main() -> int:
+    out_dir = Path(os.environ.get("ROS_LOG_DIR", "."))
+    out_dir.mkdir(parents=True, exist_ok=True)
+    out_path = out_dir / "rosout.ndjson"
+
+    write_lock = threading.Lock()
+
+    rclpy.init()
+    node = rclpy.create_node("test_rosout_capture")
+
+    with open(out_path, "w", encoding="utf-8") as out_file:
+
+        def on_log(msg: Log) -> None:
+            ts = msg.stamp.sec + msg.stamp.nanosec / 1e9
+            entry = {
+                "ts": ts,
+                "level": _LEVEL_NAMES.get(msg.level, str(msg.level)),
+                "node": msg.name,
+                "msg": msg.msg,
+            }
+            with write_lock:
+                out_file.write(json.dumps(entry, ensure_ascii=False) + "\n")
+                out_file.flush()  # don't lose the last lines on a crash
+
+        node.create_subscription(Log, "/rosout", on_log, _ROSOUT_QOS)
+
+        # rclpy.spin returns when SIGINT triggers rclpy.shutdown(); some
+        # rclpy versions surface that as KeyboardInterrupt instead.
+        try:
+            rclpy.spin(node)
+        except KeyboardInterrupt:
+            pass
+        finally:
+            node.destroy_node()
+            if rclpy.ok():
+                rclpy.shutdown()
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/src/hangar_sim/test/conftest.py b/src/hangar_sim/test/conftest.py
new file mode 100644
index 00000000..f1dcdfee
--- /dev/null
+++ b/src/hangar_sim/test/conftest.py
@@ -0,0 +1,112 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Live per-objective progress + structured /rosout capture for the
+objectives integration test.
+
+Pytest's default ``--capture=fd`` redirects fds 1 and 2, so when CTest kills
+the test on timeout (TIMEOUT 600 in CMakeLists.txt) all per-test output is
+lost and the CI log shows nothing past pytest's "collected N items" header.
+
+The runtest hooks write directly to fd 2, bypassing the capture, so the CI
+log always shows which objective was running when the timeout fired and how
+long each completed objective took.
+
+The ``capture_rosout`` fixture launches ``capture_rosout.py`` as a
+subprocess so no rclpy state lives in the pytest process. The integration
+test's ``execute_objective_resource`` fixture (in
+moveit_pro_test_utils/objective_test_fixture.py) starts the backend via
+``multiprocessing.Process(target=run_launch_files).start()`` — on Linux
+that forks pytest. Any rclpy.init() called in pytest beforehand leaves the
+forked child with a half-initialized DDS participant (FDs inherited, the
+spinner thread does not survive fork), which breaks /robot_description
+discovery and causes BehaviorContext to SIGABRT on backend boot.
+"""
+
+import os
+import signal
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import pytest
+
+_started_at: dict[str, float] = {}
+
+
+def pytest_runtest_logstart(nodeid, location):
+    _started_at[nodeid] = time.monotonic()
+    os.write(2, f"  START   {nodeid}\n".encode())
+
+
+def pytest_runtest_logreport(report):
+    if report.when != "call":
+        return
+    nodeid = report.nodeid
+    start = _started_at.get(nodeid)
+    elapsed_str = f"{time.monotonic() - start:.1f}s" if start is not None else "n/a"
+    outcome = report.outcome.upper()  # PASSED / FAILED / SKIPPED
+    line = f"  {outcome:7s} {nodeid} ({elapsed_str})"
+    if report.failed and report.longrepr:
+        reason = str(report.longrepr).splitlines()[-1][:200]
+        line += f"\n    └─ {reason}"
+    os.write(2, (line + "\n").encode())
+
+
+@pytest.fixture(scope="session", autouse=True)
+def capture_rosout():
+    """Run capture_rosout.py as a subprocess to mirror /rosout to NDJSON.
+
+    Subprocess isolation is mandatory — see the module docstring for the
+    fork/DDS interaction that requires it. The subprocess has its own
+    process image, so any rclpy / DDS state it sets up never reaches the
+    pytest process that later gets forked by execute_objective_resource.
