diff --git a/src/arm_on_rail_sim/CMakeLists.txt b/src/arm_on_rail_sim/CMakeLists.txt
deleted file mode 100644
index aa924c51..00000000
--- a/src/arm_on_rail_sim/CMakeLists.txt
+++ /dev/null
@@ -1,48 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(arm_on_rail_sim)
-
-find_package(ament_cmake REQUIRED)
-find_package(picknik_accessories REQUIRED)
-
-
-# Install all XML files in directory
-set(PICKNIK_ACCESSORIES_SHARE_DIR
-"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
-)
-# Destination directory
-set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
-
-install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
-        DESTINATION "${DEST_DIR}"
-        FILES_MATCHING PATTERN "*")
-
-# Install individual XML files
-# 
-# set(EXTERNAL_XML_FILES
-#   "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e_globals.xml"
-#   "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e.xml"
-#   # Add additional files here if desired
-# )
-# foreach(xml_file IN LISTS EXTERNAL_XML_FILES)
-#   install(FILES "${xml_file}"
-#           DESTINATION "${DEST_DIR}"
-#   )
-# endforeach()
-
-install(
-  DIRECTORY
-    config
-    description
-    launch
-    objectives
-    waypoints
-  DESTINATION
-    share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/arm_on_rail_sim/LICENSE b/src/arm_on_rail_sim/LICENSE
deleted file mode 100644
index 574ef079..00000000
--- a/src/arm_on_rail_sim/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-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 copyright holder 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.
diff --git a/src/arm_on_rail_sim/README.md b/src/arm_on_rail_sim/README.md
deleted file mode 100644
index 8de6e87c..00000000
--- a/src/arm_on_rail_sim/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# arm_on_rail_sim
-
-A MoveIt Pro MuJoCo simulation for PickNik's Universal Robots (UR) arms.
-
-For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/arm_on_rail_sim/config/config.yaml b/src/arm_on_rail_sim/config/config.yaml
deleted file mode 100644
index 292dfd10..00000000
--- a/src/arm_on_rail_sim/config/config.yaml
+++ /dev/null
@@ -1,84 +0,0 @@
-#
-#  This contains information for a unique instance of a robot.
-#
-
-# Name of the package to specialize
-based_on_package: "picknik_ur_base_config"
-hardware:
-  # Parameters used to configure the robot description through XACRO.
-  # A URDF and SRDF are both required.
-  # [Required]
-  robot_description:
-    urdf:
-      package: "arm_on_rail_sim"
-      path: "description/picknik_ur.xacro"
-    srdf:
-      package: "arm_on_rail_sim"
-      path: "config/moveit/picknik_ur.srdf"
-    urdf_params:
-      - mujoco_model: "description/scene.xml"
-
-moveit_params:
-  servo:
-    package: "arm_on_rail_sim"
-    path: "config/moveit/ur_servo.yaml"
-  joint_limits:
-    package: "arm_on_rail_sim"
-    path: "config/moveit/joint_limits.yaml"
-  servo_joint_limits:
-    package: "arm_on_rail_sim"
-    path: "config/moveit/hard_joint_limits.yaml"
-
-# Configuration for loading behaviors and objectives.
-# [Required]
-objectives:
-  # List of plugins for loading custom behaviors.
-  # [Required]
-  behavior_loader_plugins:
-    # This plugin will load the core MoveIt Pro Behaviors.
-    # Add additional plugin loaders as needed.
-    core:
-      - "moveit_studio::behaviors::CoreBehaviorsLoader"
-      - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
-      - "moveit_studio::behaviors::ServoBehaviorsLoader"
-      - "moveit_studio::behaviors::VisionBehaviorsLoader"
-      - "picknik_registration::PicknikRegistrationBehaviorsLoader"
-  # Specify source folder for objectives
-  # [Required]
-  objective_library_paths:
-    sim_objectives:
-      package_name: "arm_on_rail_sim"
-      relative_path: "objectives"
-  # Specify the location of the saved waypoints file.
-  # [Required]
-  waypoints_file:
-    package_name: "arm_on_rail_sim"
-    relative_path: "waypoints/ur_waypoints.yaml"
-
-
-# Configuration for launching ros2_control processes.
-# [Required, if using ros2_control]
-ros2_control:
-  config:
-    package: "arm_on_rail_sim"
-    path: "config/control/picknik_ur.ros2_control.yaml"
-  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
-  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
-  # for running the application.
-  # [Optional, default=[]]
-  controllers_active_at_startup:
-    - "force_torque_sensor_broadcaster"
-    - "robotiq_gripper_controller"
-    - "joint_state_broadcaster"
-    - "servo_controller"
-  # Load but do not start these controllers so they can be activated later if needed.
-  controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-    - "joint_trajectory_admittance_controller"
-    - "velocity_force_controller"
-  # Any controllers here will not be spawned by MoveIt Pro.
-  # [Optional, default=[]]
-  controllers_not_managed: []
-  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
-  # [Optional, default=[]]
-  controller_shared_topics: []
diff --git a/src/arm_on_rail_sim/config/control/picknik_ur.ros2_control.yaml b/src/arm_on_rail_sim/config/control/picknik_ur.ros2_control.yaml
deleted file mode 100644
index 10a994ff..00000000
--- a/src/arm_on_rail_sim/config/control/picknik_ur.ros2_control.yaml
+++ /dev/null
@@ -1,229 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 600  # Hz
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-    servo_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    force_torque_sensor_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-    joint_trajectory_admittance_controller:
-      type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
-    velocity_force_controller:
-      type: velocity_force_controller/VelocityForceController
-
-
-joint_state_broadcaster:
-  ros__parameters:
-    use_local_topics: false
-    joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-      - robotiq_85_left_knuckle_joint
-    interfaces:
-      - position
-      - velocity
-      - effort
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      linear_rail_joint:
-        goal: 0.05
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-    acceleration_limits:
-      linear_rail_joint: 10.0
-      shoulder_pan_joint: 10.0
-      shoulder_lift_joint: 10.0
-      elbow_joint: 10.0
-      wrist_1_joint: 10.0
-      wrist_2_joint: 10.0
-      wrist_3_joint: 10.0
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
-servo_controller:
-  ros__parameters:
-    joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      linear_rail_joint:
-        goal: 0.05
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-    acceleration_limits:
-      linear_rail_joint: 10.0
-      shoulder_pan_joint: 10.0
-      shoulder_lift_joint: 10.0
-      elbow_joint: 10.0
-      wrist_1_joint: 10.0
-      wrist_2_joint: 10.0
-      wrist_3_joint: 10.0
-
-force_torque_sensor_broadcaster:
-  ros__parameters:
-    sensor_name: robotiq_ft_sensor
-    state_interface_names:
-      - force.x
-      - force.y
-      - force.z
-      - torque.x
-      - torque.y
-      - torque.z
-    frame_id: robotiq_ft_sensor
-
-
-joint_trajectory_admittance_controller:
-  ros__parameters:
-    joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    base_frame: base_link
-    sensor_frame: tool0
-    ee_frame: grasp_link
-    ft_sensor_name: robotiq_ft_sensor
-    # Joint accelerations chosen to match MoveIt configs.
-    stop_accelerations:
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-
-velocity_force_controller:
-  ros__parameters:
-    joints:
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    base_frame: base_link
-    sensor_frame: tool0
-    ee_frame: grasp_link
-    ft_sensor_name: robotiq_ft_sensor
-    ft_force_deadband: 2.0
-    ft_torque_deadband: 1.0
-    max_joint_velocity:
-      - 0.524
-      - 0.524
-      - 0.524
-      - 0.524
-      - 1.047
-      - 1.047
-      - 1.047
-    max_joint_acceleration:
-      - 0.524
-      - 0.524
-      - 0.524
-      - 0.524
-      - 0.524
-      - 0.524
-      - 0.524
-    max_cartesian_velocity:
-      - 0.25
-      - 0.25
-      - 0.25
-      - 1.5707
-      - 1.5707
-      - 1.5707
-    max_cartesian_acceleration:
-      - 2.0
-      - 2.0
-      - 2.0
-      - 4.0
-      - 4.0
-      - 4.0
diff --git a/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml b/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml
deleted file mode 100644
index 53b218df..00000000
--- a/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml
+++ /dev/null
@@ -1,97 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-#
-# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
-joint_limits:
-  linear_rail_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: 10.0
-    max_effort: 150.0
-    max_position: 2.9
-    max_velocity: 0.175
-    min_position: -2.1
-  shoulder_pan_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_lift_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 150.0
-    max_position: !degrees  90.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -270.0
-  elbow_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 150.0
-    # we artificially limit this joint to half its actual joint position limit
-    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
-    # construction of the robot, it's impossible to rotate the 'elbow_joint'
-    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_2_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_3_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -360.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/arm_on_rail_sim/config/moveit/joint_limits.yaml b/src/arm_on_rail_sim/config/moveit/joint_limits.yaml
deleted file mode 100644
index d6cdcf6f..00000000
--- a/src/arm_on_rail_sim/config/moveit/joint_limits.yaml
+++ /dev/null
@@ -1,97 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-#
-# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
-joint_limits:
-  linear_rail_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: 10.0
-    max_effort: 1500.0
-    max_position: 2.9
-    max_velocity: 1.0
-    min_position: -2.1
-  shoulder_pan_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_lift_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    max_position: !degrees  90.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -270.0
-  elbow_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    # we artificially limit this joint to half its actual joint position limit
-    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
-    # construction of the robot, it's impossible to rotate the 'elbow_joint'
-    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_2_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_3_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -360.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/arm_on_rail_sim/config/moveit/ompl_planning.yaml b/src/arm_on_rail_sim/config/moveit/ompl_planning.yaml
deleted file mode 100644
index 186158d5..00000000
--- a/src/arm_on_rail_sim/config/moveit/ompl_planning.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-planning_plugins:
-  - ompl_interface/OMPLPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/AddTimeOptimalParameterization
-  - default_planning_response_adapters/ValidateSolution
-
-planner_configs:
-  APSConfigDefault:
-    type: geometric::AnytimePathShortening
-    shortcut: 1  # Attempt to shortcut all new solution paths
-    hybridize: 1  # Compute hybrid solution trajectories
-    max_hybrid_paths: 32  # Number of hybrid paths generated per iteration
-    num_planners: 16  # The number of default planners to use for planning
-    planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
-  RRTConnectkConfigDefault:
-    type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-manipulator:
-  default_planner_config: RRTConnectkConfigDefault
-  planner_configs:
-    - APSConfigDefault
-    - RRTConnectkConfigDefault
-  enforce_constrained_state_space: true
-  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
-  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.01
diff --git a/src/arm_on_rail_sim/config/moveit/picknik_ur.srdf b/src/arm_on_rail_sim/config/moveit/picknik_ur.srdf
deleted file mode 100644
index c24efd02..00000000
--- a/src/arm_on_rail_sim/config/moveit/picknik_ur.srdf
+++ /dev/null
@@ -1,198 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="ur5e">
-    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="linear_actuator">
-        <joint name="linear_rail_joint" />
-    </group>
-    <group name="manipulator">
-        <chain base_link="base_link" tip_link="grasp_link"/>
-        <group name="linear_actuator" />
-    </group>
-    <group name="gripper">
-        <link name="robotiq_85_base_link"/>
-        <link name="robotiq_85_left_inner_knuckle_link"/>
-        <link name="robotiq_85_left_finger_tip_link"/>
-        <link name="robotiq_85_left_knuckle_link"/>
-        <link name="robotiq_85_left_finger_link"/>
-        <link name="robotiq_85_right_inner_knuckle_link"/>
-        <link name="robotiq_85_right_finger_tip_link"/>
-        <link name="robotiq_85_right_knuckle_link"/>
-        <link name="robotiq_85_right_finger_link"/>
-        <link name="grasp_link"/>
-        <joint name="robotiq_85_left_knuckle_joint"/>
-    </group>
-    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="open" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0.05"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="0.05"/>
-    </group_state>
-    <group_state name="close" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0.79"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="-0.79"/>
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="tool0" group="gripper"/>
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
-    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
-    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
-    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
-    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="linear_rail" link2="base" reason="Adjacent" />
-    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="forearm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_pinch_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="upper_arm_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="realsense_camera_adapter_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_base_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_mounted_camera_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_link" link2="wrist_mounted_camera_link" reason="Never"/>
-</robot>
diff --git a/src/arm_on_rail_sim/config/moveit/pilz_cartesian_limits.yaml b/src/arm_on_rail_sim/config/moveit/pilz_cartesian_limits.yaml
deleted file mode 100644
index 1633938e..00000000
--- a/src/arm_on_rail_sim/config/moveit/pilz_cartesian_limits.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-# Cartesian limits for the Pilz planner
-cartesian_limits:
-  max_trans_vel: 0.1
-  max_trans_acc: 0.1
-  max_trans_dec: -0.1
-  max_rot_vel: 0.1
diff --git a/src/arm_on_rail_sim/config/moveit/pilz_industrial_motion_planner_planning.yaml b/src/arm_on_rail_sim/config/moveit/pilz_industrial_motion_planner_planning.yaml
deleted file mode 100644
index dd179d2d..00000000
--- a/src/arm_on_rail_sim/config/moveit/pilz_industrial_motion_planner_planning.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-planning_plugins:
-  - pilz_industrial_motion_planner/CommandPlanner
-default_planner_config: LIN
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/ValidateSolution
-capabilities: >-
-    pilz_industrial_motion_planner/MoveGroupSequenceAction
-    pilz_industrial_motion_planner/MoveGroupSequenceService
diff --git a/src/arm_on_rail_sim/config/moveit/sensors_3d.yaml b/src/arm_on_rail_sim/config/moveit/sensors_3d.yaml
deleted file mode 100644
index 12ac1297..00000000
--- a/src/arm_on_rail_sim/config/moveit/sensors_3d.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-sensors:
-  - scene_scan_camera
-scene_scan_camera:
-  # The name of the Octomap updater plugin that we are using.
-  sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater"
-  # Specifies the topic to listen on for a point cloud.
-  # Set to an empty topic to disable.
-  point_cloud_service_name: "/point_cloud_service"
-  # Points further than this will not be used (in meters).
-  max_range: 1.5
-  # Choose one of every 'point_subsample' points (select all if set to 1).
-  point_subsample: 1
-  # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
-  padding_scale: 1.0
-  # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
-  padding_offset: 0.01
-  # The octomap representation will be updated at rate less than or equal to this value.
-  max_update_rate: 0.1
-
-# Specifies the resolution at which the octomap is maintained (in meters).
-octomap_resolution: 0.01
-# Specifies the coordinate frame in which the Octomap representation will be stored.
-# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor,
-# this frame parameter will not be used. Instead, the frame defaults to the planning frame.
-octomap_frame: "base_link"
diff --git a/src/arm_on_rail_sim/config/moveit/stomp_planning.yaml b/src/arm_on_rail_sim/config/moveit/stomp_planning.yaml
deleted file mode 100644
index 7447a8ff..00000000
--- a/src/arm_on_rail_sim/config/moveit/stomp_planning.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-planning_plugins:
-  - stomp_moveit/StompPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/AddTimeOptimalParameterization
-  - default_planning_response_adapters/ValidateSolution
-
-stomp_moveit:
-  num_timesteps: 60
-  num_iterations: 40
-  num_iterations_after_valid: 0
-  num_rollouts: 30
-  max_rollouts: 30
-  exponentiated_cost_sensitivity: 0.8
-  control_cost_weight: 0.1
-  delta_t: 0.1
diff --git a/src/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml b/src/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml b/src/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/arm_on_rail_sim/config/moveit/ur_servo.yaml b/src/arm_on_rail_sim/config/moveit/ur_servo.yaml
deleted file mode 100644
index ecc69118..00000000
--- a/src/arm_on_rail_sim/config/moveit/ur_servo.yaml
+++ /dev/null
@@ -1,64 +0,0 @@
-###############################################
-# Modify all parameters related to servoing here
-###############################################
-
-# Enable dynamic parameter updates
-enable_parameter_update: true
-
-## Properties of incoming commands
-command_in_type: "speed_units"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale:
-  # Scale parameters are only used if command_in_type=="unitless"
-  linear: 2.0  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
-  rotational: 3.0 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
-  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
-  joint: 2.0
-
-# Default to driving the arm at 50% maximum speed.
-override_velocity_scaling_factor: 0.5
-
-## Properties of outgoing commands
-publish_period: 0.01  # 1/Nominal publish rate [seconds]
-max_expected_latency: 0.1 # delay between sending a command and the robot executing it [seconds]
-
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
-command_out_type: trajectory_msgs/JointTrajectory
-
-# What to publish? Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
-
-## Plugins for smoothing outgoing commands
-use_smoothing: true
-smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_period parameter
-
-## MoveIt properties
-move_group_name: manipulator  # Often 'manipulator' or 'arm'
-acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
-is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
-monitored_planning_scene_topic: /monitored_planning_scene
-
-## Stopping behaviour
-incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
-
-## Configure handling of singularities and joint limits
-lower_singularity_threshold: 30.0  # Start decelerating when the condition number hits this (close to singularity)
-hard_stop_singularity_threshold: 50.0 # Stop when the condition number hits this
-joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-
-## Topic names
-cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
-joint_topic: /joint_states
-status_topic: ~/status # Publish status to this topic
-command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
-
-## Collision checking for the entire robot body
-check_collisions: true  # Check collisions?
-check_octomap_collisions: false  # Check collisions with octomap?
-collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
-scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
diff --git a/src/arm_on_rail_sim/description/LICENSE b/src/arm_on_rail_sim/description/LICENSE
deleted file mode 100644
index f24e07cb..00000000
--- a/src/arm_on_rail_sim/description/LICENSE
+++ /dev/null
@@ -1,26 +0,0 @@
-Copyright 2018 ROS Industrial Consortium
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-list of conditions and the following disclaimer.
-
-2. 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.
-
-3. Neither the name of the copyright holder 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.
diff --git a/src/arm_on_rail_sim/description/lab_scene.xml b/src/arm_on_rail_sim/description/lab_scene.xml
deleted file mode 100644
index 9e7726e7..00000000
--- a/src/arm_on_rail_sim/description/lab_scene.xml
+++ /dev/null
@@ -1,81 +0,0 @@
-<!-- UR5e inspired from https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e -->
-<mujoco model="ur5e scene">
-  <include file="ur5e/ur5e_linear_rail_globals.xml" />
-  <include file="lab_desk/desk_globals.xml" />
-  <include file="robotiq_2f85/robotiq2f85_globals.xml" />
-
-  <compiler angle="radian" autolimits="true" />
-
-  <option integrator="implicitfast" />
-
-  <asset>
-    <mesh name="cube" file="assets/Cube.stl" />
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-
-    <light
-      name="spotlight"
-      mode="targetbodycom"
-      target="wrist_2_link"
-      pos="0 -1 2"
-    />
-    <geom
-      name="floor"
-      pos="0 0 -0.512"
-      size="0 0 0.05"
-      type="plane"
-      material="groundplane"
-    />
-    <!-- Scene Camera -->
-    <site
-      name="scene_camera_optical_frame"
-      pos="-1.0 -2.0 2.966"
-      euler="3.99 0.000 0"
-    />
-    <camera
-      name="scene_camera"
-      pos="-1.0 -2.0 2.966"
-      fovy="58"
-      mode="fixed"
-      resolution="640 480"
-      euler="0.849 0.000 0.0"
-    />
-    <!-- lab desk -->
-    <include file="lab_desk/desk.xml" />
-    <!-- Define the block with AprilTags on each face -->
-    <body name="block1" pos="0.2 0.75 0.575">
-      <freejoint name="block1" />
-      <geom
-        type="box"
-        size="0.025 0.025 0.025"
-        rgba="1 1 1 1"
-        material="apriltag_material1"
-      />
-    </body>
-    <body name="block2" pos="0.0 0.75 0.575">
-      <freejoint name="block2" />
-      <geom class="visual" mesh="cube" pos="0 0 -0.03" />
-      <geom class="collision" type="box" size="0.025 0.025 0.025" pos="0 0 0" />
-    </body>
-    <body name="block3" pos="-0.2 0.75 0.575">
-      <freejoint name="block3" />
-      <geom
-        type="box"
-        size="0.025 0.025 0.025"
-        rgba="1 1 1 1"
-        material="apriltag_material2"
-      />
-    </body>
-    <include file="ur5e/ur5e_linear_rail.xml" />
-  </worldbody>
-
-  <keyframe>
-    <key
-      qpos="-0.886764 0.727551 0.472375 -0.834559 -6.95805e-05 -6.1375e-05 -0.550919 -0.499647 0.689928 0.470942 -0.749838 3.91843e-05 -5.08119e-05 -0.661622 -0.3609 0.609537 0.470941 -0.757741 2.96011e-05 4.00136e-05 -0.652556 -0.303591 0.696467 0.470989 -0.7788 -5.32927e-05 2.99347e-06 -0.627272 -0.000373058 0.88828 0.473534 -0.838137 -1.0566e-05 -3.07868e-06 0.54546 -0.0963647 0.840186 0.473528 0.281469 -1.36042e-05 6.60035e-06 -0.95957 0.0484372 0.842182 0.473688 -0.758342 6.07647e-06 2.73022e-05 -0.651856 0.2 0.75 0.499376 1 0 0 0 1.70629e-05 0.749992 0.499377 1 0.00016562 0.000360588 1.95345e-10 -0.2 0.75 0.499376 1 0 0 0 0 0 -1.88491 1.10028 -1.25653 -1.57075 -1.08677e-12 0.0208231 0.000536851 0.0221006 -0.022866 0.020837 0.000547055 0.0221413 -0.0229382"
-      qvel="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-      ctrl="0 -1.8849 1.0997 -1.2566 -1.57075 0 0 0"
-    />
-  </keyframe>
-</mujoco>
diff --git a/src/arm_on_rail_sim/description/picknik_ur.xacro b/src/arm_on_rail_sim/description/picknik_ur.xacro
deleted file mode 100644
index 9e9c5512..00000000
--- a/src/arm_on_rail_sim/description/picknik_ur.xacro
+++ /dev/null
@@ -1,1246 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="ur5e" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:arg name="mujoco_model" default="description/scene.xml" />
-  <material name="aluminum">
-    <color rgba="0.5 0.5 0.5 1" />
-  </material>
-  <material name="plastic">
-    <color rgba="0.1 0.1 0.1 1" />
-  </material>
-  <link name="world" />
-  <joint name="tool_changer_joint" type="fixed">
-    <!-- The parent link must be read from the robot model it is attached to. -->
-    <parent link="tool0" />
-    <child link="tool_changer_link" />
-    <origin rpy="0 0 0" xyz="0 0 0" />
-  </joint>
-  <link name="tool_changer_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://picknik_accessories/descriptions/brackets/mtc_ur_tool_changer/mtc_ur3510_ur_toolchanger.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://picknik_accessories/descriptions/brackets/mtc_ur_tool_changer/mtc_ur3510_ur_toolchanger_collision.stl"
-        />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="tool_side_joint" type="fixed">
-    <parent link="tool_changer_link" />
-    <child link="tool_changer_tool0" />
-    <origin rpy="0 0 0" xyz="0 0 0.0331" />
-  </joint>
-  <link name="tool_changer_tool0" />
-  <joint name="realsense_camera_adapter_joint" type="fixed">
-    <!-- The parent link must be read from the robot model it is attached to. -->
-    <parent link="tool_changer_tool0" />
-    <child link="realsense_camera_adapter_link" />
-    <origin rpy="0 0 0" xyz="0 0 0" />
-  </joint>
-  <link name="realsense_camera_adapter_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://picknik_accessories/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur5_realsense_camera_adapter_rev2.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://picknik_accessories/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur5_realsense_camera_adapter_rev2_collision.stl"
-        />
-      </geometry>
-    </collision>
-  </link>
-  <link name="realsense_camera_adapter_tool0" />
-  <joint name="realsense_camera_adapter_tool0_joint" type="fixed">
-    <parent link="realsense_camera_adapter_link" />
-    <child link="realsense_camera_adapter_tool0" />
-    <origin rpy="0 0 0" xyz="0 0 0.007" />
-  </joint>
-  <link name="d415_mount_link" />
-  <joint name="d415_mount_joint" type="fixed">
-    <parent link="realsense_camera_adapter_link" />
-    <child link="d415_mount_link" />
-    <origin
-      rpy="0 -1.4660765716752369 1.5707963267948966"
-      xyz="0 -0.067 0.0171"
-    />
-  </joint>
-  <link name="l515_mount_link" />
-  <joint name="l515_mount_joint" type="fixed">
-    <parent link="realsense_camera_adapter_link" />
-    <child link="l515_mount_link" />
-    <origin
-      rpy="0 -1.4660765716752369 1.5707963267948966"
-      xyz="0 -0.0406 0.0173"
-    />
-  </joint>
-  <!-- camera body, with origin at bottom screw mount -->
-  <joint name="wrist_mounted_camera_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0" />
-    <parent link="d415_mount_link" />
-    <child link="wrist_mounted_camera_bottom_screw_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_bottom_screw_frame" />
-  <joint name="wrist_mounted_camera_link_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0.02 0.0115" />
-    <parent link="wrist_mounted_camera_bottom_screw_frame" />
-    <child link="wrist_mounted_camera_link" />
-  </joint>
-  <link name="wrist_mounted_camera_link">
-    <visual>
-      <origin
-        rpy="1.5707963267948966 0 1.5707963267948966"
-        xyz="0.00987 -0.02 0"
-      />
-      <geometry>
-        <mesh filename="package://realsense2_description/meshes/d415.stl" />
-      </geometry>
-      <material name="rs_aluminum">
-        <color rgba="0.5 0.5 0.5 1.0" />
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 -0.02 0" />
-      <geometry>
-        <box size="0.02005 0.099 0.023" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.072" />
-      <!-- The following are not reliable values, and should not be used for modeling -->
-      <origin xyz="0 0 0" />
-      <inertia
-        ixx="0.003881243"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.000498940"
-        iyz="0.0"
-        izz="0.003879257"
-      />
-    </inertial>
-  </link>
-  <!-- camera depth joints and links -->
-  <joint name="wrist_mounted_camera_depth_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0" />
-    <parent link="wrist_mounted_camera_link" />
-    <child link="wrist_mounted_camera_depth_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_depth_frame" />
-  <joint name="wrist_mounted_camera_depth_optical_joint" type="fixed">
-    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0" />
-    <parent link="wrist_mounted_camera_depth_frame" />
-    <child link="wrist_mounted_camera_depth_optical_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_depth_optical_frame" />
-  <!-- camera left IR joints and links -->
-  <joint name="wrist_mounted_camera_infra1_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0.0 0" />
-    <parent link="wrist_mounted_camera_link" />
-    <child link="wrist_mounted_camera_infra1_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_infra1_frame" />
-  <joint name="wrist_mounted_camera_infra1_optical_joint" type="fixed">
-    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0" />
-    <parent link="wrist_mounted_camera_infra1_frame" />
-    <child link="wrist_mounted_camera_infra1_optical_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_infra1_optical_frame" />
-  <!-- camera right IR joints and links -->
-  <joint name="wrist_mounted_camera_infra2_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 -0.055 0" />
-    <parent link="wrist_mounted_camera_link" />
-    <child link="wrist_mounted_camera_infra2_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_infra2_frame" />
-  <joint name="wrist_mounted_camera_infra2_optical_joint" type="fixed">
-    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0" />
-    <parent link="wrist_mounted_camera_infra2_frame" />
-    <child link="wrist_mounted_camera_infra2_optical_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_infra2_optical_frame" />
-  <!-- camera color joints and links -->
-  <joint name="wrist_mounted_camera_color_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0.015 0" />
-    <parent link="wrist_mounted_camera_link" />
-    <child link="wrist_mounted_camera_color_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_color_frame" />
-  <joint name="wrist_mounted_camera_color_optical_joint" type="fixed">
-    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0" />
-    <parent link="wrist_mounted_camera_color_frame" />
-    <child link="wrist_mounted_camera_color_optical_frame" />
-  </joint>
-  <link name="wrist_mounted_camera_color_optical_frame" />
-  <gazebo reference="wrist_mounted_camera_color_frame">
-    <sensor name="wrist_mounted_camera_rgbd_sensor" type="rgbd_camera">
-      <camera>
-        <horizontal_fov>1.047</horizontal_fov>
-        <image>
-          <width>640</width>
-          <height>480</height>
-          <format>RGB_INT8</format>
-        </image>
-        <clip>
-          <near>0.1</near>
-          <far>5</far>
-        </clip>
-        <distortion>
-          <k1>0.0</k1>
-          <k2>0.0</k2>
-          <k3>0.0</k3>
-          <p1>0.0</p1>
-          <p2>0.0</p2>
-          <center>0.5 0.5</center>
-        </distortion>
-        <lens>
-          <intrinsics>
-            <fx>554.25469</fx>
-            <fy>554.25469</fy>
-            <cx>320.5</cx>
-            <cy>240.5</cy>
-            <s>0</s>
-          </intrinsics>
-          <!-- These need to match the intrinsics above or
-            Ignition will default to different default values -->
-          <projection>
-            <p_fx>554.25469</p_fx>
-            <p_fy>554.25469</p_fy>
-            <p_cx>320.5</p_cx>
-            <p_cy>240.5</p_cy>
-            <tx>0</tx>
-            <ty>0</ty>
-          </projection>
-        </lens>
-        <noise>
-          <type>gaussian</type>
-          <mean>0</mean>
-          <stddev>0.00</stddev>
-        </noise>
-        <depth_camera>
-          <clip>
-            <near>0.25</near>
-            <far>5</far>
-          </clip>
-        </depth_camera>
-        <optical_frame_id>
-          wrist_mounted_camera_color_optical_frame
-        </optical_frame_id>
-      </camera>
-      <ignition_frame_id>wrist_mounted_camera_color_frame</ignition_frame_id>
-      <always_on>1</always_on>
-      <update_rate>6</update_rate>
-      <visualize>false</visualize>
-      <topic>wrist_mounted_camera</topic>
-      <enable_metrics>false</enable_metrics>
-    </sensor>
-  </gazebo>
-  <joint name="ur_to_robotiq_joint" type="fixed">
-    <!-- The parent link must be read from the robot model it is attached to. -->
-    <parent link="realsense_camera_adapter_tool0" />
-    <child link="ur_to_robotiq_link" />
-    <origin rpy="0 0 0" xyz="0 0 0" />
-  </joint>
-  <link name="ur_to_robotiq_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/ur_to_robotiq_adapter.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/ur_to_robotiq_adapter.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01" />
-      <origin xyz="0 0 0" />
-      <inertia
-        ixx="0.000044"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.000027"
-        iyz="0.0"
-        izz="0.000027"
-      />
-    </inertial>
-  </link>
-  <joint name="gripper_side_joint" type="fixed">
-    <parent link="ur_to_robotiq_link" />
-    <child link="gripper_mount_link" />
-    <!-- <origin xyz="0 0 0.011" rpy="0 ${-pi/2} ${pi/2}"/> -->
-    <origin rpy="0 0 0" xyz="0 0 0.011" />
-  </joint>
-  <link name="gripper_mount_link" />
-  <!-- Add robotiq 2f 85 gripper model -->
-  <link name="robotiq_85_base_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/robotiq_base.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/robotiq_base.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288" />
-      <mass value="6.6320197e-01" />
-      <inertia
-        ixx="5.1617816e-04"
-        ixy="2.936e-8"
-        ixz="0.0"
-        iyy="5.8802208e-04"
-        iyz="-3.2296e-7"
-        izz="3.9462776e-04"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_left_knuckle_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/left_knuckle.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/left_knuckle.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647" />
-      <mass value="1.384773208e-02" />
-      <inertia
-        ixx="3.5232e-7"
-        ixy="0.0"
-        ixz="1.1744e-7"
-        iyy="2.31944e-6"
-        iyz="0"
-        izz="2.23136e-6"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_right_knuckle_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/right_knuckle.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/right_knuckle.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647" />
-      <mass value="1.384773208e-02" />
-      <inertia
-        ixx="3.5232e-7"
-        ixy="0.0"
-        ixz="-1.1744e-7"
-        iyy="2.31944e-6"
-        iyz="0.0"
-        izz="2.23136e-6"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_left_finger_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/left_finger.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/left_finger.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121" />
-      <mass value="4.260376752e-02" />
-      <inertia
-        ixx="1.385792000000000e-05"
-        ixy="0.0"
-        ixz="-2.17264e-06"
-        iyy="1.183208e-05"
-        iyz="0.0"
-        izz="5.19672e-06"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_right_finger_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/right_finger.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/right_finger.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121" />
-      <mass value="4.260376752000000e-02" />
-      <inertia
-        ixx="1.385792e-05"
-        ixy="0.0"
-        ixz="2.17264e-06"
-        iyy="1.183208e-05"
-        iyz="0.0"
-        izz="5.19672e-06"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_left_inner_knuckle_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/left_inner_knuckle.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/left_inner_knuckle.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101" />
-      <mass value="2.969376448e-02" />
-      <inertia
-        ixx="9.57136e-06"
-        ixy="0.0"
-        ixz="-3.93424e-06"
-        iyy="8.69056e-06"
-        iyz="0.0"
-        izz="8.19144e-06"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_right_inner_knuckle_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/right_inner_knuckle.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/right_inner_knuckle.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178" />
-      <mass value="2.969376448e-02" />
-      <inertia
-        ixx="9.42456e-06"
-        ixy="0.0"
-        ixz="3.9636e-06"
-        iyy="8.69056e-06"
-        iyz="0.0"
-        izz="8.33824e-06"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_left_finger_tip_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/left_finger_tip.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/left_finger_tip.stl"
-        />
-      </geometry>
-      <surface>
-        <friction>
-          <ode>
-            <mu1>100000.0</mu1>
-            <mu2>100000.0</mu2>
-          </ode>
-        </friction>
-        <contact>
-          <ode>
-            <kp>1e+5</kp>
-            <kd>1</kd>
-            <soft_cfm>0</soft_cfm>
-            <soft_erp>0.2</soft_erp>
-            <minDepth>0.002</minDepth>
-            <maxVel>0</maxVel>
-          </ode>
-        </contact>
-      </surface>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701" />
-      <mass value="4.268588744e-02" />
-      <inertia
-        ixx="1.048152e-05"
-        ixy="0.0"
-        ixz="3.5232e-6"
-        iyy="1.197888e-05"
-        iyz="0.0"
-        izz="4.22784e-06"
-      />
-    </inertial>
-  </link>
-  <link name="robotiq_85_right_finger_tip_link">
-    <visual>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/visual/2f_85/right_finger_tip.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh
-          filename="package://robotiq_description/meshes/collision/2f_85/right_finger_tip.stl"
-        />
-      </geometry>
-      <surface>
-        <friction>
-          <ode>
-            <mu1>100000.0</mu1>
-            <mu2>100000.0</mu2>
-          </ode>
-        </friction>
-        <contact>
-          <ode>
-            <kp>1e+5</kp>
-            <kd>1</kd>
-            <soft_cfm>0</soft_cfm>
-            <soft_erp>0.2</soft_erp>
-            <minDepth>0.002</minDepth>
-            <maxVel>0</maxVel>
-          </ode>
-        </contact>
-      </surface>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701" />
-      <mass value="4.268588744e-02" />
-      <inertia
-        ixx="1.048152e-05"
-        ixy="0.0"
-        ixz="-3.5232e-06"
-        iyy="1.197888e-05"
-        iyz="0.0"
-        izz="4.22784e-06"
-      />
-    </inertial>
-  </link>
-  <joint name="robotiq_85_base_joint" type="fixed">
-    <parent link="gripper_mount_link" />
-    <child link="robotiq_85_base_link" />
-    <origin rpy="0 0 0" xyz="0 0 0" />
-  </joint>
-  <joint name="robotiq_85_left_knuckle_joint" type="revolute">
-    <parent link="robotiq_85_base_link" />
-    <child link="robotiq_85_left_knuckle_link" />
-    <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452" />
-    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
-  </joint>
-  <joint name="robotiq_85_right_knuckle_joint" type="revolute">
-    <parent link="robotiq_85_base_link" />
-    <child link="robotiq_85_right_knuckle_link" />
-    <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452" />
-    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
-    <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1" />
-  </joint>
-  <joint name="robotiq_85_left_finger_joint" type="fixed">
-    <parent link="robotiq_85_left_knuckle_link" />
-    <child link="robotiq_85_left_finger_link" />
-    <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347" />
-  </joint>
-  <joint name="robotiq_85_right_finger_joint" type="fixed">
-    <parent link="robotiq_85_right_knuckle_link" />
-    <child link="robotiq_85_right_finger_link" />
-    <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347" />
-  </joint>
-  <joint name="robotiq_85_left_inner_knuckle_joint" type="continuous">
-    <parent link="robotiq_85_base_link" />
-    <child link="robotiq_85_left_inner_knuckle_link" />
-    <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142" />
-    <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1" />
-  </joint>
-  <joint name="robotiq_85_right_inner_knuckle_joint" type="continuous">
-    <parent link="robotiq_85_base_link" />
-    <child link="robotiq_85_right_inner_knuckle_link" />
-    <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142" />
-    <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1" />
-  </joint>
-  <joint name="robotiq_85_left_finger_tip_joint" type="continuous">
-    <parent link="robotiq_85_left_finger_link" />
-    <child link="robotiq_85_left_finger_tip_link" />
-    <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515" />
-    <mimic joint="robotiq_85_left_knuckle_joint" multiplier="-1" />
-  </joint>
-  <joint name="robotiq_85_right_finger_tip_joint" type="continuous">
-    <parent link="robotiq_85_right_finger_link" />
-    <child link="robotiq_85_right_finger_tip_link" />
-    <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515" />
-    <mimic joint="robotiq_85_left_knuckle_joint" multiplier="-1" />
-  </joint>
-  <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
-  <link name="grasp_link" />
-  <joint name="grasp_link_joint" type="fixed">
-    <parent link="robotiq_85_base_link" />
-    <child link="grasp_link" />
-    <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.0 0.134" />
-  </joint>
-  <!-- Linear rail -->
-  <link name="linear_rail">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <box size="5.0 0.6 0.30" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.14 0.125" />
-      <geometry>
-        <box size="5.0 0.2 0.5" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 -0.22 0.125" />
-      <geometry>
-        <box size="5.0 0.12 0.5" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <box size="5.0 0.6 0.3" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </collision>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0.14 0.125" />
-      <geometry>
-        <box size="5.0 0.2 0.5" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </collision>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 -0.22 0.125" />
-      <geometry>
-        <box size="5.0 0.12 0.5" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </collision>
-  </link>
-  <joint name="world-rail" type="fixed">
-    <parent link="world" />
-    <child link="linear_rail" />
-    <origin rpy="0 0 0" xyz="0.0 0 0.0" />
-  </joint>
-  <!--
-    Base UR robot series xacro macro.
-
-    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
-    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
-    (but note that .xacro must still be processed by the xacro command).
-
-    This file models the base kinematic chain of a UR robot, which then gets
-    parameterised by various configuration files to convert it into a UR3(e),
-    UR5(e), UR10(e) or UR16e.
-
-    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
-    offsets, etc) do not correspond to any particular robot. They are defaults
-    only. There WILL be non-zero offsets between the Forward Kinematics results
-    in TF (i.e., robot_state_publisher) and the values reported by the Teach
-    Pendant.
-
-    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
-    parameter MUST point to a .yaml file containing the appropriate values for
-    the targeted robot.
-
-    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
-    described in the readme of that repository to extract the kinematic
-    calibration from the controller and generate the required .yaml file.
-
-    Main author of the migration to yaml configs Ludovic Delval.
-
-    Contributors to previous versions (in no particular order)
-
-     - Denis Stogl
-     - Lovro Ivanov
-     - Felix Messmer
-     - Kelsey Hawkins
-     - Wim Meeussen
-     - Shaun Edwards
-     - Nadia Hammoudeh Garcia
-     - Dave Hershberger
-     - G. vd. Hoorn
-     - Philip Long
-     - Dave Coleman
-     - Miguel Prada
-     - Mathias Luedtke
-     - Marcel Schnirring
-     - Felix von Drigalski
-     - Felix Exner
-     - Jimmy Da Silva
-     - Ajit Krisshna N L
-     - Muhammad Asif Rana
-  -->
-  <!--
-    NOTE the macro defined in this file is NOT part of the public API of this
-          package. Users CANNOT rely on this file being available, or stored in
-          this location. Nor can they rely on the existence of the macro.
-  -->
-  <link name="ur_linear_rail_base" />
-  <!-- Add URDF transmission elements (for ros_control) -->
-  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
-  <!-- Placeholder for ros2_control transmission which don't yet exist -->
-  <!-- links -  main serial chain -->
-  <link name="base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0.0 0.0 -0.2" />
-      <geometry>
-        <box size="0.16 0.2 0.4" />
-      </geometry>
-    </visual>
-  </link>
-  <link name="base_link_inertia">
-    <visual>
-      <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
-      <geometry>
-        <mesh filename="package://ur_description/meshes/ur5e/visual/base.dae" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/base.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="4.0" />
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <inertia
-        ixx="0.00443333156"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.00443333156"
-        iyz="0.0"
-        izz="0.0072"
-      />
-    </inertial>
-  </link>
-  <link name="shoulder_link">
-    <visual>
-      <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/visual/shoulder.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/shoulder.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="3.7" />
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <inertia
-        ixx="0.010267495893"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.010267495893"
-        iyz="0.0"
-        izz="0.00666"
-      />
-    </inertial>
-  </link>
-  <link name="upper_arm_link">
-    <visual>
-      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/visual/upperarm.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/upperarm.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="8.393" />
-      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.138" />
-      <inertia
-        ixx="0.1338857818623325"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.1338857818623325"
-        iyz="0.0"
-        izz="0.0151074"
-      />
-    </inertial>
-  </link>
-  <link name="forearm_link">
-    <visual>
-      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/visual/forearm.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/forearm.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="2.275" />
-      <origin rpy="0 1.5707963267948966 0" xyz="-0.1961 0.0 0.007" />
-      <inertia
-        ixx="0.031209355099586295"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.031209355099586295"
-        iyz="0.0"
-        izz="0.004095"
-      />
-    </inertial>
-  </link>
-  <link name="wrist_1_link">
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/visual/wrist1.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/wrist1.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.219" />
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <inertia
-        ixx="0.0025598989760400002"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.0025598989760400002"
-        iyz="0.0"
-        izz="0.0021942"
-      />
-    </inertial>
-  </link>
-  <link name="wrist_2_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 -0.0997" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/visual/wrist2.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 -0.0997" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/wrist2.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.219" />
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <inertia
-        ixx="0.0025598989760400002"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="0.0025598989760400002"
-        iyz="0.0"
-        izz="0.0021942"
-      />
-    </inertial>
-  </link>
-  <link name="wrist_3_link">
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/visual/wrist3.dae"
-        />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989" />
-      <geometry>
-        <mesh
-          filename="package://ur_description/meshes/ur5e/collision/wrist3.stl"
-        />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1879" />
-      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0229" />
-      <inertia
-        ixx="9.890410052167731e-05"
-        ixy="0.0"
-        ixz="0.0"
-        iyy="9.890410052167731e-05"
-        iyz="0.0"
-        izz="0.0001321171875"
-      />
-    </inertial>
-  </link>
-  <!-- base_joint fixes base_link to the environment -->
-  <joint name="base_joint" type="fixed">
-    <origin rpy="0 0 1.5707" xyz="0.4 -0.06 0.6" />
-    <parent link="ur_linear_rail_base" />
-    <child link="base_link" />
-  </joint>
-  <!-- joints - main serial chain -->
-  <joint name="base_link-base_link_inertia" type="fixed">
-    <parent link="base_link" />
-    <child link="base_link_inertia" />
-    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
-           frames of the robot/controller have X+ pointing backwards.
-           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
-           link/frame) to introduce the necessary rotation over Z (of pi rad).
-      -->
-    <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
-  </joint>
-  <joint name="shoulder_pan_joint" type="revolute">
-    <parent link="base_link_inertia" />
-    <child link="shoulder_link" />
-    <origin rpy="0 0 0" xyz="0 0 0.1625" />
-    <axis xyz="0 0 1" />
-    <limit
-      effort="150.0"
-      lower="-3.141592653589793"
-      upper="3.141592653589793"
-      velocity="0.5235987755982988"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-  <joint name="shoulder_lift_joint" type="revolute">
-    <parent link="shoulder_link" />
-    <child link="upper_arm_link" />
-    <origin rpy="1.570796327 0 0" xyz="0 0 0" />
-    <axis xyz="0 0 1" />
-    <limit
-      effort="150.0"
-      lower="-4.71238898038469"
-      upper="1.5707963267948966"
-      velocity="0.5235987755982988"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-  <joint name="elbow_joint" type="revolute">
-    <parent link="upper_arm_link" />
-    <child link="forearm_link" />
-    <origin rpy="0 0 0" xyz="-0.425 0 0" />
-    <axis xyz="0 0 1" />
-    <limit
-      effort="150.0"
-      lower="-3.141592653589793"
-      upper="3.141592653589793"
-      velocity="0.5235987755982988"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-  <joint name="wrist_1_joint" type="revolute">
-    <parent link="forearm_link" />
-    <child link="wrist_1_link" />
-    <origin rpy="0 0 0" xyz="-0.3922 0 0.1333" />
-    <axis xyz="0 0 1" />
-    <limit
-      effort="28.0"
-      lower="-3.141592653589793"
-      upper="3.141592653589793"
-      velocity="1.0471975511965976"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-  <joint name="wrist_2_joint" type="revolute">
-    <parent link="wrist_1_link" />
-    <child link="wrist_2_link" />
-    <origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.044881182297852e-11" />
-    <axis xyz="0 0 1" />
-    <limit
-      effort="28.0"
-      lower="-3.141592653589793"
-      upper="3.141592653589793"
-      velocity="1.0471975511965976"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-  <joint name="wrist_3_joint" type="revolute">
-    <parent link="wrist_2_link" />
-    <child link="wrist_3_link" />
-    <origin
-      rpy="1.570796326589793 3.141592653589793 3.141592653589793"
-      xyz="0 0.0996 -2.042830148012698e-11"
-    />
-    <axis xyz="0 0 1" />
-    <limit
-      effort="28.0"
-      lower="-6.283185307179586"
-      upper="6.283185307179586"
-      velocity="1.0471975511965976"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-  <link name="ft_frame" />
-  <joint name="wrist_3_link-ft_frame" type="fixed">
-    <parent link="wrist_3_link" />
-    <child link="ft_frame" />
-    <origin rpy="3.141592653589793 0 0" xyz="0 0 0" />
-  </joint>
-  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
-  <link name="base" />
-  <joint name="base_link-base_fixed_joint" type="fixed">
-    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
-           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
-           to correctly align 'base' with the 'Base' coordinate system of
-           the UR controller.
