diff --git a/src/april_tag_sim/test/objectives_integration_test.py b/src/april_tag_sim/test/objectives_integration_test.py
index 7f97261f1..b094832ac 100644
--- a/src/april_tag_sim/test/objectives_integration_test.py
+++ b/src/april_tag_sim/test/objectives_integration_test.py
@@ -61,12 +61,13 @@
     # primary UI and cannot run in headless CI.
     "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
 }
 
 
diff --git a/src/dual_arm_sim/test/objectives_integration_test.py b/src/dual_arm_sim/test/objectives_integration_test.py
index 07050314d..7aa02ec24 100644
--- a/src/dual_arm_sim/test/objectives_integration_test.py
+++ b/src/dual_arm_sim/test/objectives_integration_test.py
@@ -56,12 +56,13 @@
 skip_objectives: set[str] = {
     "Teleoperate",  # Waits on UI teleoperation input.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
     "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.
diff --git a/src/factory_sim/test/objectives_integration_test.py b/src/factory_sim/test/objectives_integration_test.py
index e376c703a..f5f5496de 100644
--- a/src/factory_sim/test/objectives_integration_test.py
+++ b/src/factory_sim/test/objectives_integration_test.py
@@ -70,12 +70,13 @@
     # primary UI and cannot run in headless CI.
     "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
     # 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
diff --git a/src/grinding_sim/test/objectives_integration_test.py b/src/grinding_sim/test/objectives_integration_test.py
index 6b343e382..dbf672e11 100644
--- a/src/grinding_sim/test/objectives_integration_test.py
+++ b/src/grinding_sim/test/objectives_integration_test.py
@@ -57,12 +57,13 @@
     # primary UI and cannot run in headless CI.
     "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
     "Register Machined Part",  # Registration flow exceeds the fixture timeout headless.
 }
 
diff --git a/src/hangar_sim/test/objectives_integration_test.py b/src/hangar_sim/test/objectives_integration_test.py
index 9a4bb7d7e..893bb8955 100644
--- a/src/hangar_sim/test/objectives_integration_test.py
+++ b/src/hangar_sim/test/objectives_integration_test.py
@@ -113,12 +113,13 @@
     # reasons.
     "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
     # Intermittent Jazzy CI-runner flakes. Skipped so the suite is deterministic.
     #
     # "Solution - Draw Picknik" is the suite's longest objective and sits on
diff --git a/src/kitchen_sim/test/objectives_integration_test.py b/src/kitchen_sim/test/objectives_integration_test.py
index 79885b0c0..e353f2b65 100644
--- a/src/kitchen_sim/test/objectives_integration_test.py
+++ b/src/kitchen_sim/test/objectives_integration_test.py
@@ -63,12 +63,13 @@
     # primary UI and cannot run in headless CI.
     "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
     "Writing Demo",  # Long-running drawing objective times out on the CI backend.
 }
 
diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py
index c1e06a508..d14db04d2 100644
--- a/src/lab_sim/test/objectives_integration_test.py
+++ b/src/lab_sim/test/objectives_integration_test.py
@@ -275,12 +275,13 @@ def _controller_safe_mujoco_reset(
 # Objectives to skip entirely from integration testing
 skip_objectives = {
     "AddBottlesToPlanningScene",
-    # Hand-eye calibration Objectives from moveit_pro_objectives: they move through
-    # taught `calibration_*` waypoints and detect a ChArUco board, which only
+    # Hand-eye calibration Objectives from moveit_pro_objectives: they generate or
+    # move through `calibration_*` waypoints and detect a ChArUco board, which only
     # hand_eye_calibration_sim provides.
     "Calibrate Eye In Hand Camera",
     "Calibrate Eye To Hand Camera",
     "Calibrate Multiple Cameras",
+    "Generate Calibration Waypoints",
     "Collect Training Data with Behaviors",  # Requires setup for data collection (recording infrastructure not available in CI)
     "Grasp Planning",
     "Joint Diagnostic",