+
+    Creates ``$ROS_LOG_DIR`` synchronously here so the directory exists
+    before backend nodes (also writing into it) start, and so the
+    subprocess's first ``mkdir(exist_ok=True)`` has nothing to race on.
+    """
+    out_dir = Path(os.environ.get("ROS_LOG_DIR", "."))
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    script = Path(__file__).parent / "capture_rosout.py"
+    proc = subprocess.Popen([sys.executable, str(script)])
+
+    try:
+        yield
+    finally:
+        # SIGINT triggers rclpy's default shutdown handler in the
+        # subprocess, which lets the script flush the NDJSON file before
+        # exiting. SIGKILL fallback in case the script wedges.
+        proc.send_signal(signal.SIGINT)
+        try:
+            proc.wait(timeout=10)
+        except subprocess.TimeoutExpired:
+            proc.kill()
+            proc.wait(timeout=5)
diff --git a/src/hangar_sim/test/mujoco_env_diagnostic_test.py b/src/hangar_sim/test/mujoco_env_diagnostic_test.py
new file mode 100644
index 00000000..16351460
--- /dev/null
+++ b/src/hangar_sim/test/mujoco_env_diagnostic_test.py
@@ -0,0 +1,208 @@
+# Copyright 2025 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""TEMPORARY diagnostic: explain why hangar_sim's MuJoCo model fails to load
+on the CI runtime image while loading fine in the dev container.
+
+Replicates MujocoSystem's load path (picknik_mujoco_ros/src/mujoco_system.cpp
+~1572): load all plugin libraries from
+``get_package_prefix("picknik_mujoco")/bin/mujoco_plugin`` then
+``mj_loadXML(<scene path>)`` — using picknik's own libmujoco via ctypes, so the
+result matches the C++ hardware interface exactly (not python mujoco's bundled
+copy). Writes everything to fd 2 so it survives pytest capture and appears in
+the CI log. Remove once the root cause is known.
+"""
+
+import ctypes
+import os
+
+from ament_index_python.packages import (
+    get_package_prefix,
+    get_package_share_directory,
+)
+
+# Accumulates the report so it can be raised as the test's failure message --
+# ament_add_pytest_test runs with fd-level capture, so a passing test's output
+# never reaches the CI log. Failing with the report as the message guarantees
+# it is shown.
+_REPORT: list[str] = []
+
+
+def _log(msg: str) -> None:
+    _REPORT.append(msg)
+    os.write(2, (msg + "\n").encode())
+
+
+def test_mujoco_environment_diagnostic() -> None:
+    """Dump MuJoCo plugin/version/mesh state and reproduce the model load.
+
+    Intentionally fails at the end so the captured report appears in CI.
+    """
+    _log("\n===== MUJOCO ENV DIAGNOSTIC (hangar_sim) =====")
+
+    prefix = get_package_prefix("picknik_mujoco")
+    plugin_dir = os.path.join(prefix, "bin", "mujoco_plugin")
+    lib_dir = os.path.join(prefix, "lib")
+    _log(f"picknik_mujoco prefix: {prefix}")
+    _log(f"MUJOCO_PLUGIN_PATH env: {os.environ.get('MUJOCO_PLUGIN_PATH')}")
+
+    _log(f"plugin_dir: {plugin_dir} (isdir={os.path.isdir(plugin_dir)})")
+    if os.path.isdir(plugin_dir):
+        for name in sorted(os.listdir(plugin_dir)):
+            p = os.path.join(plugin_dir, name)
+            _log(f"  plugin: {name}  {os.path.getsize(p)} bytes")
+    else:
+        _log("  plugin_dir MISSING -> OBJ/STL decoders cannot be loaded")
+
+    # libmujoco the hardware interface links against.
+    if os.path.isdir(lib_dir):
+        for name in sorted(os.listdir(lib_dir)):
+            if "mujoco" in name:
+                _log(f"  lib: {name}")
+
+    # Sample mesh: real file or unsmudged Git LFS pointer?