-      -->
-    <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
-    <parent link="base_link" />
-    <child link="base" />
-  </joint>
-  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
-  <link name="flange" />
-  <joint name="wrist_3-flange" type="fixed">
-    <parent link="wrist_3_link" />
-    <child link="flange" />
-    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0" />
-  </joint>
-  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
-  <link name="tool0" />
-  <joint name="flange-tool0" type="fixed">
-    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
-    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0" />
-    <parent link="flange" />
-    <child link="tool0" />
-  </joint>
-  <link name="forearm_pinch_link">
-    <visual>
-      <origin rpy="0 0 0.19634954084936207" xyz="0 0 0" />
-      <geometry>
-        <cylinder length="0.28" radius="0.0525" />
-      </geometry>
-      <material name="silver">
-        <color rgba="0.75 0.65 0.65 0" />
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0.19634954084936207" xyz="0 0 0" />
-      <geometry>
-        <cylinder length="0.28" radius="0.0525" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="forearm_pinch_joint" type="fixed">
-    <parent link="forearm_link" />
-    <child link="forearm_pinch_link" />
-    <origin rpy="0 1.5707963267948966 0" xyz="-0.22000000000000003 0 0.0049" />
-  </joint>
-  <link name="wrist_3_pinch_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <cylinder length="0.11" radius="0.0495" />
-      </geometry>
-      <material name="silver">
-        <color rgba="0.75 0.65 0.65 0" />
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <cylinder length="0.11" radius="0.0495" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="wrist_3_pinch_joint" type="fixed">
-    <parent link="wrist_3_link" />
-    <child link="wrist_3_pinch_link" />
-    <origin rpy="0 0 0.19634954084936207" xyz="0 0 0" />
-  </joint>
-  <joint name="linear_rail_joint" type="prismatic">
-    <axis xyz="-1 0 0" />
-    <parent link="linear_rail" />
-    <child link="ur_linear_rail_base" />
-    <origin rpy="0 0 0" xyz="0 0 0" />
-    <limit
-      acceleration="10.0"
-      effort="1000.0"
-      lower="-2.1"
-      upper="2.9"
-      velocity="0.175"
-    />
-    <dynamics damping="20.0" friction="500.0" />
-  </joint>
-  <!-- Table -->
-  <link name="table">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.025" />
-      <geometry>
-        <mesh
-          filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
-          scale="0.125 0.125 0.00625"
-        />
-      </geometry>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.4 0.4 -0.2" />
-      <geometry>
-        <box size="0.04 0.04 0.45" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.4 -0.4 -0.2" />
-      <geometry>
-        <box size="0.04 0.04 0.45" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.4 -0.4 -0.2" />
-      <geometry>
-        <box size="0.04 0.04 0.45" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.4 0.4 -0.2" />
-      <geometry>
-        <box size="0.04 0.04 0.45" />
-      </geometry>
-      <material name="grey">
-        <color rgba="0.1 0.1 0.1 1.0" />
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
-          scale="0.125 0.125 0.00625"
-        />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="table_joint" type="fixed">
-    <parent link="world" />
-    <child link="table" />
-    <origin rpy="0 0 0" xyz="0 1 0.45" />
-  </joint>
-  <ros2_control name="ur_mujoco_control" type="system">
-    <hardware>
-      <plugin>picknik_mujoco_ros/MujocoSystem</plugin>
-      <param name="mujoco_model">$(arg mujoco_model)</param>
-      <param name="mujoco_model_package">arm_on_rail_sim</param>
-      <param name="render_publish_rate">10</param>
-      <param name="tf_publish_rate">60</param>
-      <param name="lidar_publish_rate">10</param>
-    </hardware>
-  </ros2_control>
-</robot>
diff --git a/src/arm_on_rail_sim/description/scene.xml b/src/arm_on_rail_sim/description/scene.xml
deleted file mode 100644
index f0bcdcfe..00000000
--- a/src/arm_on_rail_sim/description/scene.xml
+++ /dev/null
@@ -1,83 +0,0 @@
-<!-- UR5e inspired from https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e -->
-<mujoco model="ur5e scene">
-  <include file="ur5e/ur5e_linear_rail_globals.xml" />
-  <include file="lab_desk/desk_globals.xml" />
-  <include file="robotiq_2f85/robotiq2f85_globals.xml" />
-
-  <compiler angle="radian" autolimits="true" />
-
-  <option integrator="implicitfast" />
-
-  <asset>
-    <mesh name="cube" file="assets/Cube.stl" />
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-
-    <light
-      name="spotlight"
-      mode="targetbodycom"
-      target="wrist_2_link"
-      pos="0 -1 2"
-    />
-    <geom
-      name="floor"
-      pos="0 0 0"
-      size="0 0 0.05"
-      type="plane"
-      material="groundplane"
-    />
-    <!-- Scene Camera -->
-    <site
-      name="scene_camera_optical_frame"
-      pos="0.0 1.6 1.6"
-      euler="2.2415 0 3.1415"
-    />
-    <camera
-      name="scene_camera"
-      pos="0.0 1.6 1.6"
-      fovy="58"
-      mode="fixed"
-      resolution="640 480"
-      euler="-0.9 0 3.1415"
-    />
-    <!-- Define the table -->
-    <body name="table" pos="0 1 0.45">
-      <geom type="box" size="0.5 0.5 0.025" material="wood" />
-    </body>
-    <!-- Define the block with AprilTags on each face -->
-    <body name="block1" pos="0.2 0.75 0.575">
-      <freejoint name="block1" />
-      <geom
-        type="box"
-        size="0.025 0.025 0.025"
-        rgba="1 1 1 1"
-        material="apriltag_material1"
-      />
-    </body>
-    <body name="block2" pos="0.0 0.75 0.575">
-      <freejoint name="block2" />
-      <geom class="visual" mesh="cube" pos="0 0 -0.03" />
-      <geom class="collision" type="box" size="0.025 0.025 0.025" pos="0 0 0" />
-    </body>
-    <body name="block3" pos="-0.2 0.75 0.575">
-      <freejoint name="block3" />
-      <geom
-        type="box"
-        size="0.025 0.025 0.025"
-        rgba="1 1 1 1"
-        material="apriltag_material2"
-      />
-    </body>
-    <include file="ur5e/ur5e_linear_rail.xml" />
-  </worldbody>
-
-  <keyframe>
-    <key
-      qpos="0.2 0.75 0.499784 1 0 0 0 1.69383e-05 0.749992 0.499785 1 0.00016562 0.000360588 4.25222e-12 -0.2 0.75 0.499784 1 0 0 0 0 0 -1.00347 1.06907 -1.57068 -1.57 0 0.0208263 0.000536897 0.0221041 -0.0228697 0.0208402 0.000547099 0.0221447 -0.0229419"
-      qvel="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-      ctrl="0 -1.00528 1.06828 -1.57075 -1.57 0 0 0"
-    />
-  </keyframe>
-</mujoco>
diff --git a/src/arm_on_rail_sim/launch/agent_bridge.launch.xml b/src/arm_on_rail_sim/launch/agent_bridge.launch.xml
deleted file mode 100644
index b2aa7543..00000000
--- a/src/arm_on_rail_sim/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml b/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
deleted file mode 100644
index d04d5927..00000000
--- a/src/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
+++ /dev/null
@@ -1,122 +0,0 @@
-<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
-  <!--//////////-->
-  <BehaviorTree
-    ID="3 Waypoints Pick and Place"
-    _description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <!--Reset the planning scene to ensure no old collision objects are hanging around-->
-      <Action ID="ClearSnapshot" />
-      <!--Setup the environment to its "home" configuration - move to center and open gripper-->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Look at Table"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-        constraints="{constraints}"
-      />
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0"
-      />
-      <!--Run pick and place on loop-->
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!--Pick object from original location, put it down at a different part of the table, and go back to center pose-->
-          <Control ID="Sequence">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Pick Cube"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0.7929"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Table"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              waypoint_name="Place Cube"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Table"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-          </Control>
-          <!--Pick object from where it was placed, put it down on the original location, and go back to center pose-->
-          <Control ID="Sequence">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Place Cube"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0.7929"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Table"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Pick Cube"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Table"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-          </Control>
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/apriltag_detection_config.yaml b/src/arm_on_rail_sim/objectives/apriltag_detection_config.yaml
deleted file mode 100644
index f1a96237..00000000
--- a/src/arm_on_rail_sim/objectives/apriltag_detection_config.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-DetectAprilTags:
-  apriltag_family_name: 36h11
-  apriltag_size: 0.04
-  max_hamming: 0
-  n_threads: 1
-  quad_decimate: 1
-  quad_sigma: 0.1
-  refine_edges: false
-  z_up: false
diff --git a/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml b/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml
deleted file mode 100644
index b9a35cc5..00000000
--- a/src/arm_on_rail_sim/objectives/apriltag_pick_object.xml
+++ /dev/null
@@ -1,72 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick April Tag Labeled Object">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Pick April Tag Labeled Object"
-    _description="Picks up an object that has an AprilTag marker."
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Look at table" _collapsed="true" />
-      <Action ID="ClearSnapshot" />
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
-      <Control ID="Sequence" name="Setup">
-        <SubTree ID="Open Gripper" />
-      </Control>
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="apriltag_detection_config.yaml"
-        parameters="{parameters}"
-      />
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_camera/camera_info"
-        message_out="{camera_info}"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_camera/color"
-        message_out="{image}"
-      />
-      <Action
-        ID="DetectAprilTags"
-        image="{image}"
-        camera_info="{camera_info}"
-        parameters="{parameters}"
-        detections="{detections}"
-      />
-      <Action ID="GetDetectionPose" />
-      <Action ID="TransformPoseFrame" input_pose="{detection_pose}" />
-      <Action
-        ID="TransformPose"
-        output_pose="{offset_pose}"
-        input_pose="{output_pose}"
-        quaternion_xyzw="0;0;0;1"
-        translation_xyz="0;0;-0.01"
-      />
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="pick_object_config.yaml"
-      />
-      <Action
-        ID="InitializeMTCTask"
-        task_id="pick_object"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        task="{pick_object_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{pick_object_task}" />
-      <Action
-        ID="SetupMTCPickObject"
-        grasp_pose="{offset_pose}"
-        task="{pick_object_task}"
-        parameters="{parameters}"
-      />
-      <Action
-        ID="PlanMTCTask"
-        solution="{pick_object_solution}"
-        task="{pick_object_task}"
-      />
-      <Action ID="ExecuteMTCTask" solution="{pick_object_solution}" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/constrained_pick_place.xml b/src/arm_on_rail_sim/objectives/constrained_pick_place.xml
deleted file mode 100644
index 52b0b1bc..00000000
--- a/src/arm_on_rail_sim/objectives/constrained_pick_place.xml
+++ /dev/null
@@ -1,151 +0,0 @@
-<root BTCPP_format="4" main_tree_to_execute="Constrained Pick and Place">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Constrained Pick and Place"
-    _description="More advanced example of picking and placing an (invisible) object with orientation constraints enforced on the gripper's motion"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <SubTree
-        ID="Move to Waypoint"
-        _collapsed="true"
-        constraints="{constraints}"
-        waypoint_name="Look at Table"
-        joint_group_name="manipulator"
-        planner_interface="moveit_default"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-      />
-      <SubTree ID="Open Gripper" />
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
-          <Action
-            ID="InitializeMotionConstraints"
-            constraints_name="gripper pointing down"
-            constraints="{constraints}"
-          />
-          <Action
-            ID="AppendOrientationConstraint"
-            config_file_name="my_constraints.yaml"
-            constraints="{constraints}"
-          />
-          <!--Move to pick location-->
-          <!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Above Pick Cube"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-          </Decorator>
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Pick Cube"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-          </Decorator>
-          <!--Pick-->
-          <SubTree ID="Close Gripper" />
-          <!--Move to place (drop) location-->
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Above Pick Cube"
-            />
-          </Decorator>
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Above Place Cube"
-            />
-          </Decorator>
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Place Cube"
-            />
-          </Decorator>
-          <SubTree ID="Open Gripper" />
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Above Place Cube"
-            />
-          </Decorator>
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Place Cube"
-            />
-          </Decorator>
-          <SubTree ID="Close Gripper" />
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Above Place Cube"
-            />
-          </Decorator>
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              joint_group_name="manipulator"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-              _collapsed="true"
-              waypoint_name="Above Pick Cube"
-            />
-          </Decorator>
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Pick Cube"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-              constraints="{constraints}"
-            />
-          </Decorator>
-          <SubTree ID="Open Gripper" />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml b/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
deleted file mode 100644
index 450bc7a2..00000000
--- a/src/arm_on_rail_sim/objectives/cycle_between_waypoints.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
-  <BehaviorTree
-    ID="Cycle Between Waypoints"
-    _description="Example of repeatedly moving between two saved poses."
-    _favorite="true"
-  >
-    <Decorator ID="KeepRunningUntilFailure">
-      <Control ID="Sequence">
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Above Pick Cube"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
-          constraints="{constraints}"
-        />
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Look at Table"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
-          constraints="{constraints}"
-        />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/force_relaxation.xml b/src/arm_on_rail_sim/objectives/force_relaxation.xml
deleted file mode 100644
index a62429fe..00000000
--- a/src/arm_on_rail_sim/objectives/force_relaxation.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Force Relaxation">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Force Relaxation"
-    _description="Relaxes the force sensed at the force/torque sensor by moving the robot tip in the direction of the sensed force."
-    _favorite="false"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateStampedTwist"
-        reference_frame="{tip_link}"
-        stamped_twist="{zero_twist}"
-      />
-      <Action
-        ID="CreateStampedWrench"
-        reference_frame="{tip_link}"
-        stamped_wrench="{zero_wrench}"
-      />
-      <Decorator ID="ForceSuccess">
-        <Decorator ID="Timeout" msec="{relaxation_time_ms}">
-          <Action
-            ID="PublishVelocityForceCommand"
-            wrench_gain="{wrench_gain}"
-            force_controlled_axes="1;1;1;0;0;0"
-            publish_rate="50"
-            twist_stamped="{zero_twist}"
-            wrench_stamped="{zero_wrench}"
-          />
-        </Decorator>
-      </Decorator>
-      <Decorator ID="ForceSuccess">
-        <Decorator ID="Timeout" msec="10">
-          <Action
-            ID="PublishVelocityForceCommand"
-            wrench_gain="{wrench_gain}"
-            force_controlled_axes="0;0;0;0;0;0"
-            publish_rate="50"
-            velocity_controlled_axes="1;1;1;0;0;0"
-            wrench_stamped="{zero_wrench}"
-            twist_stamped="{zero_twist}"
-          />
-        </Decorator>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Force Relaxation">
-      <input_port name="wrench_gain" default="0.01" />
-      <input_port name="relaxation_time_ms" default="500" />
-      <input_port name="tip_link" default="grasp_link" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/joint_diagnostic.xml b/src/arm_on_rail_sim/objectives/joint_diagnostic.xml
deleted file mode 100644
index 01fb1984..00000000
--- a/src/arm_on_rail_sim/objectives/joint_diagnostic.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Joint Diagnostic"
-    _description="Example of cycling through the min and max limits of a single joint, for hardware testing"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!--Setup by moving home-->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Look at Table"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!--If you use two waypoints that have identical joint values, except for one joint, you can use this Objective as a way to test a single joint repeatedly. This is useful for things like hardware diagnostics and hardware bringup.-->
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Wrist 2 Max"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Wrist 2 Min"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml b/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml
deleted file mode 100644
index 8c84c48d..00000000
--- a/src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Load Mesh as Green Pointcloud">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Load Mesh as Green Pointcloud"
-    _description=""
-    _favorite="false"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="LoadPointCloudFromFile"
-        color="0;255;0"
-        file_path="~/user_ws/install/arm_on_rail_sim/share/arm_on_rail_sim/description/assets/Cube.stl"
-        point_cloud="{point_cloud}"
-      />
-      <Action
-        ID="TransformPointCloudFrame"
-        input_cloud="{point_cloud}"
-        output_cloud="{point_cloud}"
-      />
-      <Action
-        ID="TransformPointCloud"
-        input_cloud="{point_cloud}"
-        transform_pose="{initial_pose}"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Load Mesh as Green Pointcloud">
-      <output_port name="point_cloud" default="{green_cloud}" />
-      <input_port name="_collapsed" default="true" />
-      <input_port name="initial_pose" default="{stamped_pose}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml b/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml
deleted file mode 100644
index 15161b30..00000000
--- a/src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Load Mesh as Red Pointcloud">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Load Mesh as Red Pointcloud"
-    _description=""
-    _favorite="false"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="LoadPointCloudFromFile"
-        color="255;0;0"
-        file_path="~/user_ws/install/arm_on_rail_sim/share/arm_on_rail_sim/description/assets/Cube.stl"
-        point_cloud="{point_cloud}"
-      />
-      <Action
-        ID="TransformPointCloudFrame"
-        input_cloud="{point_cloud}"
-        output_cloud="{point_cloud}"
-      />
-      <Action
-        ID="TransformPointCloud"
-        input_cloud="{point_cloud}"
-        transform_pose="{initial_pose}"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Load Mesh as Red Pointcloud">
-      <output_port name="point_cloud" default="{red_cloud}" />
-      <input_port name="_collapsed" default="false" />
-      <input_port name="initial_pose" default="{stamped_pose}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/look_at_table.xml b/src/arm_on_rail_sim/objectives/look_at_table.xml
deleted file mode 100644
index 3c2d2b2b..00000000
--- a/src/arm_on_rail_sim/objectives/look_at_table.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Look at table">
-  <!--//////////-->
-  <BehaviorTree ID="Look at table" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree
-        ID="Move to Waypoint"
-        _collapsed="true"
-        waypoint_name="Look at Table"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        use_all_planners="false"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml b/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
deleted file mode 100644
index 730841b1..00000000
--- a/src/arm_on_rail_sim/objectives/move_with_velocity_and_force.xml
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Move until Force Contact">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Move until Force Contact"
-    _description="An example for how to use the VFC to move with a velocity / force reference until it collides"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree
-        ID="Move to Waypoint"
-        _collapsed="true"
-        waypoint_name="VFC Start"
-        joint_group_name="manipulator"
-        planner_interface="pro_rrt"
-        controller_names="/joint_trajectory_controller"
-      />
-      <Action
-        ID="ActivateControllers"
-        controller_names="/velocity_force_controller"
-      />
-      <Action
-        ID="CallTriggerService"
-        service_name="/velocity_force_controller/zero_fts"
-      />
-      <Action
-        ID="CreateStampedWrench"
-        stamped_wrench="{desired_wrench}"
-        reference_frame="grasp_link"
-        torque_xyz="0;0;0"
-        force_xyz="0;0;0"
-      />
-      <Action
-        ID="CreateStampedTwist"
-        reference_frame="grasp_link"
-        stamped_twist="{desired_twist}"
-        angular_velocity_xyz="0;0;0"
-        linear_velocity_xyz="0.0;0;0.05"
-      />
-      <Action
-        ID="CreateStampedPose"
-        reference_frame="grasp_link"
-        stamped_pose="{initial_pose}"
-      />
-      <Action
-        ID="TransformPoseFrame"
-        output_pose="{initial_pose}"
-        input_pose="{initial_pose}"
-      />
-      <Control ID="Parallel" failure_count="1" success_count="1">
-        <Action
-          ID="ForceExceedsThreshold"
-          minimum_consecutive_wrench_values="5"
-          wrench_frame_name="tool0"
-          hand_frame_name="grasp_link"
-          force_threshold="20"
-        />
-        <Action
-          ID="PublishVelocityForceCommand"
-          force_controlled_axes="0;0;0;0;0;0"
-          wrench_gain="0.01"
-          velocity_controlled_axes="0;0;1;0;0;0"
-          publish_rate="50"
-        />
-      </Control>
-      <!--Relax the arm for 500ms to just stay in contact without applying force.-->
-      <SubTree
-        ID="Force Relaxation"
-        _collapsed="true"
-        wrench_gain="0.01"
-        relaxation_time_ms="500"
-        tip_link="grasp_link"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/my_constraints.yaml b/src/arm_on_rail_sim/objectives/my_constraints.yaml
deleted file mode 100644
index 36deb8b7..00000000
--- a/src/arm_on_rail_sim/objectives/my_constraints.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-AppendOrientationConstraint:
-  constraint_frame: "world"
-  link_frame: "grasp_link"
-  orientation:  # radians
-    x: -3.14
-    y: 0.0
-    z: -1.57
-  tolerance:    # radians
-    x: 0.2
-    y: 0.2
-    z: 10.0
diff --git a/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml b/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml
deleted file mode 100644
index ba547d46..00000000
--- a/src/arm_on_rail_sim/objectives/pick_april_tag_object_with_approval.xml
+++ /dev/null
@@ -1,53 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Pick April Tag Object With Approval"
->
-  <!--//////////-->
-  <BehaviorTree
-    ID="Pick April Tag Object With Approval"
-    _description="Picks up an object that has an AprilTag marker."
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
-      <Control ID="Sequence" name="Setup">
-        <SubTree ID="Open Gripper" />
-      </Control>
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="apriltag_detection_config.yaml"
-        parameters="{parameters}"
-      />
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_camera/camera_info"
-        message_out="{camera_info}"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_camera/color"
-        message_out="{image}"
-      />
-      <Action
-        ID="DetectAprilTags"
-        image="{image}"
-        camera_info="{camera_info}"
-        parameters="{parameters}"
-        detections="{detections}"
-      />
-      <Action ID="GetDetectionPose" />
-      <Action ID="TransformPoseFrame" input_pose="{detection_pose}" />
-      <Action
-        ID="AddPoseStampedToVector"
-        vector="{initial_poses}"
-        input="{output_pose}"
-      />
-      <SubTree
-        ID="Pick first object in vector"
-        _collapsed="true"
-        pose_vector="{initial_poses}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml b/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
deleted file mode 100644
index 30bd2bf4..00000000
--- a/src/arm_on_rail_sim/objectives/pick_first_object_in_vector.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick first object in vector">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Pick first object in vector"
-    _subtreeOnly="true"
-    _description=""
-  >
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
-      <Control ID="Sequence">
-        <Action
-          ID="LoadObjectiveParameters"
-          config_file_name="pick_object_config.yaml"
-        />
-        <Action
-          ID="InitializeMTCTask"
-          task_id="pick_object"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{pick_object_task}"
-        />
-        <Action ID="SetupMTCCurrentState" task="{pick_object_task}" />
-        <Action
-          ID="SetupMTCPickObject"
-          grasp_pose="{grasp_pose}"
-          task="{pick_object_task}"
-          parameters="{parameters}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{pick_object_solution}"
-          task="{pick_object_task}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{pick_object_solution}"
-        />
-        <Action ID="ExecuteMTCTask" solution="{pick_object_solution}" />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Pick first object in vector" />
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/pick_object.xml b/src/arm_on_rail_sim/objectives/pick_object.xml
deleted file mode 100644
index 66dcbacd..00000000
--- a/src/arm_on_rail_sim/objectives/pick_object.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick object">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Pick object"
-    _description=""
-    _favorite="false"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence" name="root">
-      <SubTree ID="Open Gripper" />
-      <Control ID="Sequence">
-        <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
-        <Action
-          ID="CreateStampedPose"
-          orientation_xyzw="0;1;0;0"
-          position_xyz="0.01;.75;0.515"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{pose_vector}"
-        />
-      </Control>
-      <SubTree
-        ID="Pick first object in vector"
-        pose_vector="{pose_vector}"
-        _collapsed="false"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/pick_object_config.yaml b/src/arm_on_rail_sim/objectives/pick_object_config.yaml
deleted file mode 100644
index 6fe0ef81..00000000
--- a/src/arm_on_rail_sim/objectives/pick_object_config.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-SetupMTCPickObject:
-  approach_distance: 0.05
-  arm_group_name: manipulator
-  end_effector_closed_pose_name: close
-  end_effector_group_name: gripper
-  end_effector_name: moveit_ee
-  hand_frame_name: grasp_link
-  lift_distance: 0.05
-  world_frame_name: world
diff --git a/src/arm_on_rail_sim/objectives/pick_up_cube.xml b/src/arm_on_rail_sim/objectives/pick_up_cube.xml
deleted file mode 100644
index 73484566..00000000
--- a/src/arm_on_rail_sim/objectives/pick_up_cube.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick up Cube">
-  <!--//////////-->
-  <BehaviorTree ID="Pick up Cube" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Clear Snapshot" _collapsed="true" />
-      <SubTree ID="Look at table" _collapsed="true" />
-      <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
-      <SubTree ID="Pick object" _collapsed="false" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml b/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
deleted file mode 100644
index 0e058131..00000000
--- a/src/arm_on_rail_sim/objectives/place_first_object_in_vector.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Place first object in vector">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Place first object in vector"
-    _subtreeOnly="true"
-    _description=""
-  >
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
-      <Control ID="Sequence">
-        <Action
-          ID="LoadObjectiveParameters"
-          config_file_name="place_object_config.yaml"
-        />
-        <Action
-          ID="InitializeMTCTask"
-          task_id="place_object"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{place_object_task}"
-        />
-        <Action ID="SetupMTCCurrentState" task="{place_object_task}" />
-        <Action
-          ID="SetupMTCPickObject"
-          grasp_pose="{grasp_pose}"
-          task="{place_object_task}"
-          parameters="{parameters}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{place_object_solution}"
-          task="{place_object_task}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{place_object_solution}"
-        />
-        <Action ID="ExecuteMTCTask" solution="{place_object_solution}" />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/place_object.xml b/src/arm_on_rail_sim/objectives/place_object.xml
deleted file mode 100644
index 77d88884..00000000
--- a/src/arm_on_rail_sim/objectives/place_object.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Place object">
-  <!--//////////-->
-  <BehaviorTree ID="Place object" _description="" _favorite="true">
-    <Control ID="Sequence" name="root">
-      <Control ID="Sequence">
-        <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
-        <Action
-          ID="CreateStampedPose"
-          orientation_xyzw="0;1;0;0"
-          position_xyz="0.01;.75;0.5.15"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{corrected_poses}"
-        />
-      </Control>
-      <!--Use the ForEach decorator to get a pose from our vector of poses-->
-      <SubTree
-        ID="Place first object in vector"
-        pose_vector="{corrected_poses}"
-        _collapsed="false"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Place object" />
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/place_object_config.yaml b/src/arm_on_rail_sim/objectives/place_object_config.yaml
deleted file mode 100644
index a8ec6f8a..00000000
--- a/src/arm_on_rail_sim/objectives/place_object_config.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-SetupMTCPickObject:
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "open"
-
-  approach_distance: 0.05
-  lift_distance: 0.05
diff --git a/src/arm_on_rail_sim/objectives/register_cad_part.xml b/src/arm_on_rail_sim/objectives/register_cad_part.xml
deleted file mode 100644
index 07a10784..00000000
--- a/src/arm_on_rail_sim/objectives/register_cad_part.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Register CAD Part">
-  <!--//////////-->
-  <BehaviorTree ID="Register CAD Part" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="ClearSnapshot" />
-      <SubTree ID="Look at table" _collapsed="true" />
-      <Action
-        ID="CreateStampedPose"
-        position_xyz="0.02;.75;0.58"
-        orientation_xyzw="0;0;0;1"
-        name="Initial Guess"
-      />
-      <SubTree
-        ID="Load Mesh as Red Pointcloud"
-        _collapsed="false"
-        output_cloud="{red_cloud}"
-        initial_pose="{stamped_pose}"
-        point_cloud="{red_cloud}"
-      />
-      <Action ID="SendPointCloudToUI" point_cloud="{red_cloud}" />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_camera/points"
-        message_out="{wrist_point_cloud}"
-      />
-      <Action
-        ID="TransformPointCloudFrame"
-        input_cloud="{wrist_point_cloud}"
-        output_cloud="{wrist_point_cloud}"
-      />
-      <Action ID="SendPointCloudToUI" point_cloud="{wrist_point_cloud}" />
-      <Action
-        ID="RegisterPointClouds"
-        target_point_cloud="{wrist_point_cloud}"
-        base_point_cloud="{red_cloud}"
-        max_correspondence_distance="0.5"
-        max_iterations="100"
-      />
-      <SubTree
-        ID="Load Mesh as Green Pointcloud"
-        _collapsed="false"
-        output_cloud="{green_cloud}"
-        initial_pose="{stamped_pose}"
-        point_cloud="{green_cloud}"
-      />
-      <Action
-        ID="TransformPointCloud"
-        input_cloud="{green_cloud}"
-        transform_pose="{target_pose}"
-        output_cloud="{output_cloud_aligned}"
-      />
-      <Action ID="SendPointCloudToUI" point_cloud="{output_cloud_aligned}" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/take_snap.xml b/src/arm_on_rail_sim/objectives/take_snap.xml
deleted file mode 100644
index 7fefe4db..00000000
--- a/src/arm_on_rail_sim/objectives/take_snap.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Scene camera snapshot">
-  <!--//////////-->
-  <BehaviorTree ID="Scene camera snapshot" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Clear out old snapshot data -->
-      <Action ID="ClearSnapshot" />
-      <Action ID="GetPointCloud" topic_name="/scene_camera/points" />
-      <Action ID="SendPointCloudToUI" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot" />
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/objectives/wrist_snap.xml b/src/arm_on_rail_sim/objectives/wrist_snap.xml
deleted file mode 100644
index 80209f36..00000000
--- a/src/arm_on_rail_sim/objectives/wrist_snap.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
-  <!--//////////-->
-  <BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
-      <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
-      <Action ID="SendPointCloudToUI" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Wrist camera snapshot" />
-  </TreeNodesModel>
-</root>
diff --git a/src/arm_on_rail_sim/package.xml b/src/arm_on_rail_sim/package.xml
deleted file mode 100644
index f0769f30..00000000
--- a/src/arm_on_rail_sim/package.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>arm_on_rail_sim</name>
-  <version>6.0.0</version>
-
-  <description>
-    MuJoCo simulation configuration package for Picknik's UR robot on a linear
-    rail
-  </description>
-
-  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
-
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <exec_depend>admittance_controller</exec_depend>
-  <exec_depend>moveit_planners_stomp</exec_depend>
-  <exec_depend>moveit_ros_perception</exec_depend>
-  <exec_depend>moveit_studio_agent</exec_depend>
-  <exec_depend>moveit_studio_behavior</exec_depend>
-  <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
-  <exec_depend>picknik_accessories</exec_depend>
-  <exec_depend>realsense2_camera</exec_depend>
-  <exec_depend>realsense2_description</exec_depend>
-  <exec_depend>robotiq_description</exec_depend>
-  <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
-  <exec_depend>ur_description</exec_depend>
-  <exec_depend>ur_robot_driver</exec_depend>
-  <exec_depend>picknik_mujoco_ros</exec_depend>
-  <exec_depend>velocity_force_controller</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-
-  <test_depend>ament_clang_format</test_depend>
-  <test_depend>ament_clang_tidy</test_depend>
-  <test_depend>ament_cmake_copyright</test_depend>
-  <test_depend>ament_cmake_lint_cmake</test_depend>
-  <test_depend>picknik_ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/arm_on_rail_sim/waypoints/ur_waypoints.yaml b/src/arm_on_rail_sim/waypoints/ur_waypoints.yaml
deleted file mode 100644
index 0fd27077..00000000
--- a/src/arm_on_rail_sim/waypoints/ur_waypoints.yaml
+++ /dev/null
@@ -1,344 +0,0 @@
-- description: ''
-  favorite: false
-  joint_group_names:
-  - gripper
-  - linear_actuator
-  - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.06656710337674145
-      - 0.1162925924535442
-      - 0.2054240147028693
-      - -0.987070953194143
-      - 1.3146849599773849
-      - -1.8698622612624394
-      - -1.5707050706852668
-      - 0.20529114323213696
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Above Place Cube
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.06656709575770764
-      - 0.2544520984236789
-      - 0.00297097958947393
-      - -0.5454836524482858
-      - 1.028930149174636
-      - -2.02088483587436
-      - -1.5709145918870968
-      - 0.002734726536987722
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Pick Cube
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.06656709465883658
-      - 0.31742962464478663
-      - -0.07518824419393247
-      - -0.7207568718596512
-      - 0.8665668564352057
-      - -1.6837956156664982
-      - -1.5707507158288945
-      - -0.07517349313281775
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Above Pick Cube
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.36093425387337075
-      - 0.3468469487674742
-      - -0.08122232656648681
-      - -1.1118986430431266
-      - 0.7735698103006698
-      - -1.2414135949062157
-      - -1.5575126426436692
-      - -0.0803135811027271
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Look at Table
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.36093425387337075
-      - 0.3468469487674742
-      - -0.08122232656648681
-      - -1.1118986430431266
-      - 0.7735698103006698
-      - -1.2414135949062157
-      - -3.14
-      - -0.0803135811027271
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Wrist 2 Min
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.06656710453529632
-      - -0.026311129005491703
-      - 0.391188076851874
-      - -0.6421557305136849
-      - 1.2200227002982904
-      - -2.1172063445999307
-      - -1.5707036597762196
-      - 0.39119709035689026
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Place Cube
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.02639307417885356
-      - -0.0368978637919646
-      - -0.05133733759107817
-      - -1.0646673321083444
-      - 1.6085719305391477
-      - -2.116413476868559
-      - -1.5570186007251205
-      - -0.04927977068008667
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: VFC Start
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_rail_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.36093425387337075
-      - 0.3468469487674742
-      - -0.08122232656648681
-      - -1.1118986430431266
-      - 0.7735698103006698
-      - -1.2414135949062157
-      - 3.14
-      - -0.0803135811027271
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Wrist 2 Max
diff --git a/src/lab_sim/config/config.yaml b/src/lab_sim/config/config.yaml
index d302c077..18461a71 100644
--- a/src/lab_sim/config/config.yaml
+++ b/src/lab_sim/config/config.yaml
@@ -3,7 +3,7 @@
 #
 
 # Name of the package to specialize
-based_on_package: "arm_on_rail_sim"
+based_on_package: "picknik_ur_sim_config"
 hardware:
   robot_description:
     urdf_params:
diff --git a/src/picknik_ur_base_config/CMakeLists.txt b/src/picknik_ur_base_config/CMakeLists.txt
deleted file mode 100644
index 10699021..00000000
--- a/src/picknik_ur_base_config/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(picknik_ur_base_config)
-
-find_package(ament_cmake REQUIRED)
-
-install(
-  DIRECTORY
-    config
-    description
-    launch
-    objectives
-    waypoints
-  DESTINATION
-    share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/picknik_ur_base_config/LICENSE b/src/picknik_ur_base_config/LICENSE
deleted file mode 100644
index 574ef079..00000000
--- a/src/picknik_ur_base_config/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-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 copyright holder 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.
diff --git a/src/picknik_ur_base_config/README.md b/src/picknik_ur_base_config/README.md
deleted file mode 100644
index e541275b..00000000
--- a/src/picknik_ur_base_config/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# picknik_ur_base_config
-
-A MoveIt Pro base configuration for PickNik's Universal Robots (UR) arms.
-
-For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_base_config/config/config.yaml b/src/picknik_ur_base_config/config/config.yaml
deleted file mode 100644
index 5d09c7c9..00000000
--- a/src/picknik_ur_base_config/config/config.yaml
+++ /dev/null
@@ -1,190 +0,0 @@
-###############################################################
-#
-#  This configures the robot to work with MoveIt Pro
-#
-###############################################################
-
-# Baseline hardware configuration parameters for MoveIt Pro.
-# [Required]
-hardware:
-  # Set simulated to false if you are using this as a configuration for real hardware.
-  # This allows users to switch between mock and real hardware by changing a single parameter with config inheritance.
-  # [Required]
-  simulated: true
-
-  # If the MoveIt Pro Agent should launch the ros2 controller node.
-  # [Optional, default=True]
-  launch_control_node: True
-
-  # If the MoveIt Pro Agent should launch the robot state publisher.
-  # This should be false if you are launching the robot state publisher as part of drivers.
-  # [Optional, default=True]
-  launch_robot_state_publisher: True
-
-  # Specify additional launch files for running the robot with real hardware.
-  # [Optional, defaults to a blank launch file if not specified]
-  robot_driver_persist_launch_file:
-    package: "picknik_ur_base_config"
-    path: "launch/robot_drivers_to_persist.launch.py"
-
-  # Specify any additional launch files for running the robot in simulation mode.
-  # Used when hardware.simulated is True.
-  # [Optional, defaults to a blank launch file if not specified]
-  simulated_robot_driver_persist_launch_file:
-    package: "picknik_ur_base_config"
-    path: "launch/sim/robot_drivers_to_persist_sim.launch.py"
-  simulated_hardware_launch_file:
-    package: "moveit_studio_agent"
-    path: "launch/blank.launch.py"
-
-  # Parameters used to configure the robot description through XACRO.
-  # A URDF and SRDF are both required.
-  # [Required]
-  robot_description:
-    urdf:
-      package: "picknik_ur_base_config"
-      path: "description/picknik_ur.xacro"
-    srdf:
-      package: "picknik_ur_base_config"
-      path: "config/moveit/picknik_ur.srdf"
-    # Specify any additional parameters required for the URDF.
-    # Many of these are specific to the UR descriptions packages, and can be customized as needed.
-    # [Optional]
-    urdf_params:
-      - name: "ur5e"
-      - prefix: ""
-      - use_fake_hardware: "true"
-      - use_pinch_links: "true"
-      - mock_sensor_commands: "false"
-      - headless_mode: "true"
-      - robot_ip: "0.0.0.0"
-      - joint_limits_parameters_file:
-          package: "picknik_ur_base_config"
-          path: "config/moveit/joint_limits.yaml"
-      # The following files are loaded based on the ur_description package layout.
-      # To use parameters from a different package, place them in a config/ROBOT_NAME/ directory,
-      # replace ROBOT_NAME with the value used for hardware.type in this file.
-      - kinematics_parameters_file:
-      # Load default_kinematics.yaml from ur_description/config/<ur_type>
-          package: "ur_description"
-          path: "config/ur5e/default_kinematics.yaml"
-      - physical_parameters_file:
-      # Load physical_parameters.yaml from ur_description/config/<ur_type>
-          package: "ur_description"
-          path: "config/ur5e/physical_parameters.yaml"
-      - visual_parameters_file:
-      # Load visual_parameters.yaml from ur_description/config/<ur_type>
-          package: "ur_description"
-          path: "config/ur5e/visual_parameters.yaml"
-
-# Sets ROS global params for launch.
-# [Optional]
-ros_global_params:
-  # Whether or not to use simulated time.
-  # [Optional, default=False]
-  use_sim_time: False
-
-# Configuration files for MoveIt.
-# For more information, refer to https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html
-# [Required]
-moveit_params:
-  # Used by the Waypoint Manager to save joint states from this joint group.
-  joint_group_name: "manipulator"
-
-  ompl_planning:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/ompl_planning.yaml"
-  stomp_planning:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/stomp_planning.yaml"
-  pilz_planning:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
-  kinematics:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/trac_ik_kinematics_distance.yaml"
-  servo:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/ur_servo.yaml"
-  sensors_3d:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/sensors_3d.yaml"
-  servo_kinematics:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/trac_ik_kinematics_speed.yaml"
-  joint_limits:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/joint_limits.yaml"
-  servo_joint_limits:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/hard_joint_limits.yaml"
-  pilz_cartesian_limits:
-    package: "picknik_ur_base_config"
-    path: "config/moveit/pilz_cartesian_limits.yaml"
-
-  publish:
-    planning_scene: True
-    geometry_updates: True
-    state_updates: True
-    transforms_updates: True
-
-  trajectory_execution:
-    manage_controllers: True
-    allowed_execution_duration_scaling: 2.0
-    allowed_goal_duration_margin: 5.0
-    allowed_start_tolerance: 0.01
-
-# Configuration for launching ros2_control processes.
-# [Required, if using ros2_control]
-ros2_control:
-  config:
-    package: "picknik_ur_base_config"
-    path: "config/control/picknik_ur.ros2_control.yaml"
-  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
-  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
-  # for running the application.
-  # [Optional, default=[]]
-  controllers_active_at_startup:
-    - "force_torque_sensor_broadcaster"
-    - "robotiq_gripper_controller"
-    - "joint_state_broadcaster"
-    - "servo_controller"
-    - "io_and_status_controller"
-    - "robotiq_activation_controller"
-  # Load but do not start these controllers so they can be activated later if needed.
-  # [Optional, default=[]]
-  controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-    - "joint_trajectory_admittance_controller"
-    - "velocity_force_controller"
-  # Any controllers here will not be spawned by MoveIt Pro.
-  # [Optional, default=[]]
-  controllers_not_managed: []
-  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
-  # [Optional, default=[]]
-  controller_shared_topics: []
-
-# Configuration for loading behaviors and objectives.
-# [Required]
-objectives:
-  # List of plugins for loading custom behaviors.
-  # [Required]
-  behavior_loader_plugins:
-    # This plugin will load the core MoveIt Pro Behaviors.
-    # Add additional plugin loaders as needed.
-    core:
-      - "moveit_studio::behaviors::CoreBehaviorsLoader"
-      - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
-      - "moveit_studio::behaviors::ServoBehaviorsLoader"
-      - "moveit_studio::behaviors::VisionBehaviorsLoader"
-  # Specify source folder for objectives
-  # [Required]
-  objective_library_paths:
-    core:
-      package_name: "picknik_ur_base_config"
-      relative_path: "objectives"
-  # Specify the location of the saved waypoints file.
-  # [Required]
-  waypoints_file:
-    package_name: "picknik_ur_base_config"
-    relative_path: "waypoints/ur_waypoints.yaml"
diff --git a/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml
deleted file mode 100644
index 17851768..00000000
--- a/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml
+++ /dev/null
@@ -1,194 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 600  # Hz
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-    io_and_status_controller:
-      type: ur_controllers/GPIOController
-    force_torque_sensor_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-    robotiq_activation_controller:
-      type: robotiq_controllers/RobotiqActivationController
-    servo_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    joint_trajectory_admittance_controller:
-      type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
-    velocity_force_controller:
-      type: velocity_force_controller/VelocityForceController
-
-io_and_status_controller:
-  ros__parameters:
-    tf_prefix: ""
-
-force_torque_sensor_broadcaster:
-  ros__parameters:
-    sensor_name: tcp_fts_sensor
-    state_interface_names:
-      - force.x
-      - force.y
-      - force.z
-      - torque.x
-      - torque.y
-      - torque.z
-    frame_id: tool0
-    topic_name: ft_data
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-
-servo_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
-
-robotiq_activation_controller:
-  ros__parameters:
-    default: true
-
-joint_trajectory_admittance_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    base_frame: base_link
-    sensor_frame: tool0
-    ee_frame: grasp_link
-    ft_sensor_name: tcp_fts_sensor
-    # Joint accelerations chosen to match MoveIt configs.
-    stop_accelerations:
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-
-velocity_force_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    base_frame: base_link
-    sensor_frame: tool0
-    ee_frame: grasp_link
-    ft_sensor_name: tcp_fts_sensor
-    ft_force_deadband: 2.0
-    ft_torque_deadband: 1.0
-    max_joint_velocity:
-      - 0.524
-      - 0.524
-      - 0.524
-      - 1.047
-      - 1.047
-      - 1.047
-    max_joint_acceleration:
-      - 52.4
-      - 52.4
-      - 52.4
-      - 52.4
-      - 52.4
-      - 52.4
-    max_cartesian_velocity:
-      - 0.25
-      - 0.25
-      - 0.25
-      - 1.5707
-      - 1.5707
-      - 1.5707
-    max_cartesian_acceleration:
-      - 20.0
-      - 20.0
-      - 20.0
-      - 40.0
-      - 40.0
-      - 40.0
diff --git a/src/picknik_ur_base_config/config/initial_positions.yaml b/src/picknik_ur_base_config/config/initial_positions.yaml
deleted file mode 100644
index 0d8b33f7..00000000
--- a/src/picknik_ur_base_config/config/initial_positions.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-shoulder_pan_joint: 0.0
-shoulder_lift_joint: -1.41
-elbow_joint: -0.7
-wrist_1_joint: -2.12
-wrist_2_joint: 1.67
-wrist_3_joint: 0.0
diff --git a/src/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml b/src/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml
deleted file mode 100644
index 4ffbf687..00000000
--- a/src/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-manipulator:
-  kinematics_solver: bio_ik/BioIKKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  mode: gd_c
-  dpos: 0.0001
-  drot: 0.0001
diff --git a/src/picknik_ur_base_config/config/moveit/hard_joint_limits.yaml b/src/picknik_ur_base_config/config/moveit/hard_joint_limits.yaml
deleted file mode 100644
index 9afb8143..00000000
--- a/src/picknik_ur_base_config/config/moveit/hard_joint_limits.yaml
+++ /dev/null
@@ -1,87 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-#
-# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
-joint_limits:
-  shoulder_pan_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_lift_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    max_position: !degrees  90.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -270.0
-  elbow_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    # we artificially limit this joint to half its actual joint position limit
-    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
-    # construction of the robot, it's impossible to rotate the 'elbow_joint'
-    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_2_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_3_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -360.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/picknik_ur_base_config/config/moveit/joint_limits.yaml b/src/picknik_ur_base_config/config/moveit/joint_limits.yaml
deleted file mode 100644
index e80edbda..00000000
--- a/src/picknik_ur_base_config/config/moveit/joint_limits.yaml
+++ /dev/null
@@ -1,87 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-#
-# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
-joint_limits:
-  shoulder_pan_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_lift_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    max_position: !degrees  90.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -270.0
-  elbow_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    # we artificially limit this joint to half its actual joint position limit
-    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
-    # construction of the robot, it's impossible to rotate the 'elbow_joint'
-    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_2_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_3_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -360.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml b/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml
deleted file mode 100644
index 7c7b6bca..00000000
--- a/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml
+++ /dev/null
@@ -1,106 +0,0 @@
-planning_plugins:
-  - ompl_interface/OMPLPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/AddTimeOptimalParameterization
-  - default_planning_response_adapters/ValidateSolution
-  - default_planning_response_adapters/DisplayMotionPath
-
-planner_configs:
-  APSConfigDefault:
-    type: geometric::AnytimePathShortening
-    shortcut: 1  # Attempt to shortcut all new solution paths
-    hybridize: 1  # Compute hybrid solution trajectories
-    max_hybrid_paths: 32  # Number of hybrid paths generated per iteration
-    num_planners: 16  # The number of default planners to use for planning
-    planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
-  SBLkConfigDefault:
-    type: geometric::SBL
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  ESTkConfigDefault:
-    type: geometric::EST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-  LBKPIECEkConfigDefault:
-    type: geometric::LBKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  BKPIECEkConfigDefault:
-    type: geometric::BKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  KPIECEkConfigDefault:
-    type: geometric::KPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  RRTkConfigDefault:
-    type: geometric::RRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-  RRTConnectkConfigDefault:
-    type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  RRTstarkConfigDefault:
-    type: geometric::RRTstar
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
-  TRRTkConfigDefault:
-    type: geometric::TRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    max_states_failed: 10  # when to start increasing temp. default: 10
-    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
-    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
-    init_temperature: 10e-6  # initial temperature. default: 10e-6
-    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
-    k_constant: 0.0  # value used to normalize expression. default: 0.0 set in setup()
-  PRMkConfigDefault:
-    type: geometric::PRM
-    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
-  PRMstarkConfigDefault:
-    type: geometric::PRMstar
-manipulator:
-  default_planner_config: RRTConnectkConfigDefault
-  planner_configs:
-    - APSConfigDefault
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-  enforce_constrained_state_space: true
-  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
-  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.01
-gripper:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
diff --git a/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf b/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf
deleted file mode 100644
index 8e97d152..00000000
--- a/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf
+++ /dev/null
@@ -1,201 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="ur5e">
-    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="manipulator">
-        <chain base_link="base_link" tip_link="grasp_link"/>
-    </group>
-    <group name="gripper">
-        <link name="robotiq_85_base_link"/>
-        <link name="robotiq_85_left_inner_knuckle_link"/>
-        <link name="robotiq_85_left_finger_tip_link"/>
-        <link name="robotiq_85_left_knuckle_link"/>
-        <link name="robotiq_85_left_finger_link"/>
-        <link name="robotiq_85_right_inner_knuckle_link"/>
-        <link name="robotiq_85_right_finger_tip_link"/>
-        <link name="robotiq_85_right_knuckle_link"/>
-        <link name="robotiq_85_right_finger_link"/>
-        <link name="grasp_link"/>
-        <joint name="robotiq_85_left_knuckle_joint"/>
-    </group>
-    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="open" group="gripper">
-        <joint name="robotiq_85_left_finger_tip_joint" value="0"/>
-        <joint name="robotiq_85_left_inner_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_left_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_right_finger_tip_joint" value="0"/>
-        <joint name="robotiq_85_right_inner_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="0"/>
-    </group_state>
-    <group_state name="close" group="gripper">
-        <joint name="robotiq_85_left_finger_tip_joint" value="-0.7929"/>
-        <joint name="robotiq_85_left_inner_knuckle_joint" value="0.7929"/>
-        <joint name="robotiq_85_left_knuckle_joint" value="0.7929"/>
-        <joint name="robotiq_85_right_finger_tip_joint" value="0.7929"/>
-        <joint name="robotiq_85_right_inner_knuckle_joint" value="-0.7929"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="tool0" group="gripper"/>
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
-    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
-    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
-    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
-    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="forearm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_pinch_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="upper_arm_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="realsense_camera_adapter_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_base_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_mounted_camera_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_link" link2="wrist_mounted_camera_link" reason="Never"/>
-</robot>
diff --git a/src/picknik_ur_base_config/config/moveit/pilz_cartesian_limits.yaml b/src/picknik_ur_base_config/config/moveit/pilz_cartesian_limits.yaml
deleted file mode 100644
index 1633938e..00000000
--- a/src/picknik_ur_base_config/config/moveit/pilz_cartesian_limits.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-# Cartesian limits for the Pilz planner
-cartesian_limits:
-  max_trans_vel: 0.1
-  max_trans_acc: 0.1
-  max_trans_dec: -0.1
-  max_rot_vel: 0.1
diff --git a/src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml b/src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
deleted file mode 100644
index 6d791384..00000000
--- a/src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-planning_plugins:
-  - pilz_industrial_motion_planner/CommandPlanner
-default_planner_config: LIN
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/ValidateSolution
-  - default_planning_response_adapters/DisplayMotionPath
-capabilities: >-
-    pilz_industrial_motion_planner/MoveGroupSequenceAction
-    pilz_industrial_motion_planner/MoveGroupSequenceService
diff --git a/src/picknik_ur_base_config/config/moveit/sensors_3d.yaml b/src/picknik_ur_base_config/config/moveit/sensors_3d.yaml
deleted file mode 100644
index 12ac1297..00000000
--- a/src/picknik_ur_base_config/config/moveit/sensors_3d.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-sensors:
-  - scene_scan_camera
-scene_scan_camera:
-  # The name of the Octomap updater plugin that we are using.
