diff --git a/src/lab_sim/objectives/close_gripper.xml b/src/lab_sim/objectives/close_gripper.xml
index 6960f3d7..e95c3b27 100644
--- a/src/lab_sim/objectives/close_gripper.xml
+++ b/src/lab_sim/objectives/close_gripper.xml
@@ -10,7 +10,7 @@
         ID="MoveGripperAction"
         gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
         position="0.7929"
-        timeout="15.000000"
+        timeout="30.000000"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/open_gripper.xml b/src/lab_sim/objectives/open_gripper.xml
index 7fda1631..7015db77 100644
--- a/src/lab_sim/objectives/open_gripper.xml
+++ b/src/lab_sim/objectives/open_gripper.xml
@@ -11,7 +11,7 @@
         ID="MoveGripperAction"
         gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
         position="0.05"
-        timeout="15.000000"
+        timeout="30.000000"
       />
     </Decorator>
   </BehaviorTree>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
index 29a05937..669c0f3c 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
@@ -12,7 +12,7 @@
     <Control ID="Sequence">
       <Action
         ID="GetImage"
-        message_timeout_sec="5.000000"
+        message_timeout_sec="15.000000"
         topic_name="{image_topic_name}"
         message_out="{image}"
       />