+    desc_dir = os.path.join(get_package_share_directory("hangar_sim"), "description")
+    for mesh in ("assets/base_0.obj", "assets/april_tag.obj"):
+        mp = os.path.join(desc_dir, mesh)
+        if os.path.exists(mp):
+            with open(mp, "rb") as fh:
+                head = fh.read(64)
+            is_lfs = head.startswith(b"version https://git-lfs")
+            _log(f"  mesh {mesh}: {os.path.getsize(mp)} bytes lfs_pointer={is_lfs}")
+        else:
+            _log(f"  mesh {mesh}: MISSING")
+
+    scene = os.path.join(desc_dir, "hangar_scene.xml")
+    _log(f"scene: {scene} (exists={os.path.exists(scene)})")
+
+    # Reproduce MujocoSystem's exact calls against picknik's libmujoco.
+    libmujoco_path = os.path.join(lib_dir, "libmujoco.so")
+    try:
+        mj = ctypes.CDLL(libmujoco_path)
+    except OSError as exc:
+        _log(f"could not dlopen {libmujoco_path}: {exc}")
+        _log("===== END DIAGNOSTIC =====")
+        return
+
+    mj.mj_versionString.restype = ctypes.c_char_p
+    _log(f"picknik libmujoco version: {mj.mj_versionString().decode()}")
+
+    err = ctypes.create_string_buffer(1000)
+    mj.mj_loadXML.restype = ctypes.c_void_p
+    mj.mj_loadXML.argtypes = [
+        ctypes.c_char_p,
+        ctypes.c_void_p,
+        ctypes.c_char_p,
+        ctypes.c_int,
+    ]
+
+    # First WITHOUT loading the decoder plugins (isolates the plugin effect).
+    model = mj.mj_loadXML(scene.encode(), None, err, 1000)
+    _log(
+        f"mj_loadXML WITHOUT plugins: model={'NULL' if not model else 'OK'} "
+        f"err={err.value.decode(errors='replace')!r}"
+    )
+
+    # Then the MujocoSystem path: load plugins from the dir, retry.
+    mj.mj_loadAllPluginLibraries.argtypes = [ctypes.c_char_p, ctypes.c_void_p]
+    mj.mj_loadAllPluginLibraries(plugin_dir.encode(), None)
+    err2 = ctypes.create_string_buffer(1000)
+    model2 = mj.mj_loadXML(scene.encode(), None, err2, 1000)
+    _log(
+        f"mj_loadXML WITH plugins: model={'NULL' if not model2 else 'OK'} "
+        f"err={err2.value.decode(errors='replace')!r}"
+    )
+
+    # Triangulate: does this libmujoco reject <option> generally, or only in
+    # hangar's scene? Parse a trivial inline model and lab_sim's scene with the
+    # same lib (plugins now loaded).
+    def _try_parse(label: str, path: str) -> None:
+        buf = ctypes.create_string_buffer(1000)
+        m = mj.mj_loadXML(path.encode(), None, buf, 1000)
+        _log(
+            f"mj_loadXML [{label}]: model={'NULL' if not m else 'OK'} "
+            f"err={buf.value.decode(errors='replace')!r}"
+        )
+
+    # Bisect what in the scene's <option> the CI build rejects.
+    variants = {
+        "opt-timestep": '<option timestep="0.01"/>',
+        "opt-cone": '<option cone="elliptic"/>',
+        "opt-impratio": '<option impratio="20"/>',
+        "opt-noslip": '<option noslip_iterations="5"/>',
+        "opt-flag-multiccd": "<option><flag multiccd=\"enable\"/></option>",
+        "opt-scene-exact": (
+            '<option integrator="implicitfast" timestep="0.025" '
+            'noslip_iterations="5" impratio="20" cone="elliptic">'
+            '<flag multiccd="enable"/></option>'
+        ),
+        # Does CI's XML parser mishandle a comment containing tag-like text?