-  sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater"
-  # Specifies the topic to listen on for a point cloud.
-  # Set to an empty topic to disable.
-  point_cloud_service_name: "/point_cloud_service"
-  # Points further than this will not be used (in meters).
-  max_range: 1.5
-  # Choose one of every 'point_subsample' points (select all if set to 1).
-  point_subsample: 1
-  # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
-  padding_scale: 1.0
-  # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
-  padding_offset: 0.01
-  # The octomap representation will be updated at rate less than or equal to this value.
-  max_update_rate: 0.1
-
-# Specifies the resolution at which the octomap is maintained (in meters).
-octomap_resolution: 0.01
-# Specifies the coordinate frame in which the Octomap representation will be stored.
-# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor,
-# this frame parameter will not be used. Instead, the frame defaults to the planning frame.
-octomap_frame: "base_link"
diff --git a/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml b/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml
deleted file mode 100644
index dc6fd444..00000000
--- a/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-planning_plugins:
-  - stomp_moveit/StompPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/AddTimeOptimalParameterization
-  - default_planning_response_adapters/ValidateSolution
-  - default_planning_response_adapters/DisplayMotionPath
-
-stomp_moveit:
-  num_timesteps: 60
-  num_iterations: 40
-  num_iterations_after_valid: 0
-  num_rollouts: 30
-  max_rollouts: 30
-  exponentiated_cost_sensitivity: 0.8
-  control_cost_weight: 0.1
-  delta_t: 0.1
diff --git a/src/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/picknik_ur_base_config/config/moveit/ur_servo.yaml b/src/picknik_ur_base_config/config/moveit/ur_servo.yaml
deleted file mode 100644
index 13d58e8a..00000000
--- a/src/picknik_ur_base_config/config/moveit/ur_servo.yaml
+++ /dev/null
@@ -1,64 +0,0 @@
-###############################################
-# Modify all parameters related to servoing here
-###############################################
-
-# Enable dynamic parameter updates
-enable_parameter_update: true
-
-## Properties of incoming commands
-command_in_type: "speed_units"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale:
-  # Scale parameters are only used if command_in_type=="unitless"
-  linear: 2.0  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
-  rotational: 3.0 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
-  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
-  joint: 2.0
-
-# Default to driving the arm at 50% maximum speed.
-override_velocity_scaling_factor: 0.5
-
-## Properties of outgoing commands
-publish_period: 0.01  # 1/Nominal publish rate [seconds]
-max_expected_latency: 0.1 # delay between sending a command and the robot executing it [seconds]
-
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
-command_out_type: trajectory_msgs/JointTrajectory
-
-# What to publish? Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
-
-## Plugins for smoothing outgoing commands
-use_smoothing: true
-smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_period parameter
-
-## MoveIt properties
-move_group_name: manipulator  # Often 'manipulator' or 'arm'
-acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
-is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
-monitored_planning_scene_topic: /monitored_planning_scene
-
-## Stopping behaviour
-incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
-
-## Configure handling of singularities and joint limits
-lower_singularity_threshold: 30.0  # Start decelerating when the condition number hits this (close to singularity)
-hard_stop_singularity_threshold: 50.0 # Stop when the condition number hits this
-joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-
-## Topic names
-cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
-joint_topic: /joint_states
-status_topic: ~/status # Publish status to this topic
-command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
-
-## Collision checking for the entire robot body
-check_collisions: true  # Check collisions?
-check_octomap_collisions: false  # Check collisions with octomap?
-collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
-scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
diff --git a/src/picknik_ur_base_config/config/realsense_config_high_accuracy.json b/src/picknik_ur_base_config/config/realsense_config_high_accuracy.json
deleted file mode 100644
index 2a3ce516..00000000
--- a/src/picknik_ur_base_config/config/realsense_config_high_accuracy.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-  "ignoreSAD": "0",
-  "param-censusenablereg-udiameter": "9",
-  "param-censusenablereg-vdiameter": "9",
-  "param-censususize": "9",
-  "param-censusvsize": "9",
-  "param-disableraucolor": "0",
-  "param-disablesadcolor": "0",
-  "param-disablesadnormalize": "0",
-  "param-disablesloleftcolor": "0",
-  "param-disableslorightcolor": "1",
-  "param-lambdaad": "751",
-  "param-lambdacensus": "6",
-  "param-leftrightthreshold": "10",
-  "param-maxscorethreshb": "2893",
-  "param-medianthreshold": "796",
-  "param-minscorethresha": "4",
-  "param-neighborthresh": "108",
-  "param-raumine": "6",
-  "param-rauminn": "3",
-  "param-rauminnssum": "7",
-  "param-raumins": "2",
-  "param-rauminw": "2",
-  "param-rauminwesum": "12",
-  "param-regioncolorthresholdb": "0.785714",
-  "param-regioncolorthresholdg": "0.565558",
-  "param-regioncolorthresholdr": "0.985323",
-  "param-regionshrinku": "3",
-  "param-regionshrinkv": "0",
-  "param-robbinsmonrodecrement": "25",
-  "param-robbinsmonroincrement": "2",
-  "param-rsmdiffthreshold": "1.65625",
-  "param-rsmrauslodiffthreshold": "0.71875",
-  "param-rsmremovethreshold": "0.809524",
-  "param-scanlineedgetaub": "13",
-  "param-scanlineedgetaug": "15",
-  "param-scanlineedgetaur": "30",
-  "param-scanlinep1": "155",
-  "param-scanlinep1onediscon": "160",
-  "param-scanlinep1twodiscon": "59",
-  "param-scanlinep2": "190",
-  "param-scanlinep2onediscon": "507",
-  "param-scanlinep2twodiscon": "493",
-  "param-secondpeakdelta": "647",
-  "param-texturecountthresh": "0",
-  "param-texturedifferencethresh": "1722",
-  "param-usersm": "1"
-}
diff --git a/src/picknik_ur_base_config/description/picknik_ur.xacro b/src/picknik_ur_base_config/description/picknik_ur.xacro
deleted file mode 100644
index 1508c40e..00000000
--- a/src/picknik_ur_base_config/description/picknik_ur.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
-  <!-- parameters -->
-  <xacro:arg name="use_fake_hardware" default="false" />
-  <xacro:arg name="external_camera" default="false" />
-  <xacro:arg name="has_tool_changer" default="true" />
-  <xacro:arg name="use_pinch_links" default="true" />
-  <xacro:arg name="generate_ros2_control_tag" default="true" />
-  <xacro:arg name="name" default="" />
-  <xacro:arg name="joint_limits_parameters_file" default="" />
-  <xacro:arg name="kinematics_parameters_file" default="" />
-  <xacro:arg name="physical_parameters_file" default="" />
-  <xacro:arg name="visual_parameters_file" default="" />
-  <xacro:arg name="headless_mode" default="false" />
-  <xacro:arg name="robot_ip" default="0.0.0.0" />
-  <xacro:arg name="use_tool_communication" default="false" />
-  <xacro:arg name="tool_voltage" default="0" />
-  <xacro:arg name="tool_device_name" default="/dev/ttyUSB0" />
-  <xacro:arg
-    name="initial_positions_file"
-    default="$(find picknik_ur_base_config)/config/initial_positions.yaml"
-  />
-
-  <!-- Import UR and environment macros -->
-  <xacro:include
-    filename="$(find picknik_ur_base_config)/description/picknik_ur_macro.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_ur_base_config)/description/picknik_ur_attachments_macro.xacro"
-  />
-
-  <!-- Robot: contains robot description from the world frame to the tool frame -->
-  <xacro:picknik_ur
-    parent="world"
-    child="tool0"
-    initial_positions_file="$(arg initial_positions_file)"
-    generate_ros2_control_tag="$(arg generate_ros2_control_tag)"
-  >
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </xacro:picknik_ur>
-
-  <!-- Gripper and UR adapter and realsense camera -->
-  <xacro:picknik_ur_attachments
-    parent="tool0"
-    child="grasp_link"
-    has_tool_changer="$(arg has_tool_changer)"
-  />
-</robot>
diff --git a/src/picknik_ur_base_config/description/picknik_ur_attachments_macro.xacro b/src/picknik_ur_base_config/description/picknik_ur_attachments_macro.xacro
deleted file mode 100644
index b142c94e..00000000
--- a/src/picknik_ur_base_config/description/picknik_ur_attachments_macro.xacro
+++ /dev/null
@@ -1,107 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include
-    filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro"
-  />
-
-  <xacro:macro
-    name="picknik_ur_attachments"
-    params="prefix:='' parent child has_tool_changer"
-  >
-    <!-- prefix property -->
-    <xacro:property
-      name="prefix_"
-      value="${prefix + &quot;_&quot; if prefix else &quot;&quot;}"
-    />
-    <!-- parameters -->
-    <xacro:arg name="simulation" default="" />
-
-    <!-- tool changer-->
-    <xacro:if value="$(arg has_tool_changer)">
-      <xacro:mtc_ur_tool_changer
-        prefix="${prefix_}"
-        parent="${parent}"
-        child="${prefix_}tool_changer_tool0"
-        rotation="0"
-      />
-      <xacro:property
-        name="ur_realsense_camera_adapter_parent"
-        value="${prefix_}tool_changer_tool0"
-      />
-    </xacro:if>
-    <xacro:unless value="$(arg has_tool_changer)">
-      <xacro:property
-        name="ur_realsense_camera_adapter_parent"
-        value="${parent}"
-      />
-    </xacro:unless>
-
-    <!-- wrist camera adapter and camera-->
-    <xacro:ur_realsense_camera_adapter
-      prefix="${prefix_}"
-      parent="${ur_realsense_camera_adapter_parent}"
-      child_tool="${prefix_}realsense_camera_adapter_tool0"
-      child_camera="${prefix_}d415_mount_link"
-      rotation="0"
-    />
-
-    <xacro:property name="simulation" default="$(arg simulation)" />
-    <xacro:realsense_d415
-      parent="${prefix_}d415_mount_link"
-      name="${prefix_}wrist_mounted_camera"
-      use_mesh="${not simulation == 'gazebo'}"
-    >
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:realsense_d415>
-
-    <!-- gripper and UR adapter-->
-    <xacro:ur_to_robotiq
-      prefix="${prefix_}"
-      parent="${prefix_}realsense_camera_adapter_tool0"
-      child="${prefix_}gripper_mount_link"
-      rotation="0"
-    />
-
-    <xacro:if value="${simulation == 'gazebo'}">
-      <xacro:property name="use_fake_hardware" default="false" />
-      <xacro:property name="sim_ignition" default="true" />
-    </xacro:if>
-    <xacro:if value="${not simulation == 'gazebo'}">
-      <xacro:property
-        name="use_fake_hardware"
-        default="$(arg use_fake_hardware)"
-      />
-      <xacro:property name="sim_ignition" default="false" />
-    </xacro:if>
-    <xacro:robotiq_gripper
-      name="${prefix_}RobotiqGripperHardwareInterface"
-      prefix="${prefix_}"
-      parent="${prefix_}gripper_mount_link"
-      use_fake_hardware="${use_fake_hardware}"
-      sim_ignition="${sim_ignition}"
-      com_port="$(arg tool_device_name)"
-    >
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:robotiq_gripper>
-
-    <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
-    <link name="${child}" />
-    <joint name="${child}_joint" type="fixed">
-      <parent link="${prefix_}robotiq_85_base_link" />
-      <child link="${child}" />
-      <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
-    </joint>
-  </xacro:macro>
-</robot>
diff --git a/src/picknik_ur_base_config/description/picknik_ur_macro.xacro b/src/picknik_ur_base_config/description/picknik_ur_macro.xacro
deleted file mode 100644
index 4a9f346e..00000000
--- a/src/picknik_ur_base_config/description/picknik_ur_macro.xacro
+++ /dev/null
@@ -1,104 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro
-    name="picknik_ur"
-    params="parent child initial_positions_file generate_ros2_control_tag *origin"
-  >
-    <!-- parameters -->
-    <xacro:arg name="use_fake_hardware" default="false" />
-    <xacro:arg name="external_camera" default="false" />
-    <xacro:arg name="has_tool_changer" default="true" />
-    <xacro:arg name="use_pinch_links" default="true" />
-    <xacro:arg name="generate_ros2_control_tag" default="true" />
-    <xacro:arg name="name" default="" />
-    <xacro:arg name="joint_limits_parameters_file" default="" />
-    <xacro:arg name="kinematics_parameters_file" default="" />
-    <xacro:arg name="physical_parameters_file" default="" />
-    <xacro:arg name="visual_parameters_file" default="" />
-    <xacro:arg name="headless_mode" default="false" />
-    <xacro:arg name="robot_ip" default="0.0.0.0" />
-    <xacro:arg name="use_tool_communication" default="false" />
-    <xacro:arg name="tool_voltage" default="0" />
-    <xacro:arg name="tool_device_name" default="/dev/ttyUSB0" />
-    <xacro:arg name="simulation" default="" />
-
-    <!-- Import macros for main hardware components -->
-    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" />
-    <xacro:include
-      filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro"
-    />
-    <xacro:include
-      filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro"
-    />
-    <xacro:include
-      filename="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro"
-    />
-    <xacro:include
-      filename="$(find picknik_ur_base_config)/description/pinch_links.xacro"
-    />
-
-    <!-- Initial positions for simulations (Mock Hardware and Gazebo) -->
-    <xacro:property
-      name="initial_positions_file"
-      default="$(arg initial_positions_file)"
-    />
-    <xacro:property name="simulation" default="$(arg simulation)" />
-    <xacro:property
-      name="visual_parameters_file"
-      default="$(arg visual_parameters_file)"
-    />
-    <xacro:if value="${simulation == 'gazebo'}">
-      <xacro:property name="use_fake_hardware" default="false" />
-    </xacro:if>
-    <xacro:if value="${not simulation == 'gazebo'}">
-      <xacro:property
-        name="use_fake_hardware"
-        default="$(arg use_fake_hardware)"
-      />
-    </xacro:if>
-
-    <link name="${parent}" />
-    <!-- arm -->
-    <xacro:ur_robot
-      name="$(arg name)"
-      tf_prefix=""
-      parent="${parent}"
-      joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
-      kinematics_parameters_file="$(arg kinematics_parameters_file)"
-      physical_parameters_file="$(arg physical_parameters_file)"
-      visual_parameters_file="$(arg visual_parameters_file)"
-      use_fake_hardware="${use_fake_hardware}"
-      initial_positions="${xacro.load_yaml(initial_positions_file)}"
-      sim_ignition="${simulation == 'gazebo'}"
-      headless_mode="$(arg headless_mode)"
-      robot_ip="$(arg robot_ip)"
-      use_tool_communication="$(arg use_tool_communication)"
-      generate_ros2_control_tag="$(arg generate_ros2_control_tag)"
-      tool_voltage="$(arg tool_voltage)"
-      tool_device_name="$(arg tool_device_name)"
-      script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
-      output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
-      input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"
-    >
-      <xacro:insert_block name="origin" />
-    </xacro:ur_robot>
-
-    <xacro:unless value="$(arg has_tool_changer)">
-      <xacro:property name="child" default="$(arg child)" />
-      <xacro:if value="${not child == 'tool0'}">
-        <link name="${child}" />
-        <joint name="${child}_joint" type="fixed">
-          <parent link="tool0" />
-          <child link="${child}" />
-          <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        </joint>
-      </xacro:if>
-    </xacro:unless>
-
-    <!-- pinch geometry for moveit motion planning. see https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/611 -->
-    <xacro:if value="$(arg use_pinch_links)">
-      <xacro:forearm_pinch_link />
-      <xacro:wrist_3_pinch_link />
-    </xacro:if>
-  </xacro:macro>
-</robot>
diff --git a/src/picknik_ur_base_config/description/pinch_links.xacro b/src/picknik_ur_base_config/description/pinch_links.xacro
deleted file mode 100644
index fda669eb..00000000
--- a/src/picknik_ur_base_config/description/pinch_links.xacro
+++ /dev/null
@@ -1,72 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- wrist_3_link/forearm_link have a radius 0f 0.0375m. Actual offset from surface is (radius - attached_link's radius). -->
-  <!-- UR Drivers check for a 2.5cm  distance between tool_flange/wrist_3 and forearm links. -->
-  <xacro:macro
-    name="forearm_pinch_link"
-    params="prefix:='' length:=0.28 offset:=0.015"
-  >
-    <xacro:property
-      name="prefix_"
-      value="${prefix + &quot;_&quot; if prefix else &quot;&quot;}"
-    />
-    <xacro:property name="radius" value="${0.0375 + offset}" />
-    <link name="${prefix_}forearm_pinch_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 ${pi/16}" />
-        <geometry>
-          <cylinder length="${length}" radius="${radius}" />
-        </geometry>
-        <material name="silver">
-          <color rgba="0.75 0.65 0.65 0" />
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 ${pi/16}" />
-        <geometry>
-          <cylinder length="${length}" radius="${radius}" />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${prefix_}forearm_pinch_joint" type="fixed">
-      <parent link="${prefix_}forearm_link" />
-      <child link="${prefix_}forearm_pinch_link" />
-      <origin xyz="${-0.08 - length/2} 0 0.0049" rpy="0 ${pi/2} 0" />
-    </joint>
-  </xacro:macro>
-
-  <xacro:macro
-    name="wrist_3_pinch_link"
-    params="prefix:='' length:=0.11 offset:=0.012"
-  >
-    <xacro:property
-      name="prefix_"
-      value="${prefix + &quot;_&quot; if prefix else &quot;&quot;}"
-    />
-    <xacro:property name="radius" value="${0.0375 + offset}" />
-    <link name="${prefix_}wrist_3_pinch_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <cylinder length="${length}" radius="${radius}" />
-        </geometry>
-        <material name="silver">
-          <color rgba="0.75 0.65 0.65 0" />
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <cylinder length="${length}" radius="${radius}" />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${prefix_}wrist_3_pinch_joint" type="fixed">
-      <parent link="${prefix_}wrist_3_link" />
-      <child link="${prefix_}wrist_3_pinch_link" />
-      <origin xyz="0 0 0" rpy="0 0 ${pi/16}" />
-    </joint>
-  </xacro:macro>
-</robot>
diff --git a/src/picknik_ur_base_config/launch/agent_bridge.launch.xml b/src/picknik_ur_base_config/launch/agent_bridge.launch.xml
deleted file mode 100644
index b2aa7543..00000000
--- a/src/picknik_ur_base_config/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/picknik_ur_base_config/launch/moveit_pro.launch.xml b/src/picknik_ur_base_config/launch/moveit_pro.launch.xml
deleted file mode 100644
index 102a8a24..00000000
--- a/src/picknik_ur_base_config/launch/moveit_pro.launch.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/robot_drivers.launch.py"
-  />
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-  <include
-    file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"
-  />
-</launch>
diff --git a/src/picknik_ur_base_config/launch/pro_rs_launch.py b/src/picknik_ur_base_config/launch/pro_rs_launch.py
deleted file mode 100644
index 7aaec2b2..00000000
--- a/src/picknik_ur_base_config/launch/pro_rs_launch.py
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 2024 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.
-
-import sys
-
-from ament_index_python import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import OpaqueFunction
-
-# Add the realsense2_camera/launch directory to the user's path so we can import the realsense2_camera rs_launch module.
-realsense2_camera_path = get_package_share_directory("realsense2_camera")
-sys.path.append(f"{realsense2_camera_path}/launch")
-
-import rs_launch
-
-
-def generate_launch_description():
-    rs_launch.configurable_parameters.extend(
-        [
-            {
-                "name": "color_qos",
-                "default": "SENSOR_DATA",
-                "description": "Color stream QoS settings",
-            },
-            {
-                "name": "depth_qos",
-                "default": "SENSOR_DATA",
-                "description": "Depth stream QoS settings",
-            },
-        ]
-    )
-    return LaunchDescription(
-        rs_launch.declare_configurable_parameters(rs_launch.configurable_parameters)
-        + [
-            OpaqueFunction(
-                function=rs_launch.launch_setup,
-                kwargs={
-                    "params": rs_launch.set_configurable_parameters(
-                        rs_launch.configurable_parameters
-                    )
-                },
-            )
-        ]
-    )
diff --git a/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py b/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py
deleted file mode 100644
index c4618f26..00000000
--- a/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py
+++ /dev/null
@@ -1,95 +0,0 @@
-# Copyright 2023 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.
-
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch.substitutions import ThisLaunchFileDir
-from launch.launch_description_sources import AnyLaunchDescriptionSource
-
-from moveit_studio_utils_py.launch_common import empty_gen
-from moveit_studio_utils_py.system_config import (
-    SystemConfigParser,
-)
-
-
-def generate_launch_description():
-    system_config_parser = SystemConfigParser()
-    hardware_config = system_config_parser.get_hardware_config()
-    controller_config = system_config_parser.get_ros2_control_config()
-
-    declare_robot_ip = DeclareLaunchArgument(
-        "robot_ip", description="IP address of the robot"
-    )
-    robot_ip = LaunchConfiguration("robot_ip")
-
-    dashboard_client_node = Node(
-        package="ur_robot_driver",
-        executable="dashboard_client",
-        name="dashboard_client",
-        output="both",
-        emulate_tty=True,
-        parameters=[{"robot_ip": robot_ip}],
-    )
-
-    protective_stop_manager_node = Node(
-        package="moveit_studio_ur_pstop_manager",
-        executable="protective_stop_manager_node",
-        name="protective_stop_manager_node",
-        output="both",
-        parameters=[
-            {
-                "controllers_default_active": controller_config.get(
-                    "controllers_active_at_startup", empty_gen()
-                ),
-                "controllers_default_not_active": controller_config.get(
-                    "controllers_inactive_at_startup", empty_gen()
-                ),
-            }
-        ],
-    )
-
-    tool_comms_launch = IncludeLaunchDescription(
-        AnyLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_tool_comms.launch.xml"]),
-        launch_arguments={
-            "robot_ip": robot_ip,
-            "tool_tcp_port": "54321",
-            "tool_device_name": "/tmp/ttyUR",
-        }.items(),
-    )
-
-    nodes_to_launch = [
-        dashboard_client_node,
-        protective_stop_manager_node,
-        tool_comms_launch,
-    ]
-
-    return LaunchDescription(nodes_to_launch)
diff --git a/src/picknik_ur_base_config/launch/rs_cameras.launch.xml b/src/picknik_ur_base_config/launch/rs_cameras.launch.xml
deleted file mode 100644
index 285ff314..00000000
--- a/src/picknik_ur_base_config/launch/rs_cameras.launch.xml
+++ /dev/null
@@ -1,74 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <arg name="scene_camera_serial_no" default="'0'" />
-  <arg name="wrist_mounted_camera_serial_no" default="'0'" />
-
-  <!-- Scene camera  -->
-  <include
-    file="$(find-pkg-share picknik_ur_base_config)/launch/pro_rs_launch.py"
-  >
-    <arg name="camera_name" value="scene_camera" />
-    <arg name="serial_no" value="$(var scene_camera_serial_no)" />
-    <arg name="device_type" value="D415" />
-    <arg name="depth_module.profile" value="640x480x6" />
-    <arg name="rgb_camera.profile" value="640x480x6" />
-    <arg name="pointcloud.enable" value="True" />
-    <arg name="pointcloud.ordered_pc" value="True" />
-    <arg name="decimation_filter.enable" value="False" />
-
-    <!--# information about the topics the camera publishes the raw image and info-->
-    <arg name="rgb_info" value="/scene_camera/color/camera_info" />
-    <arg name="rgb_image" value="/scene_camera/color/image_raw" />
-    <arg
-      name="registered_rgb_depth_pair.depth_info"
-      value="/scene_camera/color/camera_info"
-    />
-    <arg
-      name="registered_rgb_depth_pair.depth_image"
-      value="/scene_camera/depth/image_rect_raw"
-    />
-    <arg
-      name="registered_rgb_depth_pair.registered_info"
-      value="/scene_camera/color/camera_info"
-    />
-    <arg
-      name="registered_rgb_depth_pair.registered_image"
-      value="/scene_camera/depth/image_rect_raw"
-    />
-  </include>
-
-  <!-- Wrist camera  -->
-  <include
-    file="$(find-pkg-share picknik_ur_base_config)/launch/pro_rs_launch.py"
-  >
-    <arg name="camera_name" value="wrist_mounted_camera" />
-    <arg name="serial_no" value="$(var wrist_mounted_camera_serial_no)" />
-    <arg name="device_type" value="D415" />
-    <arg name="depth_module.profile" value="640x480x6" />
-    <arg name="pointcloud.enable" value="True" />
-    <arg name="pointcloud.ordered_pc" value="True" />
-    <arg name="decimation_filter.enable" value="False" />
-
-    <!-- information about the topics the camera publishes the raw image and info -->
-    <arg name="rgb_info" value="/wrist_mounted_camera/color/camera_info" />
-    <arg name="rgb_image" value="/wrist_mounted_camera/color/image_raw" />
-
-    <!-- By adding registered_rgb_depth_pair, This camera can be used for "Set Transform From Click" -->
-    <arg
-      name="registered_rgb_depth_pair.depth_info"
-      value="/wrist_mounted_camera/depth/camera_info"
-    />
-    <arg
-      name="registered_rgb_depth_pair.depth_image"
-      value="/wrist_mounted_camera/depth/image_rect_raw"
-    />
-    <arg
-      name="registered_rgb_depth_pair.registered_info"
-      value="/wrist_mounted_camera/depth_registered/camera_info"
-    />
-    <arg
-      name="registered_rgb_depth_pair.registered_image"
-      value="/wrist_mounted_camera/depth_registered/image_rect"
-    />
-  </include>
-</launch>
diff --git a/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py b/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
deleted file mode 100644
index c6596305..00000000
--- a/src/picknik_ur_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
+++ /dev/null
@@ -1,43 +0,0 @@
-# Copyright 2023 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.
-
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    # Mock the UR Dashboard Client
-    mock_dashboard_client = Node(
-        package="moveit_studio_ur_pstop_manager",
-        executable="mock_ur_dashboard_client_node",
-        name="dashboard_client",
-        output="both",
-    )
-
-    return LaunchDescription([mock_dashboard_client])
diff --git a/src/picknik_ur_base_config/launch/ur_tool_comms.launch.xml b/src/picknik_ur_base_config/launch/ur_tool_comms.launch.xml
deleted file mode 100644
index 069c35f2..00000000
--- a/src/picknik_ur_base_config/launch/ur_tool_comms.launch.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<launch>
-  <arg name="robot_ip" description="IP address of the UR robot controller." />
-  <arg
-    name="tool_tcp_port"
-    default="54321"
-    description="Port for tool communications."
-  />
-  <arg
-    name="tool_device_name"
-    description="Device name to use for tool communications."
-  />
-  <executable
-    cmd="socat pty,link=$(var tool_device_name),raw,ignoreeof,waitslave tcp:$(var robot_ip):$(var tool_tcp_port)"
-    output="both"
-    shell="true"
-  />
-</launch>
diff --git a/src/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
deleted file mode 100644
index e8095851..00000000
--- a/src/picknik_ur_base_config/objectives/clear_snapshot.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Clear Snapshot">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Clear Snapshot"
-    _description="Clear the point cloud snapshot"
-  >
-    <Action ID="ClearSnapshot" />
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/close_gripper.xml b/src/picknik_ur_base_config/objectives/close_gripper.xml
deleted file mode 100644
index cc90bbe4..00000000
--- a/src/picknik_ur_base_config/objectives/close_gripper.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Close Gripper">
-  <BehaviorTree ID="Close Gripper" _description="Close the gripper">
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.7929"
-        timeout="15.000000"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml b/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
deleted file mode 100644
index 955ea9b8..00000000
--- a/src/picknik_ur_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Get IMarker Pose From Mesh Visualization"
->
-  <!--//////////-->
-  <BehaviorTree
-    ID="Get IMarker Pose From Mesh Visualization"
-    _description="Visualize a mesh in the UI and use an IMarker to get a grasp pose based on that mesh"
-    _favorite="false"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="VisualizeMesh" marker_lifetime="0.0" />
-      <Action ID="AddPoseStampedToVector" input="{mesh_pose}" />
-      <Action
-        ID="AdjustPoseWithIMarker"
-        initial_poses="{pose_stamped_vector}"
-        adjusted_poses="{adjusted_poses}"
-        prompts="Adjust IMarker for Poses relative to the mesh"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Get IMarker Pose From Mesh Visualization">
-      <output_port name="adjusted_poses" default="{adjusted_poses}" />
-      <input_port name="mesh_path" default="{mesh_path}" />
-      <input_port name="mesh_pose" default="{mesh_pose}" />
-      <input_port name="_collapsed" default="true" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml b/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
deleted file mode 100644
index e9e294e0..00000000
--- a/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Interpolate to Joint State">
-  <BehaviorTree
-    ID="Interpolate to Joint State"
-    _description="Move to a specified joint state using joint interpolation"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="InitializeMTCTask"
-        task_id="interpolate_to_joint_state"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        task="{interpolate_to_waypoint_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{interpolate_to_waypoint_task}" />
-      <Action
-        ID="SetupMTCInterpolateToJointState"
-        joint_state="{target_joint_state}"
-        name="SetupMTCInterpolateToJointState_First"
-        planning_group_name="manipulator"
-        task="{interpolate_to_waypoint_task}"
-      />
-      <Action
-        ID="PlanMTCTask"
-        solution="{interpolate_to_waypoint_solution}"
-        task="{interpolate_to_waypoint_task}"
-      />
-      <Action
-        ID="ExecuteMTCTask"
-        solution="{interpolate_to_waypoint_solution}"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Interpolate to Joint State">
-      <input_port name="target_joint_state" default="{target_joint_state}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
deleted file mode 100644
index 0b3c3e9a..00000000
--- a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Move to Joint State">
-  <BehaviorTree
-    ID="Move to Joint State"
-    _description="Move to a specified joint state"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="InitializeMTCTask"
-        task_id="move_to_joint_state"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        task="{move_to_waypoint_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}" />
-      <Action
-        ID="SetupMTCMoveToJointState"
-        joint_state="{target_joint_state}"
-        name="SetupMTCMoveToJointState_First"
-        planning_group_name="manipulator"
-        task="{move_to_waypoint_task}"
-        planner_interface="moveit_default"
-      />
-      <Action
-        ID="PlanMTCTask"
-        solution="{move_to_waypoint_solution}"
-        task="{move_to_waypoint_task}"
-      />
-      <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move to Joint State">
-      <input_port name="target_joint_state" default="{target_joint_state}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/move_to_pose.xml b/src/picknik_ur_base_config/objectives/move_to_pose.xml
deleted file mode 100644
index b5e1e6b8..00000000
--- a/src/picknik_ur_base_config/objectives/move_to_pose.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Move to Pose">
-  <BehaviorTree
-    ID="Move to Pose"
-    _description="Uses inverse kinematics to move the robot to a set gripper position"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="InitializeMTCTask"
-        task_id="move_to_pose"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        task="{move_to_pose_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
-      <Action
-        ID="SetupMTCMoveToPose"
-        ik_frame="grasp_link"
-        planning_group_name="manipulator"
-        target_pose="{target_pose}"
-        task="{move_to_pose_task}"
-        planner_interface="moveit_default"
-      />
-      <Action
-        ID="PlanMTCTask"
-        solution="{move_to_pose_solution}"
-        task="{move_to_pose_task}"
-      />
-      <SubTree
-        ID="Wait for Trajectory Approval if User Available"
-        solution="{move_to_pose_solution}"
-      />
-      <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move to Pose">
-      <input_port name="target_pose" default="{target_pose}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/move_to_waypoint.xml b/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
deleted file mode 100644
index 4733f815..00000000
--- a/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
-  <BehaviorTree
-    ID="Move to Waypoint"
-    _description="This Objective is used when moving to one of the saved waypoints in your site configuration"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="RetrieveWaypoint"
-        waypoint_joint_state="{target_joint_state}"
-        waypoint_name="{waypoint_name}"
-        joint_group_name="{joint_group_name}"
-      />
-      <Action
-        ID="InitializeMTCTask"
-        task_id="move_to_named_pose"
-        controller_names="{controller_names}"
-        task="{move_to_waypoint_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}" />
-      <Action
-        ID="SetupMTCMoveToJointState"
-        joint_state="{target_joint_state}"
-        name="SetupMTCMoveToJointState"
-        planning_group_name="{joint_group_name}"
-        planner_interface="{planner_interface}"
-        constraints="{constraints}"
-        task="{move_to_waypoint_task}"
-      />
-      <Action
-        ID="PlanMTCTask"
-        solution="{move_to_waypoint_solution}"
-        task="{move_to_waypoint_task}"
-      />
-      <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move to Waypoint">
-      <input_port name="waypoint_name" default="" />
-      <input_port name="joint_group_name" default="manipulator" />
-      <input_port name="planner_interface" default="moveit_default" />
-      <input_port
-        name="controller_names"
-        default="/joint_trajectory_controller"
-      />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/open_gripper.xml b/src/picknik_ur_base_config/objectives/open_gripper.xml
deleted file mode 100644
index 10084d1f..00000000
--- a/src/picknik_ur_base_config/objectives/open_gripper.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Open Gripper">
-  <!--//////////-->
-  <BehaviorTree ID="Open Gripper" _description="Open the gripper">
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.05"
-        timeout="15.000000"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/request_teleoperation.xml b/src/picknik_ur_base_config/objectives/request_teleoperation.xml
deleted file mode 100644
index 33c019f1..00000000
--- a/src/picknik_ur_base_config/objectives/request_teleoperation.xml
+++ /dev/null
@@ -1,169 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Request Teleoperation">
-  <!--The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message.-->
-  <BehaviorTree
-    ID="Request Teleoperation"
-    _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective."
-    _favorite="false"
-    _hardcoded="false"
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence">
-      <Action ID="Script" code="teleop_mode := 0" />
-      <Control ID="Parallel" success_count="1" failure_count="1">
-        <Action
-          ID="DoTeleoperateAction"
-          enable_user_interaction="{enable_user_interaction}"
-          user_interaction_prompt="{user_interaction_prompt}"
-          initial_teleop_mode="{initial_teleop_mode}"
-          current_teleop_mode="{teleop_mode}"
-        />
-        <Decorator ID="KeepRunningUntilFailure">
-          <Control ID="Sequence">
-            <!--Closing and opening the gripper-->
-            <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7">
-              <SubTree ID="Close Gripper" />
-            </Decorator>
-            <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6">
-              <SubTree ID="Open Gripper" />
-            </Decorator>
-            <!--Joint sliders interpolate to joint state-->
-            <Decorator ID="ForceSuccess" _while="teleop_mode == 5">
-              <Control ID="Sequence">
-                <Control ID="Fallback" name="root">
-                  <Control ID="Sequence">
-                    <Action
-                      ID="RetrieveJointStateParameter"
-                      timeout_sec="-1"
-                      joint_state="{target_joint_state}"
-                    />
-                    <SubTree
-                      ID="Interpolate to Joint State"
-                      _collapsed="false"
-                      target_joint_state="{target_joint_state}"
-                    />
-                    <Action
-                      ID="PublishEmpty"
-                      topic="/studio_ui/motion_ended"
-                      queue_size="1"
-                      use_best_effort="false"
-                    />
-                  </Control>
-                  <Control ID="Sequence">
-                    <Action
-                      ID="PublishEmpty"
-                      topic="/studio_ui/motion_ended"
-                      queue_size="1"
-                      use_best_effort="false"
-                    />
-                    <Action ID="AlwaysFailure" />
-                  </Control>
-                </Control>
-              </Control>
-            </Decorator>
-            <!--Interactive markers move to pose-->
-            <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
-              <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
-                <Control ID="Fallback" name="root">
-                  <Control ID="Sequence">
-                    <Action
-                      ID="RetrievePoseParameter"
-                      timeout_sec="-1"
-                      pose="{target_pose}"
-                    />
-                    <SubTree
-                      ID="Move to Pose"
-                      _collapsed="false"
-                      target_pose="{target_pose}"
-                    />
-                    <Action
-                      ID="PublishEmpty"
-                      topic="/studio_ui/motion_ended"
-                      queue_size="1"
-                      use_best_effort="false"
-                    />
-                  </Control>
-                  <Control ID="Sequence">
-                    <Action
-                      ID="PublishEmpty"
-                      topic="/studio_ui/motion_ended"
-                      queue_size="1"
-                      use_best_effort="false"
-                    />
-                    <Action ID="AlwaysFailure" />
-                  </Control>
-                </Control>
-              </Control>
-            </Decorator>
-            <!--Waypoint buttons move to joint state-->
-            <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
-              <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
-                <Control ID="Fallback" name="root">
-                  <Control ID="Sequence">
-                    <Action
-                      ID="RetrieveJointStateParameter"
-                      timeout_sec="-1"
-                      joint_state="{target_joint_state}"
-                    />
-                    <SubTree
-                      ID="Move to Joint State"
-                      _collapsed="false"
-                      target_joint_state="{target_joint_state}"
-                    />
-                    <Action
-                      ID="PublishEmpty"
-                      topic="/studio_ui/motion_ended"
-                      queue_size="1"
-                      use_best_effort="false"
-                    />
-                  </Control>
-                  <Control ID="Sequence">
-                    <Action
-                      ID="PublishEmpty"
-                      topic="/studio_ui/motion_ended"
-                      queue_size="1"
-                      use_best_effort="false"
-                    />
-                    <Action ID="AlwaysFailure" />
-                  </Control>
-                </Control>
-              </Control>
-            </Decorator>
-            <!--Cartesian and joint jogging-->
-            <Control ID="Sequence" _while="teleop_mode == 2">
-              <Action
-                ID="SwitchUIPrimaryView"
-                primary_view_name="Visualization"
-              />
-              <Action
-                ID="TeleoperateTwist"
-                controller_name="servo_controller"
-              />
-            </Control>
-            <Control ID="Sequence" _while="teleop_mode == 1">
-              <Action
-                ID="TeleoperateJointJog"
-                controller_name="servo_controller"
-              />
-            </Control>
-          </Control>
-        </Decorator>
-      </Control>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Request Teleoperation">
-      <input_port name="enable_user_interaction" default="false" />
-      <input_port name="user_interaction_prompt" default="" />
-      <input_port name="initial_teleop_mode" default="3" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/reset_planning_scene.xml b/src/picknik_ur_base_config/objectives/reset_planning_scene.xml
deleted file mode 100644
index 999da975..00000000
--- a/src/picknik_ur_base_config/objectives/reset_planning_scene.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Reset Planning Scene">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Reset Planning Scene"
-    _description=""
-    _favorite="false"
-    _hardcoded="false"
-  >
-    <Action
-      ID="ResetPlanningSceneObjects"
-      apply_planning_scene_service="/apply_planning_scene"
-    />
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/teleoperate.xml b/src/picknik_ur_base_config/objectives/teleoperate.xml
deleted file mode 100644
index c4fdcdab..00000000
--- a/src/picknik_ur_base_config/objectives/teleoperate.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Teleoperate">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Teleoperate"
-    _description="Handles the different variations of teleoperation from the web UI. Can be used standalone."
-    _favorite="false"
-    _hardcoded="false"
-  >
-    <SubTree
-      ID="Request Teleoperation"
-      enable_user_interaction="false"
-      user_interaction_prompt=""
-      initial_teleop_mode="3"
-    />
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml b/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml
deleted file mode 100644
index 97b82b14..00000000
--- a/src/picknik_ur_base_config/objectives/wait_for_trajectory_approval_if_user_available.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Wait for Trajectory Approval if User Available"
->
-  <BehaviorTree
-    ID="Wait for Trajectory Approval if User Available"
-    _description="Preview a shared pointer to an MTC Solution object via an input data port if a user is available."
-    _subtreeOnly="true"
-  >
-    <Control ID="Fallback" name="wait_for_approval_if_user_available">
-      <Decorator ID="Inverter">
-        <Action ID="IsUserAvailable" />
-      </Decorator>
-      <Action ID="WaitForUserTrajectoryApproval" solution="{solution}" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_base_config/package.xml b/src/picknik_ur_base_config/package.xml
deleted file mode 100644
index 9acd1140..00000000
--- a/src/picknik_ur_base_config/package.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>picknik_ur_base_config</name>
-  <version>6.0.0</version>
-
-  <description>
-    Base configuration package for Picknik's UR robot arms
-  </description>
-
-  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
-
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <exec_depend>admittance_controller</exec_depend>
-  <exec_depend>kinematics_interface_kdl</exec_depend>
-  <exec_depend>moveit_planners_stomp</exec_depend>
-  <exec_depend>moveit_ros_perception</exec_depend>
-  <exec_depend>moveit_studio_agent</exec_depend>
-  <exec_depend>moveit_studio_behavior</exec_depend>
-  <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
-  <exec_depend>picknik_accessories</exec_depend>
-  <exec_depend>realsense2_camera</exec_depend>
-  <exec_depend>realsense2_description</exec_depend>
-  <exec_depend>robotiq_description</exec_depend>
-  <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
-  <exec_depend>ur_description</exec_depend>
-  <exec_depend>ur_robot_driver</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-
-  <test_depend>ament_clang_format</test_depend>
-  <test_depend>ament_clang_tidy</test_depend>
-  <test_depend>ament_cmake_copyright</test_depend>
-  <test_depend>ament_cmake_lint_cmake</test_depend>
-  <test_depend>picknik_ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/picknik_ur_base_config/waypoints/ur_waypoints.yaml b/src/picknik_ur_base_config/waypoints/ur_waypoints.yaml
deleted file mode 100644
index 14095abc..00000000
--- a/src/picknik_ur_base_config/waypoints/ur_waypoints.yaml
+++ /dev/null
@@ -1,255 +0,0 @@
-- name: Grab
-  description: ""
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [2.7712432925819273, -1.4531914890259676, -1.96615025453015, -1.0617789845470658, 1.5878968566255958, -0.07080028000697597]
-    velocity: []
-    effort: []
-- name: Look at Table
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [3.03, -0.78, -0.51, -2.39, 1.65, 0]
-    velocity: []
-    effort: []
-- name: Look at Pick and Place Zone
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [3.03, -0.78, -0.51, -2.39, 1.65, 0]
-    velocity: []
-    effort: []
-- name: Forward Down
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [0, -1.41, -0.7, -2.12, 1.67, 0]
-    velocity: []
-    effort: []
-- name: Right Corner
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.61, -0.78, -0.45, -2.49, 1.64, 0]
-    velocity: []
-    effort: []
-- name: Left Corner
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [0.58, -0.78, -0.45, -2.33, 1.64, 0]
-    velocity: []
-    effort: []
-- name: Home
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [0, -0.78, -0.51, -2.4, 1.65, 0]
-    velocity: []
-    effort: []
-- name: Place
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.14017278352846319, -2.0659257374205531, -1.3808614015579224, -1.1930744808963318, 1.6471527814865112, -1.2497900168048304]
-    velocity: []
-    effort: []
-- name: Right Wall
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.10607844987978154, -0.60454382122073369, -0.53829550743103027, -2.1444779835143031, 1.3706846237182617, -0.03349477449526006]
-    velocity: []
-    effort: []
-- name: Left Wall
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.090000931416646779, -0.71631135166201787, -0.25595679879188538, -2.3102809391417445, 2.1028439998626709, 0.037132550030946732]
-    velocity: []
-    effort: []
-- name: Left Shelf
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.13052112260927373, -2.0738541088499964, -1.3867737054824829, -1.2032757264426728, 1.5722750425338745, -1.2421711126910608]
-    velocity: []
-    effort: []
-- name: Right Shelf
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.3130109945880335, -2.2752829990782679, -0.99421918392181396, -1.4464575362256546, 1.6087517738342285, 0.3333250880241394]
-    velocity: []
-    effort: []
-- name: Drop
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.14025289217104131, -2.0338388882079066, -1.3048344850540161, -1.3033235830119629, 1.6469297409057617, -1.2498410383807581]
-    velocity: []
-    effort: []
-- name: Place Left
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.13052112260927373, -2.0738541088499964, -1.3867737054824829, -1.2032757264426728, 1.5722750425338745, -1.2421711126910608]
-    velocity: []
-    effort: []
-- name: Place Right
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-0.3130109945880335, -2.2752829990782679, -0.99421918392181396, -1.4464575362256546, 1.6087517738342285, 0.3333250880241394]
-    velocity: []
-    effort: []
-- name: Place Block
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [0.139626, -2.05949, -1.48353, -1.20428, 1.69297, 0.20944]
-    velocity: []
-    effort: []
-- name: Pick Block
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [2.89725, -2.0944, -1.50098, -1.0472, 1.69297, 0.20944]
-    velocity: []
-    effort: []
-- name: Wrist 2 Min
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-2.2335834056138996e-05, -0.7800858658974525, -0.5100288585397881, -2.399985082258936, -3.141592653589793, 2.282092208042741e-05]
-    velocity: []
-    effort: []
-- name: Wrist 2 Max
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
-    position: [-2.2335834056138996e-05, -0.7800858658974525, -0.5100288585397881, -2.399985082258936, 3.141592653589793, 2.282092208042741e-05]
-    velocity: []
-    effort: []
diff --git a/src/picknik_ur_mobile_config/CMakeLists.txt b/src/picknik_ur_mobile_config/CMakeLists.txt
deleted file mode 100644
index deb94e57..00000000
--- a/src/picknik_ur_mobile_config/CMakeLists.txt
+++ /dev/null
@@ -1,35 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(picknik_ur_mobile_config)
-
-find_package(ament_cmake REQUIRED)
-find_package(picknik_accessories REQUIRED)
-
-
-# Install all XML files in directory
-set(PICKNIK_ACCESSORIES_SHARE_DIR
-"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
-)
-# Destination directory
-set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
-
-install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
-        DESTINATION "${DEST_DIR}"
-        FILES_MATCHING PATTERN "*")
-        
-install(
-  DIRECTORY
-    config
-    description
-    launch
-    objectives
-    waypoints
-  DESTINATION
-    share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/picknik_ur_mobile_config/LICENSE b/src/picknik_ur_mobile_config/LICENSE
deleted file mode 100644
index 574ef079..00000000
--- a/src/picknik_ur_mobile_config/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-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 copyright holder 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.
diff --git a/src/picknik_ur_mobile_config/README.md b/src/picknik_ur_mobile_config/README.md
deleted file mode 100644
index 7a00d3bc..00000000
--- a/src/picknik_ur_mobile_config/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# picknik_ur_mobile_config
-
-A MoveIt Pro MuJoCo simulation of a UR5 arm on a mobile Ridgeback base.
