diff --git a/rbs_skill_servers/launch/skills.launch.py b/rbs_skill_servers/launch/skills.launch.py
index f152cb9..02ad676 100644
--- a/rbs_skill_servers/launch/skills.launch.py
+++ b/rbs_skill_servers/launch/skills.launch.py
@@ -105,6 +105,19 @@ def launch_setup(context, *args, **kwargs):
                 ],
                 condition=IfCondition(use_moveit),
             ),
+            ComposableNode(
+                package="rbs_skill_servers",
+                plugin="rbs_skill_actions::MoveitMtpOrientationConstraint",
+                name="mtp_moveit_orientation_constraint",
+                parameters=[
+                    robot_description,
+                    robot_description_semantic,
+                    {"use_sim_time": use_sim_time},
+                    {"base_link": base_link_name},
+                    {"ee_link": ee_link_name},
+                ],
+                condition=IfCondition(use_moveit),
+            ),
         ],
     )