+        "comment-with-option-tag": "<!-- <option> in a comment --><option timestep='0.01'/>",
+        "comment-with-joint-tag": "<!-- <joint type='free'> --><option timestep='0.01'/>",
+    }
+    for name, opt in variants.items():
+        path = f"/tmp/_diag_{name}.xml"
+        with open(path, "w") as fh:
+            fh.write(f"<mujoco>{opt}<worldbody/></mujoco>")
+        _try_parse(name, path)
+
+    # The scene's <option> parses fine alone but the full scene fails on it,
+    # so the trigger is in the includes/merge. Bisect by parsing the include
+    # files standalone and the scene with includes stripped/isolated. Variants
+    # are written INTO the description dir so relative <include>/meshdir
+    # resolve exactly as the real scene's do.
+    with open(scene, "r") as fh:
+        scene_text = fh.read()
+
+    def _scene_keep(includes: tuple) -> str:
+        out = []
+        for line in scene_text.splitlines(keepends=True):
+            if "<include" in line and not any(inc in line for inc in includes):
+                continue
+            out.append(line)
+        return "".join(out)
+
+    bisect = {
+        "scene-no-includes": _scene_keep(()),
+        "scene-only-ur5e": _scene_keep(("ur5e_ridgeback.xml",)),
+        "scene-only-hangar": _scene_keep(("hangar.xml",)),
+    }
+    for name, text in bisect.items():
+        p = os.path.join(desc_dir, f"_diag_{name}.xml")
+        with open(p, "w") as fh:
+            fh.write(text)
+        _try_parse(name, p)
+
+    # Parse the include files directly as standalone models.
+    _try_parse("ur5e_ridgeback-standalone", os.path.join(desc_dir, "ur5e_ridgeback.xml"))
+    _try_parse("hangar-standalone", os.path.join(desc_dir, "hangar.xml"))
+
+    _log("===== END DIAGNOSTIC =====")
+
+    # Surface the report in the CI log (see _REPORT comment above).
+    raise AssertionError("\n".join(_REPORT))
diff --git a/src/hangar_sim/test/objectives_integration_test.py b/src/hangar_sim/test/objectives_integration_test.py
new file mode 100644
index 00000000..1e5ab031
--- /dev/null
+++ b/src/hangar_sim/test/objectives_integration_test.py
@@ -0,0 +1,148 @@
+# Copyright 2025 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Integration tests for the hangar_sim objective library."""
+
+import pytest
+from control_msgs.action import GripperCommand
+from moveit_pro_test_utils.objective_test_fixture import (
+    ExecuteObjectiveResource,
+    MUJOCO_RESET_HOOK,
+    MUJOCO_RESET_SERVICE,
+    SIM_RESETTER,
+    execute_objective_resource as execute_objective_resource,
+    get_objective_pytest_params,
+    reset_simulation_before_test as reset_simulation_before_test,
+    run_objective,
+    wait_for_action_servers,
+    wait_for_services,
+)
+
+# hangar_sim is MuJoCo-backed (declares a mujoco_model), so it advertises
+# /mujoco_system/reset_keyframe. Register it with the fixture's reset hook here
+# -- the fixture documents this module as the per-sim fan-out point -- so the
+# autouse reset_simulation_before_test fixture resets the keyframe between
+# objectives. Registering here keeps this an example_ws-only change instead of
+# editing the fixture's built-in defaults in moveit_pro.
+SIM_RESETTER.register("hangar_sim", MUJOCO_RESET_HOOK)
+
+# Loop-style objectives cancelled mid-execution rather than waited to
+# completion. "Plan Path Along Surface - Loop" wraps the surface-following
+# sequence in KeepRunningUntilFailure, so it never terminates on its own.
+#
+# NOTE (jazzy watch-item): this objective ticks SendPointCloudToUI. If the
+# first dispatched CI run reproduces the jazzy `pcl::fromPCLPointCloud2: No
+# data to copy` crash, move this entry to skip_objectives and cite the
+# PR #19531 subscriber-gated render-skip follow-up.