-
-For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_mobile_config/config/config.yaml b/src/picknik_ur_mobile_config/config/config.yaml
deleted file mode 100644
index 8af6c561..00000000
--- a/src/picknik_ur_mobile_config/config/config.yaml
+++ /dev/null
@@ -1,83 +0,0 @@
-#
-#  This contains information for a unique instance of a robot.
-#
-
-# Name of the package to specialize
-based_on_package: "picknik_ur_base_config"
-hardware:
-  # Parameters used to configure the robot description through XACRO.
-  # A URDF and SRDF are both required.
-  # [Required]
-  robot_description:
-    urdf:
-      package: "picknik_ur_mobile_config"
-      path: "description/picknik_ur.xacro"
-    srdf:
-      package: "picknik_ur_mobile_config"
-      path: "config/moveit/picknik_ur.srdf"
-    urdf_params:
-      - joint_limits_parameters_file:
-          package: "picknik_ur_mobile_config"
-          path: "config/moveit/joint_limits.yaml"
-
-moveit_params:
-  servo:
-    package: "picknik_ur_mobile_config"
-    path: "config/moveit/ur_servo.yaml"
-  joint_limits:
-    package: "picknik_ur_mobile_config"
-    path: "config/moveit/joint_limits.yaml"
-  servo_joint_limits:
-    package: "picknik_ur_mobile_config"
-    path: "config/moveit/hard_joint_limits.yaml"
-
-# Configuration for loading behaviors and objectives.
-# [Required]
-objectives:
-  # List of plugins for loading custom behaviors.
-  # [Required]
-  behavior_loader_plugins:
-    # This plugin will load the core MoveIt Pro Behaviors.
-    # Add additional plugin loaders as needed.
-    core:
-      - "moveit_studio::behaviors::CoreBehaviorsLoader"
-      - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
-      - "moveit_studio::behaviors::ServoBehaviorsLoader"
-      - "moveit_studio::behaviors::VisionBehaviorsLoader"
-  # Specify source folder for objectives
-  # [Required]
-  objective_library_paths:
-    sim_objectives:
-      package_name: "picknik_ur_mobile_config"
-      relative_path: "objectives"
-  # Specify the location of the saved waypoints file.
-  # [Required]
-  waypoints_file:
-    package_name: "picknik_ur_mobile_config"
-    relative_path: "waypoints/ur_waypoints.yaml"
-
-
-# Configuration for launching ros2_control processes.
-# [Required, if using ros2_control]
-ros2_control:
-  config:
-    package: "picknik_ur_mobile_config"
-    path: "config/control/picknik_ur.ros2_control.yaml"
-  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
-  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
-  # for running the application.
-  # [Optional, default=[]]
-  controllers_active_at_startup:
-    - "force_torque_sensor_broadcaster"
-    - "robotiq_gripper_controller"
-    - "joint_state_broadcaster"
-    - "servo_controller"
-  # Load but do not start these controllers so they can be activated later if needed.
-  controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-  # Any controllers here will not be spawned by MoveIt Pro.
-  # [Optional, default=[]]
-  controllers_not_managed: []
-  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
-  # [Optional, default=[]]
-  controller_shared_topics: []
diff --git a/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml
deleted file mode 100644
index 0411438e..00000000
--- a/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml
+++ /dev/null
@@ -1,175 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 600  # Hz
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-    servo_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    force_torque_sensor_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-
-joint_state_broadcaster:
-  ros__parameters:
-    use_local_topics: false
-    joints:
-      - linear_x_joint
-      - linear_y_joint
-      - rotational_yaw_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-      - robotiq_85_left_knuckle_joint
-    interfaces:
-      - position
-      - velocity
-      - effort
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - linear_x_joint
-      - linear_y_joint
-      - rotational_yaw_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - linear_x_joint
-      - linear_y_joint
-      - rotational_yaw_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      linear_x_joint:
-        goal: 0.05
-      linear_y_joint:
-        goal: 0.05
-      rotational_yaw_joint:
-        goal: 0.05
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-    acceleration_limits:
-      linear_x_joint: 10.0
-      linear_y_joint: 10.0
-      rotational_yaw_joint: 10.0
-      shoulder_pan_joint: 10.0
-      shoulder_lift_joint: 10.0
-      elbow_joint: 10.0
-      wrist_1_joint: 10.0
-      wrist_2_joint: 10.0
-      wrist_3_joint: 10.0
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
-servo_controller:
-  ros__parameters:
-    joints:
-      - linear_x_joint
-      - linear_y_joint
-      - rotational_yaw_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - linear_x_joint
-      - linear_y_joint
-      - rotational_yaw_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      linear_x_joint:
-        goal: 0.05
-      linear_y_joint:
-        goal: 0.05
-      rotational_yaw_joint:
-        goal: 0.05
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-    acceleration_limits:
-      linear_x_joint: 10.0
-      linear_y_joint: 10.0
-      rotational_yaw_joint: 10.0
-      shoulder_pan_joint: 10.0
-      shoulder_lift_joint: 10.0
-      elbow_joint: 10.0
-      wrist_1_joint: 10.0
-      wrist_2_joint: 10.0
-      wrist_3_joint: 10.0
-
-force_torque_sensor_broadcaster:
-  ros__parameters:
-    sensor_name: robotiq_ft_sensor
-    state_interface_names:
-      - force.x
-      - force.y
-      - force.z
-      - torque.x
-      - torque.y
-      - torque.z
-    frame_id: robotiq_ft_sensor
diff --git a/src/picknik_ur_mobile_config/config/initial_positions.yaml b/src/picknik_ur_mobile_config/config/initial_positions.yaml
deleted file mode 100644
index ad2d6a73..00000000
--- a/src/picknik_ur_mobile_config/config/initial_positions.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-linear_x_joint: 1.5
-linear_y_joint: 1.5
-rotational_yaw_joint: 0.0
-shoulder_pan_joint: 0.0
-shoulder_lift_joint: -1.41
-elbow_joint: -0.7
-wrist_1_joint: -2.12
-wrist_2_joint: 1.67
-wrist_3_joint: 0.0
diff --git a/src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml b/src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml
deleted file mode 100644
index 8939a72f..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml
+++ /dev/null
@@ -1,117 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-#
-# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
-joint_limits:
-  linear_x_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: 0.1
-    max_effort: 150.0
-    max_position: 5.0
-    max_velocity: 0.175
-    min_position: -5.0
-  linear_y_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: 0.1
-    max_effort: 150.0
-    max_position: 5.0
-    max_velocity: 0.175
-    min_position: -5.0
-  rotational_yaw_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_pan_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_lift_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    max_position: !degrees  90.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -270.0
-  elbow_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    # we artificially limit this joint to half its actual joint position limit
-    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
-    # construction of the robot, it's impossible to rotate the 'elbow_joint'
-    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_2_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_3_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 180.0
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -360.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml b/src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml
deleted file mode 100644
index d89a0792..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml
+++ /dev/null
@@ -1,117 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-#
-# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
-joint_limits:
-  linear_x_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: 0.1
-    max_effort: 150.0
-    max_position: 5.0
-    max_velocity: 0.175
-    min_position: -5.0
-  linear_y_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: 0.1
-    max_effort: 150.0
-    max_position: 5.0
-    max_velocity: 0.175
-    min_position: -5.0
-  rotational_yaw_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 90.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_pan_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  shoulder_lift_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    max_position: !degrees  90.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -270.0
-  elbow_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 150.0
-    # we artificially limit this joint to half its actual joint position limit
-    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
-    # construction of the robot, it's impossible to rotate the 'elbow_joint'
-    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    max_position: !degrees  180.0
-    max_velocity: !degrees  30.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_2_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -180.0
-  wrist_3_joint:
-    has_acceleration_limits: true
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_acceleration: !degrees 30.0
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  60.0
-    min_position: !degrees -360.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml b/src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml
deleted file mode 100644
index 186158d5..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-planning_plugins:
-  - ompl_interface/OMPLPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/AddTimeOptimalParameterization
-  - default_planning_response_adapters/ValidateSolution
-
-planner_configs:
-  APSConfigDefault:
-    type: geometric::AnytimePathShortening
-    shortcut: 1  # Attempt to shortcut all new solution paths
-    hybridize: 1  # Compute hybrid solution trajectories
-    max_hybrid_paths: 32  # Number of hybrid paths generated per iteration
-    num_planners: 16  # The number of default planners to use for planning
-    planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
-  RRTConnectkConfigDefault:
-    type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-manipulator:
-  default_planner_config: RRTConnectkConfigDefault
-  planner_configs:
-    - APSConfigDefault
-    - RRTConnectkConfigDefault
-  enforce_constrained_state_space: true
-  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
-  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.01
diff --git a/src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf b/src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
deleted file mode 100644
index e0be97c8..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
+++ /dev/null
@@ -1,241 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="ur5e">
-    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="linear_actuator">
-        <joint name="linear_x_joint" />
-        <joint name="linear_y_joint" />
-        <joint name="rotational_yaw_joint" />
-    </group>
-    <group name="manipulator">
-        <chain base_link="base_link" tip_link="grasp_link"/>
-        <group name="linear_actuator" />
-    </group>
-    <group name="gripper">
-        <link name="robotiq_85_base_link"/>
-        <link name="robotiq_85_left_inner_knuckle_link"/>
-        <link name="robotiq_85_left_finger_tip_link"/>
-        <link name="robotiq_85_left_knuckle_link"/>
-        <link name="robotiq_85_left_finger_link"/>
-        <link name="robotiq_85_right_inner_knuckle_link"/>
-        <link name="robotiq_85_right_finger_tip_link"/>
-        <link name="robotiq_85_right_knuckle_link"/>
-        <link name="robotiq_85_right_finger_link"/>
-        <link name="grasp_link"/>
-        <joint name="robotiq_85_left_knuckle_joint"/>
-    </group>
-    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="open" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="0"/>
-    </group_state>
-    <group_state name="close" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0.7929"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="tool0" group="gripper"/>
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
-    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
-    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
-    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
-    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <!--<disable_collisions link1="linear_rail" link2="base" reason="Adjacent" />-->
-    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="forearm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_pinch_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="upper_arm_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="realsense_camera_adapter_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_base_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_mounted_camera_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <!-- Ridgeback collisions -->
-    <disable_collisions link1="chassis_link" link2="front_left_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="chassis_link" link2="front_right_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="chassis_link" link2="rear_left_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="chassis_link" link2="rear_right_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="chassis_link" link2="top_link" reason="Adjacent"/>
-    <disable_collisions link1="chassis_link" link2="ur_arm_base_link_inertia" reason="Adjacent"/>
-    <disable_collisions link1="chassis_link" link2="ur_arm_shoulder_link" reason="Never"/>
-    <disable_collisions link1="chassis_link" link2="riser_link" reason="Never"/>
-    <disable_collisions link1="front_left_wheel_link" link2="front_right_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="front_left_wheel_link" link2="rear_left_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="front_left_wheel_link" link2="rear_right_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="front_left_wheel_link" link2="top_link" reason="Never"/>
-    <disable_collisions link1="front_left_wheel_link" link2="ur_arm_base_link_inertia" reason="Never"/>
-    <disable_collisions link1="front_left_wheel_link" link2="ur_arm_shoulder_link" reason="Never"/>
-    <disable_collisions link1="front_right_wheel_link" link2="rear_left_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="front_right_wheel_link" link2="rear_right_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="front_right_wheel_link" link2="top_link" reason="Never"/>
-    <disable_collisions link1="front_right_wheel_link" link2="ur_arm_base_link_inertia" reason="Never"/>
-    <disable_collisions link1="front_right_wheel_link" link2="ur_arm_shoulder_link" reason="Never"/>
-    <disable_collisions link1="rear_left_wheel_link" link2="rear_right_wheel_link" reason="Adjacent"/>
-    <disable_collisions link1="rear_left_wheel_link" link2="top_link" reason="Never"/>
-    <disable_collisions link1="rear_left_wheel_link" link2="ur_arm_base_link_inertia" reason="Never"/>
-    <disable_collisions link1="rear_left_wheel_link" link2="ur_arm_shoulder_link" reason="Never"/>
-    <disable_collisions link1="rear_right_wheel_link" link2="top_link" reason="Never"/>
-    <disable_collisions link1="rear_right_wheel_link" link2="ur_arm_base_link_inertia" reason="Never"/>
-    <disable_collisions link1="rear_right_wheel_link" link2="ur_arm_shoulder_link" reason="Never"/>
-    <disable_collisions link1="top_link" link2="ur_arm_base_link_inertia" reason="Never"/>
-    <disable_collisions link1="top_link" link2="ur_arm_shoulder_link" reason="Never"/>
-    <disable_collisions link1="top_link" link2="base_link_inertia" reason="Never"/>
-    <disable_collisions link1="top_link" link2="riser_link" reason="Never"/>
-    <disable_collisions link1="ur_arm_base_link_inertia" link2="ur_arm_shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="ur_arm_base_link_inertia" link2="ur_arm_upper_arm_link" reason="Never"/>
-    <disable_collisions link1="ur_arm_base_link_inertia" link2="ur_arm_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ur_arm_forearm_link" link2="ur_arm_upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="ur_arm_forearm_link" link2="ur_arm_wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="ur_arm_shoulder_link" link2="ur_arm_upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="ur_arm_shoulder_link" link2="ur_arm_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_3_link" reason="Never"/>
-    <disable_collisions link1="ur_arm_wrist_2_link" link2="ur_arm_wrist_3_link" reason="Adjacent"/>
-</robot>
diff --git a/src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml b/src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml
deleted file mode 100644
index 1633938e..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-# Cartesian limits for the Pilz planner
-cartesian_limits:
-  max_trans_vel: 0.1
-  max_trans_acc: 0.1
-  max_trans_dec: -0.1
-  max_rot_vel: 0.1
diff --git a/src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml b/src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
deleted file mode 100644
index dd179d2d..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-planning_plugins:
-  - pilz_industrial_motion_planner/CommandPlanner
-default_planner_config: LIN
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/ValidateSolution
-capabilities: >-
-    pilz_industrial_motion_planner/MoveGroupSequenceAction
-    pilz_industrial_motion_planner/MoveGroupSequenceService
diff --git a/src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml b/src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml
deleted file mode 100644
index 12ac1297..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-sensors:
-  - scene_scan_camera
-scene_scan_camera:
-  # The name of the Octomap updater plugin that we are using.
-  sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater"
-  # Specifies the topic to listen on for a point cloud.
-  # Set to an empty topic to disable.
-  point_cloud_service_name: "/point_cloud_service"
-  # Points further than this will not be used (in meters).
-  max_range: 1.5
-  # Choose one of every 'point_subsample' points (select all if set to 1).
-  point_subsample: 1
-  # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
-  padding_scale: 1.0
-  # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
-  padding_offset: 0.01
-  # The octomap representation will be updated at rate less than or equal to this value.
-  max_update_rate: 0.1
-
-# Specifies the resolution at which the octomap is maintained (in meters).
-octomap_resolution: 0.01
-# Specifies the coordinate frame in which the Octomap representation will be stored.
-# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor,
-# this frame parameter will not be used. Instead, the frame defaults to the planning frame.
-octomap_frame: "base_link"
diff --git a/src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml b/src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml
deleted file mode 100644
index 7447a8ff..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-planning_plugins:
-  - stomp_moveit/StompPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
-request_adapters:
-  - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/ValidateWorkspaceBounds
-  - default_planning_request_adapters/CheckStartStateBounds
-  - default_planning_request_adapters/CheckStartStateCollision
-response_adapters:
-  - default_planning_response_adapters/AddTimeOptimalParameterization
-  - default_planning_response_adapters/ValidateSolution
-
-stomp_moveit:
-  num_timesteps: 60
-  num_iterations: 40
-  num_iterations_after_valid: 0
-  num_rollouts: 30
-  max_rollouts: 30
-  exponentiated_cost_sensitivity: 0.8
-  control_cost_weight: 0.1
-  delta_t: 0.1
diff --git a/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml
deleted file mode 100644
index 65f77d5c..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Distance"
diff --git a/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml
deleted file mode 100644
index 90559540..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-  epsilon: 0.0001
-  solve_type: "Speed"
diff --git a/src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml b/src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml
deleted file mode 100644
index b89598cc..00000000
--- a/src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml
+++ /dev/null
@@ -1,64 +0,0 @@
-###############################################
-# Modify all parameters related to servoing here
-###############################################
-
-# Enable dynamic parameter updates
-enable_parameter_update: true
-
-## Properties of incoming commands
-command_in_type: "speed_units"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale:
-  # Scale parameters are only used if command_in_type=="unitless"
-  linear: 2.0  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
-  rotational: 3.0 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
-  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
-  joint: 2.0
-
-# Default to driving the arm at 50% maximum speed.
-override_velocity_scaling_factor: 0.5
-
-## Properties of outgoing commands
-publish_period: 0.01  # 1/Nominal publish rate [seconds]
-max_expected_latency: 0.1 # delay between sending a command and the robot executing it [seconds]
-
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
-command_out_type: trajectory_msgs/JointTrajectory
-
-# What to publish? Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
-
-## Plugins for smoothing outgoing commands
-use_smoothing: true
-smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_period parameter
-
-## MoveIt properties
-move_group_name: manipulator  # Often 'manipulator' or 'arm'
-acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
-is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
-monitored_planning_scene_topic: /monitored_planning_scene
-
-## Stopping behaviour
-incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
-
-## Configure handling of singularities and joint limits
-lower_singularity_threshold: 30.0  # Start decelerating when the condition number hits this (close to singularity)
-hard_stop_singularity_threshold: 50.0 # Stop when the condition number hits this
-joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-
-## Topic names
-cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
-joint_topic: /joint_states
-status_topic: ~/status # Publish status to this topic
-command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
-
-## Collision checking for the entire robot body
-check_collisions: true  # Check collisions?
-check_octomap_collisions: false  # Check collisions with octomap?
-collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
-scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
diff --git a/src/picknik_ur_mobile_config/description/LICENSE b/src/picknik_ur_mobile_config/description/LICENSE
deleted file mode 100644
index f24e07cb..00000000
--- a/src/picknik_ur_mobile_config/description/LICENSE
+++ /dev/null
@@ -1,26 +0,0 @@
-Copyright 2018 ROS Industrial Consortium
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-list of conditions and the following disclaimer.
-
-2. 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.
-
-3. Neither the name of the copyright holder 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.
diff --git a/src/picknik_ur_mobile_config/description/picknik_ur.xacro b/src/picknik_ur_mobile_config/description/picknik_ur.xacro
deleted file mode 100644
index 7947583f..00000000
--- a/src/picknik_ur_mobile_config/description/picknik_ur.xacro
+++ /dev/null
@@ -1,118 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
-  <!-- parameters -->
-  <xacro:arg name="use_fake_hardware" default="false" />
-  <xacro:arg name="external_camera" default="false" />
-  <xacro:arg name="has_tool_changer" default="true" />
-  <xacro:arg name="use_pinch_links" default="true" />
-  <xacro:arg name="generate_ros2_control_tag" default="false" />
-  <xacro:arg name="name" default="" />
-  <xacro:arg name="joint_limits_parameters_file" default="" />
-  <xacro:arg name="kinematics_parameters_file" default="" />
-  <xacro:arg name="physical_parameters_file" default="" />
-  <xacro:arg name="visual_parameters_file" default="" />
-  <xacro:arg name="headless_mode" default="false" />
-  <xacro:arg name="robot_ip" default="0.0.0.0" />
-  <xacro:arg name="use_tool_communication" default="false" />
-  <xacro:arg name="tool_voltage" default="0" />
-  <xacro:arg name="tool_device_name" default="/dev/ttyUSB0" />
-  <xacro:arg
-    name="initial_positions_file"
-    default="$(find picknik_ur_base_config)/config/initial_positions.yaml"
-  />
-
-  <!-- Import UR and environment macros -->
-  <xacro:include
-    filename="$(find picknik_ur_base_config)/description/picknik_ur_macro.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_ur_mobile_config)/description/picknik_ur_attachments_macro.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_ur_mobile_config)/description/picknik_ur_mujoco_ros2_control.xacro"
-  />
-  <xacro:include
-    filename="$(find ridgeback_description)/urdf/ridgeback.urdf.xacro"
-  />
-
-  <link name="world" />
-
-  <!-- Gripper and UR adapter and realsense camera -->
-  <xacro:picknik_ur_attachments
-    parent="tool0"
-    child="grasp_link"
-    has_tool_changer="$(arg has_tool_changer)"
-  />
-
-  <!-- Ridgeback -->
-  <xacro:ridgeback parent="ridgeback_base_link" />
-
-  <joint name="rotational_yaw_joint" type="revolute">
-    <axis xyz="0 0 1" />
-    <parent link="world" />
-    <child link="virual_rail_link_1" />
-    <origin rpy="0 0 0" xyz="0 0 0" />
-    <limit
-      effort="150.0"
-      lower="-3.141592653589793"
-      upper="3.141592653589793"
-      velocity="0.5235987755982988"
-    />
-    <dynamics damping="0" friction="0" />
-  </joint>
-
-  <link name="virual_rail_link_1" />
-
-  <joint name="linear_x_joint" type="prismatic">
-    <axis xyz="1 0 0" />
-    <parent link="virual_rail_link_1" />
-    <child link="virual_rail_link_2" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <limit
-      effort="1000.0"
-      lower="-5.0"
-      upper="5.0"
-      velocity="0.175"
-      acceleration="10.0"
-    />
-    <dynamics damping="20.0" friction="500.0" />
-  </joint>
-
-  <link name="virual_rail_link_2" />
-
-  <joint name="linear_y_joint" type="prismatic">
-    <axis xyz="0 1 0" />
-    <parent link="virual_rail_link_2" />
-    <child link="ridgeback_base_link" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <limit
-      effort="1000.0"
-      lower="-5.0"
-      upper="5.0"
-      velocity="0.175"
-      acceleration="10.0"
-    />
-    <dynamics damping="20.0" friction="500.0" />
-  </joint>
-
-  <!-- Robot: contains robot description from the world frame to the tool frame -->
-  <xacro:picknik_ur
-    parent="ur_linear_rail_base"
-    child="tool0"
-    initial_positions_file="$(arg initial_positions_file)"
-    generate_ros2_control_tag="$(arg generate_ros2_control_tag)"
-  >
-    <!-- Guesstimates below -->
-    <origin xyz="0 0.0 0.0" rpy="0 0 0" />
-  </xacro:picknik_ur>
-
-  <joint name="ur_ridgeback_mount" type="fixed">
-    <axis xyz="0 1 0" />
-    <parent link="mid_mount" />
-    <child link="ur_linear_rail_base" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </joint>
-
-  <!-- MuJoCo Hardware interface -->
-  <xacro:picknik_ur_mujoco_ros2_control />
-</robot>
diff --git a/src/picknik_ur_mobile_config/description/picknik_ur_attachments_macro.xacro b/src/picknik_ur_mobile_config/description/picknik_ur_attachments_macro.xacro
deleted file mode 100644
index f3279ab2..00000000
--- a/src/picknik_ur_mobile_config/description/picknik_ur_attachments_macro.xacro
+++ /dev/null
@@ -1,447 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include
-    filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro"
-  />
-
-  <xacro:macro
-    name="picknik_ur_attachments"
-    params="prefix:='' parent child has_tool_changer"
-  >
-    <!-- prefix property -->
-    <xacro:property
-      name="prefix_"
-      value="${prefix + &quot;_&quot; if prefix else &quot;&quot;}"
-    />
-    <!-- parameters -->
-    <xacro:arg name="simulation" default="" />
-
-    <!-- tool changer-->
-    <xacro:if value="$(arg has_tool_changer)">
-      <xacro:mtc_ur_tool_changer
-        prefix="${prefix_}"
-        parent="${parent}"
-        child="${prefix_}tool_changer_tool0"
-        rotation="0"
-      />
-      <xacro:property
-        name="ur_realsense_camera_adapter_parent"
-        value="${prefix_}tool_changer_tool0"
-      />
-    </xacro:if>
-    <xacro:unless value="$(arg has_tool_changer)">
-      <xacro:property
-        name="ur_realsense_camera_adapter_parent"
-        value="${parent}"
-      />
-    </xacro:unless>
-
-    <!-- wrist camera adapter and camera-->
-    <xacro:ur_realsense_camera_adapter
-      prefix="${prefix_}"
-      parent="${ur_realsense_camera_adapter_parent}"
-      child_tool="${prefix_}realsense_camera_adapter_tool0"
-      child_camera="${prefix_}d415_mount_link"
-      rotation="0"
-    />
-
-    <xacro:property name="simulation" default="$(arg simulation)" />
-    <xacro:realsense_d415
-      parent="${prefix_}d415_mount_link"
-      name="${prefix_}wrist_mounted_camera"
-      use_mesh="${not simulation == 'gazebo'}"
-    >
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:realsense_d415>
-
-    <!-- gripper and UR adapter-->
-    <xacro:ur_to_robotiq
-      prefix="${prefix_}"
-      parent="${prefix_}realsense_camera_adapter_tool0"
-      child="${prefix_}gripper_mount_link"
-      rotation="0"
-    />
-
-    <xacro:if value="${simulation == 'gazebo'}">
-      <xacro:property name="use_fake_hardware" default="false" />
-      <xacro:property name="sim_ignition" default="true" />
-    </xacro:if>
-    <xacro:if value="${not simulation == 'gazebo'}">
-      <xacro:property
-        name="use_fake_hardware"
-        default="$(arg use_fake_hardware)"
-      />
-      <xacro:property name="sim_ignition" default="false" />
-    </xacro:if>
-
-    <!-- Add robotiq 2f 85 gripper model -->
-    <link name="robotiq_85_base_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/robotiq_base.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/robotiq_base.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288" />
-        <mass value="6.6320197e-01" />
-        <inertia
-          ixx="5.1617816e-04"
-          ixy="2.936e-8"
-          ixz="0.0"
-          iyy="5.8802208e-04"
-          iyz="-3.2296e-7"
-          izz="3.9462776e-04"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_left_knuckle_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/left_knuckle.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/left_knuckle.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647" />
-        <mass value="1.384773208e-02" />
-        <inertia
-          ixx="3.5232e-7"
-          ixy="0.0"
-          ixz="1.1744e-7"
-          iyy="2.31944e-6"
-          iyz="0"
-          izz="2.23136e-6"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_right_knuckle_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/right_knuckle.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/right_knuckle.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647" />
-        <mass value="1.384773208e-02" />
-        <inertia
-          ixx="3.5232e-7"
-          ixy="0.0"
-          ixz="-1.1744e-7"
-          iyy="2.31944e-6"
-          iyz="0.0"
-          izz="2.23136e-6"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_left_finger_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/left_finger.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/left_finger.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121" />
-        <mass value="4.260376752e-02" />
-        <inertia
-          ixx="1.385792000000000e-05"
-          ixy="0.0"
-          ixz="-2.17264e-06"
-          iyy="1.183208e-05"
-          iyz="0.0"
-          izz="5.19672e-06"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_right_finger_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/right_finger.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/right_finger.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121" />
-        <mass value="4.260376752000000e-02" />
-        <inertia
-          ixx="1.385792e-05"
-          ixy="0.0"
-          ixz="2.17264e-06"
-          iyy="1.183208e-05"
-          iyz="0.0"
-          izz="5.19672e-06"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_left_inner_knuckle_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/left_inner_knuckle.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/left_inner_knuckle.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101" />
-        <mass value="2.969376448e-02" />
-        <inertia
-          ixx="9.57136e-06"
-          ixy="0.0"
-          ixz="-3.93424e-06"
-          iyy="8.69056e-06"
-          iyz="0.0"
-          izz="8.19144e-06"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_right_inner_knuckle_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/right_inner_knuckle.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/right_inner_knuckle.stl"
-          />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178" />
-        <mass value="2.969376448e-02" />
-        <inertia
-          ixx="9.42456e-06"
-          ixy="0.0"
-          ixz="3.9636e-06"
-          iyy="8.69056e-06"
-          iyz="0.0"
-          izz="8.33824e-06"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_left_finger_tip_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/left_finger_tip.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/left_finger_tip.stl"
-          />
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu1>100000.0</mu1>
-              <mu2>100000.0</mu2>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+5</kp>
-              <kd>1</kd>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <minDepth>0.002</minDepth>
-              <maxVel>0</maxVel>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701" />
-        <mass value="4.268588744e-02" />
-        <inertia
-          ixx="1.048152e-05"
-          ixy="0.0"
-          ixz="3.5232e-6"
-          iyy="1.197888e-05"
-          iyz="0.0"
-          izz="4.22784e-06"
-        />
-      </inertial>
-    </link>
-    <link name="robotiq_85_right_finger_tip_link">
-      <visual>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/visual/2f_85/right_finger_tip.dae"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh
-            filename="package://robotiq_description/meshes/collision/2f_85/right_finger_tip.stl"
-          />
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu1>100000.0</mu1>
-              <mu2>100000.0</mu2>
-            </ode>
-          </friction>
-          <contact>
-            <ode>
-              <kp>1e+5</kp>
-              <kd>1</kd>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <minDepth>0.002</minDepth>
-              <maxVel>0</maxVel>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701" />
-        <mass value="4.268588744e-02" />
-        <inertia
-          ixx="1.048152e-05"
-          ixy="0.0"
-          ixz="-3.5232e-06"
-          iyy="1.197888e-05"
-          iyz="0.0"
-          izz="4.22784e-06"
-        />
-      </inertial>
-    </link>
-    <joint name="robotiq_85_base_joint" type="fixed">
-      <parent link="${prefix_}gripper_mount_link" />
-      <child link="robotiq_85_base_link" />
-      <origin rpy="0 0 0" xyz="0 0 0" />
-    </joint>
-    <joint name="robotiq_85_left_knuckle_joint" type="revolute">
-      <parent link="robotiq_85_base_link" />
-      <child link="robotiq_85_left_knuckle_link" />
-      <axis xyz="0 -1 0" />
-      <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452" />
-      <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
-    </joint>
-    <joint name="robotiq_85_right_knuckle_joint" type="revolute">
-      <parent link="robotiq_85_base_link" />
-      <child link="robotiq_85_right_knuckle_link" />
-      <axis xyz="0 1 0" />
-      <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452" />
-      <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
-      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1" />
-    </joint>
-    <joint name="robotiq_85_left_finger_joint" type="fixed">
-      <parent link="robotiq_85_left_knuckle_link" />
-      <child link="robotiq_85_left_finger_link" />
-      <axis xyz="0 -1 0" />
-      <origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347" />
-    </joint>
-    <joint name="robotiq_85_right_finger_joint" type="fixed">
-      <parent link="robotiq_85_right_knuckle_link" />
-      <child link="robotiq_85_right_finger_link" />
-      <axis xyz="0 1 0" />
-      <origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347" />
-    </joint>
-    <joint name="robotiq_85_left_inner_knuckle_joint" type="continuous">
-      <parent link="robotiq_85_base_link" />
-      <child link="robotiq_85_left_inner_knuckle_link" />
-      <axis xyz="0 -1 0" />
-      <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142" />
-      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1" />
-    </joint>
-    <joint name="robotiq_85_right_inner_knuckle_joint" type="continuous">
-      <parent link="robotiq_85_base_link" />
-      <child link="robotiq_85_right_inner_knuckle_link" />
-      <axis xyz="0 1 0" />
-      <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142" />
-      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1" />
-    </joint>
-    <joint name="robotiq_85_left_finger_tip_joint" type="continuous">
-      <parent link="robotiq_85_left_finger_link" />
-      <child link="robotiq_85_left_finger_tip_link" />
-      <axis xyz="0 -1 0" />
-      <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515" />
-      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="-1" />
-    </joint>
-    <joint name="robotiq_85_right_finger_tip_joint" type="continuous">
-      <parent link="robotiq_85_right_finger_link" />
-      <child link="robotiq_85_right_finger_tip_link" />
-      <axis xyz="0 1 0" />
-      <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515" />
-      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="-1" />
-    </joint>
-
-    <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
-    <link name="${child}" />
-    <joint name="${child}_joint" type="fixed">
-      <parent link="${prefix_}robotiq_85_base_link" />
-      <child link="${child}" />
-      <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
-    </joint>
-  </xacro:macro>
-</robot>
diff --git a/src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro b/src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro
deleted file mode 100644
index dae3c12e..00000000
--- a/src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro
+++ /dev/null
@@ -1,109 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="picknik_ur_mujoco_ros2_control">
-    <ros2_control name="ur_mujoco_control" type="system">
-      <joint name="linear_x_joint">
-        <param name="axis">1</param>
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity" />
-      </joint>
-      <joint name="linear_y_joint">
-        <param name="axis">1</param>
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity" />
-      </joint>
-      <joint name="shoulder_pan_joint">
-        <command_interface name="position">
-          <param name="min">${-2*pi}</param>
-          <param name="max">${2*pi}</param>
-        </command_interface>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity" />
-        <state_interface name="effort" />
-      </joint>
-      <joint name="shoulder_lift_joint">
-        <command_interface name="position">
-          <param name="min">-2.41</param>
-          <param name="max">2.41</param>
-          <param name="initial_value">-1.57</param>
-        </command_interface>
-        <state_interface name="position">
-          <param name="initial_value">-1.57</param>
-        </state_interface>
-        <state_interface name="velocity" />
-        <state_interface name="effort" />
-      </joint>
-      <joint name="elbow_joint">
-        <command_interface name="position">
-          <param name="min">${-2*pi}</param>
-          <param name="max">${2*pi}</param>
-        </command_interface>
-        <state_interface name="position">
-          <param name="initial_value">-3.14</param>
-        </state_interface>
-        <state_interface name="velocity" />
-        <state_interface name="effort" />
-      </joint>
-      <joint name="wrist_1_joint">
-        <command_interface name="position">
-          <param name="min">-2.66</param>
-          <param name="max">2.66</param>
-        </command_interface>
-        <state_interface name="position">
-          <param name="initial_value">-2.51</param>
-        </state_interface>
-        <state_interface name="velocity" />
-        <state_interface name="effort" />
-      </joint>
-      <joint name="wrist_2_joint">
-        <command_interface name="position">
-          <param name="min">${-2*pi}</param>
-          <param name="max">${2*pi}</param>
-        </command_interface>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity" />
-        <state_interface name="effort" />
-      </joint>
-      <joint name="wrist_3_joint">
-        <command_interface name="position">
-          <param name="min">-2.23</param>
-          <param name="max">2.23</param>
-        </command_interface>
-        <state_interface name="position">
-          <param name="initial_value">0.96</param>
-        </state_interface>
-        <state_interface name="velocity" />
-        <state_interface name="effort" />
-      </joint>
-      <joint name="robotiq_85_left_knuckle_joint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.7929</param>
-        </state_interface>
-        <state_interface name="velocity" />
-      </joint>
-      <joint name="robotiq_85_right_knuckle_joint">
-        <state_interface name="position" />
-        <state_interface name="velocity" />
-      </joint>
-      <hardware>
-        <plugin>picknik_mujoco_ros/MujocoSystem</plugin>
-        <param name="mujoco_model">description/scene.xml</param>
-        <param name="mujoco_model_package">picknik_ur_mobile_config</param>
-        <param name="render_publish_rate">10</param>
-        <param name="tf_publish_rate">60</param>
-        <param name="lidar_publish_rate">10</param>
-      </hardware>
-    </ros2_control>
-  </xacro:macro>
-</robot>
diff --git a/src/picknik_ur_mobile_config/description/scene.xml b/src/picknik_ur_mobile_config/description/scene.xml
deleted file mode 100644
index c7e3b8bc..00000000
--- a/src/picknik_ur_mobile_config/description/scene.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<!-- UR5e inspired from https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e -->
-<mujoco model="ur5e scene">
-  <include file="ur5e/ur5e_globals.xml" />
-  <include file="lab_desk/desk_globals.xml" />
-  <include file="robotiq_2f85/robotiq2f85_globals.xml" />
-  <include file="ridgeback/ridgeback_globals.xml" />
-
-  <compiler angle="radian" autolimits="true" />
-
-  <option integrator="implicitfast" />
-  <statistic center="0.3 0 0.4" extent="0.8" />
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-    <geom
-      name="floor"
-      pos="0 0 -0.04"
-      size="0 0 0.05"
-      type="plane"
-      material="groundplane"
-    />
-    <site
-      name="scene_camera_optical_frame"
-      pos="0.0 -2.0 3.5"
-      euler="3.64 0.0 0.0"
-    />
-    <camera
-      name="scene_camera"
-      pos="0.5 -4.0 3.5"
-      fovy="58"
-      mode="fixed"
-      resolution="640 480"
-      euler="0.8 -0.4 -0.2"
-    />
-    <include file="ridgeback/ridgeback.xml" />
-  </worldbody>
-</mujoco>
diff --git a/src/picknik_ur_mobile_config/description/ur5e.xml b/src/picknik_ur_mobile_config/description/ur5e.xml
deleted file mode 100644
index b8283f3e..00000000
--- a/src/picknik_ur_mobile_config/description/ur5e.xml
+++ /dev/null
@@ -1,917 +0,0 @@
-<mujoco model="ur5e">
-  <compiler angle="radian" meshdir="assets" autolimits="true" />
-
-  <option integrator="implicitfast" />
-
-  <default>
-    <default class="ur5e">
-      <material specular="0.5" shininess="0.25" />
-      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
-      <general
-        gaintype="fixed"
-        biastype="affine"
-        ctrlrange="-6.2831 6.2831"
-        gainprm="2000"
-        biasprm="0 -2000 -400"
-        forcerange="-150 150"
-      />
-      <default class="size3">
-        <default class="size3_limited">
-          <joint range="-3.1415 3.1415" />
-          <general ctrlrange="-3.1415 3.1415" />
-        </default>
-      </default>
-      <default class="visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" />
-      </default>
-      <default class="collision">
-        <geom type="capsule" group="3" />
-        <default class="eef_collision">
-          <geom type="cylinder" />
-        </default>
-      </default>
-      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
-    </default>
-
-    <!-- robotiq 2f85 defaults -->
-    <default class="2f85">
-      <mesh scale="0.001 0.001 0.001" />
-      <general biastype="affine" />
-
-      <joint axis="1 0 0" />
-      <default class="knuckle_link">
-        <joint
-          range="0 0.8"
-          armature="0.005"
-          damping="0.1"
-          solimplimit="0.95 0.99 0.001"
-          solreflimit="0.005 1"
-        />
-      </default>
-      <default class="finger_tip_link">
-        <joint
-          range="-0.872664 0.872664"
-          armature="0.001"
-          pos="0 -0.018 0.0065"
-          solimplimit="0.95 0.99 0.001"
-          solreflimit="0.005 1"
-        />
-      </default>
-      <default class="inner_knuckle_link">
-        <joint
-          range="-0.29670597283 0.8"
-          armature="0.001"
-          stiffness="0.05"
-          springref="2.62"
-          damping="0.00125"
-        />
-      </default>
-      <default class="finger_link">
-        <joint
-          range="-1.57 0"
-          armature="0.001"
-          solimplimit="0.95 0.99 0.001"
-          solreflimit="0.005 1"
-        />
-      </default>
-
-      <default class="2f85_visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" />
-      </default>
-      <default class="2f85_collision">
-        <geom type="mesh" group="3" condim="6" />
-        <default class="pad_box1">
-          <geom
-            mass="0"
-            type="box"
-            pos="0 -0.0026 0.028125"
-            size="0.011 0.004 0.009375"
-            friction="0.7"
-            solimp="0.95 0.99 0.001"
-            solref="0.004 1"
-            priority="1"
-            rgba="0.55 0.55 0.55 1"
-          />
-        </default>
-        <default class="pad_box2">
-          <geom
-            mass="0"
-            type="box"
-            pos="0 -0.0026 0.009375"
-            size="0.011 0.004 0.009375"
-            friction="0.6"
-            solimp="0.95 0.99 0.001"
-            solref="0.004 1"
-            priority="1"
-            rgba="0.45 0.45 0.45 1"
-          />
-        </default>
-      </default>
-    </default>
-    <default class="robot">
-      <material specular="0.5" shininess="0.25" />
-      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
-      <general
-        dyntype="none"
-        biastype="affine"
-        ctrlrange="-3.14159 3.14159"
-        forcerange="-50000 50000"
-      />
-      <default class="limitedJoints">
-        <joint limited="true" />
-      </default>
-      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
-    </default>
-    <default class="rail">
-      <joint armature="0.1" damping="1" axis="0 0 1" range="-5.0 5.0" />
-      <general
-        dyntype="none"
-        biastype="affine"
-        ctrlrange="-5.0 5.0"
-        forcerange="-50000 50000"
-      />
-    </default>
-  </default>
-  <asset>
-    <material name="metal" rgba="0.58 0.58 0.58 1" />
-    <material name="silicone" rgba="0.1882 0.1882 0.1882 1" />
-    <material name="white" rgba="1.0 1.0 1.0 1" />
-    <material name="gray" rgba="0.4627 0.4627 0.4627 1" />
-    <material class="ur5e" name="black" rgba="0.033 0.033 0.033 1" />
-    <material class="ur5e" name="jointgray" rgba="0.278 0.278 0.278 1" />
-    <material class="ur5e" name="linkgray" rgba="0.82 0.82 0.82 1" />
-    <material class="ur5e" name="urblue" rgba="0.49 0.678 0.8 1" />
-    <mesh name="base" file="base.stl" scale="0.001 0.001 0.001" />
-    <mesh name="base_platform" file="base_platform.stl" />
-    <mesh file="base_0.obj" />
-    <mesh file="base_1.obj" />
-    <mesh file="shoulder_0.obj" />
-    <mesh file="shoulder_1.obj" />
-    <mesh file="shoulder_2.obj" />
-    <mesh file="upperarm_0.obj" />
-    <mesh file="upperarm_1.obj" />
-    <mesh file="upperarm_2.obj" />
-    <mesh file="upperarm_3.obj" />
-    <mesh file="forearm_0.obj" />
-    <mesh file="forearm_1.obj" />
-    <mesh file="forearm_2.obj" />
-    <mesh file="forearm_3.obj" />
-    <mesh file="wrist1_0.obj" />
-    <mesh file="wrist1_1.obj" />
-    <mesh file="wrist1_2.obj" />
-    <mesh file="wrist2_0.obj" />
-    <mesh file="wrist2_1.obj" />
-    <mesh file="wrist2_2.obj" />
-    <mesh file="wrist3.obj" />
-    <!-- Robotiq 2f85 meshes -->
-    <mesh name="robotiq_85_base" class="2f85" file="robotiq_2f85/base.stl" />
-    <mesh
-      name="robotiq_85_knuckle_link"
-      class="2f85"
-      file="robotiq_2f85/knuckle_link.stl"
-    />
-    <mesh
-      name="robotiq_85_inner_knuckle_link"
-      class="2f85"
-      file="robotiq_2f85/inner_knuckle_link.stl"
-    />
-    <mesh
-      name="robotiq_85_finger_link"
-      class="2f85"
-      file="robotiq_2f85/finger_link.stl"
-    />
-    <mesh
-      name="robotiq_85_finger_tip_link"
-      class="2f85"
-      file="robotiq_2f85/finger_tip_link.stl"
-    />
-    <mesh name="robotiq_85_pad" class="2f85" file="robotiq_2f85/pad.stl" />
-    <mesh
-      name="robotiq_85_silicone_pad"
-      class="2f85"
-      file="robotiq_2f85/silicone_pad.stl"
-    />
-    <!-- Ridgeback -->
-    <mesh name="chassis_link" file="ridgeback/body.stl" />
-    <mesh name="top_link" file="ridgeback/top.stl" />
-  </asset>
-
-  <worldbody>
-    <light
-      name="spotlight"
-      mode="targetbodycom"
-      target="wrist_2_link"
-      pos="0 -1 2"
-    />
-
-    <site
-      name="scene_camera_optical_frame"
-      pos="0.0 -2.0 3.5"
-      euler="3.64 0.0 0.0"
-    />
-    <camera
-      name="scene_camera"
-      pos="0.5 -4.0 3.5"
-      fovy="58"
-      mode="fixed"
-      resolution="640 480"
-      euler="0.8 -0.4 -0.2"
-    />
-    <body name="base_platform_rotation" pos="0 0 0" euler="0 0 0">
-      <inertial mass="10.0" pos="0 0 0" diaginertia="0.001 0.001 0.001" />
-      <body name="base_platform" pos="0 0 0" euler="0 0 0">
-        <body name="ridgeback_base_link">
-          <geom
-            name="chassis_link"
-            mesh="chassis_link"
-            material="black"
-            type="mesh"
-            contype="0"
-            conaffinity="0"
-            group="2"
-          />
-          <geom
-            name="riser_link"
-            size="0.2465 0.2465 0.0275"
-            pos="0 0 0.2475"
-            quat="0.92388 0 0 0.382683"
-            type="box"
-            rgba="0.4 0.4 0.4 1"
-          />
-          <geom
-            name="top_link"
-            mesh="top_link"
-            material="black"
-            type="mesh"
-            contype="0"
-            conaffinity="0"
-            group="2"
-          />
-          <body name="front_rocker_link" pos="0.319 0 0.05">
-            <inertial
-              pos="0 0 0"
-              quat="0.475329 0.523511 0.47531 0.523526"
-              mass="10.267"
-              diaginertia="0.432583 0.412817 0.0288"
-            />
-            <joint
-              name="front_rocker"
-              pos="0 0 0"
-              axis="1 0 0"
-              range="-0.08726 0.08726"
-            />
-            <body name="front_left_wheel_link" pos="0 0.2755 0">
-              <inertial
-                pos="0 0 0"
-                quat="0.707107 0 0 0.707107"
-                mass="2.3"
-                diaginertia="0.0066424 0.0033212 0.0033212"
-              />
-              <joint name="front_left_wheel" pos="0 0 0" axis="0 1 0" />
-              <geom
-                name="front_left_wheel_link"
-                size="0.0759 0.0395"
-                quat="0.707107 0.707107 0 0"
-                type="cylinder"
-                rgba="0.15 0.15 0.15 1"
-              />
-            </body>
-            <body name="front_right_wheel_link" pos="0 -0.2755 0">
-              <inertial
-                pos="0 0 0"
-                quat="0.707107 0 0 0.707107"
-                mass="2.3"
-                diaginertia="0.0066424 0.0033212 0.0033212"
-              />
-              <joint name="front_right_wheel" pos="0 0 0" axis="0 1 0" />
-              <geom
-                name="front_right_wheel_link"
-                size="0.0759 0.0395"
-                quat="0.707107 0.707107 0 0"
-                type="cylinder"
-                rgba="0.15 0.15 0.15 1"
-              />
-            </body>
-          </body>
-          <body name="rear_left_wheel_link" pos="-0.319 0.2755 0.05">
-            <inertial
-              pos="0 0 0"
-              quat="0.707107 0 0 0.707107"
-              mass="2.3"
-              diaginertia="0.0066424 0.0033212 0.0033212"
-            />
-            <joint name="rear_left_wheel" pos="0 0 0" axis="0 1 0" />
-            <geom
-              name="rear_left_wheel_link"
-              size="0.0759 0.0395"
-              quat="0.707107 0.707107 0 0"
-              type="cylinder"
-              rgba="0.15 0.15 0.15 1"
-            />
-          </body>
-          <body name="rear_right_wheel_link" pos="-0.319 -0.2755 0.05">
-            <inertial
-              pos="0 0 0"
-              quat="0.707107 0 0 0.707107"
-              mass="2.3"
-              diaginertia="0.0066424 0.0033212 0.0033212"
-            />
-            <joint name="rear_right_wheel" pos="0 0 0" axis="0 1 0" />
-            <geom
-              name="rear_right_wheel_link"
-              size="0.0759 0.0395"
-              quat="0.707107 0.707107 0 0"
-              type="cylinder"
-              rgba="0.15 0.15 0.15 1"
-            />
-          </body>
-          <joint
-            name="linear_x_joint"
-            type="slide"
-            axis="1 0 0"
-            range="-5.0 5.0"
-          />
-          <joint
-            name="linear_y_joint"
-            type="slide"
-            axis="0 1 0"
-            range="-5.0 5.0"
-          />
-          <joint name="rotational_yaw_joint" axis="0 0 1" />
-          <body name="base" pos="0.0 0.0 0.28" euler="0 0 0" childclass="ur5e">
-            <inertial
-              mass="4.0"
-              pos="0 0 0"
-              diaginertia="0.00443333156 0.00443333156 0.0072"
-            />
-            <geom mesh="base_0" material="black" class="visual" />
-            <geom mesh="base_1" material="jointgray" class="visual" />
-            <body name="shoulder_link" pos="0 0 0.163">
-              <inertial
-                mass="3.7"
-                pos="0 0 0"
-                diaginertia="0.0102675 0.0102675 0.00666"
-              />
-              <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
-              <geom mesh="shoulder_0" material="urblue" class="visual" />
-              <geom mesh="shoulder_1" material="black" class="visual" />
-              <geom mesh="shoulder_2" material="jointgray" class="visual" />
-              <geom class="collision" size="0.06 0.06" pos="0 0 -0.04" />
-              <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
-                <inertial
-                  mass="8.393"
-                  pos="0 0 0.2125"
-                  diaginertia="0.133886 0.133886 0.0151074"
-                />
-                <joint name="shoulder_lift_joint" class="size3" axis="0 1 0" />
-                <geom mesh="upperarm_0" material="linkgray" class="visual" />
-                <geom mesh="upperarm_1" material="black" class="visual" />
-                <geom mesh="upperarm_2" material="jointgray" class="visual" />
-                <geom mesh="upperarm_3" material="urblue" class="visual" />
-                <geom
-                  class="collision"
-                  pos="0 -0.04 0"
-                  quat="1 1 0 0"
-                  size="0.06 0.06"
-                />
-                <geom class="collision" size="0.05 0.2" pos="0 0 0.2" />
-                <body name="forearm_link" pos="0 -0.131 0.425">
-                  <inertial
-                    mass="2.275"
-                    pos="0 0 0.196"
-                    diaginertia="0.0311796 0.0311796 0.004095"
-                  />
-                  <joint name="elbow_joint" class="size3_limited" />
-                  <geom mesh="forearm_0" material="urblue" class="visual" />
-                  <geom mesh="forearm_1" material="linkgray" class="visual" />
-                  <geom mesh="forearm_2" material="black" class="visual" />
-                  <geom mesh="forearm_3" material="jointgray" class="visual" />
-                  <geom
-                    class="collision"
-                    pos="0 0.08 0"
-                    quat="1 1 0 0"
-                    size="0.055 0.06"
-                  />
-                  <geom class="collision" size="0.038 0.19" pos="0 0 0.2" />
-                  <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
-                    <inertial
-                      mass="1.219"
-                      pos="0 0.127 0"
-                      diaginertia="0.0025599 0.0025599 0.0021942"
-                    />
-                    <joint name="wrist_1_joint" class="size3" />
-                    <geom mesh="wrist1_0" material="black" class="visual" />
-                    <geom mesh="wrist1_1" material="urblue" class="visual" />
-                    <geom mesh="wrist1_2" material="jointgray" class="visual" />
-                    <geom
-                      class="collision"
-                      pos="0 0.05 0"
-                      quat="1 1 0 0"
-                      size="0.04 0.07"
-                    />
-                    <body name="wrist_2_link" pos="0 0.127 0">
-                      <inertial
-                        mass="1.219"
-                        pos="0 0 0.1"
-                        diaginertia="0.0025599 0.0025599 0.0021942"
-                      />
-                      <joint name="wrist_2_joint" axis="0 0 1" class="size3" />
-                      <geom mesh="wrist2_0" material="black" class="visual" />
-                      <geom mesh="wrist2_1" material="urblue" class="visual" />
-                      <geom
-                        mesh="wrist2_2"
-                        material="jointgray"
-                        class="visual"
-                      />
-                      <geom class="collision" size="0.04 0.06" pos="0 0 0.04" />
-                      <geom
-                        class="collision"
-                        pos="0 0.02 0.1"
-                        quat="1 1 0 0"
-                        size="0.04 0.04"
-                      />
-                      <body name="wrist_3_link" pos="0 0 0.1">
-                        <inertial
-                          mass="0.1889"
-                          pos="0 0.0771683 0"
-                          quat="1 0 0 1"
-                          diaginertia="0.000132134 9.90863e-05 9.90863e-05"
-                        />
-                        <joint name="wrist_3_joint" class="size3" />
-                        <geom
-                          material="linkgray"
-                          mesh="wrist3"
-                          class="visual"
-                        />
-                        <!-- <geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02"/> -->
-                        <site
-                          name="attachment_site"
-                          pos="0 0.1 0"
-                          quat="-1 1 0 0"
-                        />
-                        <camera
-                          name="wrist_camera"
-                          pos="0.0 0.2 0.05"
-                          fovy="58"
-                          mode="fixed"
-                          resolution="640 480"
-                          euler="1.57 0.0 0.0"
-                        />
-                        <site
-                          name="wrist_camera_optical_frame"
-                          pos="0.0 0.2 0.05"
-                          euler="-1.57 0 0"
-                        />
-                        <body childclass="2f85">
-                          <!-- site for end effector's f/t sensor right at the base of the robotiq gripper -->
-                          <site
-                            name="robotiq_ft_sensor"
-                            size="0.01"
-                            pos="0.0 0.0 -0.0615"
-                          />
-                          1
-                          <!-- Right-hand side 4-bar linkage -->
-                          <body
-                            name="robotiq_85_base_link"
-                            gravcomp="1"
-                            pos="0.0 0.1441 0"
-                            quat="0.5 -0.5 0.5 0.5"
-                          >
-                            <inertial
-                              mass="0.777441"
-                              pos="0 -2.70394e-05 0.0354675"
-                              quat="1 -0.00152849 0 0"
-                              diaginertia="0.000260285 0.000225381 0.000152708"
-                            />
-                            <geom
-                              class="visual"
-                              mesh="robotiq_85_base"
-                              material="black"
-                            />
-                            <geom class="collision" mesh="robotiq_85_base" />
-                            <site
-                              name="pinch"
-                              pos="0 0 0.145"
-                              type="sphere"
-                              group="5"
-                              rgba="0.9 0.9 0.9 1"
-                              size="0.005"
-                            />
-                            <!-- Right-hand side 4-bar linkage -->
-                            <body
-                              name="robotiq_85_right_knuckle_link"
-                              gravcomp="1"
-                              pos="0 0.0306011 0.054904"
-                            >
-                              <inertial
-                                mass="0.00899563"
-                                pos="2.96931e-12 0.0177547 0.00107314"
-                                quat="0.681301 0.732003 0 0"
-                                diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"
-                              />
-                              <joint
-                                name="robotiq_85_right_knuckle_joint"
-                                class="knuckle_link"
-                              />
-                              <geom
-                                class="visual"
-                                mesh="robotiq_85_knuckle_link"
-                                material="gray"
-                              />
-                              <geom
-                                class="collision"
-                                mesh="robotiq_85_knuckle_link"
-                              />
-                              <body
-                                name="robotiq_85_right_finger_link"
-                                gravcomp="1"
-                                pos="0 0.0315 -0.0041"
-                              >
-                                <inertial
-                                  mass="0.0140974"
-                                  pos="0 0.00301209 0.0232175"
-                                  quat="0.705636 -0.0455904 0.0455904 0.705636"
-                                  diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"
-                                />
-                                <joint
-                                  name="robotiq_85_right_finger_joint"
-                                  class="finger_link"
-                                />
-                                <geom
-                                  class="visual"
-                                  mesh="robotiq_85_finger_link"
-                                  material="black"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="robotiq_85_finger_link"
-                                />
-                              </body>
-                            </body>
-                            <body
-                              name="robotiq_85_right_inner_knuckle_link"
-                              gravcomp="1"
-                              pos="0 0.0132 0.0609"
-                            >
-                              <inertial
-                                mass="0.0221642"
-                                pos="-8.65005e-09 0.0181624 0.0212658"
-                                quat="0.663403 -0.244737 0.244737 0.663403"
-                                diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"
-                              />
-                              <joint
-                                name="robotiq_85_right_inner_knuckle_joint"
-                                class="inner_knuckle_link"
-                              />
-                              <geom
-                                class="visual"
-                                mesh="robotiq_85_inner_knuckle_link"
-                                material="black"
-                              />
-                              <geom
-                                class="collision"
-                                mesh="robotiq_85_inner_knuckle_link"
-                              />
-                              <body
-                                name="robotiq_85_right_finger_tip_link"
-                                gravcomp="1"
-                                pos="0 0.055 0.0375"
-                              >
-                                <inertial
-                                  mass="0.0125222"
-                                  pos="0 -0.011046 0.0124786"
-                                  quat="1 0.1664 0 0"
-                                  diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"
-                                />
-                                <joint
-                                  name="robotiq_85_right_finger_tip_joint"
-                                  class="finger_tip_link"
-                                />
-                                <geom
-                                  class="visual"
-                                  mesh="robotiq_85_finger_tip_link"
-                                  material="black"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="robotiq_85_finger_tip_link"
-                                />
-                                <body name="right_pad" pos="0 -0.0189 0.01352">
-                                  <geom class="pad_box1" name="right_pad1" />
-                                  <geom class="pad_box2" name="right_pad2" />
-                                  <inertial
-                                    mass="0.0035"
-                                    pos="0 -0.0025 0.0185"
-                                    quat="0.707107 0 0 0.707107"
-                                    diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"
-                                  />
-                                  <geom class="visual" mesh="robotiq_85_pad" />
-                                  <body name="right_silicone_pad">
-                                    <geom
-                                      class="visual"
-                                      mesh="robotiq_85_silicone_pad"
-                                      material="black"
-                                    />
-                                  </body>
-                                </body>
-                              </body>
-                            </body>
-                            <!-- Left-hand side 4-bar linkage -->
-                            <body
-                              name="robotiq_85_left_knuckle_link"
-                              gravcomp="1"
-                              pos="0 -0.0306011 0.054904"
-                              quat="0 0 0 1"
-                            >
-                              <inertial
-                                mass="0.00899563"
-                                pos="0 0.0177547 0.00107314"
-                                quat="0.681301 0.732003 0 0"
-                                diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"
-                              />
-                              <joint
-                                name="robotiq_85_left_knuckle_joint"
-                                class="knuckle_link"
-                              />
-                              <geom
-                                class="visual"
-                                mesh="robotiq_85_knuckle_link"
-                                material="gray"
-                              />
-                              <geom
-                                class="collision"
-                                mesh="robotiq_85_knuckle_link"
-                              />
-                              <body
-                                name="robotiq_85_left_finger_link"
-                                gravcomp="1"
-                                pos="0 0.0315 -0.0041"
-                              >
-                                <inertial
-                                  mass="0.0140974"
-                                  pos="0 0.00301209 0.0232175"
-                                  quat="0.705636 -0.0455904 0.0455904 0.705636"
-                                  diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"
-                                />
-                                <joint
-                                  name="robotiq_85_left_finger_joint"
-                                  class="finger_link"
-                                />
-                                <geom
-                                  class="visual"
-                                  mesh="robotiq_85_finger_link"
-                                  material="black"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="robotiq_85_finger_link"
-                                />
-                              </body>
-                            </body>
-                            <body
-                              name="robotiq_85_left_inner_knuckle_link"
-                              gravcomp="1"
-                              pos="0 -0.0132 0.0609"
-                              quat="0 0 0 1"
-                            >
-                              <inertial
-                                mass="0.0221642"
-                                pos="-8.65005e-09 0.0181624 0.0212658"
-                                quat="0.663403 -0.244737 0.244737 0.663403"
-                                diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"
-                              />
-                              <joint
-                                name="robotiq_85_left_inner_knuckle_joint"
-                                class="inner_knuckle_link"
-                              />
-                              <geom
-                                class="visual"
-                                mesh="robotiq_85_inner_knuckle_link"
-                                material="black"
-                              />
-                              <geom
-                                class="collision"
-                                mesh="robotiq_85_inner_knuckle_link"
-                              />
-                              <body
-                                name="robotiq_85_left_finger_tip_link"
-                                gravcomp="1"
-                                pos="0 0.055 0.0375"
-                              >
-                                <inertial
-                                  mass="0.0125222"
-                                  pos="0 -0.011046 0.0124786"
-                                  quat="1 0.1664 0 0"
-                                  diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"
-                                />
-                                <joint
-                                  name="robotiq_85_left_finger_tip_joint"
-                                  class="finger_tip_link"
-                                />
-                                <geom
-                                  class="visual"
-                                  mesh="robotiq_85_finger_tip_link"
-                                  material="black"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="robotiq_85_finger_tip_link"
-                                />
-                                <body name="left_pad" pos="0 -0.0189 0.01352">
-                                  <geom class="pad_box1" name="left_pad1" />
-                                  <geom class="pad_box2" name="left_pad2" />
-                                  <inertial
-                                    mass="0.0035"
-                                    pos="0 -0.0025 0.0185"
-                                    quat="1 0 0 1"
-                                    diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"
-                                  />
-                                  <geom class="visual" mesh="robotiq_85_pad" />
-                                  <body name="left_silicone_pad">
-                                    <geom
-                                      class="visual"
-                                      mesh="robotiq_85_silicone_pad"
-                                      material="black"
-                                    />
-                                  </body>
-                                </body>
-                              </body>
-                            </body>
-                          </body>
-                        </body>
-                      </body>
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <position
-      class="rail"
-      name="linear_x_joint"
-      joint="linear_x_joint"
-      kp="75000"
-      dampratio="1.0"
-    />
-    <position
-      class="rail"
-      name="linear_y_joint"
-      joint="linear_y_joint"
-      kp="75000"
-      dampratio="1.0"
-    />
-    <position
-      class="robot"
-      name="rotational_yaw_joint"
-      joint="rotational_yaw_joint"
-      kp="75000"
-      dampratio="1.0"
-    />
-  </actuator>
-
-  <actuator>
-    <general
-      class="size3"
-      name="shoulder_pan_joint"
-      joint="shoulder_pan_joint"
-      gainprm="75000"
-      biasprm="0 -75000 -15000"
-    />
-    <general
-      class="size3"
-      name="shoulder_lift_joint"
-      joint="shoulder_lift_joint"
-      gainprm="75000"
-      biasprm="0 -75000 -15000"
-    />
-    <general
-      class="size3_limited"
-      name="elbow_joint"
-      joint="elbow_joint"
-      gainprm="75000"
-      biasprm="0 -75000 -15000"
-    />
-    <general
-      class="size3"
-      name="wrist_1_joint"
-      joint="wrist_1_joint"
-      gainprm="50000"
-      biasprm="0 -50000 -10000"
-    />
-    <general
-      class="size3"
-      name="wrist_2_joint"
-      joint="wrist_2_joint"
-      gainprm="50000"
-      biasprm="0 -50000 -10000"
-    />
-    <general
-      class="size3"
-      name="wrist_3_joint"
-      joint="wrist_3_joint"
-      gainprm="50000"
-      biasprm="0 -50000 -10000"
-    />
-    <general
-      class="2f85"
-      name="robotiq_85_left_knuckle_joint"
-      tendon="split"
-      forcerange="-5 5"
-      ctrlrange="0 .8"
-      gainprm="100 0 0"
-      biasprm="0 -100 -150"
-    />
-  </actuator>
-
-  <contact>
-    <exclude body1="base_platform" body2="base" />
-  </contact>
-
-  <!-- Robotiq gripper contact -->
-  <contact>
-    <exclude
-      body1="robotiq_85_base_link"
-      body2="robotiq_85_left_knuckle_link"
-    />
-    <exclude
-      body1="robotiq_85_base_link"
-      body2="robotiq_85_right_knuckle_link"
-    />
-    <exclude
-      body1="robotiq_85_base_link"
-      body2="robotiq_85_left_inner_knuckle_link"
-    />
-    <exclude
-      body1="robotiq_85_base_link"
-      body2="robotiq_85_right_inner_knuckle_link"
-    />
-    <exclude
-      body1="robotiq_85_right_finger_link"
-      body2="robotiq_85_right_finger_tip_link"
-    />
-    <exclude
-      body1="robotiq_85_left_finger_link"
-      body2="robotiq_85_left_finger_tip_link"
-    />
-  </contact>
-  <tendon>
-    <fixed name="split">
-      <joint joint="robotiq_85_right_knuckle_joint" coef="0.5" />
-      <joint joint="robotiq_85_left_knuckle_joint" coef="0.5" />
-    </fixed>
-  </tendon>
-
-  <equality>
-    <connect
-      anchor="0 0 0"
-      body1="robotiq_85_right_finger_tip_link"
-      body2="robotiq_85_right_finger_link"
-      solimp="0.95 0.99 0.001"
-      solref="0.005 1"
-    />
-    <connect
-      anchor="0 0 0"
-      body1="robotiq_85_left_finger_tip_link"
-      body2="robotiq_85_left_finger_link"
-      solimp="0.95 0.99 0.001"
-      solref="0.005 1"
-    />
-    <joint
-      joint1="robotiq_85_left_knuckle_joint"
-      joint2="robotiq_85_right_knuckle_joint"
-      polycoef="0 1 0 0 0"
-      solimp="0.95 0.99 0.001"
-      solref="0.005 1"
-    />
-  </equality>
-
-  <sensor>
-    <force site="robotiq_ft_sensor" />
-    <torque site="robotiq_ft_sensor" />
-  </sensor>
-
-  <keyframe>
-    <!-- qpos -->
-    <!-- front_rocker, front_left_wheel, front_right_wheel, rear_left_wheel, rear_right_wheel -->
-    <!-- linear_x_joint, linear_y_joint, rotational_yaw_joint, shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3 -->
-    <!-- right_knuckle, right_finger, right_inner_knuckle, right_finger_tip, left_knuckle, left_finger, left_inner_knuckle, left_finger_tip -->
-    <!-- ctrl -->
-    <!-- linear_x_joint, linear_y_joint, rotational_yaw_joint, shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3, robotiq_85_left_knuckle_joint -->
-    <key
-      qpos="
-      0 0 0 0 0
-      0 0 0 0 -1.534 0.8197 -2.2686 -1.57076 0
-      0 0 0 0 0 0 0 0
-    "
-      ctrl="
-      0 0 0 0 -1.534 0.8197 -2.2686 -1.57076 0 0
-    "
-    />
-  </keyframe>
-</mujoco>
diff --git a/src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml b/src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml
deleted file mode 100644
index b2aa7543..00000000
--- a/src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml b/src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml
deleted file mode 100644
index f1a96237..00000000
--- a/src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-DetectAprilTags:
-  apriltag_family_name: 36h11
-  apriltag_size: 0.04
-  max_hamming: 0
-  n_threads: 1
-  quad_decimate: 1
-  quad_sigma: 0.1
-  refine_edges: false
-  z_up: false
diff --git a/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml b/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
deleted file mode 100644
index 2f4e297d..00000000
--- a/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick April Tag Labeled Object">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Pick April Tag Labeled Object"
-    _description="Picks up an object that has an AprilTag marker."
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
-      <Control ID="Sequence" name="Setup">
-        <SubTree ID="Open Gripper" />
-      </Control>
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="apriltag_detection_config.yaml"
-        parameters="{parameters}"
-      />
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_camera/camera_info"
-        message_out="{camera_info}"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_camera/color"
-        message_out="{image}"
-      />
-      <Action
-        ID="DetectAprilTags"
-        image="{image}"
-        camera_info="{camera_info}"
-        parameters="{parameters}"
-        detections="{detections}"
-      />
-      <Action ID="GetDetectionPose" />
-      <Action ID="TransformPoseFrame" input_pose="{detection_pose}" />
-      <Action
-        ID="AddPoseStampedToVector"
-        vector="{initial_poses}"
-        input="{output_pose}"
-      />
-      <SubTree
-        ID="Pick first object in vector"
-        _collapsed="true"
-        pose_vector="{initial_poses}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml b/src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml
deleted file mode 100644
index 08e9b6a6..00000000
--- a/src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick first object in vector">
-  <!--//////////-->
-  <BehaviorTree ID="Pick first object in vector">
-    <Decorator
-      ID="ForEachPoseStamped"
-      vector_in="{pose_vector}"
-      out="{grasp_pose}"
-    >
-      <Control ID="Sequence">
-        <Action
-          ID="LoadObjectiveParameters"
-          config_file_name="pick_object_config.yaml"
-        />
-        <Action
-          ID="InitializeMTCTask"
-          task_id="pick_object"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{pick_object_task}"
-        />
-        <Action ID="SetupMTCCurrentState" task="{pick_object_task}" />
-        <Action
-          ID="SetupMTCPickObject"
-          grasp_pose="{grasp_pose}"
-          task="{pick_object_task}"
-          parameters="{parameters}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{pick_object_solution}"
-          task="{pick_object_task}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{pick_object_solution}"
-        />
-        <Action ID="ExecuteMTCTask" solution="{pick_object_solution}" />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mobile_config/objectives/pick_object.xml b/src/picknik_ur_mobile_config/objectives/pick_object.xml
deleted file mode 100644
index 9c403326..00000000
--- a/src/picknik_ur_mobile_config/objectives/pick_object.xml
+++ /dev/null
@@ -1,62 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick object">
-  <!--//////////-->
-  <BehaviorTree ID="Pick object" _description="" _favorite="false">
-    <Control ID="Sequence" name="root">
-      <SubTree ID="Open Gripper" />
-      <Control ID="Sequence">
-        <Action
-          ID="GetPointsFromUser"
-          view_name="/wrist_camera/color"
-          point_names="grasp_pose"
-          point_prompts="Select the object you wish to pick"
-          pixel_coords="{pixel_coords}"
-        />
-        <Action
-          ID="GetPointCloud"
-          topic_name="/wrist_camera/points"
-          message_out="{point_cloud}"
-        />
-        <Action
-          ID="GetPoseFromPixelCoords"
-          point_cloud="{point_cloud}"
-          pixel_coords="{pixel_coords}"
-          downsample_fraction="0.1"
-          neighbor_radius="0.1"
-          output_poses="{output_poses}"
-        />
-        <!--Flip the direction of the grasp pose-->
-        <Decorator
-          ID="ForEachPoseStamped"
-          vector_in="{output_poses}"
-          out="{flipped_pose}"
-        >
-          <Action
-            ID="TransformPose"
-            output_pose="{corrected_pose}"
-            translation_xyz="0;0;0"
-            input_pose="{flipped_pose}"
-            quaternion_xyzw="0;1;0;0"
-          />
-        </Decorator>
-        <!--Create a vector of poses to match the input of AdjustPoseWithIMarker-->
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{corrected_pose}"
-          vector="{corrected_poses}"
-        />
-        <Action
-          ID="AdjustPoseWithIMarker"
-          prompts="Adjust IMarker to desired pose"
-          initial_poses="{corrected_poses}"
-          adjusted_poses="{adjusted_poses}"
-        />
-      </Control>
-      <!--Use the ForEach decorator to get a pose from our vector of poses-->
-      <SubTree
-        ID="Pick first object in vector"
-        pose_vector="{adjusted_poses}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mobile_config/objectives/pick_object_config.yaml b/src/picknik_ur_mobile_config/objectives/pick_object_config.yaml
deleted file mode 100644
index 09ca7d6e..00000000
--- a/src/picknik_ur_mobile_config/objectives/pick_object_config.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-SetupMTCPickObject:
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-
-  approach_distance: 0.1
-  lift_distance: 0.1
diff --git a/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml b/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml
deleted file mode 100644
index 8bb2bea7..00000000
--- a/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick up Cube">
-  <!--//////////-->
-  <BehaviorTree ID="Pick up Cube" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
-      <SubTree ID="Pick object" _collapsed="false" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mobile_config/objectives/take_snap.xml b/src/picknik_ur_mobile_config/objectives/take_snap.xml
deleted file mode 100644
index 7fefe4db..00000000
--- a/src/picknik_ur_mobile_config/objectives/take_snap.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Scene camera snapshot">
-  <!--//////////-->
-  <BehaviorTree ID="Scene camera snapshot" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Clear out old snapshot data -->
-      <Action ID="ClearSnapshot" />
-      <Action ID="GetPointCloud" topic_name="/scene_camera/points" />
-      <Action ID="SendPointCloudToUI" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Scene camera snapshot" />
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_mobile_config/objectives/wrist_snap.xml b/src/picknik_ur_mobile_config/objectives/wrist_snap.xml
deleted file mode 100644
index 80209f36..00000000
--- a/src/picknik_ur_mobile_config/objectives/wrist_snap.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
-  <!--//////////-->
-  <BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
-      <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
-      <Action ID="SendPointCloudToUI" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Wrist camera snapshot" />
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_mobile_config/package.xml b/src/picknik_ur_mobile_config/package.xml
deleted file mode 100644
index 70f401ac..00000000
--- a/src/picknik_ur_mobile_config/package.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>picknik_ur_mobile_config</name>
-  <version>6.0.0</version>
-
-  <description>
-    MuJoCo simulation configuration package for Picknik's UR robot on a mobile
-    base
-  </description>
-
-  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
-
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <exec_depend>admittance_controller</exec_depend>
-  <exec_depend>moveit_planners_stomp</exec_depend>
-  <exec_depend>moveit_ros_perception</exec_depend>
-  <exec_depend>moveit_studio_agent</exec_depend>
-  <exec_depend>moveit_studio_behavior</exec_depend>
-  <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
-  <depend>picknik_accessories</depend>
-  <exec_depend>realsense2_camera</exec_depend>
-  <exec_depend>realsense2_description</exec_depend>
-  <exec_depend>robotiq_description</exec_depend>
-  <exec_depend>robotiq_controllers</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
-  <exec_depend>ur_description</exec_depend>
-  <exec_depend>ur_robot_driver</exec_depend>
-  <exec_depend>picknik_mujoco_ros</exec_depend>
-  <exec_depend>ridgeback_description</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-
-  <test_depend>ament_clang_format</test_depend>
-  <test_depend>ament_clang_tidy</test_depend>
-  <test_depend>ament_cmake_copyright</test_depend>
-  <test_depend>ament_cmake_lint_cmake</test_depend>
-  <test_depend>picknik_ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml b/src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml
deleted file mode 100644
index 4a325ccb..00000000
--- a/src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-- description: ''
-  favorite: false
-  joint_group_names:
-    - gripper
-    - linear_actuator
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - robotiq_85_left_knuckle_joint
-      - linear_x_joint
-      - linear_y_joint
-      - rotational_yaw_joint
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.0
-      - 0.4
-      - 0.4
-      - 1.0
-      - 0.0
-      - -1.5708
-      - 0.785398
-      - -1.2948195437205516
-      - -1.5708
-      - 0.0
-    velocity: []
-  multi_dof_joint_state:
-    header:
-      frame_id: ''
-      stamp:
-        nanosec: 0
-        sec: 0
-    joint_names: []
-    transforms: []
-    twist: []
-    wrench: []
-  name: Look at Table
diff --git a/src/picknik_ur_mock_hw_config/CMakeLists.txt b/src/picknik_ur_mock_hw_config/CMakeLists.txt
deleted file mode 100644
index 77c63461..00000000
--- a/src/picknik_ur_mock_hw_config/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(picknik_ur_mock_hw_config)
-
-find_package(ament_cmake REQUIRED)
-
-install(
-  DIRECTORY
-    config
-    description
-    launch
-    meshes
-    objectives
-    waypoints
-  DESTINATION
-    share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/picknik_ur_mock_hw_config/LICENSE b/src/picknik_ur_mock_hw_config/LICENSE
deleted file mode 100644
index 574ef079..00000000
--- a/src/picknik_ur_mock_hw_config/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-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 copyright holder 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.
diff --git a/src/picknik_ur_mock_hw_config/README.md b/src/picknik_ur_mock_hw_config/README.md
deleted file mode 100644
index f5d8dd35..00000000
--- a/src/picknik_ur_mock_hw_config/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# picknik_ur_mock_hw_config
-
-A MoveIt Pro configuration to simulate a UR arm using mock hardware.
-
-For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_mock_hw_config/config/config.yaml b/src/picknik_ur_mock_hw_config/config/config.yaml
deleted file mode 100644
index 0cc6e631..00000000
--- a/src/picknik_ur_mock_hw_config/config/config.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-based_on_package: "picknik_ur_base_config"
-
-hardware:
-  simulated: True
-
-  # Update robot description for machine tending world.
-  robot_description:
-    urdf:
-      package: "picknik_ur_mock_hw_config"
-      path: "description/picknik_ur_machine_tending.xacro"
-    srdf:
-      package: "picknik_ur_mock_hw_config"
-      path: "config/moveit/picknik_ur_machine_tending.srdf"
-
-moveit_params:
-  servo:
-    package: "picknik_ur_mock_hw_config"
-    path: "config/moveit/ur_servo.yaml"
-
-objectives:
-  waypoints_file:
-    package_name: "picknik_ur_mock_hw_config"
-    relative_path: "waypoints/machine_tending_waypoints.yaml"
-  objective_library_paths:
-    # You must use a unique key for each package.
-    # The picknik_ur_base_config uses "core"
-    mock_hardware_objectives:
-      package_name: "picknik_ur_mock_hw_config"
-      relative_path: "objectives"
diff --git a/src/picknik_ur_mock_hw_config/config/initial_positions.yaml b/src/picknik_ur_mock_hw_config/config/initial_positions.yaml
deleted file mode 100644
index 0d8b33f7..00000000
--- a/src/picknik_ur_mock_hw_config/config/initial_positions.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-shoulder_pan_joint: 0.0
-shoulder_lift_joint: -1.41
-elbow_joint: -0.7
-wrist_1_joint: -2.12
-wrist_2_joint: 1.67
-wrist_3_joint: 0.0
diff --git a/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf b/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf
deleted file mode 100644
index a0aa14f6..00000000
--- a/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf
+++ /dev/null
@@ -1,203 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="ur5e">
-    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="manipulator">
-        <chain base_link="base_link" tip_link="grasp_link"/>
-    </group>
-    <group name="gripper">
-        <link name="robotiq_85_base_link"/>
-        <link name="robotiq_85_left_inner_knuckle_link"/>
-        <link name="robotiq_85_left_finger_tip_link"/>
-        <link name="robotiq_85_left_knuckle_link"/>
-        <link name="robotiq_85_left_finger_link"/>
-        <link name="robotiq_85_right_inner_knuckle_link"/>
-        <link name="robotiq_85_right_finger_tip_link"/>
-        <link name="robotiq_85_right_knuckle_link"/>
-        <link name="robotiq_85_right_finger_link"/>
-        <link name="grasp_link"/>
-        <joint name="robotiq_85_left_knuckle_joint"/>
-    </group>
-    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="open" group="gripper">
-        <joint name="robotiq_85_left_finger_tip_joint" value="0"/>
-        <joint name="robotiq_85_left_inner_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_left_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_right_finger_tip_joint" value="0"/>
-        <joint name="robotiq_85_right_inner_knuckle_joint" value="0"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="0"/>
-    </group_state>
-    <group_state name="close" group="gripper">
-        <joint name="robotiq_85_left_finger_tip_joint" value="-0.7929"/>
-        <joint name="robotiq_85_left_inner_knuckle_joint" value="0.7929"/>
-        <joint name="robotiq_85_left_knuckle_joint" value="0.7929"/>
-        <joint name="robotiq_85_right_finger_tip_joint" value="0.7929"/>
-        <joint name="robotiq_85_right_inner_knuckle_joint" value="-0.7929"/>
-        <joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="tool0" group="gripper"/>
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
-    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
-    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
-    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
-    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="base_link_inertia" link2="robot_base" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="forearm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_pinch_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="upper_arm_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_pinch_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="realsense_camera_adapter_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_base_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_3_pinch_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="tool_changer_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="realsense_camera_adapter_link" link2="wrist_mounted_camera_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="tool_changer_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="robot_base" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="ur_to_robotiq_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="tool_changer_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="ur_to_robotiq_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_3_link" link2="wrist_mounted_camera_link" reason="Never"/>
-</robot>
diff --git a/src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml b/src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml
deleted file mode 100644
index 49151897..00000000
--- a/src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml
+++ /dev/null
@@ -1,62 +0,0 @@
-# Enable dynamic parameter updates
-enable_parameter_update: true
-
-## Properties of incoming commands
-command_in_type: "speed_units"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale:
-  # Scale parameters are only used if command_in_type=="unitless"
-  linear: 1.0  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
-  rotational: 1.5  # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
-  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
-  joint: 1.0
-
-# Default to driving the arm at 50% maximum speed.
-override_velocity_scaling_factor: 0.5
-
-## Properties of outgoing commands
-publish_period: 0.01  # 1/Nominal publish rate [seconds]
-max_expected_latency: 0.1 # delay between sending a command and the robot executing it [seconds]
-
-low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
-
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
-command_out_type: trajectory_msgs/JointTrajectory
-
-# What to publish? Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
-
-## Plugins for smoothing outgoing commands
-use_smoothing: true
-smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_period parameter
-
-## MoveIt properties
-move_group_name: manipulator  # Often 'manipulator' or 'arm'
-acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
-is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
-monitored_planning_scene_topic: /monitored_planning_scene
-
-## Stopping behaviour
-incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
-
-## Configure handling of singularities and joint limits
-lower_singularity_threshold: 25.0  # Start decelerating when the condition number hits this (close to singularity)
-hard_stop_singularity_threshold: 40.0  # Stop when the condition number hits this
-joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-
-## Topic names
-cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
-joint_command_in_topic: ~/delta_joint_cmds  # Topic for incoming joint angle commands
-joint_topic: /joint_states
-status_topic: ~/status  # Publish status to this topic
-command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
-
-## Collision checking for the entire robot body
-check_collisions: true  # Check collisions?
-check_octomap_collisions: false  # Check collisions with octomap?
-collision_check_rate: 20.0  # [Hz] Collision-checking can easily bog down a CPU if done too often.