+cancel_objectives = {
+    "Plan Path Along Surface - Loop",
+}
+
+# Objectives skipped entirely, each with the reason it cannot run headless in
+# CI. The non-runnable objectives (runnable="false" in their MetadataFields)
+# are filtered out by the fixture and need not be listed here.
+skip_objectives = {
+    # ML segmentation / grasp pipelines: ONNX inference runs on CPU in CI
+    # (the GPU runner backs MuJoCo's EGL render only), so these time out --
+    # same class lab_sim skips for the same reason.
+    "ML Move Boxes to Loading Zone",
+    "Move Boxes Looping",  # KeepRunningUntilFailure loop over the ML pick pipeline above.
+    "Segment Image from Point",
+    "Segment Image from Text Prompt",
+    "Segment Point Cloud from Clicked Point",
+    # User input required: no primary UI is attached in headless CI, so these
+    # block on a pose-from-user prompt or an MTC-solution/path approval that
+    # never arrives.
+    "Navigate to Clicked Point",  # GetPoseFromUser + WaitForUserPathApproval.
+    "Navigate to Clicked Point with Replanning",  # GetPoseFromUser.
+    "Find and Spray Plane",  # Ungated WaitForMTCSolutionApproval.
+    "Solution - Find and Spray Plane",  # Ungated WaitForMTCSolutionApproval.
+    "Solution - Spray Plane",  # Ungated WaitForMTCSolutionApproval.
+    # IsUserAvailable returns FAILURE headless, so its top-level Sequence
+    # fails before reaching WaitForMTCSolutionApproval.
+    "Solution - Draw Square",
+    # Core-library objectives (moveit_pro_objectives) aggregated into every
+    # config. Both need a primary UI and are skipped by lab_sim for the same
+    # reasons.
+    "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
+    "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
+}
+
+# Action servers the hangar_sim tree types need before any objective runs.
+# hangar_sim drives a vacuum gripper through ros2_control's
+# GripperActionController (config/control/picknik_ur.ros2_control.yaml), which
+# advertises this GripperCommand action once control comes up.
+required_action_servers: list[tuple[type, str]] = [
+    (GripperCommand, "/vacuum_gripper/gripper_cmd"),
+]
+
+
+@pytest.fixture(scope="module", autouse=True)
+def wait_for_mujoco_reset_service(
+    execute_objective_resource: ExecuteObjectiveResource,
+) -> None:
+    """Block until the MuJoCo reset service is advertised, once per module.
+
+    hangar_sim's startup is heavy (ridgeback base + nav2 + the full controller
+    set + a large scene), so ``/mujoco_system/reset_keyframe`` comes up well
+    after the agent heartbeat that gates ``execute_objective_resource``. The
+    autouse ``reset_simulation_before_test`` hook only allows a 5 s budget per
+    test, which the first reset blows in CI. This module-scoped fixture runs
+    before any per-test reset and warms the service up with a generous timeout,
+    so each per-test reset then finds it immediately.
+    """
+    wait_for_services(
+        execute_objective_resource.node, [MUJOCO_RESET_SERVICE], timeout_sec=120.0
+    )
+
+
+@pytest.mark.parametrize(
+    "objective_id, should_cancel",
+    get_objective_pytest_params("hangar_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+    objective_id: str,
+    should_cancel: bool,
+    execute_objective_resource: ExecuteObjectiveResource,
+):
+    """Run (or cancel) each hangar_sim objective and assert it completes without error."""
+    wait_for_action_servers(
+        execute_objective_resource.node,
+        [name for _, name in required_action_servers],
+    )
+    try:
+        run_objective(objective_id, should_cancel, execute_objective_resource)
+    except AssertionError as e:
+        mode = "cancel" if should_cancel else "execute"
+        pytest.fail(f"Objective '{objective_id}' failed to {mode}: {e}")
+    except Exception as e:
+        mode = "cancel" if should_cancel else "execute"
+        pytest.fail(
+            f"Objective '{objective_id}' hit an unexpected error during {mode}: "
+            f"{type(e).__name__}: {e}"
+        )