-self_collision_proximity_threshold: 0.006  # Start decelerating when a self-collision is this far [m]
-scene_collision_proximity_threshold: 0.02  # Start decelerating when a scene collision is this far [m]
diff --git a/src/picknik_ur_mock_hw_config/description/environment.xacro b/src/picknik_ur_mock_hw_config/description/environment.xacro
deleted file mode 100644
index a264a3a4..00000000
--- a/src/picknik_ur_mock_hw_config/description/environment.xacro
+++ /dev/null
@@ -1,163 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="environment" params="parent">
-    <!-- Import environment macros -->
-    <xacro:include
-      filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro"
-    />
-    <xacro:include
-      filename="$(find picknik_accessories)/descriptions/geometry/visual/cube_visual.urdf.xacro"
-    />
-
-    <!-- CNC machine -->
-    <link name="cnc_machine">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/cnc.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </visual>
-      <!-- CNC base collision -->
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/cnc-collision.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="cnc_machine_joint" type="fixed">
-      <parent link="${parent}" />
-      <child link="cnc_machine" />
-      <origin xyz="-0.1 -1.25 -0.8" rpy="0 0 3.14" />
-    </joint>
-
-    <!-- Robot base -->
-    <link name="robot_base">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/base.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/base.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="robot_base_joint" type="fixed">
-      <parent link="${parent}" />
-      <child link="robot_base" />
-      <origin xyz="0 0 -0.8" rpy="0 0 3.14" />
-    </joint>
-
-    <!-- Hexagonal tables -->
-    <link name="left_hexagonal_table">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/table.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/table-collision.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="left_hexagonal_table_joint" type="fixed">
-      <parent link="${parent}" />
-      <child link="left_hexagonal_table" />
-      <origin xyz="0.8 0 -0.8" rpy="0 0 3.14" />
-    </joint>
-
-    <link name="right_hexagonal_table">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/table.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/table-collision.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="right_hexagonal_table_joint" type="fixed">
-      <parent link="${parent}" />
-      <child link="right_hexagonal_table" />
-      <origin xyz="-0.8 0 -0.8" rpy="0 0 3.14" />
-    </joint>
-
-    <!-- Cylinder items -->
-    <link name="left_cylinder_item">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/cylinder-item.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </visual>
-      <!-- No collision geometry so the gripper can overlap with the object. -->
-    </link>
-
-    <joint name="left_cylinder_item_joint" type="fixed">
-      <parent link="${parent}" />
-      <child link="left_cylinder_item" />
-      <origin xyz="0.73 0.06 -0.30" rpy="0 0 3.14" />
-    </joint>
-
-    <link name="right_cylinder_item">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh
-            filename="file://$(find picknik_ur_mock_hw_config)/meshes/cylinder-item.dae"
-            scale="1 1 1"
-          />
-        </geometry>
-      </visual>
-      <!-- No collision geometry so the gripper can overlap with the object. -->
-    </link>
-
-    <joint name="right_cylinder_item_joint" type="fixed">
-      <parent link="${parent}" />
-      <child link="right_cylinder_item" />
-      <origin xyz="-0.73 0.06 -0.30" rpy="0 0 3.14" />
-    </joint>
-  </xacro:macro>
-</robot>
diff --git a/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro b/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
deleted file mode 100644
index 601f292b..00000000
--- a/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
+++ /dev/null
@@ -1,56 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
-  <!-- parameters -->
-  <xacro:arg name="use_fake_hardware" default="false" />
-  <xacro:arg name="external_camera" default="false" />
-  <xacro:arg name="has_tool_changer" default="true" />
-  <xacro:arg name="use_pinch_links" default="true" />
-  <xacro:arg name="generate_ros2_control_tag" default="true" />
-  <xacro:arg name="name" default="" />
-  <xacro:arg name="joint_limits_parameters_file" default="" />
-  <xacro:arg name="kinematics_parameters_file" default="" />
-  <xacro:arg name="physical_parameters_file" default="" />
-  <xacro:arg name="visual_parameters_file" default="" />
-  <xacro:arg name="headless_mode" default="false" />
-  <xacro:arg name="robot_ip" default="0.0.0.0" />
-  <xacro:arg name="use_tool_communication" default="false" />
-  <xacro:arg name="tool_voltage" default="0" />
-  <xacro:arg name="tool_device_name" default="/dev/ttyUSB0" />
-  <xacro:arg
-    name="initial_positions_file"
-    default="$(find picknik_ur_mock_hw_config)/config/initial_positions.yaml"
-  />
-  <xacro:arg
-    name="environment_xacro"
-    default="$(find picknik_ur_mock_hw_config)/description/environment.xacro"
-  />
-
-  <!-- Import UR and environment macros -->
-  <xacro:include
-    filename="$(find picknik_ur_base_config)/description/picknik_ur_macro.xacro"
-  />
-  <xacro:include
-    filename="$(find picknik_ur_base_config)/description/picknik_ur_attachments_macro.xacro"
-  />
-  <xacro:include filename="$(arg environment_xacro)" />
-
-  <!-- Robot: contains robot description from the world frame to the tool frame -->
-  <xacro:picknik_ur
-    parent="world"
-    child="tool0"
-    initial_positions_file="$(arg initial_positions_file)"
-    generate_ros2_control_tag="$(arg generate_ros2_control_tag)"
-  >
-    <origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
-  </xacro:picknik_ur>
-
-  <!-- Gripper and UR adapter and realsense camera -->
-  <xacro:picknik_ur_attachments
-    parent="tool0"
-    child="grasp_link"
-    has_tool_changer="$(arg has_tool_changer)"
-  />
-
-  <!-- Environment: contains scene geometry and external sensors, e.g. cameras -->
-  <xacro:environment parent="world" />
-</robot>
diff --git a/src/picknik_ur_mock_hw_config/launch/agent_bridge.launch.xml b/src/picknik_ur_mock_hw_config/launch/agent_bridge.launch.xml
deleted file mode 100644
index b2aa7543..00000000
--- a/src/picknik_ur_mock_hw_config/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/picknik_ur_mock_hw_config/meshes/base.dae b/src/picknik_ur_mock_hw_config/meshes/base.dae
deleted file mode 100644
index d5fee37c..00000000
--- a/src/picknik_ur_mock_hw_config/meshes/base.dae
+++ /dev/null
@@ -1,241 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 3.6.1 commit date:2023-07-17, commit time:12:50, hash:8bda729ef4dc</authoring_tool>
-    </contributor>
-    <created>2023-07-21T21:09:34</created>
-    <modified>2023-07-21T21:09:34</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_lights>
-    <light id="Point-light" name="Point">
-      <technique_common>
-        <point>
-          <color sid="color">0 0 0</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">0</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <radius sid="radius" type="float">0</radius>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.25</area_size>
-          <area_sizey sid="area_sizey" type="float">0.25</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.25</area_sizez>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_effects>
-    <effect id="Blue_paint_old_004-effect">
-      <profile_COMMON>
-        <newparam sid="base-surface">
-          <surface type="2D">
-            <init_from>base</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="base-sampler">
-          <sampler2D>
-            <source>base-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="base-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">1</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Rubber_black_004-effect">
-      <profile_COMMON>
-        <newparam sid="base-surface">
-          <surface type="2D">
-            <init_from>base</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="base-sampler">
-          <sampler2D>
-            <source>base-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
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-              <texture texture="base-sampler" texcoord="UVMap"/>
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-            <index_of_refraction>
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-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Raw_Aluminium_003-effect">
-      <profile_COMMON>
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-          <sampler2D>
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-        </technique>
-      </profile_COMMON>
-    </effect>
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-  <library_images>
-    <image id="base" name="base">
-      <init_from>base.png</init_from>
-    </image>
-  </library_images>
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-    <material id="Blue_paint_old_004-material" name="Blue paint old.004">
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deleted file mode 100644
index bd42b6a1..00000000
Binary files a/src/picknik_ur_mock_hw_config/meshes/base.png and /dev/null differ
diff --git a/src/picknik_ur_mock_hw_config/meshes/cnc-collision.dae b/src/picknik_ur_mock_hw_config/meshes/cnc-collision.dae
deleted file mode 100644
index 091b0124..00000000
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diff --git a/src/picknik_ur_mock_hw_config/meshes/cnc.dae b/src/picknik_ur_mock_hw_config/meshes/cnc.dae
deleted file mode 100644
index 137bf15e..00000000
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+++ /dev/null
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diff --git a/src/picknik_ur_mock_hw_config/meshes/cnc.png b/src/picknik_ur_mock_hw_config/meshes/cnc.png
deleted file mode 100644
index 942f675f..00000000
Binary files a/src/picknik_ur_mock_hw_config/meshes/cnc.png and /dev/null differ
diff --git a/src/picknik_ur_mock_hw_config/meshes/cylinder-item.dae b/src/picknik_ur_mock_hw_config/meshes/cylinder-item.dae
deleted file mode 100644
index 015c3569..00000000
--- a/src/picknik_ur_mock_hw_config/meshes/cylinder-item.dae
+++ /dev/null
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diff --git a/src/picknik_ur_mock_hw_config/meshes/cylinder-item.png b/src/picknik_ur_mock_hw_config/meshes/cylinder-item.png
deleted file mode 100644
index bdfabc8a..00000000
Binary files a/src/picknik_ur_mock_hw_config/meshes/cylinder-item.png and /dev/null differ
diff --git a/src/picknik_ur_mock_hw_config/meshes/table-collision.dae b/src/picknik_ur_mock_hw_config/meshes/table-collision.dae
deleted file mode 100644
index bed3cb61..00000000
--- a/src/picknik_ur_mock_hw_config/meshes/table-collision.dae
+++ /dev/null
@@ -1,70 +0,0 @@
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\ No newline at end of file
diff --git a/src/picknik_ur_mock_hw_config/meshes/table.dae b/src/picknik_ur_mock_hw_config/meshes/table.dae
deleted file mode 100644
index 7b850f9e..00000000
--- a/src/picknik_ur_mock_hw_config/meshes/table.dae
+++ /dev/null
@@ -1,193 +0,0 @@
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-        </triangles>
-        <triangles material="Raw_alluminium_for_table-material" count="786">
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-          <input semantic="TEXCOORD" source="#Cube_001-mesh-map" offset="2" set="0"/>
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17 2660 231 17 2661 240 17 2662 236 17 2663 240 17 2664 235 17 2665 238 17 2666 330 396 2667 310 396 2668 309 396 2669 330 17 2670 309 17 2671 318 17 2672 327 397 2673 330 397 2674 318 397 2675 317 386 2676 307 386 2677 329 386 2678 307 17 2679 306 17 2680 329 17 2681 327 392 2682 318 392 2683 317 392 2684 326 398 2685 325 398 2686 5 398 2687 317 17 2688 329 17 2689 326 17 2690 327 399 2691 317 399 2692 326 399 2693 326 17 2694 5 17 2695 327 17 2696 5 17 2697 7 17 2698 322 17 2699 327 17 2700 5 17 2701 322 17 2702 3 17 2703 1 17 2704 176 17 2705 1 400 2706 173 400 2707 174 400 2708 1 401 2709 174 401 2710 175 401 2711 176 17 2712 1 17 2713 175 17 2714 254 17 2715 256 17 2716 257 17 2717 260 402 2718 259 402 2719 255 402 2720 259 17 2721 258 17 2722 255 17 2723 254 17 2724 257 17 2725 260 17 2726 185 17 2727 254 17 2728 179 17 2729 254 17 2730 260 17 2731 255 17 2732 179 403 2733 254 403 2734 255 403 2735 179 404 2736 180 404 2737 186 404 2738 179 17 2739 186 17 2740 185 17 2741 186 17 2742 175 17 2743 185 17 2744 323 405 2745 322 405 2746 7 405 2747 324 406 2748 323 406 2749 7 406 2750 174 17 2751 185 17 2752 175 17 2753 250 407 2754 324 407 2755 7 407 2756 251 17 2757 250 17 2758 7 17 2759 251 17 2760 7 17 2761 252 17 2762 7 17 2763 3 17 2764 252 17 2765 194 17 2766 193 17 2767 190 17 2768 193 17 2769 192 17 2770 190 17 2771 190 17 2772 195 17 2773 194 17 2774 195 408 2775 208 408 2776 196 408 2777 208 17 2778 207 17 2779 196 17 2780 187 17 2781 194 17 2782 181 17 2783 194 17 2784 195 17 2785 196 17 2786 181 17 2787 194 17 2788 196 17 2789 181 409 2790 182 409 2791 188 409 2792 181 17 2793 188 17 2794 187 17 2795 188 17 2796 177 17 2797 187 17 2798 225 17 2799 222 17 2800 221 17 2801 222 17 2802 214 17 2803 221 17 2804 219 17 2805 224 17 2806 220 17 2807 224 17 2808 225 17 2809 220 17 2810 211 410 2811 210 410 2812 220 410 2813 210 411 2814 219 411 2815 220 411 2816 240 17 2817 242 17 2818 236 17 2819 233 17 2820 232 17 2821 236 17 2822 233 17 2823 236 17 2824 237 17 2825 234 17 2826 233 17 2827 252 17 2828 233 17 2829 237 17 2830 252 17 2831 176 17 2832 187 17 2833 177 17 2834 234 17 2835 252 17 2836 3 17 2837 3 412 2838 176 412 2839 177 412 2840 3 413 2841 177 413 2842 178 413 2843 212 17 2844 213 17 2845 214 17 2846 213 17 2847 221 17 2848 214 17 2849 221 17 2850 220 17 2851 225 17 2852 200 17 2853 201 17 2854 199 17 2855 201 17 2856 183 17 2857 199 17 2858 197 17 2859 191 17 2860 198 17 2861 191 17 2862 200 17 2863 199 17 2864 199 17 2865 198 17 2866 191 17 2867 3 17 2868 178 17 2869 184 17 2870 178 414 2871 189 414 2872 184 414 2873 204 17 2874 212 17 2875 214 17 2876 204 17 2877 214 17 2878 203 17 2879 215 17 2880 204 17 2881 203 17 2882 189 17 2883 199 17 2884 183 17 2885 215 17 2886 203 17 2887 234 17 2888 189 17 2889 183 17 2890 184 17 2891 215 17 2892 234 17 2893 3 17 2894 103 415 2895 97 415 2896 254 415 2897 96 22 2898 256 22 2899 254 22 2900 95 416 2901 253 416 2902 256 416 2903 89 417 2904 173 417 2905 253 417 2906 89 2 2907 90 2 2908 174 2 2909 90 33 2910 103 33 2911 185 33 2912 126 418 2913 137 418 2914 262 418 2915 142 22 2916 263 22 2917 262 22 2918 134 419 2919 261 419 2920 263 419 2921 133 90 2922 257 90 2923 261 90 2924 133 2 2925 109 2 2926 260 2 2927 109 33 2928 126 33 2929 259 33 2930 149 30 2931 156 30 2932 280 30 2933 155 22 2934 278 22 2935 280 22 2936 153 35 2937 289 35 2938 278 35 2939 143 420 2940 267 420 2941 289 420 2942 143 2 2943 136 2 2944 268 2 2945 136 33 2946 149 33 2947 274 33 2948 167 415 2949 165 415 2950 302 415 2951 164 22 2952 304 22 2953 302 22 2954 172 421 2955 334 421 2956 304 421 2957 154 32 2958 286 32 2959 334 32 2960 154 2 2961 163 2 2962 279 2 2963 163 33 2964 167 33 2965 292 33 2966 82 415 2967 80 415 2968 326 415 2969 79 22 2970 325 22 2971 326 22 2972 170 416 2973 328 416 2974 325 416 2975 171 422 2976 305 422 2977 328 422 2978 171 2 2979 168 2 2980 306 2 2981 168 42 2982 82 42 2983 329 42 2984 112 93 2985 129 93 2986 205 93 2987 121 22 2988 258 22 2989 205 22 2990 110 416 2991 255 416 2992 258 416 2993 98 423 2994 179 423 2995 255 423 2996 98 2 2997 99 2 2998 180 2 2999 99 424 3000 112 424 3001 192 424 3002 139 43 3003 151 43 3004 272 43 3005 150 425 3006 273 425 3007 272 425 3008 138 35 3009 269 35 3010 273 35 3011 127 417 3012 264 417 3013 269 417 3014 127 2 3015 128 2 3016 265 2 3017 128 426 3018 139 426 3019 270 426 3020 158 427 3021 161 427 3022 294 427 3023 160 428 3024 293 428 3025 294 428 3026 157 429 3027 281 429 3028 293 429 3029 148 90 3030 275 90 3031 281 90 3032 148 69 3033 147 69 3034 276 69 3035 147 25 3036 158 25 3037 282 25 3038 61 430 3039 71 430 3040 318 430 3041 70 22 3042 317 22 3043 318 22 3044 169 431 3045 307 431 3046 317 431 3047 166 90 3048 290 90 3049 307 90 3050 166 432 3051 46 432 3052 295 432 3053 46 433 3054 61 433 3055 309 433 3056 105 61 3057 115 61 3058 194 61 3059 113 434 3060 193 434 3061 194 434 3062 104 435 3063 186 435 3064 193 435 3065 91 436 3066 175 436 3067 186 436 3068 91 437 3069 92 437 3070 176 437 3071 92 438 3072 105 438 3073 187 438 3074 131 55 3075 144 55 3076 217 55 3077 141 425 3078 271 425 3079 217 425 3080 130 421 3081 206 421 3082 271 421 3083 111 423 3084 190 423 3085 206 423 3086 111 59 3087 114 59 3088 195 59 3089 114 438 3090 131 438 3091 208 438 3092 34 439 3093 37 439 3094 287 439 3095 159 425 3096 284 425 3097 287 425 3098 152 440 3099 277 440 3100 284 440 3101 140 441 3102 266 441 3103 277 441 3104 140 91 3105 146 91 3106 216 91 3107 146 438 3108 34 438 3109 230 438 3110 49 61 3111 64 61 3112 303 61 3113 59 22 3114 308 22 3115 303 22 3116 47 84 3117 296 84 3118 308 84 3119 162 442 3120 283 442 3121 296 442 3122 162 69 3123 38 69 3124 285 69 3125 38 438 3126 49 438 3127 297 438 3128 84 443 3129 76 443 3130 322 443 3131 81 22 3132 327 22 3133 322 22 3134 83 444 3135 330 444 3136 327 444 3137 62 24 3138 310 24 3139 330 24 3140 62 2 3141 63 2 3142 311 2 3143 63 445 3144 84 445 3145 331 445 3146 118 446 3147 124 446 3148 202 446 3149 122 447 3150 207 447 3151 202 447 3152 116 448 3153 196 448 3154 207 448 3155 100 449 3156 181 449 3157 196 449 3158 100 450 3159 101 450 3160 182 450 3161 101 451 3162 118 451 3163 197 451 3164 18 418 3165 28 418 3166 227 418 3167 24 452 3168 223 452 3169 227 452 3170 145 31 3171 218 31 3172 223 31 3173 132 453 3174 209 453 3175 218 453 3176 132 454 3177 125 454 3178 210 454 3179 219 455 3180 210 455 3181 135 455 3182 210 456 3183 125 456 3184 135 456 3185 41 446 3186 52 446 3187 299 446 3188 50 22 3189 298 22 3190 299 22 3191 36 457 3192 288 457 3193 298 457 3194 33 458 3195 226 458 3196 288 458 3197 33 459 3198 26 459 3199 228 459 3200 26 445 3201 41 445 3202 239 445 3203 66 460 3204 73 460 3205 316 460 3206 72 22 3207 319 22 3208 316 22 3209 65 38 3210 312 38 3211 319 38 3212 48 53 3213 291 53 3214 312 53 3215 48 2 3216 51 2 3217 300 2 3218 51 451 3219 66 451 3220 314 451 3221 107 415 3222 120 415 3223 199 415 3224 119 22 3225 198 22 3226 199 22 3227 106 461 3228 188 461 3229 198 461 3230 93 417 3231 177 417 3232 188 417 3233 93 2 3234 94 2 3235 178 2 3236 94 33 3237 107 33 3238 189 33 3239 14 418 3240 21 418 3241 221 418 3242 19 462 3243 220 462 3244 221 462 3245 220 463 3246 19 463 3247 15 463 3248 15 464 3249 123 464 3250 211 464 3251 117 465 3252 191 465 3253 211 465 3254 117 2 3255 108 2 3256 200 2 3257 213 466 3258 200 466 3259 10 466 3260 200 467 3261 108 467 3262 10 467 3263 29 468 3264 43 468 3265 240 468 3266 42 425 3267 235 425 3268 240 425 3269 27 461 3270 229 461 3271 235 461 3272 20 32 3273 224 32 3274 229 32 3275 20 469 3276 23 469 3277 225 469 3278 23 33 3279 29 33 3280 231 33 3281 55 415 3282 68 415 3283 249 415 3284 60 470 3285 313 470 3286 249 470 3287 53 416 3288 301 416 3289 313 416 3290 39 442 3291 238 442 3292 301 442 3293 39 69 3294 40 69 3295 241 69 3296 40 471 3297 55 471 3298 244 471 3299 86 415 3300 78 415 3301 324 415 3302 77 472 3303 323 472 3304 324 472 3305 85 440 3306 332 440 3307 323 440 3308 67 417 3309 315 417 3310 332 417 3311 67 473 3312 87 473 3313 320 473 3314 87 42 3315 86 42 3316 333 42 3317 11 474 3318 17 474 3319 204 474 3320 12 475 3321 212 475 3322 204 475 3323 9 476 3324 201 476 3325 212 476 3326 102 477 3327 183 477 3328 201 477 3329 102 2 3330 8 2 3331 184 2 3332 8 478 3333 11 478 3334 215 478 3335 25 479 3336 35 479 3337 233 479 3338 31 480 3339 232 480 3340 233 480 3341 22 419 3342 222 419 3343 232 419 3344 13 417 3345 214 417 3346 222 417 3347 13 481 3348 16 481 3349 203 481 3350 16 482 3351 25 482 3352 234 482 3353 45 483 3354 58 483 3355 246 483 3356 56 22 3357 247 22 3358 246 22 3359 44 484 3360 242 484 3361 247 484 3362 30 485 3363 236 485 3364 242 485 3365 30 486 3366 32 486 3367 237 486 3368 32 487 3369 45 487 3370 252 487 3371 88 93 3372 75 93 3373 250 93 3374 74 22 3375 321 22 3376 250 22 3377 69 488 3378 248 488 3379 321 488 3380 54 489 3381 243 489 3382 248 489 3383 54 2 3384 57 2 3385 245 2 3386 57 487 3387 88 487 3388 251 487 3389 889 2 5694 890 2 5695 888 2 5696 893 125 5697 894 125 5698 890 125 5699 891 22 5700 892 22 5701 894 22 5702 887 124 5703 888 124 5704 892 124 5705 887 17 5706 891 17 5707 893 17 5708 892 5 5709 888 5 5710 890 5 5711</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Table_001" name="Table.001" type="NODE">
-        <matrix sid="transform">0.364727 0 0 -0.003200948 0 0.3838361 0 0.002424642 0 0 -0.01140138 0.5492982 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_001-mesh" name="Table.001">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Blue_paint_ofor_table-material" target="#Blue_paint_ofor_table-material"/>
-              <instance_material symbol="Rubber_black_for_table-material" target="#Rubber_black_for_table-material"/>
-              <instance_material symbol="Raw_alluminium_for_table-material" target="#Raw_alluminium_for_table-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/src/picknik_ur_mock_hw_config/meshes/table.png b/src/picknik_ur_mock_hw_config/meshes/table.png
deleted file mode 100644
index 3610870b..00000000
Binary files a/src/picknik_ur_mock_hw_config/meshes/table.png and /dev/null differ
diff --git a/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
deleted file mode 100644
index bfb73650..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
+++ /dev/null
@@ -1,114 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
-  <!--//////////-->
-  <BehaviorTree
-    ID="3 Waypoints Pick and Place"
-    _description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <!--Reset the planning scene to ensure no old collision objects are hanging around-->
-      <Action ID="ClearSnapshot" />
-      <!--Setup the environment to its "home" configuration - move to center and open gripper-->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Look at Machine"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0"
-      />
-      <!--Run pick and place on loop-->
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!--Pick object from left, put it down at the CNC machine, and go back to center pose-->
-          <Control ID="Sequence">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Grasp Left"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0.7929"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Machine"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Grasp Machine"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Machine"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-          </Control>
-          <!--Pick object from the CNC machine, put it down on the right, and go back to center pose-->
-          <Control ID="Sequence">
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Grasp Machine"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0.7929"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Machine"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Grasp Left"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-            <Action
-              ID="MoveGripperAction"
-              gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-              position="0"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Machine"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-              planner_interface="moveit_default"
-            />
-          </Control>
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml b/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
deleted file mode 100644
index 1fdc14b1..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Constrained Pick and Place">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Constrained Pick and Place"
-    _description="More advanced example of picking and placing an (invisible) object with orientation constraints enforced on the gripper's motion"
-    _favorite="true"
-  >
-    <Decorator ID="KeepRunningUntilFailure">
-      <Control ID="Sequence">
-        <!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
-        <Action
-          ID="InitializeMotionConstraints"
-          constraints_name="gripper pointing down"
-          constraints="{constraints}"
-        />
-        <Action
-          ID="AppendOrientationConstraint"
-          config_file_name="my_constraints.yaml"
-          constraints="{constraints}"
-        />
-        <!--Move to pick location-->
-        <SubTree ID="Open Gripper" />
-        <!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
-        <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Grasp Right"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-        </Decorator>
-        <!--Pick-->
-        <SubTree ID="Close Gripper" />
-        <!--Move to place (drop) location-->
-        <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-          <SubTree
-            ID="Move to Waypoint"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            joint_group_name="manipulator"
-            waypoint_name="Grasp Left"
-            planner_interface="moveit_default"
-            constraints="{constraints}"
-          />
-        </Decorator>
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml b/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
deleted file mode 100644
index b5bbf2b2..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
-  <BehaviorTree
-    ID="Cycle Between Waypoints"
-    _description="Example of repeatedly moving between two saved poses."
-    _favorite="true"
-  >
-    <Decorator ID="KeepRunningUntilFailure">
-      <Control ID="Sequence">
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Grasp Left"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
-        />
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Grasp Right"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="pro_rrt"
-        />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml b/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
deleted file mode 100644
index c785d370..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/joint_diagnostic.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Joint Diagnostic"
-    _description="Example of cycling through the min and max limits of a single joint, for hardware testing"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!--Setup by moving home-->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Home"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!-- If you use two waypoints that have identical joint values, except for one joint, you can use this Objective as a way to test a single joint repeatedly. This is useful for things like hardware diagnostics and hardware bringup.-->
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Wrist 2 Max"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Wrist 2 Min"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
deleted file mode 100644
index 2f6b3592..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
+++ /dev/null
@@ -1,122 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Move Along Path">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Move Along Path"
-    _description="Example of using Cartesian control to draw a rectangle in the air."
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!--First manually create an example Cartesian reference trajectory to then feed into the planner-->
-      <Control ID="Sequence">
-        <Action
-          ID="CreateStampedPose"
-          reference_frame="base_link"
-          position_xyz="-0.4;0.4;-0.0"
-          orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreateStampedPose"
-          reference_frame="base_link"
-          position_xyz="0.4;0.4;-0.0"
-          orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreateStampedPose"
-          reference_frame="base_link"
-          position_xyz="0.4;0.8;0.0"
-          orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreateStampedPose"
-          reference_frame="base_link"
-          position_xyz="-0.4;0.8;0.0"
-          orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreateStampedPose"
-          reference_frame="base_link"
-          position_xyz="-0.4;0.4;-0.0"
-          orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
-          vector="{pose_stamped_vector}"
-        />
-      </Control>
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <!--Move to starting position, before planning and executing Cartesian path-->
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Look at Right Table"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller"
-            planner_interface="moveit_default"
-          />
-          <!--Plan and validate the trajectory-->
-          <Action
-            ID="PlanCartesianPath"
-            path="{pose_stamped_vector}"
-            planning_group_name="manipulator"
-            tip_link="grasp_link"
-            tip_offset="0.0;0.0;0.0;0.0;0.0;0.0"
-            position_only="false"
-            blending_radius="0.02"
-            velocity_scale_factor="1.0"
-            acceleration_scale_factor="1.0"
-            trajectory_sampling_rate="100"
-            joint_trajectory_msg="{joint_trajectory_msg}"
-            ik_joint_space_density="0.05000"
-            ik_cartesian_space_density="0.01000"
-          />
-          <Action
-            ID="GetCurrentPlanningScene"
-            planning_scene_msg="{planning_scene_msg}"
-          />
-          <Action
-            ID="ValidateTrajectory"
-            planning_scene_msg="{planning_scene_msg}"
-            planning_group_name="manipulator"
-            joint_trajectory_msg="{joint_trajectory_msg}"
-            joint_space_step="0.05"
-            cartesian_space_step="0.02"
-          />
-          <!--Finally, execute the trajectory on the actual robot-->
-          <Action
-            ID="ExecuteFollowJointTrajectory"
-            execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-            joint_trajectory_msg="{joint_trajectory_msg}"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml b/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml
deleted file mode 100644
index 0183b3b3..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-AppendOrientationConstraint:
-  constraint_frame: "world"
-  link_frame: "grasp_link"
-  orientation:  # radians
-    x: -3.14
-    y: 0.0
-    z: -1.57
-  tolerance:    # radians
-    x: 0.1
-    y: 0.1
-    z: 10.0
diff --git a/src/picknik_ur_mock_hw_config/objectives/rrt_connect_test.xml b/src/picknik_ur_mock_hw_config/objectives/rrt_connect_test.xml
deleted file mode 100644
index 172c5482..00000000
--- a/src/picknik_ur_mock_hw_config/objectives/rrt_connect_test.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="RRTConnect Test">
-  <!--//////////-->
-  <BehaviorTree
-    ID="RRTConnect Test"
-    _description="A test to move between waypoints using RRTConnect"
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="ActivateControllers"
-        controller_names="joint_trajectory_controller"
-      />
-      <Decorator ID="Repeat" num_cycles="10">
-        <Control ID="Sequence">
-          <Action
-            ID="RetrieveWaypoint"
-            waypoint_name="Grasp Left"
-            waypoint_joint_state="{grasp_left}"
-            joint_group_name="manipulator"
-          />
-          <Action ID="PlanToJointGoal" joint_goal="{grasp_left}" />
-          <Action ID="ExecuteFollowJointTrajectory" />
-          <Action
-            ID="RetrieveWaypoint"
-            waypoint_joint_state="{grasp_right}"
-            joint_group_name="manipulator"
-            waypoint_name="Grasp Right"
-          />
-          <Action ID="PlanToJointGoal" joint_goal="{grasp_right}" />
-          <Action ID="ExecuteFollowJointTrajectory" />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_mock_hw_config/package.xml b/src/picknik_ur_mock_hw_config/package.xml
deleted file mode 100644
index 32c8dd9f..00000000
--- a/src/picknik_ur_mock_hw_config/package.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>picknik_ur_mock_hw_config</name>
-  <version>6.0.0</version>
-
-  <description>
-    Configuration package for a UR arm that can be simulated with mock hardware
-  </description>
-
-  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
-
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>picknik_ur_base_config</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/picknik_ur_mock_hw_config/waypoints/machine_tending_waypoints.yaml b/src/picknik_ur_mock_hw_config/waypoints/machine_tending_waypoints.yaml
deleted file mode 100644
index ca062118..00000000
--- a/src/picknik_ur_mock_hw_config/waypoints/machine_tending_waypoints.yaml
+++ /dev/null
@@ -1,297 +0,0 @@
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - -1.483921129263475
-      - -2.46201364140547
-      - -1.4155434352593872
-      - -0.8311314387025445
-      - 1.5924748792504824
-      - 0.1385336124548016
-    velocity: []
-  name: Grasp Right
-- description: ''
-  favorite: false
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.06985069152408796
-      - -1.4672882628347366
-      - -1.7175797731890454
-      - -1.5205531132576242
-      - 1.5615168254863208
-      - -1.3999864602892913
-    velocity: []
-  name: Gripper Down
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0
-      - -1.41
-      - -0.7
-      - -2.12
-      - 1.67
-      - 0
-    velocity: []
-  name: Forward Down
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 1.8388098170804708
-      - -2.443292149016804
-      - -1.4333817078874915
-      - -0.8454175837578257
-      - 1.5642496598380444
-      - 0.37040650512506323
-    velocity: []
-  name: Grasp Left
-- description: ''
-  favorite: false
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - -2.2335834056138996e-05
-      - -0.7800858658974525
-      - -0.5100288585397881
-      - -2.399985082258936
-      - -3.141592653589793
-      - 2.282092208042741e-05
-    velocity: []
-  name: Wrist 2 Min
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - -1.5707963267948966
-      - -2.0943951023931953
-      - -0.7
-      - -1.71359599286716
-      - 1.5707963267948966
-      - 0
-    velocity: []
-  name: Look at Right Table
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0
-      - -0.78
-      - -0.51
-      - -2.4
-      - 1.65
-      - 0
-    velocity: []
-  name: Home
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 1.6966397903773711
-      - -2.0432638182120124
-      - -0.845901355537658
-      - -1.6204157592324464
-      - 1.5452251290161947
-      - 0.12328727782236398
-    velocity: []
-  name: Look at Left Table
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.5509848570442806
-      - -0.9919020912742678
-      - -1.5210004994776822
-      - -1.1362474187224354
-      - 1.1424099505908154
-      - 0.2545176268195681
-    velocity: []
-  name: Look at Machine
-- description: ''
-  favorite: false
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - -2.2335834056138996e-05
-      - -0.7800858658974525
-      - -0.5100288585397881
-      - -2.399985082258936
-      - 3.141592653589793
-      - 2.282092208042741e-05
-    velocity: []
-  name: Wrist 2 Max
-- description: ''
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    effort: []
-    header:
-      frame_id: world
-      stamp:
-        nanosec: 0
-        sec: 0
-    name:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    position:
-      - 0.11111391121840652
-      - -2.5862044847356653
-      - -0.5012274095862923
-      - -0.7858302699684137
-      - 1.454618253084769
-      - 0.06085157834607742
-    velocity: []
-  name: Grasp Machine
diff --git a/src/picknik_ur_site_config/CMakeLists.txt b/src/picknik_ur_site_config/CMakeLists.txt
deleted file mode 100644
index db083761..00000000
--- a/src/picknik_ur_site_config/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(picknik_ur_site_config)
-
-find_package(ament_cmake REQUIRED)
-find_package(moveit_studio_common REQUIRED)
-moveit_studio_package()
-
-# add custom behaviors
-add_subdirectory(behaviors)
-
-install(
-  DIRECTORY
-    config
-    # Uncomment the following lines if you make use of these directories in you site_config package
-    # description
-    launch
-    objectives
-    # waypoints
-  DESTINATION
-    share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-# Export the behavior plugins defined in this package so they are available to
-# plugin loaders that load the behavior base class library from the
-# moveit_studio_behavior package.
-pluginlib_export_plugin_description_file(
-        moveit_studio_behavior_interface behaviors/trigger_pstop_reset_service_plugin_description.xml)
-
-ament_package()
diff --git a/src/picknik_ur_site_config/LICENSE b/src/picknik_ur_site_config/LICENSE
deleted file mode 100644
index 574ef079..00000000
--- a/src/picknik_ur_site_config/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-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 copyright holder 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.
diff --git a/src/picknik_ur_site_config/README.md b/src/picknik_ur_site_config/README.md
deleted file mode 100644
index 23d0ef9c..00000000
--- a/src/picknik_ur_site_config/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# picknik_ur_site_config
-
-A MoveIt Pro site configuration for a UR arm based on the `picknik_ur_base_config` package.
-
-For further documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_site_config/behaviors/CMakeLists.txt b/src/picknik_ur_site_config/behaviors/CMakeLists.txt
deleted file mode 100644
index 95f5a4a4..00000000
--- a/src/picknik_ur_site_config/behaviors/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  moveit_studio_behavior_interface
-  pluginlib
-  std_srvs
-  )
-foreach(package IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  find_package(${package} REQUIRED)
-endforeach()
-
-add_library(
-        trigger_pstop_reset_service
-        SHARED
-        src/trigger_pstop_reset_service.cpp
-        src/register_behaviors.cpp)
-target_include_directories(
-        trigger_pstop_reset_service
-        PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>)
-ament_target_dependencies(trigger_pstop_reset_service
-        ${THIS_PACKAGE_INCLUDE_DEPENDS})
-
-if(BUILD_TESTING)
-  moveit_pro_behavior_test(trigger_pstop_reset_service)
-endif()
-
-# Install Libraries
-install(
-        TARGETS trigger_pstop_reset_service
-        EXPORT trigger_pstop_reset_serviceTargets
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin
-        INCLUDES
-        DESTINATION include)
-
-ament_export_targets(trigger_pstop_reset_serviceTargets HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
diff --git a/src/picknik_ur_site_config/behaviors/include/trigger_pstop_reset_service/trigger_pstop_reset_service.hpp b/src/picknik_ur_site_config/behaviors/include/trigger_pstop_reset_service/trigger_pstop_reset_service.hpp
deleted file mode 100644
index 03a26ebe..00000000
--- a/src/picknik_ur_site_config/behaviors/include/trigger_pstop_reset_service/trigger_pstop_reset_service.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-#pragma once
-
-#include <moveit_studio_behavior_interface/service_client_behavior_base.hpp>
-#include <std_srvs/srv/trigger.hpp>
-
-namespace trigger_pstop_reset_service
-{
-/**
- * @brief Resets the UR P-stop status by calling the reset service named /recover_from_protective_stop.
- */
-using PStopService = std_srvs::srv::Trigger;
-class TriggerPStopResetService : public moveit_studio::behaviors::ServiceClientBehaviorBase<PStopService>
-{
-public:
-/**
-   * @brief Constructor for the trigger_pstop_reset_service behavior.
-   * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
-   * @param config This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
-   * @details An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.
-   */
- TriggerPStopResetService(const std::string& name, const BT::NodeConfiguration& config,
- const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources);
-
- /**
-  * @brief Implementation of the required providedPorts() function for the trigger_pstop_reset_service Behavior.
-  * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function must return an empty BT::PortsList.
-  * This function returns a list of ports with their names and port info, which is used internally by the behavior tree.
-  * @return trigger_pstop_reset_service does not use expose any ports, so this function returns an empty list.
-  */
- static BT::PortsList providedPorts();
-
- /**
-  * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
-  * subcategory, in the MoveIt Studio Developer Tool.
-  * @return A BT::KeyValueVector containing the Behavior metadata.
-  */
- static BT::KeyValueVector metadata();
-
-private:
- /**
- * @brief Specify the name of the service that will be called by the behaviors
- * @return Returns the name of the service. If not successful, returns an error message.
- */
- tl::expected<std::string, std::string> getServiceName() override;
- /**
- * @brief Sets the timeout for the service response.
- * @details If the timeout expires before a response is received, the behavior will fail. A negative duration indicates no timeout.
- * @return Returns the service response timeout duration.
- */
- tl::expected<std::chrono::duration<double>, std::string> getResponseTimeout() override;
- /**
- * @brief Create a service request.
- * @return Returns a service request message. If not successful, returns an error message.
- */
- tl::expected<std_srvs::srv::Trigger::Request, std::string> createRequest() override;
- /**
- * @brief Determines if the service request succeeded or failed based on the response message.
- * @param response Response message received from the service server.
- * @return Returns true if the response indicates success. If not successful, returns an error message.
- */
- tl::expected<bool, std::string> processResponse(const std_srvs::srv::Trigger::Response&) override;
-
- /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
- std::shared_future<tl::expected<bool, std::string>>& getFuture() override;
-
- /**
- * @brief Holds a copy of the service name specified by the input port.
- */
- std::string service_name_;
-
- /**
-  * @brief Holds the result of calling the service asynchronously.
-  */
- std::shared_future<tl::expected<bool, std::string>> future_;
-
-  
-};
-}  // namespace trigger_pstop_reset_service
diff --git a/src/picknik_ur_site_config/behaviors/src/register_behaviors.cpp b/src/picknik_ur_site_config/behaviors/src/register_behaviors.cpp
deleted file mode 100644
index e5ecd0e9..00000000
--- a/src/picknik_ur_site_config/behaviors/src/register_behaviors.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#include <behaviortree_cpp/bt_factory.h>
-#include <moveit_studio_behavior_interface/behavior_context.hpp>
-#include <moveit_studio_behavior_interface/shared_resources_node_loader.hpp>
-
-#include <trigger_pstop_reset_service/trigger_pstop_reset_service.hpp>
-
-#include <pluginlib/class_list_macros.hpp>
-
-namespace trigger_pstop_reset_service
-{
-class TriggerPStopResetServiceBehaviorsLoader : public moveit_studio::behaviors::SharedResourcesNodeLoaderBase
-{
-public:
-  void registerBehaviors(BT::BehaviorTreeFactory& factory,
-    [[maybe_unused]] const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>& shared_resources) override
-  {
-    moveit_studio::behaviors::registerBehavior<TriggerPStopResetService>(factory, "TriggerPStopResetService", shared_resources);
-    
-  }
-};
-}  // namespace trigger_pstop_reset_service
-
-PLUGINLIB_EXPORT_CLASS(trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader,
-                       moveit_studio::behaviors::SharedResourcesNodeLoaderBase);
diff --git a/src/picknik_ur_site_config/behaviors/src/trigger_pstop_reset_service.cpp b/src/picknik_ur_site_config/behaviors/src/trigger_pstop_reset_service.cpp
deleted file mode 100644
index 624f7491..00000000
--- a/src/picknik_ur_site_config/behaviors/src/trigger_pstop_reset_service.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#include <moveit_studio_behavior_interface/check_for_error.hpp>
-#include <trigger_pstop_reset_service/trigger_pstop_reset_service.hpp>
-
-namespace
-{
-    constexpr auto kDefaultPStopServiceName = "/recover_from_protective_stop";
-    constexpr auto kPortServiceName = "service_name";
-}// namespace
-
-namespace trigger_pstop_reset_service
-{
-    TriggerPStopResetService::TriggerPStopResetService(const std::string& name, const BT::NodeConfiguration& config,
-                                                       const std::shared_ptr<moveit_studio::behaviors::BehaviorContext>&
-                                                       shared_resources)
-        : ServiceClientBehaviorBase<PStopService>(name, config, shared_resources)
-    {
-    }
-
-    tl::expected<std::string, std::string> TriggerPStopResetService::getServiceName()
-    {
-        // Get service name from the input port.
-        const auto service_name = getInput<std::string>(kPortServiceName);
-        // Check that the port has a value on it, if not, return an error.
-        if (const auto error = moveit_studio::behaviors::maybe_error(service_name))
-        {
-            return tl::make_unexpected("Failed to get required value from input data port: " + error.value());
-        }
-
-        service_name_ = service_name.value();
-        return service_name_;
-    }
-
-    tl::expected<std::chrono::duration<double>, std::string> TriggerPStopResetService::getResponseTimeout()
-    {
-        // Create timeout for service call.
-        return std::chrono::duration<double>{2.0};
-    }
-
-    tl::expected<std_srvs::srv::Trigger::Request, std::string> TriggerPStopResetService::createRequest()
-    {
-        // Create request message.
-        return PStopService::Request{};
-    }
-
-    tl::expected<bool, std::string> TriggerPStopResetService::processResponse(
-        const std_srvs::srv::Trigger::Response& trigger_response)
-    {
-        // If the service response could not be processed, returns an error message, otherwise, return true to indicate success.
-        return trigger_response.success
-                   ? tl::expected<bool, std::string>(true)
-                   : tl::make_unexpected(
-                       "Failed to call P-Stop service `" + service_name_ + "`: " + trigger_response.message);
-    }
-
-    std::shared_future<tl::expected<bool, std::string>>& TriggerPStopResetService::getFuture()
-    {
-        return future_;
-    }
-
-
-    BT::PortsList TriggerPStopResetService::providedPorts()
-    {
-        return {
-            BT::InputPort<std::string>(kPortServiceName, kDefaultPStopServiceName,
-                                       "Name of the service to send a request to.")
-        };
-    }
-
-    BT::KeyValueVector TriggerPStopResetService::metadata()
-    {
-        return {
-            {
-                "description",
-                std::string(
-                    "Resets the UR P-stop status by calling the reset service named service name specified by the input port named `")
-                .append(kPortServiceName).append("`.")
-            }
-        };
-    }
-} // namespace trigger_pstop_reset_service
diff --git a/src/picknik_ur_site_config/behaviors/test/CMakeLists.txt b/src/picknik_ur_site_config/behaviors/test/CMakeLists.txt
deleted file mode 100644
index 2780a607..00000000
--- a/src/picknik_ur_site_config/behaviors/test/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-find_package(ament_cmake_auto REQUIRED)
-find_package(ament_cmake_gmock REQUIRED)
-find_package(ament_cmake_gtest REQUIRED)
-
-ament_auto_add_gtest(test_behavior_plugins test_behavior_plugins.cpp)
-ament_target_dependencies(test_behavior_plugins ${THIS_PACKAGE_INCLUDE_DEPENDS})
diff --git a/src/picknik_ur_site_config/behaviors/test/test_behavior_plugins.cpp b/src/picknik_ur_site_config/behaviors/test/test_behavior_plugins.cpp
deleted file mode 100644
index 0d688f2b..00000000
--- a/src/picknik_ur_site_config/behaviors/test/test_behavior_plugins.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-#include <gtest/gtest.h>
-
-#include <behaviortree_cpp/bt_factory.h>
-#include <moveit_studio_behavior_interface/shared_resources_node_loader.hpp>
-#include <pluginlib/class_loader.hpp>
-#include <rclcpp/node.hpp>
-
-/**
- * @brief This test makes sure that the Behaviors provided in this package can be successfully registered and
- * instantiated by the behavior tree factory.
- */
-TEST(BehaviorTests, test_load_behavior_plugins)
-{
-  pluginlib::ClassLoader<moveit_studio::behaviors::SharedResourcesNodeLoaderBase> class_loader(
-      "moveit_studio_behavior_interface", "moveit_studio::behaviors::SharedResourcesNodeLoaderBase");
-
-  auto node = std::make_shared<rclcpp::Node>("test_node");
-  auto shared_resources = std::make_shared<moveit_studio::behaviors::BehaviorContext>(node);
-
-  BT::BehaviorTreeFactory factory;
-  {
-    auto plugin_instance = class_loader.createUniqueInstance("trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader");
-    ASSERT_NO_THROW(plugin_instance->registerBehaviors(factory, shared_resources));
-  }
-
-  // Test that ClassLoader is able to find and instantiate each behavior using the package's plugin description info.
-  EXPECT_NO_THROW(
-    (void)factory.instantiateTreeNode("test_behavior_name", "TriggerPStopResetService", BT::NodeConfiguration()));
-}
-
-int main(int argc, char** argv)
-{
-  rclcpp::init(argc, argv);
-
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/src/picknik_ur_site_config/behaviors/trigger_pstop_reset_service_plugin_description.xml b/src/picknik_ur_site_config/behaviors/trigger_pstop_reset_service_plugin_description.xml
deleted file mode 100644
index 5574332f..00000000
--- a/src/picknik_ur_site_config/behaviors/trigger_pstop_reset_service_plugin_description.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<library path="trigger_pstop_reset_service">
-  <class
-    type="trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader"
-    base_class_type="moveit_studio::behaviors::SharedResourcesNodeLoaderBase"
-  />
-</library>
diff --git a/src/picknik_ur_site_config/config/config.yaml b/src/picknik_ur_site_config/config/config.yaml
deleted file mode 100644
index b722faeb..00000000
--- a/src/picknik_ur_site_config/config/config.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-based_on_package: "picknik_ur_base_config"
-
-objectives:
-  behavior_loader_plugins:
-    trigger_pstop_reset_service:
-      - "trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader"
-  objective_library_paths:
-    # You must use a unique key for each package.
-    # The picknik_ur_base_config uses "core"
-    custom_objectives:
-      package_name: "picknik_ur_site_config"
-      relative_path: "objectives"
-
-# Configuration for launching ros2_control processes.
-# [Required, if using ros2_control]
-ros2_control:
-  config:
-    package: "picknik_ur_site_config"
-    path: "config/control/picknik_ur.ros2_control.yaml"
-  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
-  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
-  # for running the application.
-  # [Optional, default=[]]
-  controllers_active_at_startup:
-    - "force_torque_sensor_broadcaster"
-    - "robotiq_gripper_controller"
-    - "joint_state_broadcaster"
-    - "servo_controller"
-    - "io_and_status_controller"
-    - "robotiq_activation_controller"
-  # Load but do not start these controllers so they can be activated later if needed.
-  # [Optional, default=[]]
-  controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-    - "joint_trajectory_admittance_controller"
-    - "velocity_force_controller"
-  # Any controllers here will not be spawned by MoveIt Pro.
-  # [Optional, default=[]]
-  controllers_not_managed: []
-  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
-  # [Optional, default=[]]
-  controller_shared_topics: []
diff --git a/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml
deleted file mode 100644
index 17851768..00000000
--- a/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml
+++ /dev/null
@@ -1,194 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 600  # Hz
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-    io_and_status_controller:
-      type: ur_controllers/GPIOController
-    force_torque_sensor_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-    robotiq_activation_controller:
-      type: robotiq_controllers/RobotiqActivationController
-    servo_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    joint_trajectory_admittance_controller:
-      type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
-    velocity_force_controller:
-      type: velocity_force_controller/VelocityForceController
-
-io_and_status_controller:
-  ros__parameters:
-    tf_prefix: ""
-
-force_torque_sensor_broadcaster:
-  ros__parameters:
-    sensor_name: tcp_fts_sensor
-    state_interface_names:
-      - force.x
-      - force.y
-      - force.z
-      - torque.x
-      - torque.y
-      - torque.z
-    frame_id: tool0
-    topic_name: ft_data
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-
-servo_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      shoulder_pan_joint:
-        goal: 0.05
-      shoulder_lift_joint:
-        goal: 0.05
-      elbow_joint:
-        goal: 0.05
-      wrist_1_joint:
-        goal: 0.05
-      wrist_2_joint:
-        goal: 0.05
-      wrist_3_joint:
-        goal: 0.05
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
-
-robotiq_activation_controller:
-  ros__parameters:
-    default: true
-
-joint_trajectory_admittance_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    base_frame: base_link
-    sensor_frame: tool0
-    ee_frame: grasp_link
-    ft_sensor_name: tcp_fts_sensor
-    # Joint accelerations chosen to match MoveIt configs.
-    stop_accelerations:
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-      - 30.0
-
-velocity_force_controller:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    base_frame: base_link
-    sensor_frame: tool0
-    ee_frame: grasp_link
-    ft_sensor_name: tcp_fts_sensor
-    ft_force_deadband: 2.0
-    ft_torque_deadband: 1.0
-    max_joint_velocity:
-      - 0.524
-      - 0.524
-      - 0.524
-      - 1.047
-      - 1.047
-      - 1.047
-    max_joint_acceleration:
-      - 52.4
-      - 52.4
-      - 52.4
-      - 52.4
-      - 52.4
-      - 52.4
-    max_cartesian_velocity:
-      - 0.25
-      - 0.25
-      - 0.25
-      - 1.5707
-      - 1.5707
-      - 1.5707
-    max_cartesian_acceleration:
-      - 20.0
-      - 20.0
-      - 20.0
-      - 40.0
-      - 40.0
-      - 40.0
diff --git a/src/picknik_ur_site_config/launch/agent_bridge.launch.xml b/src/picknik_ur_site_config/launch/agent_bridge.launch.xml
deleted file mode 100644
index b2aa7543..00000000
--- a/src/picknik_ur_site_config/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/picknik_ur_site_config/objectives/51mm_apriltag_detection_config.yaml b/src/picknik_ur_site_config/objectives/51mm_apriltag_detection_config.yaml
deleted file mode 100644
index 6a2926c4..00000000
--- a/src/picknik_ur_site_config/objectives/51mm_apriltag_detection_config.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-DetectAprilTags:
-  apriltag_family_name: 36h11
-  apriltag_size: 0.051
-  max_hamming: 0
-  n_threads: 1
-  quad_decimate: 1
-  quad_sigma: 0.1
-  refine_edges: false
-  z_up: true
diff --git a/src/picknik_ur_site_config/objectives/apriltag1_grasp_offset.yaml b/src/picknik_ur_site_config/objectives/apriltag1_grasp_offset.yaml
deleted file mode 100644
index 49b6035e..00000000
--- a/src/picknik_ur_site_config/objectives/apriltag1_grasp_offset.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-GraspOffset:
-  position:
-    x: -0.1
-    y: 0.0
-    z: 0.05
-  orientation:
-    x: 0.707
-    y: -0.707
-    z: 0.0
-    w: 0.0
diff --git a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
deleted file mode 100644
index fcca6052..00000000
--- a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Close Cabinet Door">
-  <BehaviorTree
-    ID="Close Cabinet Door"
-    _description="Close a cabinet door by pushing along an axis with the end effector"
-  >
-    <Control ID="Sequence">
-      <SubTree ID="Re-Zero Force-Torque Sensors" />
-      <SubTree ID="Close Gripper" />
-      <Action ID="SaveCurrentState" saved_robot_state="{initial_robot_state}" />
-      <Control ID="Sequence">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="close_cabinet_door"
-          controller_names="/joint_trajectory_controller"
-          task="{close_cabinet_door_task}"
-        />
-        <Action ID="SetupMTCCurrentState" task="{close_cabinet_door_task}" />
-        <Action
-          ID="GetPointsFromUser"
-          view_name="/wrist_mounted_camera/color/image_raw"
-          point_names="target_pose"
-          point_prompts="Click on the door you want to close"
-          pixel_coords="{pixel_coords}"
-        />
-        <Action
-          ID="GetPointCloud"
-          topic_name="/wrist_mounted_camera/depth/color/points"
-          message_out="{point_cloud}"
-        />
-        <Action
-          ID="GetPoseFromPixelCoords"
-          point_cloud="{point_cloud}"
-          pixel_coords="{pixel_coords}"
-          downsample_fraction="0.1"
-          neighbor_radius="0.1"
-          output_poses="{output_poses}"
-        />
-        <Decorator
-          ID="ForEachPoseStamped"
-          vector_in="{output_poses}"
-          out="{pose}"
-        >
-          <Control ID="Sequence">
-            <Action
-              ID="TransformPose"
-              output_pose="{target_pose}"
-              quaternion_xyzw="0.7071;0.7071;0;0"
-              translation_xyz="0;0;0.1"
-              input_pose="{pose}"
-            />
-            <Action
-              ID="SetupMTCMoveToPose"
-              ik_frame="grasp_link"
-              planning_group_name="manipulator"
-              target_pose="{target_pose}"
-              task="{close_cabinet_door_task}"
-              planner_interface="moveit_default"
-            />
-          </Control>
-        </Decorator>
-        <Action
-          ID="SetupMTCUpdateGroupCollisionRule"
-          name="AllowGripperCollisionWithOctomap"
-          group_name="gripper"
-          object_name="&lt;octomap&gt;"
-          allow_collision="true"
-          task="{close_cabinet_door_task}"
-        />
-        <Action
-          ID="SetupMTCMoveAlongFrameAxis"
-          task="{close_cabinet_door_task}"
-          hand_frame="grasp_link"
-          axis_frame="grasp_link"
-          axis_x="0.0"
-          axis_y="0.0"
-          axis_z="1.0"
-          max_distance="1.5"
-          min_distance="0.05"
-          planning_group_name="manipulator"
-          velocity_scale="0.05"
-          acceleration_scale="0.05"
-        />
-        <Action
-          ID="SetupMTCUpdateGroupCollisionRule"
-          name="ForbidGripperCollisionWithOctomap"
-          group_name="gripper"
-          object_name="&lt;octomap&gt;"
-          allow_collision="false"
-          task="{close_cabinet_door_task}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{full_close_cabinet_door_solution}"
-          task="{close_cabinet_door_task}"
-        />
-        <Action
-          ID="SplitMTCSolution"
-          solution_in="{full_close_cabinet_door_solution}"
-          index="3"
-          solution_out_1="{move_to_approach_solution}"
-          solution_out_2="{push_solution}"
-        />
-        <Action
-          ID="WaitForUserTrajectoryApproval"
-          solution="{full_close_cabinet_door_solution}"
-        />
-        <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}" />
-        <Action
-          ID="SaveCurrentState"
-          saved_robot_state="{pre_approach_robot_state}"
-        />
-        <Control ID="Parallel" success_count="1" failure_count="1">
-          <SubTree ID="Force Exceeds Threshold" />
-          <Action ID="ExecuteMTCTask" solution="{push_solution}" />
-        </Control>
-      </Control>
-      <SubTree
-        ID="Retreat To Initial Pose"
-        pre_approach_robot_state="{pre_approach_robot_state}"
-        initial_robot_state="{initial_robot_state}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml b/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
deleted file mode 100644
index df7751cf..00000000
--- a/src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
+++ /dev/null
@@ -1,95 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Detect Door Graspable Object">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Detect Door Graspable Object"
-    _description="Segments out a door from an input depth image and attempts to fit an output GraspableObject."
-  >
-    <!-- TODO: need to be directly in front of door for this objective to work until GetGraspableObjectsFromMasks3D calculates the collision more robustly for non cuboid objects. -->
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Get the point cloud from the wrist camera -->
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_mounted_camera/color/camera_info"
-        message_out="{camera_info}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-      />
-      <Action
-        ID="UpdatePlanningSceneService"
-        point_cloud="{point_cloud}"
-        point_cloud_service="/point_cloud_service"
-      />
-      <Action
-        ID="SendPointCloudToUI"
-        point_cloud="{point_cloud}"
-        pcd_topic="/pcd_pointcloud_captures"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_mounted_camera/color/image_raw"
-        message_out="{image}"
-      />
-      <!-- Segment out 2D masks and then convert to 3D masks and visualize in UI -->
-      <Action
-        ID="GetMasks2DAction"
-        image="{image}"
-        action_name="get_masks_2d_maskrcnn"
-        min_confidence="0.8"
-        max_nms_iou="0.8"
-        min_relative_area="0.05"
-        max_relative_area="0.8"
-        timeout_sec="15.0"
-        masks2d="{masks2d}"
-        valid_classes="{detection_classes}"
-      />
-      <Action
-        ID="GetMasks3DFromMasks2D"
-        point_cloud="{point_cloud}"
-        masks2d="{masks2d}"
-        camera_info="{camera_info}"
-        masks3d="{masks3d}"
-      />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-        <Control ID="Sequence">
-          <Action
-            ID="GetPointCloudFromMask3D"
-            point_cloud="{point_cloud}"
-            mask3d="{mask3d}"
-            point_cloud_fragment="{point_cloud_fragment}"
-          />
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{point_cloud_fragment}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-        </Control>
-      </Decorator>
-      <!-- Convert 3D mask into graspable object, but as we don't need it for MTC  -->
-      <Decorator ID="ForceSuccess">
-        <Action
-          ID="GetGraspableObjectsFromMasks3D"
-          point_cloud="{point_cloud}"
-          masks3d="{masks3d}"
-          base_frame="world"
-          plane_inlier_threshold="0.01"
-          minimum_face_area="0.000625"
-          face_separation_threshold="0.02"
-          graspable_objects="{door_objects}"
-        />
-      </Decorator>
-      <Decorator ID="ForceSuccess">
-        <Decorator
-          ID="ForEachGraspableObject"
-          vector_in="{door_objects}"
-          out="{door_object}"
-        >
-          <Action ID="AlwaysFailure" />
-        </Decorator>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml b/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
deleted file mode 100644
index f6ced3a6..00000000
--- a/src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Detect Fixed Handle Graspable Object"
->
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Detect Fixed Handle Graspable Object"
-    _description="Detects a fixed-handle graspable object from a depth image and returns a PoseStamped for the handle centroid."
-  >
-    <!-- TODO: need to be directly in front of handle for this objective to work until GetGraspableObjectsFromMasks3D calculates the collision more robustly for non cuboid objects or shape completion is available. -->
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Get the point cloud from the wrist camera -->
-      <Control ID="Sequence" name="GetDepthImage">
-        <Action
-          ID="GetCameraInfo"
-          topic_name="/wrist_mounted_camera/color/camera_info"
-          message_out="{camera_info}"
-        />
-        <Action
-          ID="GetImage"
-          topic_name="/wrist_mounted_camera/color/image_raw"
-          message_out="{image}"
-        />
-        <Action
-          ID="GetPointCloud"
-          topic_name="/wrist_mounted_camera/depth/color/points"
-          message_out="{point_cloud}"
-        />
-        <Action
-          ID="UpdatePlanningSceneService"
-          point_cloud="{point_cloud}"
-          point_cloud_service="/point_cloud_service"
-        />
-      </Control>
-      <!-- Segment out 2D masks and then convert to 3D masks and visualize in UI -->
-      <Action
-        ID="GetMasks2DAction"
-        image="{image}"
-        action_name="get_masks_2d_maskrcnn"
-        min_confidence="0.8"
-        max_nms_iou="0.8"
-        min_relative_area="0"
-        max_relative_area="1"
-        timeout_sec="15.0"
-        masks2d="{handle_masks2d}"
-        valid_classes="pull handle"
-      />
-      <Action
-        ID="GetMasks3DFromMasks2D"
-        point_cloud="{point_cloud}"
-        masks2d="{handle_masks2d}"
-        camera_info="{camera_info}"
-        masks3d="{masks3d}"
-      />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-        <Control ID="Sequence">
-          <Action
-            ID="GetPointCloudFromMask3D"
-            point_cloud="{point_cloud}"
-            mask3d="{mask3d}"
-            point_cloud_fragment="{point_cloud_fragment}"
-          />
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{point_cloud_fragment}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-        </Control>
-      </Decorator>
-      <!-- Convert 3D mask into graspable object -->
-      <Action
-        ID="GetGraspableObjectsFromMasks3D"
-        point_cloud="{point_cloud}"
-        masks3d="{masks3d}"
-        base_frame="world"
-        plane_inlier_threshold="0.01"
-        minimum_face_area="0.000625"
-        face_separation_threshold="0.02"
-        graspable_objects="{handle_objects}"
-      />
-      <Decorator ID="ForceSuccess">
-        <Decorator
-          ID="ForEachGraspableObject"
-          vector_in="{handle_objects}"
-          out="{handle_object}"
-        >
-          <Action ID="AlwaysFailure" />
-        </Decorator>
-      </Decorator>
-      <Action
-        ID="ExtractGraspableObjectPose"
-        graspable_object="{handle_object}"
-        pose="{grasp_pose}"
-      />
-      <Action
-        ID="LogMessage"
-        message="Successfully extracted necessary subframes for the detected pull handle."
-        log_level="info"
-      />
-      <Action
-        ID="ModifyObjectInPlanningScene"
-        object="{handle_object}"
-        apply_planning_scene_service="/apply_planning_scene"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml b/src/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml
deleted file mode 100644
index e7ef9475..00000000
--- a/src/picknik_ur_site_config/objectives/detect_hinge_line_segment.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Detect Hinge Line Segment">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Detect Hinge Line Segment"
-    _description="Detects a Hinge from a depth image and fits a line segment to it, then returns the line end points."
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Get the point cloud from the wrist camera -->
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_mounted_camera/color/camera_info"
-        message_out="{camera_info}"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_mounted_camera/color/image_raw"
-        message_out="{image}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-      />
-      <Action
-        ID="UpdatePlanningSceneService"
-        point_cloud="{point_cloud}"
-        point_cloud_service="/point_cloud_service"
-      />
-      <!-- Segment out 2D masks and then convert to 3D masks -->
-      <Action
-        ID="GetMasks2DAction"
-        image="{image}"
-        action_name="get_masks_2d_maskrcnn"
-        min_confidence="0.8"
-        max_nms_iou="0.8"
-        min_relative_area="0"
-        max_relative_area="1"
-        timeout_sec="10.0"
-        masks2d="{hinge_masks2d}"
-        valid_classes="space booth cabinet hinge"
-      />
-      <Action
-        ID="GetMasks3DFromMasks2D"
-        point_cloud="{point_cloud}"
-        masks2d="{hinge_masks2d}"
-        camera_info="{camera_info}"
-        masks3d="{masks3d}"
-      />
-      <Decorator ID="ForceSuccess">
-        <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-          <Action ID="AlwaysFailure" />
-        </Decorator>
-      </Decorator>
-      <!-- fit 3D mask to a line segment and return the two end poses. -->
-      <Action
-        ID="FitLineSegmentToMask3D"
-        point_cloud="{point_cloud}"
-        mask3d="{mask3d}"
-        base_frame="world"
-        max_distance_from_line_for_inlier="0.02"
-        line_segment_poses="{line_segment_poses}"
-      />
-      <Action
-        ID="LogMessage"
-        message="Fit a line segment to the detected hinge successfully."
-        log_level="info"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml b/src/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml
deleted file mode 100644
index 94da04e0..00000000
--- a/src/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Detect Lever Handle Line Segment">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Detect Lever Handle Line Segment"
-    _description="Detects a lever-handle Line Segment from a depth image and returns 2 PoseStampeds to represent the handle."
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Get the point cloud from the wrist camera -->
-      <Control ID="Sequence" name="GetDepthImage">
-        <Action
-          ID="GetCameraInfo"
-          topic_name="/wrist_mounted_camera/color/camera_info"
-          message_out="{camera_info}"
-        />
-        <Action
-          ID="GetImage"
-          topic_name="/wrist_mounted_camera/color/image_raw"
-          message_out="{image}"
-        />
-        <Action
-          ID="GetPointCloud"
-          topic_name="/wrist_mounted_camera/depth/color/points"
-          message_out="{point_cloud}"
-        />
-        <Action
-          ID="UpdatePlanningSceneService"
-          point_cloud="{point_cloud}"
-          point_cloud_service="/point_cloud_service"
-        />
-      </Control>
-      <!-- Segment out 2D masks and then convert to 3D masks and visualize in UI -->
-      <Action
-        ID="GetMasks2DAction"
-        image="{image}"
-        action_name="get_masks_2d_maskrcnn"
-        min_confidence="0.8"
-        max_nms_iou="0.8"
-        min_relative_area="0"
-        max_relative_area="1"
-        timeout_sec="10.0"
-        masks2d="{handle_masks2d}"
-        valid_classes="handle"
-      />
-      <Action
-        ID="GetMasks3DFromMasks2D"
-        point_cloud="{point_cloud}"
-        masks2d="{handle_masks2d}"
-        camera_info="{camera_info}"
-        masks3d="{masks3d}"
-      />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-        <Control ID="Sequence">
-          <Action
-            ID="GetPointCloudFromMask3D"
-            point_cloud="{point_cloud}"
-            mask3d="{mask3d}"
-            point_cloud_fragment="{point_cloud_fragment}"
-          />
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{point_cloud_fragment}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-        </Control>
-      </Decorator>
-      <!-- Fit a line segment to the 3D mask -->
-      <Action
-        ID="FitLineSegmentToMask3D"
-        point_cloud="{point_cloud}"
-        mask3d="{mask3d}"
-        base_frame="world"
-        max_distance_from_line_for_inlier="0.01"
-        line_segment_poses="{handle_poses}"
-      />
-      <Action
-        ID="LogMessage"
-        message="Successfully extracted necessary subframes for the detected lever handle."
-        log_level="info"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/find_cuboids.xml b/src/picknik_ur_site_config/objectives/find_cuboids.xml
deleted file mode 100644
index ef49033e..00000000
--- a/src/picknik_ur_site_config/objectives/find_cuboids.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Find Cuboids">
-  <BehaviorTree
-    ID="Find Cuboids"
-    _description="Detect and move to cuboid object in current scene"
-  >
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="find_cuboids_config.yaml"
-        parameters="{parameters}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-      />
-      <Action
-        ID="FindSingularCuboids"
-        point_cloud="{point_cloud}"
-        parameters="{parameters}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/find_cuboids_config.yaml b/src/picknik_ur_site_config/objectives/find_cuboids_config.yaml
deleted file mode 100644
index 1265d62e..00000000
--- a/src/picknik_ur_site_config/objectives/find_cuboids_config.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-FindSingularCuboids:
-  base_frame: "world"
-
-  # Distance threshold used when fitting a plane to the supporting surface.
-  #   Increasing this value lets us fit to an uneven or noisy surface at the cost of preventing segmentation of short objects.
-  #   Reducing this value allows detecting small objects on a very flat surface, but this will produce bad results for uneven or noisy surfaces.
-  plane_model_threshold: 0.01
-
-  # Distance threshold used when identifying clusters of points corresponding to distinct objects.
-  #   Increasing this value makes the algorithm combine nearby discontinuous points into the same object, which lets the algorithm tolerate noisy data without introducing false positives at the cost of reduced accuracy.
-  #   Reducing this value allows recognizing objects that are close to each other as distinct objects, but could increase the false positive rate.
-  cluster_distance_threshold: 0.01
-
-  # These define a rectangular region of interest relative to base_frame.
-  #   The settings here define a 2m x 2m x 1m box just below the XY plane of the world frame.
-  # Origin of the region:
-  crop_box_origin_x: -1.0
-  crop_box_origin_y: -1.0
-  crop_box_origin_z: -0.03
-  # Extent of the region:
-  crop_box_size_x: 2.0
-  crop_box_size_y: 2.0
-  crop_box_size_z: 1.0
diff --git a/src/picknik_ur_site_config/objectives/force_exceeds_threshold.xml b/src/picknik_ur_site_config/objectives/force_exceeds_threshold.xml
deleted file mode 100644
index c121b4e9..00000000
--- a/src/picknik_ur_site_config/objectives/force_exceeds_threshold.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Force Exceeds Threshold">
-  <BehaviorTree
-    ID="Force Exceeds Threshold"
-    _description="Uses a Force Torque Sensor topic to check if input End Effector force exceeds threshold. This subtree is used to overwrite these values for each package."
-    _favorite="false"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="ForceExceedsThreshold"
-        wrench_topic_name="/force_torque_sensor_broadcaster/wrench"
-        hand_frame_name="grasp_link"
-        wrench_frame_name="tool0"
-        minimum_consecutive_wrench_values="20"
-        force_threshold="30.0"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/inspect_surface.xml b/src/picknik_ur_site_config/objectives/inspect_surface.xml
deleted file mode 100644
index b83cb44c..00000000
--- a/src/picknik_ur_site_config/objectives/inspect_surface.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Inspect Surface" _favorite="true">
-  <BehaviorTree
-    ID="Inspect Surface"
-    _description="Move the wrist camera to point towards a selected surface"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="InitializeMTCTask"
-        task_id="inspect_surface"
-        controller_names="/joint_trajectory_controller"
-        task="{move_to_pose_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
-      <Action
-        ID="GetPointsFromUser"
-        view_name="/wrist_mounted_camera/color/image_raw"
-        point_names="target_pose"
-        point_prompts="Select surface to inspect"
-        pixel_coords="{pixel_coords}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-      />
-      <Action
-        ID="GetPoseFromPixelCoords"
-        point_cloud="{point_cloud}"
-        pixel_coords="{pixel_coords}"
-        downsample_fraction="0.1"
-        neighbor_radius="0.1"
-        output_poses="{output_poses}"
-      />
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{output_poses}"
-        out="{pose}"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="TransformPose"
-            output_pose="{target_pose}"
-            quaternion_xyzw="0.7071;0.7071;0;0"
-            translation_xyz="0;0;0.15"
-            input_pose="{pose}"
-          />
-          <Action
-            ID="SetupMTCMoveToPose"
-            ik_frame="grasp_link"
-            planning_group_name="manipulator"
-            target_pose="{target_pose}"
-            task="{move_to_pose_task}"
-            planner_interface="moveit_default"
-          />
-        </Control>
-      </Decorator>
-      <Action
-        ID="PlanMTCTask"
-        solution="{move_to_pose_solution}"
-        task="{move_to_pose_task}"
-      />
-      <SubTree
-        ID="Wait for Trajectory Approval if User Available"
-        solution="{move_to_pose_solution}"
-      />
-      <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/loop_detect_apriltag.xml b/src/picknik_ur_site_config/objectives/loop_detect_apriltag.xml
deleted file mode 100644
index fed3e120..00000000
--- a/src/picknik_ur_site_config/objectives/loop_detect_apriltag.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Loop Detect AprilTag">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Loop Detect AprilTag"
-    _description="Loops finding April Tag markers until failure."
-    _favorite="false"
-  >
-    <Control ID="Sequence">
-      <!-- Keep executing until failure -->
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence" name="GetDetection">
-          <Action
-            ID="LoadObjectiveParameters"
-            config_file_name="51mm_apriltag_detection_config.yaml"
-            parameters="{parameters}"
-          />
-          <Action
-            ID="GetCameraInfo"
-            topic_name="/wrist_mounted_camera/color/camera_info"
-            message_out="{camera_info}"
-          />
-          <Action
-            ID="GetImage"
-            topic_name="/wrist_mounted_camera/color/image_raw"
-            message_out="{image}"
-          />
-          <Action
-            ID="DetectAprilTags"
-            image="{image}"
-            camera_info="{camera_info}"
-            parameters="{parameters}"
-            detections="{detections}"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
deleted file mode 100644
index ebd6aa5c..00000000
--- a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
+++ /dev/null
@@ -1,207 +0,0 @@
-<?xml version="1.0" ?>
-<root
-  BTCPP_format="4"
-  main_tree_to_execute="Looping Pick and Place Object"
-  _favorite="true"
->
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Looping Pick and Place Object"
-    _description="Repeatedly attempt to detect and grasp a cuboid from a target bin, and drop it in the target area."
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="looping_pick_and_place_object_config.yaml"
-        parameters="{parameters}"
-      />
-
-      <!-- Remove any objects which might remain in the planning scene from previous pick attempts -->
-      <Action
-        ID="ResetPlanningSceneObjects"
-        apply_planning_scene_service="apply_planning_scene"
-      />
-
-      <!-- Open the gripper and move to a consistent state. -->
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.0"
-      />
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Look at Pick and Place Zone"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-
-      <!-- This loops forever because the behavior tree under this decorator never returns FAILURE. -->
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Fallback" name="TryGraspOuter">
-          <Decorator ID="KeepRunningUntilFailure">
-            <Decorator
-              ID="ForEachString"
-              name="IterateThroughPlaceWaypoints"
-              vector_in="Place Right;Place Left"
-              out="{place_waypoint}"
-            >
-              <Control ID="Sequence">
-                <!-- This decorator contains the logic to detect an object and then execute motion to grasp it. If grasping is aborted because the object changed while the robot was moving towards it, we will retry up to 5 times before giving up. -->
-                <Decorator ID="RetryUntilSuccessful" num_attempts="5">
-                  <Control ID="Fallback" name="TryGraspInner">
-                    <Control ID="Sequence">
-                      <!-- Clear the collision octree. -->
-                      <Action ID="ClearSnapshot" />
-
-                      <!-- Remove any objects which might remain in the planning scene from previous pick attempts -->
-                      <Action
-                        ID="ResetPlanningSceneObjects"
-                        apply_planning_scene_service="apply_planning_scene"
-                      />
-
-                      <!-- Get the latest point cloud from the target topic-->
-                      <Action
-                        ID="GetPointCloud"
-                        topic_name="/wrist_mounted_camera/depth/color/points"
-                        message_out="{point_cloud}"
-                      />
-
-                      <!-- Detect all cuboids in that point cloud-->
-                      <Action
-                        ID="FindSingularCuboids"
-                        point_cloud="{point_cloud}"
-                        parameters="{parameters}"
-                        detected_shapes="{cuboids}"
-                      />
-
-                      <!-- Get the first detected cuboid. NOTE: this is a small hack to get ForEachGraspableObject to iterate just once, which returns the first object in the vector. -->
-                      <Control ID="Sequence">
-                        <Decorator ID="ForceSuccess">
-                          <Decorator
-                            ID="ForEachGraspableObject"
-                            vector_in="{cuboids}"
-                            out="{cuboid_object}"
-                          >
-                            <Control ID="Sequence">
-                              <Action ID="AlwaysFailure" />
-                            </Control>
-                          </Decorator>
-                        </Decorator>
-                      </Control>
-
-                      <!-- Add this cuboid to the planning scene. -->
-                      <Action
-                        ID="ModifyObjectInPlanningScene"
-                        object="{cuboid_object}"
-                        apply_planning_scene_service="/apply_planning_scene"
-                      />
-
-                      <!-- Use point cloud to update the collision octomap (happens after ModifyObjectInPlanningScene so the cuboid is excluded from the octomap)-->
-                      <Action
-                        ID="UpdatePlanningSceneService"
-                        point_cloud="{point_cloud}"
-                        point_cloud_service="/point_cloud_service"
-                      />
-
-                      <!-- Set up an MTC task to pick the cuboid and then plan the task. -->
-                      <Action
-                        ID="InitializeMTCTask"
-                        task_id="looping_pick_and_place_object"
-                        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                        task="{task}"
-                      />
-                      <Action ID="SetupMTCCurrentState" task="{task}" />
-                      <Action
-                        ID="SetupMTCApproachGrasp"
-                        parameters="{parameters}"
-                        target_object="{cuboid_object}"
-                        monitored_stage="{monitored_stage}"
-                        task="{task}"
-                      />
-                      <Action
-                        ID="SetupMTCGenerateCuboidGrasps"
-                        parameters="{parameters}"
-                        target_object="{cuboid_object}"
-                        monitored_stage="{monitored_stage}"
-                        task="{task}"
-                      />
-                      <Action
-                        ID="SetupMTCRetractFromGrasp"
-                        parameters="{parameters}"
-                        target_object="{cuboid_object}"
-                        task="{task}"
-                      />
-                      <Action
-                        ID="PlanMTCTask"
-                        solution="{solution}"
-                        task="{task}"
-                      />
-
-                      <!-- Execute the planned motion. -->
-                      <Action ID="ExecuteMTCTask" solution="{solution}" />
-                    </Control>
-
-                    <!-- TryGraspInner fallback condition. Wait for a short time before triggering a retry. -->
-                    <Control ID="Sequence">
-                      <Action ID="WaitForDuration" delay_duration="1" />
-                      <Action ID="AlwaysFailure" />
-                    </Control>
-                  </Control>
-                </Decorator>
-                <!-- Move home. -->
-                <SubTree
-                  ID="Move to Waypoint"
-                  waypoint_name="Look at Pick and Place Zone"
-                  joint_group_name="manipulator"
-                  controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                  planner_interface="moveit_default"
-                />
-
-                <!-- Move to the current place waypoint set by IterateThroughPlaceWaypoints, then open the gripper. -->
-                <SubTree
-                  ID="Move to Waypoint"
-                  waypoint_name="{place_waypoint}"
-                  joint_group_name="manipulator"
-                  controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                  planner_interface="moveit_default"
-                />
-                <Action
-                  ID="MoveGripperAction"
-                  gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-                  position="0.0"
-                />
-
-                <!-- Finally, return home. -->
-                <SubTree
-                  ID="Move to Waypoint"
-                  waypoint_name="Look at Pick and Place Zone"
-                  joint_group_name="manipulator"
-                  controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                  planner_interface="moveit_default"
-                />
-              </Control>
-            </Decorator>
-          </Decorator>
-
-          <!-- TryGraspOuter fallback condition. Reset scene objects, move home, and then wait a short while before triggering a retry. -->
-          <Control ID="Sequence">
-            <Action
-              ID="ResetPlanningSceneObjects"
-              apply_planning_scene_service="/apply_planning_scene"
-            />
-            <SubTree
-              ID="Move to Waypoint"
-              waypoint_name="Look at Pick and Place Zone"
-              joint_group_name="manipulator"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            />
-            <Action ID="WaitForDuration" delay_duration="5" />
-            <Action ID="AlwaysSuccess" />
-          </Control>
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml
deleted file mode 100644
index 233ad54c..00000000
--- a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml
+++ /dev/null
@@ -1,95 +0,0 @@
-FindSingularCuboids:
-  base_frame: "world"
-
-  # Distance threshold used when fitting a plane to the supporting surface.
-  #   Increasing this value lets us fit to an uneven or noisy surface at the cost of preventing segmentation of short objects.
-  #   Reducing this value allows detecting small objects on a very flat surface, but this will produce bad results for uneven or noisy surfaces.
-  plane_model_threshold: 0.01
-
-  # Distance threshold used when identifying clusters of points corresponding to distinct objects.
-  #   Increasing this value makes the algorithm combine nearby discontinuous points into the same object, which lets the algorithm tolerate noisy data without introducing false positives at the cost of reduced accuracy.
-  #   Reducing this value allows recognizing objects that are close to each other as distinct objects, but could increase the false positive rate.
-  cluster_distance_threshold: 0.01
-
-  # These define a rectangular region of interest relative to base_frame.
-  #   The settings here define a box that encloses the shelf in the space station booth just below the XY plane of the world frame.
-  # Origin of the region:
-  crop_box_origin_x: -0.8
-  crop_box_origin_y: 0.0
-  crop_box_origin_z: -0.03
-  # Extent of the region:
-  crop_box_size_x: 0.5
-  crop_box_size_y: 0.75
-  crop_box_size_z: 0.5
-
-SetupMTCApproachGrasp:
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-
-  approach_distance: 0.15
-
-  # Set to true to make the robot keep the object within view of its camera while reaching to grasp it
-  enforce_visibility_constraint: true
-  camera_optical_frame_id: "wrist_mounted_camera_color_optical_frame"
-  camera_field_of_view_angle: 1.0472  # radians: approx. 60 degrees, which is narrower than the 70 degree diagonal FOV of the D415 camera
-  sensor_z_offset: 0.02
-  target_diameter: 0.0  # Set to 0 to disable the visibility cone constraint -- it's not useful with a single-arm camera-in-hand configuration.
-
-
-SetupMTCGenerateCuboidGrasps:
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  ui_grasp_link: "grasp_link"
-
-  # Grasp candidate configs
-  grasp_candidate_config:
-    generate_x_axis_grasps: true
-    generate_y_axis_grasps: true
-    generate_z_axis_grasps: true
-
-    # Number of samples to generate for each quadrant of the cuboid.
-    samples_per_quadrant: 3
-
-  # Grasp data configs
-  grasp_data:
-    # See https://ros-planning.github.io/moveit_tutorials/_images/finger_gripper_explanation.jpg for description of the following parameters
-    # Note: these parameters are copied from Robotiq gripper without tweaking
-    # min/max values of the grasp depth range in meter.
-    # This should fit to the distance from finger tip to inner palm or the suction cup stroke
-    grasp_min_depth: 0.01 # minimum amount fingers must overlap object
-    grasp_max_depth: 0.035 # Maximum distance from tip of end effector inwards that an object can be for a grasp
-
-    # Maximum allowed finger width for a grasp.
-    # This value should be considerably smaller than max_finger_width
-    # to allow padded collision checks
-    max_grasp_width: 0.1
-
-    # The transform from the arm IK link to the grasp point to align it with the following convention.
-    #
-    # z-axis pointing toward object to grasp
-    # x-axis perpendicular to movement of grippers
-    # y-axis parallel to movement of grippers
-    eef_mount_to_tcp_transform:
-      x: 0.0
-      y: 0.0
-      z: -0.02
-      roll: 0.0
-      pitch: 0.0
-      yaw: 1.57
-
-SetupMTCRetractFromGrasp:
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  approach_distance: 0.15
-  lift_distance: 0.1
diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door.xml b/src/picknik_ur_site_config/objectives/open_cabinet_door.xml
deleted file mode 100644
index 55b2b4b7..00000000
--- a/src/picknik_ur_site_config/objectives/open_cabinet_door.xml
+++ /dev/null
@@ -1,185 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Open Cabinet Door">
-  <BehaviorTree
-    ID="Open Cabinet Door"
-    _description="Open a cabinet door by grasping and pulling its handle"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="Setup">
-      <!--Load the parameters needed for this Objective-->
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="open_door_fixed_handle_MTC_config.yaml"
-        parameters="{parameters}"
-      />
-      <!--Update the admittance controller and reset the FTS-->
-      <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-      <SubTree ID="Update Admittance Controller" _collapsed="true" />
-      <!--Always take a snapshot when starting this behavior-->
-      <SubTree
-        ID="Take Snapshot"
-        _collapsed="true"
-        point_cloud="{point_cloud}"
-      />
-      <!--Get Poses from User-->
-      <Action
-        ID="GetPointsFromUser"
-        view_name="/wrist_mounted_camera/color/image_raw"
-        point_names="grasp_pose"
-        point_prompts="Select Door Handle"
-        pixel_coords="{grasp_pixel_coords}"
-      />
-      <Decorator ID="Delay" delay_msec="2000">
-        <Action
-          ID="GetPointsFromUser"
-          view_name="/wrist_mounted_camera/color/image_raw"
-          point_names="hinge_axis_start;hinge_axis_end"
-          point_prompts="Select Start Point of Door Hinge;Select End Point of Door Hinge"
-          pixel_coords="{hinge_pixel_coords}"
-        />
-      </Decorator>
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-        timeout_sec="5.000000"
-      />
-      <Action
-        ID="GetPoseFromPixelCoords"
-        point_cloud="{point_cloud}"
-        pixel_coords="{grasp_pixel_coords}"
-        downsample_fraction="0.1"
-        neighbor_radius="0.1"
-        output_poses="{grasp_poses}"
-      />
-      <Action
-        ID="GetPoseFromPixelCoords"
-        point_cloud="{point_cloud}"
-        pixel_coords="{hinge_pixel_coords}"
-        downsample_fraction="0.1"
-        neighbor_radius="0.1"
-        output_poses="{hinge_poses}"
-      />
-      <!--Set up Subframes for MTC-->
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{grasp_poses}"
-        out="{grasp_pose}"
-      >
-        <Action
-          ID="GetMoveAlongArcSubframes"
-          target_grasp_pose="{grasp_pose}"
-          hinge_axis_poses="{hinge_poses}"
-          move_along_arc_subframes="{move_along_arc_subframes}"
-        />
-      </Decorator>
-      <Action
-        ID="CreateGraspableObject"
-        object_id="cabinet_door"
-        generate_top_face="true"
-        generate_front_face="true"
-        generate_side_faces="true"
-        cuboid_object="{handle_object}"
-        pose="{grasp_pose}"
-        dy="0.100000"
-        dx="0.100000"
-        dz="0.100000"
-      />
-      <!--Add the subframes to the Object-->
-      <Decorator
-        ID="ForEachObjectSubframe"
-        vector_in="{move_along_arc_subframes}"
-        out="{subframe}"
-      >
-        <Action
-          ID="AddSubframeToObject"
-          subframe="{subframe}"
-          graspable_object="{handle_object}"
-        />
-      </Decorator>
-      <!--Open Gripper and begin MTC-->
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.0"
-      />
-      <Control ID="Sequence" name="OpenDoorFixedHandleMTC">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="open_door_fixed_handle_user"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{open_door_fixed_handle_task}"
-        />
-        <Action
-          ID="SetupMTCCurrentState"
-          task="{open_door_fixed_handle_task}"
-        />
-        <!--Open Gripper-->
-        <Action
-          ID="SetupMTCMoveToNamedState"
-          task="{open_door_fixed_handle_task}"
-          planning_group_name="gripper"
-          goal_state_name="open"
-          planner_interface="moveit_default"
-        />
-        <!--Approach Grasp Point-->
-        <Action
-          ID="SetupMTCApproachGrasp"
-          task="{open_door_fixed_handle_task}"
-          monitored_stage="{monitored_stage}"
-          target_object="{handle_object}"
-          parameters="{parameters}"
-        />
-        <!--Generate Cuboid Grasps at Handle-->
-        <Action
-          ID="SetupMTCGenerateCuboidGrasps"
-          parameters="{parameters}"
-          target_object="{handle_object}"
-          monitored_stage="{monitored_stage}"
-          task="{open_door_fixed_handle_task}"
-        />
-        <!--Close Gripper around handle? todo: break out of MoveAlongArcPull and handle collisions.-->
-        <!--<Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="close" planner_interface="moveit_default"/>-->
-        <!--Close gripper (here for now due to collisions) and Move Along Arc-->
-        <Action
-          ID="SetupMTCGraspThenMoveAlongArcPull"
-          graspable_object="{handle_object}"
-          parameters="{parameters}"
-          task="{open_door_fixed_handle_task}"
-        />
-        <!--End of MTC task setup, now plan-->
-        <Action
-          ID="PlanMTCTask"
-          solution="{open_door_fixed_handle_solution}"
-          task="{open_door_fixed_handle_task}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{open_door_fixed_handle_solution}"
-          _collapsed="false"
-        />
-        <!--Whether task execution succeeds or fails, reset the controllers to disable admittance control.-->
-        <Control ID="IfThenElse" name="execute_and_reset_controllers">
-          <!--IF task execution succeeds-->
-          <Action
-            ID="ExecuteMTCTask"
-            solution="{open_door_fixed_handle_solution}"
-          />
-          <!--THEN reset the controllers-->
-          <Action
-            ID="ActivateControllers"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          />
-          <!--ELSE reset the controllers and return failure-->
-          <Control ID="Sequence">
-            <Action
-              ID="ActivateControllers"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            />
-            <Action ID="AlwaysFailure" />
-          </Control>
-        </Control>
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/open_door_admittance_controller_config.yaml b/src/picknik_ur_site_config/objectives/open_door_admittance_controller_config.yaml
deleted file mode 100644
index 8f1bc6ee..00000000
--- a/src/picknik_ur_site_config/objectives/open_door_admittance_controller_config.yaml
+++ /dev/null
@@ -1,53 +0,0 @@
-UpdateAdmittanceController:
-  controller_name: "admittance_controller_open_door"
-  base_frame: "base_link"
-  end_effector_frame: "grasp_link"
-  control_frame: "grasp_link"
-  admittance:
-    selected_axes:
-      x: True
-      y: True
-      z: True
-      rx: True
-      ry: True
-      rz: True
-    mass_position:  # kg
-      x: 10.0
-      y: 10.0
-      z: 10.0
-      min: 0.001
-      max: 100.0
-    mass_rotation:  # kg*m^2
-      x: 5.0
-      y: 5.0
-      z: 5.0
-      min: 0.001
-      max: 100.0
-    stiffness_position:  # N/m
-      x: 500.0
-      y: 500.0
-      z: 500.0
-      min: 0.0
-      max: 1000.0
-    stiffness_rotation:  # N*m/rad
-      x: 100.0
-      y: 100.0
-      z: 100.0
-      min: 0.0
-      max: 1000.0
-    damping_ratio_position:  # unitless
-      x: 5.0
-      y: 5.0
-      z: 5.0
-      min: 0.0
-      max: 100.0
-    damping_ratio_rotation:  # unitless
-      x: 5.0
-      y: 5.0
-      z: 5.0
-      min: 0.0
-      max: 100.0
-    joint_damping:  # 1/s
-      value: 5.0
-      min: 0.0
-      max: 100.0
diff --git a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_MTC_config.yaml b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_MTC_config.yaml
deleted file mode 100644
index a62d052e..00000000
--- a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_MTC_config.yaml
+++ /dev/null
@@ -1,88 +0,0 @@
-SetupMTCGraspThenMoveAlongArcPull:
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  ik_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  end_effector_open_pose_name: "open"
-
-  # List of controllers to use during the stages that interact with the door.
-  move_along_arc_controllers: "/joint_trajectory_controller_chained_open_door /admittance_controller_open_door /robotiq_gripper_controller"
-
-  # Approach parameters used for retract phase for now.
-  approach_min_distance: 0.10   # meters
-  approach_max_distance: 1.00   # meters
-
-  translation_distance: 0.0   # meters (0 means only move along arc here, no linear component)
-  rotation_distance: 55.0  # Degrees
-  use_circular_arc: true
-
-SetupMTCApproachGrasp:
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  ui_grasp_link: "grasp_link"
-
-  approach_distance: 0.15
-
-  # Set to true to make the robot keep the object within view of its camera while reaching to grasp it
-  enforce_visibility_constraint: true
-  camera_optical_frame_id: "wrist_mounted_camera_color_optical_frame"
-  camera_field_of_view_angle: 1.0472  # radians: approx. 60 degrees, which is narrower than the 70 degree diagonal FOV of the D415 camera
-  sensor_z_offset: 0.02
-  target_diameter: 0.0  # Set to 0 to disable the visibility cone constraint -- it's not useful with a single-arm camera-in-hand configuration.
-
-  # Grasp candidate configs
-  grasp_candidate_config:
-    generate_x_axis_grasps: true
-    generate_y_axis_grasps: true
-    generate_z_axis_grasps: true
-
-    # Number of samples to generate for each quadrant of the cuboid.
-    samples_per_quadrant: 3
-
-SetupMTCGenerateCuboidGrasps:
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  ui_grasp_link: "grasp_link"
-
-  # Grasp candidate configs
-  grasp_candidate_config:
-    generate_x_axis_grasps: true
-    generate_y_axis_grasps: true
-    generate_z_axis_grasps: true
-
-    # Number of samples to generate for each quadrant of the cuboid.
-    samples_per_quadrant: 3
-
-  # Grasp data configs
-  grasp_data:
-    # See https://ros-planning.github.io/moveit_tutorials/_images/finger_gripper_explanation.jpg for description of the following parameters
-    # Note: these parameters are copied from Robotiq gripper without tweaking
-    # min/max values of the grasp depth range in meter.
-    # This should fit to the distance from finger tip to inner palm or the suction cup stroke
-    grasp_min_depth: 0.01 # minimum amount fingers must overlap object
-    grasp_max_depth: 0.035 # Maximum distance from tip of end effector inwards that an object can be for a grasp
-
-    # Maximum allowed finger width for a grasp.
-    # This value should be considerably smaller than max_finger_width
-    # to allow padded collision checks
-    max_grasp_width: 0.1
-
-    # The transform from the arm IK link to the grasp point to align it with the following convention.
-    #
-    # z-axis pointing toward object to grasp
-    # x-axis perpendicular to movement of grippers
-    # y-axis parallel to movement of grippers
-    eef_mount_to_tcp_transform:
-      x: 0.0
-      y: 0.0
-      z: -0.02
-      roll: 0.0
-      pitch: 0.0
-      yaw: 1.57
diff --git a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
deleted file mode 100644
index e3f2f308..00000000
--- a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
+++ /dev/null
@@ -1,173 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Open Door Fixed Handle ML">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Open Door Fixed Handle ML"
-    _description="Attempts to open a door with a fixed handle (such as cabinet doors) using machine learning."
-    _favorite="false"
-    _hardcoded="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Load the parameters needed for this Objective -->
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="open_door_fixed_handle_MTC_config.yaml"
-        parameters="{parameters}"
-      />
-      <!-- Update the admittance controller and reset the FTS -->
-      <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-      <SubTree ID="Update Admittance Controller" _collapsed="true" />
-      <!-- Look at the desired location where objects (door) will be present -->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Extended Right"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <SubTree ID="Clear Snapshot" _collapsed="true" />
-      <SubTree ID="Reset Planning Scene" _collapsed="true" />
-      <SubTree
-        ID="Detect Door Graspable Object"
-        _collapsed="true"
-        door_object="{door_object}"
-        detection_classes="space booth cabinet door"
-      />
-      <!-- Get the masks for the handle subframe of the door GraspableObject -->
-      <!-- May require multiple view-points due to incomplete point clouds due to angle. -->
-      <Control ID="Fallback">
-        <SubTree
-          ID="Detect Fixed Handle Graspable Object"
-          _collapsed="true"
-          grasp_pose="{grasp_pose}"
-        />
-        <Control ID="Sequence">
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Extended Right 2"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-          <SubTree
-            ID="Detect Fixed Handle Graspable Object"
-            _collapsed="true"
-            grasp_pose="{grasp_pose}"
-          />
-        </Control>
-        <Control ID="Sequence">
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Extended Right"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-          <SubTree
-            ID="Detect Fixed Handle Graspable Object"
-            _collapsed="true"
-            grasp_pose="{grasp_pose}"
-          />
-        </Control>
-      </Control>
-      <!-- Get the masks for the hinge subframes of the door GraspableObject -->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Hinge View"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <SubTree
-        ID="Detect Hinge Line Segment"
-        _collapsed="true"
-        line_segment_poses="{line_segment_poses}"
-      />
-      <!-- Helper behavior to convert poses into subframes that adhere to the expected axis convention -->
-      <Action
-        ID="GetMoveAlongArcSubframes"
-        target_grasp_pose="{grasp_pose}"
-        hinge_axis_poses="{line_segment_poses}"
-        move_along_arc_subframes="{move_along_arc_subframes}"
-      />
-      <!-- Add the subframes to the Object-->
-      <Decorator
-        ID="ForEachObjectSubframe"
-        vector_in="{move_along_arc_subframes}"
-        out="{subframe}"
-      >
-        <Action
-          ID="AddSubframeToObject"
-          subframe="{subframe}"
-          graspable_object="{door_object}"
-        />
-      </Decorator>
-      <!-- Open Gripper -->
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.0"
-      />
-      <!-- Plan and optionally Execute MTC task -->
-      <Control ID="Sequence" name="OpenDoorFixedHandleMTC">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="open_door_fixed_handle_ml"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{open_door_fixed_handle_task}"
-        />
-        <Action
-          ID="SetupMTCCurrentState"
-          task="{open_door_fixed_handle_task}"
-        />
-        <!--Open Gripper-->
-        <Action
-          ID="SetupMTCMoveToNamedState"
-          task="{open_door_fixed_handle_task}"
-          planning_group_name="gripper"
-          goal_state_name="open"
-          planner_interface="moveit_default"
-        />
-        <!--Approach Grasp Point-->
-        <Action
-          ID="SetupMTCApproachGrasp"
-          task="{open_door_fixed_handle_task}"
-          monitored_stage="{monitored_stage}"
-          target_object="{handle_object}"
-          parameters="{parameters}"
-        />
-        <!--Generate Cuboid Grasps at Handle-->
-        <Action
-          ID="SetupMTCGenerateCuboidGrasps"
-          parameters="{parameters}"
-          target_object="{handle_object}"
-          monitored_stage="{monitored_stage}"
-          task="{open_door_fixed_handle_task}"
-        />
-        <!--Close Gripper around handle? todo: break out of MoveAlongArcPull and handle collisions.-->
-        <!--<Action ID="SetupMTCMoveToNamedState" task="{open_door_fixed_handle_task}" planning_group_name="gripper" goal_state_name="close" planner_interface="moveit_default"/>-->
-        <!--Close gripper (here for now due to collisions) and Move Along Arc-->
-        <Action
-          ID="SetupMTCGraspThenMoveAlongArcPull"
-          graspable_object="{handle_object}"
-          parameters="{parameters}"
-          task="{open_door_fixed_handle_task}"
-        />
-        <!--End of MTC task setup, now plan-->
-        <Action
-          ID="PlanMTCTask"
-          task="{open_door_fixed_handle_task}"
-          solution="{open_door_fixed_handle_solution}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{open_door_fixed_handle_solution}"
-        />
-        <Action
-          ID="ExecuteMTCTask"
-          solution="{open_door_fixed_handle_solution}"
-        />
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/open_door_lever_handle_MTC_config.yaml b/src/picknik_ur_site_config/objectives/open_door_lever_handle_MTC_config.yaml
deleted file mode 100644
index f3549175..00000000
--- a/src/picknik_ur_site_config/objectives/open_door_lever_handle_MTC_config.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-SetupMTCGraspAndTwistThenMoveAlongArcPush:
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  ik_frame_name: "grasp_link"
-
-  # List of controllers to use during the stages that interact with the door.
-  move_along_arc_controllers: "/joint_trajectory_controller_chained_open_door /admittance_controller_open_door /robotiq_gripper_controller"
-
-  # The hand should be placed 75% of the way down the handle length when
-  # manipulating the handle. Valid value range [0, 1.0].
-  handle_grasp_offset_percent: 0.75
-  # The distance above the handle the robot should approach with before
-  # manipulating it.
-  above_handle_approach_distance: 0.03 # meters
-  # The distance the hand should move past the end of the handle to release it.
-  release_handle_distance: 0.03 # meters
-  # How many degrees to rotate the lever handle (use positive value for
-  # counter-clockwise rotation and negative value for clockwise rotation).
-  handle_twist_angle: 45.0  # degrees
-  approach_max_distance: 0.05   # meters
-  approach_min_distance: 0.01   # meters
-  push_open_distance: 0.05  # meters
-  use_circular_arc: true
diff --git a/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
deleted file mode 100644
index 450556ef..00000000
--- a/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Open Door Lever Handle ML">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Open Door Lever Handle ML"
-    _description="Attempts to open a door with a lever handle using machine learning."
-    _favorite="false"
-    _hardcoded="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Load the parameters needed for this Objective -->
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="open_door_lever_handle_MTC_config.yaml"
-        parameters="{parameters}"
-      />
-      <!-- Update the admittance controller and reset the FTS -->
-      <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-      <SubTree ID="Update Admittance Controller" _collapsed="true" />
-      <!-- Look at the desired location where objects (door) will be present -->
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Extended Right 2"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <SubTree ID="Clear Snapshot" _collapsed="true" />
-      <SubTree ID="Reset Planning Scene" _collapsed="true" />
-      <SubTree
-        ID="Detect Door Graspable Object"
-        _collapsed="true"
-        door_object="{door_object}"
-        detection_classes="door"
-      />
-      <SubTree
-        ID="Detect Lever Handle Line Segment"
-        _collapsed="true"
-        handle_poses="{handle_poses}"
-      />
-      <Action
-        ID="GetDoorHandle"
-        handle_poses="{handle_poses}"
-        point_cloud="{point_cloud}"
-        minimum_door_handle_depth="0.02"
-        target_output_frame_id="world"
-        target_handle_length="{handle_length}"
-        target_handle_pose="{handle_pose}"
-        target_handle_z_offset="{handle_z_offset}"
-      />
-      <Action
-        ID="GetGraspAndTwistSubframes"
-        grasp_rotation_z_radians="1.5708"
-        target_grasp_pose="{grasp_pose}"
-        grasp_and_twist_subframes="{grasp_and_twist_subframes}"
-      />
-      <Decorator
-        ID="ForEachObjectSubframe"
-        vector_in="{grasp_and_twist_subframes}"
-        out="{subframe}"
-      >
-        <Action
-          ID="AddSubframeToObject"
-          subframe="{subframe}"
-          graspable_object="{door_object}"
-        />
-      </Decorator>
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.0"
-      />
-      <Control ID="Sequence" name="OpenDoorLeverHandleMTC">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="open_door_lever_handle_ml"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{open_door_lever_handle_task}"
-        />
-        <Action
-          ID="SetupMTCCurrentState"
-          task="{open_door_lever_handle_task}"
-        />
-        <Action
-          ID="SetupMTCGraspAndTwistThenMoveAlongArcPush"
-          graspable_object="{door_object}"
-          parameters="{parameters}"
-          task="{open_door_lever_handle_task}"
-          handle_length="{handle_length}"
-          handle_z_offset="{handle_z_offset}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          task="{open_door_lever_handle_task}"
-          solution="{open_door_lever_handle_solution}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{open_door_lever_handle_solution}"
-        />
-        <Action
-          ID="ExecuteMTCTask"
-          solution="{open_door_lever_handle_solution}"
-        />
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
deleted file mode 100644
index 6c09dc1e..00000000
--- a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
+++ /dev/null
@@ -1,143 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Open Lever Handle Door">
-  <BehaviorTree
-    ID="Open Lever Handle Door"
-    _description="Open a lever handle door by turning the handle and pushing the door"
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="Setup">
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="open_door_lever_handle_MTC_config.yaml"
-        parameters="{parameters}"
-      />
-      <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-      <SubTree ID="Update Admittance Controller" _collapsed="true" />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-        timeout_sec="5.000000"
-      />
-      <Action
-        ID="PublishPointCloud"
-        point_cloud="{point_cloud}"
-        point_cloud_topic="studio_vision_debug_snapshot"
-      />
-      <Action
-        ID="GetPointsFromUser"
-        view_name="/wrist_mounted_camera/color/image_raw"
-        point_names="handle_pivot; handle_tip"
-        point_prompts="Click on center of axis of handle;Click on end of handle"
-        pixel_coords="{pixel_coords}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-        timeout_sec="5.000000"
-      />
-      <Action
-        ID="GetPoseFromPixelCoords"
-        point_cloud="{point_cloud}"
-        pixel_coords="{pixel_coords}"
-        downsample_fraction="0.1"
-        neighbor_radius="0.1"
-        output_poses="{handle_poses}"
-      />
-      <Action
-        ID="GetDoorHandle"
-        handle_poses="{handle_poses}"
-        point_cloud="{point_cloud}"
-        minimum_door_handle_depth="0.02"
-        target_output_frame_id="world"
-        target_handle_length="{handle_length}"
-        target_handle_pose="{handle_pose}"
-        target_handle_z_offset="{handle_z_offset}"
-      />
-      <!--Set up Subframes for MTC-->
-      <Action
-        ID="GetGraspAndTwistSubframes"
-        grasp_rotation_z_radians="1.5708"
-        target_grasp_pose="{handle_pose}"
-        grasp_and_twist_subframes="{grasp_and_twist_subframes}"
-      />
-      <Action
-        ID="CreateGraspableObject"
-        cuboid_object="{door_object}"
-        generate_side_faces="true"
-        generate_top_face="true"
-        generate_front_face="true"
-        object_id="lever_door"
-        dy="0.100000"
-        dx="0.100000"
-        dz="0.100000"
-        pose="{handle_pose}"
-      />
-      <!--Add the subframes to the Object-->
-      <Decorator
-        ID="ForEachObjectSubframe"
-        vector_in="{grasp_and_twist_subframes}"
-        out="{subframe}"
-      >
-        <Action
-          ID="AddSubframeToObject"
-          subframe="{subframe}"
-          graspable_object="{door_object}"
-        />
-      </Decorator>
-      <SubTree ID="Close Gripper" _collapsed="true" />
-      <Control ID="Sequence" name="OpenLeverHandleDoor">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="open_lever_handle_door"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          task="{open_lever_handle_door_task}"
-        />
-        <Action
-          ID="SetupMTCCurrentState"
-          task="{open_lever_handle_door_task}"
-        />
-        <Action
-          ID="SetupMTCGraspAndTwistThenMoveAlongArcPush"
-          graspable_object="{door_object}"
-          handle_length="{handle_length}"
-          handle_z_offset="{handle_z_offset}"
-          parameters="{parameters}"
-          task="{open_lever_handle_door_task}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{open_lever_handle_door_solution}"
-          task="{open_lever_handle_door_task}"
-        />
-        <SubTree
-          ID="Wait for Trajectory Approval if User Available"
-          solution="{open_lever_handle_door_solution}"
-        />
-        <!--Whether task execution succeeds or fails, reset the controllers to disable admittance control.-->
-        <Control ID="IfThenElse" name="execute_and_reset_controllers">
-          <!--IF task execution succeeds-->
-          <Action
-            ID="ExecuteMTCTask"
-            solution="{open_lever_handle_door_solution}"
-          />
-          <!--THEN reset the controllers-->
-          <Action
-            ID="ActivateControllers"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          />
-          <!--ELSE reset the controllers and return failure-->
-          <Control ID="Sequence">
-            <Action
-              ID="ActivateControllers"
-              controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            />
-            <Action ID="AlwaysFailure" />
-          </Control>
-        </Control>
-      </Control>
-      <SubTree ID="Close Gripper" _collapsed="true" />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml b/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
deleted file mode 100644
index 5b3f8ef6..00000000
--- a/src/picknik_ur_site_config/objectives/pick_apriltag_labeled_object.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick April Tag Labeled Object">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Pick April Tag Labeled Object"
-    _description="Picks up an object that is at a known pose offset from an AprilTag marker."
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Control ID="Sequence" name="Setup">
-        <SubTree ID="Open Gripper" />
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Look at April Tag"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="moveit_default"
-        />
-      </Control>
-      <SubTree
-        ID="Sample April Tag"
-        num_samples="5"
-        tag_id="1"
-        apriltag_config="51mm_apriltag_detection_config.yaml"
-        max_distance="0.02"
-        max_rotation="0.2"
-        avg_pose="{tag_pose}"
-      />
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="apriltag1_grasp_offset.yaml"
-        parameters="{pose_parameters}"
-      />
-      <Control ID="Sequence" name="GraspObject">
-        <Action
-          ID="TransformPoseFrame"
-          input_pose="{tag_pose}"
-          target_frame_id="world"
-          output_pose="{tag_pose_world}"
-        />
-        <Action
-          ID="TransformPoseFromYaml"
-          input_pose="{tag_pose_world}"
-          pose_parameters="{pose_parameters}"
-          parameter_namespace="GraspOffset"
-          output_pose="{grasp_pose}"
-        />
-        <SubTree ID="Pick Object" grasp_pose="{grasp_pose}" />
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/pick_object.xml b/src/picknik_ur_site_config/objectives/pick_object.xml
deleted file mode 100644
index 2bb981ba..00000000
--- a/src/picknik_ur_site_config/objectives/pick_object.xml
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick Object">
-  <BehaviorTree
-    ID="Pick Object"
-    _description="Pick up and lift a small object"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="pick_object_config.yaml"
-        parameters="{parameters}"
-      />
-      <SubTree ID="Open Gripper" />
-      <Control ID="Sequence">
-        <Action
-          ID="GetPointsFromUser"
-          view_name="/wrist_mounted_camera/color/image_raw"
-          point_names="grasp_pose"
-          point_prompts="Select the object you wish to pick"
-          pixel_coords="{pixel_coords}"
-        />
-        <Action
-          ID="GetPointCloud"
-          topic_name="/wrist_mounted_camera/depth/color/points"
-          message_out="{point_cloud}"
-        />
-        <Action
-          ID="GetPoseFromPixelCoords"
-          point_cloud="{point_cloud}"
-          pixel_coords="{pixel_coords}"
-          downsample_fraction="0.1"
-          neighbor_radius="0.1"
-          output_poses="{output_poses}"
-        />
-        <Action
-          ID="AdjustPoseWithIMarker"
-          prompts="Adjust IMarker to desired pose"
-          initial_poses="{output_poses}"
-          adjusted_poses="{adjusted_poses}"
-        />
-      </Control>
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{adjusted_poses}"
-        out="{grasp_pose}"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="InitializeMTCTask"
-            task_id="pick_object"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            task="{pick_object_task}"
-          />
-          <Action ID="SetupMTCCurrentState" task="{pick_object_task}" />
-          <Action
-            ID="SetupMTCPickObject"
-            grasp_pose="{grasp_pose}"
-            task="{pick_object_task}"
-            parameters="{parameters}"
-          />
-          <Action
-            ID="PlanMTCTask"
-            solution="{pick_object_solution}"
-            task="{pick_object_task}"
-          />
-          <SubTree
-            ID="Wait for Trajectory Approval if User Available"
-            solution="{pick_object_solution}"
-          />
-          <Action ID="ExecuteMTCTask" solution="{pick_object_solution}" />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/pick_object_config.yaml b/src/picknik_ur_site_config/objectives/pick_object_config.yaml
deleted file mode 100644
index 09ca7d6e..00000000
--- a/src/picknik_ur_site_config/objectives/pick_object_config.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-SetupMTCPickObject:
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-
-  approach_distance: 0.1
-  lift_distance: 0.1
diff --git a/src/picknik_ur_site_config/objectives/pick_place_object.xml b/src/picknik_ur_site_config/objectives/pick_place_object.xml
deleted file mode 100644
index 573b2dee..00000000
--- a/src/picknik_ur_site_config/objectives/pick_place_object.xml
+++ /dev/null
@@ -1,294 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Pick and Place Object">
-  <BehaviorTree
-    ID="Pick and Place Object"
-    _description="Pick up a small object and place it at a known location"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="pick_place_object_config.yaml"
-        parameters="{parameters}"
-      />
-      <Script code="first_attempt:=true" />
-      <!-- Open the gripper before doing any planning. -->
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.0"
-      />
-      <Control ID="IfThenElse" name="TryGraspOuter">
-        <!-- This decorator contains the logic to detect an object and then execute motion to grasp it.
-                     If grasping is aborted because the object changed while the robot was moving towards it, we will retry up to 5 times before giving up. -->
-        <Decorator ID="RetryUntilSuccessful" num_attempts="5">
-          <Control ID="IfThenElse" name="TryGraspInner">
-            <Control ID="Sequence">
-              <!-- Clear the collision octree. -->
-              <Action ID="ClearSnapshot" />
-              <!-- Remove any objects which might remain in the planning scene from previous pick attempts -->
-              <Action
-                ID="ResetPlanningSceneObjects"
-                apply_planning_scene_service="apply_planning_scene"
-              />
-              <!-- Get the latest point cloud from the target topic-->
-              <Action
-                ID="GetPointCloud"
-                topic_name="/wrist_mounted_camera/depth/color/points"
-                message_out="{point_cloud}"
-              />
-              <!-- Publish point cloud for display by UI -->
-              <Action
-                ID="SendPointCloudToUI"
-                point_cloud="{point_cloud}"
-                pcd_topic="/pcd_pointcloud_captures"
-              />
-              <!-- Detect all cuboids in that point cloud-->
-              <Action
-                ID="FindSingularCuboids"
-                point_cloud="{point_cloud}"
-                parameters="{parameters}"
-                detected_shapes="{cuboids}"
-              />
-              <!-- Find the closest cuboid to the pose calculated from the user's original click -->
-              <Action
-                ID="GetPointsFromUser"
-                view_name="/wrist_mounted_camera/color/image_raw"
-                point_names="grasp_pose"
-                point_prompts="Click on the surface you wish to place the object on"
-                pixel_coords="{pixel_coords}"
-              />
-              <Action
-                ID="GetPointCloud"
-                topic_name="/wrist_mounted_camera/depth/color/points"
-                message_out="{point_cloud}"
-              />
-              <Action
-                ID="GetPoseFromPixelCoords"
-                point_cloud="{point_cloud}"
-                pixel_coords="{pixel_coords}"
-                downsample_fraction="0.1"
-                neighbor_radius="0.1"
-                output_poses="{output_poses}"
-              />
-              <Action
-                ID="AdjustPoseWithIMarker"
-                prompts="Adjust IMarker to desired pose"
-                initial_poses="{output_poses}"
-                adjusted_poses="{adjusted_poses}"
-              />
-              <Decorator
-                ID="ForEachPoseStamped"
-                vector_in="{adjusted_poses}"
-                out="{grasp_pose}"
-              >
-                <Control ID="Sequence">
-                  <Action
-                    ID="GetClosestObjectToPose"
-                    objects="{cuboids}"
-                    pose="{grasp_pose}"
-                    distance_threshold="0.3"
-                    closest_object="{cuboid_object}"
-                  />
-                  <!-- Add this cuboid to the planning scene. -->
-                  <Action
-                    ID="ModifyObjectInPlanningScene"
-                    object="{cuboid_object}"
-                    apply_planning_scene_service="/apply_planning_scene"
-                  />
-                  <!-- Use point cloud to update the collision octomap (happens after ModifyObjectInPlanningScene so the cuboid is excluded from the octomap)-->
-                  <Action
-                    ID="UpdatePlanningSceneService"
-                    point_cloud="{point_cloud}"
-                    point_cloud_service="/point_cloud_service"
-                  />
-                  <!-- Set up an MTC task to pick the cuboid and then plan the task. -->
-                  <Action
-                    ID="InitializeMTCTask"
-                    task_id="pick_place_object"
-                    controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-                    task="{task}"
-                  />
-                  <Action ID="SetupMTCCurrentState" task="{task}" />
-                  <Action
-                    ID="SetupMTCApproachGrasp"
-                    parameters="{parameters}"
-                    target_object="{cuboid_object}"
-                    monitored_stage="{monitored_stage}"
-                    task="{task}"
-                  />
-                  <Action
-                    ID="SetupMTCGenerateCuboidGrasps"
-                    parameters="{parameters}"
-                    target_object="{cuboid_object}"
-                    monitored_stage="{monitored_stage}"
-                    task="{task}"
-                  />
-                  <Action
-                    ID="SetupMTCRetractFromGrasp"
-                    parameters="{parameters}"
-                    target_object="{cuboid_object}"
-                    task="{task}"
-                  />
-                  <Action
-                    ID="PlanMTCTask"
-                    solution="{solution}"
-                    task="{task}"
-                  />
-                  <!-- Send trajectory preview to user only if this is the first time trying to pick the object. -->
-                  <Precondition if="first_attempt" else="SUCCESS">
-                    <SubTree
-                      ID="Wait for Trajectory Approval if User Available"
-                      solution="{solution}"
-                    />
-                  </Precondition>
-                  <!-- Set value to port to skip preview on following attempts. -->
-                  <Script code="first_attempt:=false" />
-                  <!-- Split the solution between the big freespace move to the pre-grasp pose and the short Cartesian move to grasp. -->
-                  <Action
-                    ID="SplitMTCSolution"
-                    solution_in="{solution}"
-                    index="3"
-                    solution_out_1="{solution_approach}"
-                    solution_out_2="{solution_grasp}"
-                  />
-                  <!-- Do the following in parallel: -->
-                  <Control ID="Parallel" success_count="1" failure_count="1">
-                    <!-- Parallel branch 1: Execute the part of the solution that moves to the pre-grasp pose. -->
-                    <Action
-                      ID="ExecuteMTCTask"
-                      solution="{solution_approach}"
-                    />
-                    <!-- Parallel branch 2: Continuously analyze point clouds to make sure we can still find an object that is similar to and located at nearly the same pose as the original object we planned to grasp. -->
-                    <Decorator ID="KeepRunningUntilFailure">
-                      <Control ID="IfThenElse" name="IfObjectVisible">
-                        <!-- IF -->
-                        <Action
-                          ID="IsConstraintSatisfied"
-                          object="{cuboid_object}"
-                          parameters="{parameters}"
-                        />
-                        <!-- THEN -->
-                        <Control ID="Sequence">
-                          <Action
-                            ID="GetPointCloud"
-                            topic_name="/wrist_mounted_camera/depth/color/points"
-                            message_out="{point_cloud}"
-                          />
-                          <Action
-                            ID="FindSingularCuboids"
-                            parameters="{parameters}"
-                            point_cloud="{point_cloud}"
-                            detected_shapes="{cuboids}"
-                          />
-                          <Action
-                            ID="GetPointsFromUser"
-                            view_name="/wrist_mounted_camera/color/image_raw"
-                            point_names="grasp_pose"
-                            point_prompts="Click on the object you would like to pick"
-                            pixel_coords="{pixel_coords}"
-                          />
-                          <Action
-                            ID="GetPointCloud"
-                            topic_name="/wrist_mounted_camera/depth/color/points"
-                            message_out="{point_cloud}"
-                          />
-                          <Action
-                            ID="GetPoseFromPixelCoords"
-                            point_cloud="{point_cloud}"
-                            pixel_coords="{pixel_coords}"
-                            downsample_fraction="0.1"
-                            neighbor_radius="0.1"
-                            output_poses="{output_poses}"
-                          />
-                          <Action
-                            ID="AdjustPoseWithIMarker"
-                            prompts="Adjust IMarker to desired pose"
-                            initial_poses="{output_poses}"
-                            adjusted_poses="{adjusted_poses}"
-                          />
-                          <Decorator
-                            ID="ForEachPoseStamped"
-                            vector_in="{adjusted_poses}"
-                            out="{grasp_pose}"
-                          >
-                            <Control ID="Sequence">
-                              <Action
-                                ID="GetClosestObjectToPose"
-                                objects="{cuboids}"
-                                pose="{grasp_pose}"
-                                distance_threshold="0.3"
-                                closest_object="{new_cuboid_object}"
-                              />
-                              <Action
-                                ID="CheckCuboidSimilarity"
-                                input_cuboid="{new_cuboid_object}"
-                                reference_cuboid="{cuboid_object}"
-                                base_frame="world"
-                                distance_threshold="0.04"
-                                orientation_threshold="3.14"
-                              />
-                            </Control>
-                          </Decorator>
-                        </Control>
-                        <!-- ELSE -->
-                        <Action ID="AlwaysSuccess" />
-                      </Control>
-                    </Decorator>
-                  </Control>
-                  <!-- We will reach this part of the Objective if the move to the pre-grasp pose succeeds without the system detecting a significant change in the target object. -->
-                  <Action ID="ExecuteMTCTask" solution="{solution_grasp}" />
-                </Control>
-              </Decorator>
-            </Control>
-            <!-- The "Then" condition of the TryGraspInner IfThenElse control. If motion execution succeeded, emit a success to exit the retry loop. -->
-            <Action ID="AlwaysSuccess" />
-            <!-- The "Else" condition of the TryGraspInner IfThenElse control.  We will reach this part of the Objective if the system detects a significant change in the target object. -->
-            <Control ID="Sequence">
-              <!-- Pause for a short duration, then emit a failure to trigger a retry. -->
-              <Action ID="WaitForDuration" delay_duration="1" />
-              <Action ID="AlwaysFailure" />
-            </Control>
-          </Control>
-        </Decorator>
-        <!-- The "Then" condition of the TryGraspOuter IfThenElse control. After successful grasp, move to dropoff pose and release object, then return to the Look at Pick and Place Zone pose. -->
-        <Control ID="Sequence">
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Place"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-          <Action
-            ID="MoveGripperAction"
-            gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-            position="0.0"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Look at Pick and Place Zone"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-        </Control>
-        <!-- The "Else" condition of the TryGraspOuter IfThenElse control. Move to the Look at Pick and Place Zone pose if all retry attempts failed. -->
-        <Control ID="Sequence">
-          <Action
-            ID="ResetPlanningSceneObjects"
-            apply_planning_scene_service="/apply_planning_scene"
-          />
-          <SubTree
-            ID="Move to Waypoint"
-            waypoint_name="Look at Pick and Place Zone"
-            joint_group_name="manipulator"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            planner_interface="moveit_default"
-          />
-          <Action ID="AlwaysFailure" />
-        </Control>
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml b/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml
deleted file mode 100644
index 6ef7adb0..00000000
--- a/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml
+++ /dev/null
@@ -1,101 +0,0 @@
-FindSingularCuboids:
-  base_frame: "world"
-
-  # Distance threshold used when fitting a plane to the supporting surface.
-  #   Increasing this value lets us fit to an uneven or noisy surface at the cost of preventing segmentation of short objects.
-  #   Reducing this value allows detecting small objects on a very flat surface, but this will produce bad results for uneven or noisy surfaces.
-  plane_model_threshold: 0.01
-
-  # Distance threshold used when identifying clusters of points corresponding to distinct objects.
-  #   Increasing this value makes the algorithm combine nearby discontinuous points into the same object, which lets the algorithm tolerate noisy data without introducing false positives at the cost of reduced accuracy.
-  #   Reducing this value allows recognizing objects that are close to each other as distinct objects, but could increase the false positive rate.
-  cluster_distance_threshold: 0.01
-
-  # These define a rectangular region of interest relative to base_frame.
-  #   The settings here define a box that encloses the shelf in the space station booth just below the XY plane of the world frame.
-  # Origin of the region:
-  crop_box_origin_x: -0.8
-  crop_box_origin_y: 0.0
-  crop_box_origin_z: -0.03
-  # Extent of the region:
-  crop_box_size_x: 0.5
-  crop_box_size_y: 0.75
-  crop_box_size_z: 0.5
-
-SetupMTCApproachGrasp:
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  ui_grasp_link: "grasp_link"
-
-  approach_distance: 0.15
-
-  # Set to true to make the robot keep the object within view of its camera while reaching to grasp it
-  enforce_visibility_constraint: true
-  camera_optical_frame_id: "wrist_mounted_camera_color_optical_frame"
-  camera_field_of_view_angle: 1.0472  # radians: approx. 60 degrees, which is narrower than the 70 degree diagonal FOV of the D415 camera
-  sensor_z_offset: 0.02
-  target_diameter: 0.0  # Set to 0 to disable the visibility cone constraint -- it's not useful with a single-arm camera-in-hand configuration.
-
-  # Grasp candidate configs
-  grasp_candidate_config:
-    generate_x_axis_grasps: true
-    generate_y_axis_grasps: true
-    generate_z_axis_grasps: true
-
-    # Number of samples to generate for each quadrant of the cuboid.
-    samples_per_quadrant: 3
-
-SetupMTCGenerateCuboidGrasps:
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  ui_grasp_link: "grasp_link"
-
-  # Grasp data configs
-  grasp_data:
-    # See https://ros-planning.github.io/moveit_tutorials/_images/finger_gripper_explanation.jpg for description of the following parameters
-    # Note: these parameters are copied from Robotiq gripper without tweaking
-    # min/max values of the grasp depth range in meter.
-    # This should fit to the distance from finger tip to inner palm or the suction cup stroke
-    grasp_min_depth: 0.01 # minimum amount fingers must overlap object
-    grasp_max_depth: 0.035 # Maximum distance from tip of end effector inwards that an object can be for a grasp
-
-    # Maximum allowed finger width for a grasp.
-    # This value should be considerably smaller than max_finger_width
-    # to allow padded collision checks
-    max_grasp_width: 0.1
-
-    # The transform from the arm IK link to the grasp point to align it with the following convention.
-    #
-    # z-axis pointing toward object to grasp
-    # x-axis perpendicular to movement of grippers
-    # y-axis parallel to movement of grippers
-    eef_mount_to_tcp_transform:
-      x: 0.0
-      y: 0.0
-      z: -0.02
-      roll: 0.0
-      pitch: 0.0
-      yaw: 1.57
-
-SetupMTCRetractFromGrasp:
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  approach_distance: 0.15
-  lift_distance: 0.1
-
-IsConstraintSatisfied:
-  camera_optical_frame_id: "wrist_mounted_camera_color_optical_frame"
-  camera_field_of_view_angle: 1.0472  # radians: approx. 60 degrees, which is narrower than the 70 degree diagonal FOV of the D415 camera
-  sensor_z_offset: 0.02
-  target_diameter: 0.0
diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml
deleted file mode 100644
index 2c6e75e9..00000000
--- a/src/picknik_ur_site_config/objectives/push_button.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Push Button">
-  <BehaviorTree
-    ID="Push Button"
-    _description="Push a button with the end effector"
-  >
-    <Control ID="Sequence">
-      <SubTree ID="Re-Zero Force-Torque Sensors" />
-      <SubTree ID="Close Gripper" />
-      <Action ID="SaveCurrentState" saved_robot_state="{initial_robot_state}" />
-      <Control ID="Sequence">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="push_button"
-          controller_names="/joint_trajectory_controller"
-          task="{push_button_task}"
-        />
-        <Action ID="SetupMTCCurrentState" task="{push_button_task}" />
-        <Action
-          ID="GetPointsFromUser"
-          view_name="/wrist_mounted_camera/color/image_raw"
-          point_names="target_pose"
-          point_prompts="Click on the button you want to press"
-          pixel_coords="{pixel_coords}"
-        />
-        <Action
-          ID="GetPointCloud"
-          topic_name="/wrist_mounted_camera/depth/color/points"
-          message_out="{point_cloud}"
-        />
-        <Action
-          ID="GetPoseFromPixelCoords"
-          point_cloud="{point_cloud}"
-          pixel_coords="{pixel_coords}"
-          downsample_fraction="0.1"
-          neighbor_radius="0.1"
-          output_poses="{output_poses}"
-        />
-        <Decorator
-          ID="ForEachPoseStamped"
-          vector_in="{output_poses}"
-          out="{pose}"
-        >
-          <Control ID="Sequence">
-            <Action
-              ID="TransformPose"
-              output_pose="{target_pose}"
-              quaternion_xyzw="0.7071;0.7071;0;0"
-              translation_xyz="0;0;0.1"
-              input_pose="{pose}"
-            />
-            <Action
-              ID="SetupMTCMoveToPose"
-              ik_frame="grasp_link"
-              planning_group_name="manipulator"
-              target_pose="{target_pose}"
-              task="{push_button_task}"
-              planner_interface="moveit_default"
-            />
-          </Control>
-        </Decorator>
-        <Action
-          ID="SetupMTCUpdateGroupCollisionRule"
-          name="AllowGripperCollisionWithOctomap"
-          group_name="gripper"
-          object_name="&lt;octomap&gt;"
-          allow_collision="true"
-          task="{push_button_task}"
-        />
-        <Action
-          ID="SetupMTCMoveAlongFrameAxis"
-          task="{push_button_task}"
-          hand_frame="grasp_link"
-          axis_frame="grasp_link"
-          axis_x="0.0"
-          axis_y="0.0"
-          axis_z="1.0"
-          max_distance="0.2"
-          min_distance="0.05"
-          planning_group_name="manipulator"
-          velocity_scale="0.05"
-          acceleration_scale="0.05"
-        />
-        <Action
-          ID="SetupMTCUpdateGroupCollisionRule"
-          name="ForbidGripperCollisionWithOctomap"
-          group_name="gripper"
-          object_name="&lt;octomap&gt;"
-          allow_collision="false"
-          task="{push_button_task}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{full_push_button_solution}"
-          task="{push_button_task}"
-        />
-        <Action
-          ID="SplitMTCSolution"
-          solution_in="{full_push_button_solution}"
-          index="3"
-          solution_out_1="{move_to_approach_solution}"
-          solution_out_2="{push_solution}"
-        />
-        <Action
-          ID="WaitForUserTrajectoryApproval"
-          solution="{full_push_button_solution}"
-        />
-        <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}" />
-        <Action
-          ID="SaveCurrentState"
-          saved_robot_state="{pre_approach_robot_state}"
-        />
-        <Control ID="Parallel" success_count="1" failure_count="1">
-          <SubTree ID="Force Exceeds Threshold" />
-          <Action ID="ExecuteMTCTask" solution="{push_solution}" />
-        </Control>
-      </Control>
-      <SubTree
-        ID="Retreat To Initial Pose"
-        pre_approach_robot_state="{pre_approach_robot_state}"
-        initial_robot_state="{initial_robot_state}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
deleted file mode 100644
index 53359d83..00000000
--- a/src/picknik_ur_site_config/objectives/push_button_ml.xml
+++ /dev/null
@@ -1,179 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Push Button ML">
-  <BehaviorTree
-    ID="Push Button ML"
-    _description="Move to a waypoint, and then push a button detected by a image segmentation network with the end effector"
-    _favorite="false"
-  >
-    <Control ID="Sequence">
-      <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Hinge View"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        planner_interface="moveit_default"
-      />
-      <SubTree ID="Clear Snapshot" _collapsed="true" />
-      <SubTree ID="Reset Planning Scene" _collapsed="true" />
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_mounted_camera/color/camera_info"
-        message_out="{camera_info}"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_mounted_camera/color/image_raw"
-        message_out="{image}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-      />
-      <Action
-        ID="UpdatePlanningSceneService"
-        point_cloud="{point_cloud}"
-        point_cloud_service="/point_cloud_service"
-      />
-      <Action
-        ID="GetMasks2DAction"
-        image="{image}"
-        action_name="get_masks_2d_maskrcnn"
-        valid_classes="button"
-        min_confidence="0.8"
-        max_nms_iou="0.8"
-        min_relative_area="0"
-        max_relative_area="0.7"
-        timeout_sec="15"
-        masks2d="{masks2d}"
-      />
-      <Action
-        ID="GetMasks3DFromMasks2D"
-        point_cloud="{point_cloud}"
-        masks2d="{masks2d}"
-        camera_info="{camera_info}"
-        masks3d="{masks3d}"
-      />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-        <Control ID="Sequence">
-          <Action
-            ID="GetPointCloudFromMask3D"
-            point_cloud="{point_cloud}"
-            mask3d="{mask3d}"
-            point_cloud_fragment="{point_cloud_fragment}"
-          />
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{point_cloud_fragment}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-        </Control>
-      </Decorator>
-      <Action
-        ID="GetGraspableObjectsFromMasks3D"
-        point_cloud="{point_cloud}"
-        masks3d="{masks3d}"
-        base_frame="world"
-        plane_inlier_threshold="0.02"
-        minimum_face_area="0.000625"
-        face_separation_threshold="0.03"
-        graspable_objects="{graspable_objects}"
-      />
-      <Decorator ID="ForceSuccess">
-        <Decorator
-          ID="ForEachGraspableObject"
-          vector_in="{graspable_objects}"
-          out="{button}"
-        >
-          <Action ID="AlwaysFailure" />
-        </Decorator>
-      </Decorator>
-      <Action
-        ID="ExtractGraspableObjectPose"
-        graspable_object="{button}"
-        pose="{button_pose}"
-      />
-      <SubTree ID="Close Gripper" _collapsed="true" />
-      <Action ID="SaveCurrentState" saved_robot_state="{initial_robot_state}" />
-      <Control ID="Sequence">
-        <Action
-          ID="InitializeMTCTask"
-          task_id="push_button_ml"
-          controller_names="/joint_trajectory_controller"
-          task="{push_along_axis_task}"
-        />
-        <Action ID="SetupMTCCurrentState" task="{push_along_axis_task}" />
-        <Action
-          ID="SetupMTCMoveToPose"
-          ik_frame="grasp_link"
-          planning_group_name="manipulator"
-          target_pose="{button_pose}"
-          task="{push_along_axis_task}"
-          planner_interface="moveit_default"
-        />
-        <Action
-          ID="SetupMTCUpdateGroupCollisionRule"
-          name="AllowGripperCollisionWithOctomap"
-          group_name="gripper"
-          object_name="&lt;octomap&gt;"
-          allow_collision="true"
-          task="{push_along_axis_task}"
-        />
-        <Action
-          ID="SetupMTCMoveAlongFrameAxis"
-          task="{push_along_axis_task}"
-          hand_frame="grasp_link"
-          axis_frame="grasp_link"
-          axis_x="0.0"
-          axis_y="0.0"
-          axis_z="1.0"
-          max_distance="0.2"
-          min_distance="0.05"
-          planning_group_name="manipulator"
-          velocity_scale="0.05"
-          acceleration_scale="0.05"
-        />
-        <Action
-          ID="SetupMTCUpdateGroupCollisionRule"
-          name="ForbidGripperCollisionWithOctomap"
-          group_name="gripper"
-          object_name="&lt;octomap&gt;"
-          allow_collision="false"
-          task="{push_along_axis_task}"
-        />
-        <Action
-          ID="PlanMTCTask"
-          solution="{full_push_along_axis_solution}"
-          task="{push_along_axis_task}"
-        />
-        <Action
-          ID="SplitMTCSolution"
-          solution_in="{full_push_along_axis_solution}"
-          index="3"
-          solution_out_1="{move_to_approach_solution}"
-          solution_out_2="{push_solution}"
-        />
-        <Action
-          ID="WaitForUserTrajectoryApproval"
-          solution="{full_push_along_axis_solution}"
-        />
-        <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}" />
-        <Action
-          ID="SaveCurrentState"
-          saved_robot_state="{pre_approach_robot_state}"
-        />
-        <Control ID="Parallel" success_count="1" failure_count="1">
-          <SubTree ID="Force Exceeds Threshold" />
-          <Action ID="ExecuteMTCTask" solution="{push_solution}" />
-        </Control>
-      </Control>
-      <SubTree
-        ID="Retreat To Initial Pose"
-        pre_approach_robot_state="{pre_approach_robot_state}"
-        initial_robot_state="{initial_robot_state}"
-        _collapsed="true"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/re_zero_force_torque_sensors.xml b/src/picknik_ur_site_config/objectives/re_zero_force_torque_sensors.xml
deleted file mode 100644
index fe5346bd..00000000
--- a/src/picknik_ur_site_config/objectives/re_zero_force_torque_sensors.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Re-Zero Force-Torque Sensors">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Re-Zero Force-Torque Sensors"
-    _description="Zero the force or torque sensors to mitigate accumulated drift error"
-    _favorite="false"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Wrap in a ForceSuccess as Sim does not have the zero_ftsensor service -->
-      <Decorator ID="ForceSuccess">
-        <Action
-          ID="CallTriggerService"
-          service_name="/io_and_status_controller/zero_ftsensor"
-        />
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/reactivate_gripper.xml b/src/picknik_ur_site_config/objectives/reactivate_gripper.xml
deleted file mode 100644
index 3ba73b6a..00000000
--- a/src/picknik_ur_site_config/objectives/reactivate_gripper.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Reactivate Gripper">
-  <!-- ////////// -->
-  <BehaviorTree ID="Reactivate Gripper" _description="Reactivate the gripper">
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="CallTriggerService"
-        service_name="/robotiq_activation_controller/reactivate_gripper"
-      />
-    </Control>
-  </BehaviorTree>
-  <!-- ////////// -->
-  <TreeNodesModel>
-    <Action ID="CallTriggerService">
-      <inout_port name="service_name" />
-    </Action>
-  </TreeNodesModel>
-  <!-- ////////// -->
-</root>
diff --git a/src/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml b/src/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
deleted file mode 100644
index ee4c82a9..00000000
--- a/src/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Retreat To Initial Pose">
-  <BehaviorTree
-    ID="Retreat To Initial Pose"
-    _description=""
-    _subtreeOnly="true"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="InitializeMTCTask"
-        task_id="close_cabinet_door_retreat"
-        controller_names="/joint_trajectory_controller"
-        task="{retreat_task}"
-      />
-      <Action ID="SetupMTCCurrentState" task="{retreat_task}" />
-      <Action
-        ID="SetupMTCUpdateGroupCollisionRule"
-        name="AllowGripperCollisionWithOctomap"
-        group_name="gripper"
-        object_name="&lt;octomap&gt;"
-        allow_collision="true"
-        task="{retreat_task}"
-      />
-      <Action
-        ID="SetupMTCCartesianMoveToJointState"
-        joint_state="{pre_approach_robot_state}"
-        planning_group_name="manipulator"
-        task="{retreat_task}"
-      />
-      <Action
-        ID="SetupMTCUpdateGroupCollisionRule"
-        name="ForbidGripperCollisionWithOctomap"
-        group_name="gripper"
-        object_name="&lt;octomap&gt;"
-        allow_collision="false"
-        task="{retreat_task}"
-      />
-      <Action
-        ID="SetupMTCMoveToJointState"
-        joint_state="{initial_robot_state}"
-        planning_group_name="manipulator"
-        task="{retreat_task}"
-      />
-      <Action
-        ID="PlanMTCTask"
-        solution="{return_to_initial_waypoint_solution}"
-        task="{retreat_task}"
-      />
-      <Action
-        ID="ExecuteMTCTask"
-        solution="{return_to_initial_waypoint_solution}"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Retreat To Initial Pose">
-      <input_port
-        name="pre_approach_robot_state"
-        default="{pre_approach_robot_state}"
-      />
-      <input_port name="initial_robot_state" default="{initial_robot_state}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/sam_pick_object.xml b/src/picknik_ur_site_config/objectives/sam_pick_object.xml
deleted file mode 100644
index 1c82e754..00000000
--- a/src/picknik_ur_site_config/objectives/sam_pick_object.xml
+++ /dev/null
@@ -1,153 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="SAM Pick Object">
-  <!--//////////-->
-  <BehaviorTree
-    ID="SAM Pick Object"
-    _description="Uses SAM to segment out an arbitrary object and pick it."
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="LoadObjectiveParameters"
-        parameters="{pick_parameters}"
-        config_file_name="sam_pick_object_config.yaml"
-      />
-      <SubTree
-        ID="Move to Waypoint"
-        waypoint_name="Hinge View"
-        joint_group_name="manipulator"
-        controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-        use_all_planners="false"
-        _collapsed="true"
-      />
-      <Action
-        ID="MoveGripperAction"
-        gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
-        position="0.0"
-      />
-      <!--Get the point cloud from the wrist camera-->
-      <Action
-        ID="GetCameraInfo"
-        topic_name="/wrist_mounted_camera/color/camera_info"
-        message_out="{camera_info}"
-        timeout_sec="5.000000"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-        timeout_sec="5.000000"
-      />
-      <Action
-        ID="SendPointCloudToUI"
-        point_cloud="{point_cloud}"
-        pcd_topic="/pcd_pointcloud_captures"
-      />
-      <Action
-        ID="GetImage"
-        topic_name="/wrist_mounted_camera/color/image_raw"
-        message_out="{image}"
-        timeout_sec="5.000000"
-      />
-      <!--Segment out 2D masks and then convert to 3D masks and visualize in UI-->
-      <Action
-        ID="GetPointsFromUser"
-        point_prompts="Click on the object you want to pick."
-        point_names="clicked_object"
-        pixel_coords="{pixel_coords}"
-        view_name="/wrist_mounted_camera/color/image_raw"
-      />
-      <Action
-        ID="GetMasks2DAction"
-        image="{image}"
-        action_name="get_masks_2d_superseg"
-        min_confidence="0.8"
-        max_nms_iou="0.8"
-        min_relative_area="0.0002"
-        max_relative_area="0.25"
-        timeout_sec="15.0"
-        masks2d="{masks2d}"
-        valid_points="{pixel_coords}"
-        valid_classes=""
-      />
-      <Action
-        ID="GetMasks3DFromMasks2D"
-        point_cloud="{point_cloud}"
-        masks2d="{masks2d}"
-        camera_info="{camera_info}"
-        masks3d="{masks3d}"
-      />
-      <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-        <Control ID="Sequence">
-          <Action
-            ID="GetPointCloudFromMask3D"
-            point_cloud="{point_cloud}"
-            mask3d="{mask3d}"
-            point_cloud_fragment="{point_cloud_fragment}"
-          />
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{point_cloud_fragment}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-        </Control>
-      </Decorator>
-      <!--Convert 3D masks into graspable objects-->
-      <Action
-        ID="GetGraspableObjectsFromMasks3D"
-        graspable_objects="{objects}"
-        plane_inlier_threshold="0.020000"
-        base_frame="world"
-        minimum_face_area="0"
-        masks3d="{masks3d}"
-        face_separation_threshold="0.025000"
-        point_cloud="{point_cloud}"
-      />
-      <Decorator
-        ID="ForEachGraspableObject"
-        vector_in="{objects}"
-        out="{object}"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="InitializeMTCTask"
-            task="{mtc_task}"
-            controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-            task_id=""
-          />
-          <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
-          <Action
-            ID="SetupMTCApproachGrasp"
-            parameters="{pick_parameters}"
-            target_object="{object}"
-            monitored_stage="{monitored_stage}"
-            task="{mtc_task}"
-          />
-          <Action
-            ID="SetupMTCGenerateCuboidGrasps"
-            parameters="{pick_parameters}"
-            target_object="{object}"
-            monitored_stage="{monitored_stage}"
-            task="{mtc_task}"
-          />
-          <Action
-            ID="SetupMTCRetractFromGrasp"
-            parameters="{pick_parameters}"
-            target_object="{object}"
-            task="{mtc_task}"
-          />
-          <Action
-            ID="PlanMTCTask"
-            solution="{mtc_solution}"
-            task="{mtc_task}"
-          />
-          <SubTree
-            ID="Wait for Trajectory Approval if User Available"
-            _collapsed="false"
-            solution="{mtc_solution}"
-          />
-          <Action ID="ExecuteMTCTask" solution="{mtc_solution}" />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/sam_pick_object_config.yaml b/src/picknik_ur_site_config/objectives/sam_pick_object_config.yaml
deleted file mode 100644
index ce8863b1..00000000
--- a/src/picknik_ur_site_config/objectives/sam_pick_object_config.yaml
+++ /dev/null
@@ -1,71 +0,0 @@
-SetupMTCApproachGrasp:
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-
-  approach_distance: 0.15
-
-  # Set to true to make the robot keep the object within view of its camera while reaching to grasp it
-  enforce_visibility_constraint: true
-  camera_optical_frame_id: "wrist_mounted_camera_color_optical_frame"
-  camera_field_of_view_angle: 1.0472  # radians: approx. 60 degrees, which is narrower than the 70 degree diagonal FOV of the D415 camera
-  sensor_z_offset: 0.02
-  target_diameter: 0.0  # Set to 0 to disable the visibility cone constraint -- it's not useful with a single-arm camera-in-hand configuration.
-
-
-SetupMTCGenerateCuboidGrasps:
-  end_effector_group_name: "gripper"
-  end_effector_name: "moveit_ee"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-  ui_grasp_link: "grasp_link"
-
-  # Grasp candidate configs
-  grasp_candidate_config:
-    generate_x_axis_grasps: true
-    generate_y_axis_grasps: true
-    generate_z_axis_grasps: true
-
-    # Number of samples to generate for each quadrant of the cuboid.
-    samples_per_quadrant: 3
-
-  # Grasp data configs
-  grasp_data:
-    # See https://ros-planning.github.io/moveit_tutorials/_images/finger_gripper_explanation.jpg for description of the following parameters
-    # Note: these parameters are copied from Robotiq gripper without tweaking
-    # min/max values of the grasp depth range in meter.
-    # This should fit to the distance from finger tip to inner palm or the suction cup stroke
-    grasp_min_depth: 0.025 # minimum amount fingers must overlap object
-    grasp_max_depth: 0.065 # Maximum distance from tip of end effector inwards that an object can be for a grasp
-
-    # Maximum allowed finger width for a grasp.
-    # This value should be considerably smaller than max_finger_width
-    # to allow padded collision checks
-    max_grasp_width: 0.4
-
-    # The transform from the arm IK link to the grasp point to align it with the following convention.
-    #
-    # z-axis pointing toward object to grasp
-    # x-axis perpendicular to movement of grippers
-    # y-axis parallel to movement of grippers
-    eef_mount_to_tcp_transform:
-      x: 0.0
-      y: 0.0
-      z: -0.02
-      roll: 0.0
-      pitch: 0.0
-      yaw: 1.57
-
-SetupMTCRetractFromGrasp:
-  world_frame_name: "world"
-  arm_group_name: "manipulator"
-  end_effector_group_name: "gripper"
-  hand_frame_name: "grasp_link"
-  end_effector_closed_pose_name: "close"
-
-  # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
-  approach_distance: 0.15
-  lift_distance: 0.1
diff --git a/src/picknik_ur_site_config/objectives/sample_april_tag.xml b/src/picknik_ur_site_config/objectives/sample_april_tag.xml
deleted file mode 100644
index a99d75bb..00000000
--- a/src/picknik_ur_site_config/objectives/sample_april_tag.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Sample April Tag">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Sample April Tag"
-    _description="Samples the pose of an AprilTag and returns the average measurement."
-    _favorite="false"
-  >
-    <Decorator ID="Repeat" num_cycles="{num_samples}" name="SamplePose">
-      <Control ID="Sequence">
-        <Action
-          ID="LoadObjectiveParameters"
-          config_file_name="{apriltag_config}"
-          parameters="{parameters}"
-        />
-        <Action
-          ID="GetCameraInfo"
-          topic_name="/wrist_mounted_camera/color/camera_info"
-          message_out="{camera_info}"
-        />
-        <Decorator ID="RetryUntilSuccessful" num_attempts="5">
-          <Control ID="Sequence">
-            <Action
-              ID="GetImage"
-              topic_name="/wrist_mounted_camera/color/image_raw"
-              message_out="{image}"
-            />
-            <Action
-              ID="DetectAprilTags"
-              image="{image}"
-              camera_info="{camera_info}"
-              parameters="{parameters}"
-              detections="{detections}"
-            />
-            <Action
-              ID="GetDetectionPose"
-              detections="{detections}"
-              target_id="{tag_id}"
-              target_label=""
-              detection_pose="{detection_pose}"
-            />
-          </Control>
-        </Decorator>
-        <Action
-          ID="AveragePoseStamped"
-          pose_sample="{detection_pose}"
-          avg_pose="{avg_pose}"
-          max_distance="{max_distance}"
-          max_rotation="{max_rotation}"
-          num_samples="{num_samples}"
-          run_continuously="false"
-        />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/take_snapshot.xml b/src/picknik_ur_site_config/objectives/take_snapshot.xml
deleted file mode 100644
index c57aed0b..00000000
--- a/src/picknik_ur_site_config/objectives/take_snapshot.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Take Snapshot"
-    _description="Take a point cloud snapshot and add to collision scene"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-        timeout_sec="15.000000"
-      />
-      <Action
-        ID="UpdatePlanningSceneService"
-        point_cloud="{point_cloud}"
-        point_cloud_service="/point_cloud_service"
-      />
-      <Action
-        ID="SendPointCloudToUI"
-        point_cloud="{point_cloud}"
-        pcd_topic="/pcd_pointcloud_captures"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml b/src/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml
deleted file mode 100644
index 09e14b60..00000000
--- a/src/picknik_ur_site_config/objectives/teach_apriltag_grasp_offset.xml
+++ /dev/null
@@ -1,72 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Teach Grasp Offset From Apriltag">
-  <BehaviorTree
-    ID="Teach Grasp Offset From Apriltag"
-    _description="Saves a grasp offset to yaml file from Apriltag observation using an interactive marker"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="root">
-      <Action
-        ID="GetPointsFromUser"
-        view_name="/wrist_mounted_camera/color/image_raw"
-        point_names="grasp_pose"
-        point_prompts="Click on the Apriltag"
-        pixel_coords="{pixel_coords}"
-      />
-      <Action
-        ID="GetPointCloud"
-        topic_name="/wrist_mounted_camera/depth/color/points"
-        message_out="{point_cloud}"
-      />
-      <Action
-        ID="GetPoseFromPixelCoords"
-        point_cloud="{point_cloud}"
-        pixel_coords="{pixel_coords}"
-        downsample_fraction="0.1"
-        neighbor_radius="0.1"
-        output_poses="{output_poses}"
-      />
-      <Action
-        ID="AdjustPoseWithIMarker"
-        prompts="Adjust IMarker to desired pose"
-        initial_poses="{output_poses}"
-        adjusted_poses="{adjusted_poses}"
-      />
-      <SubTree
-        ID="Sample April Tag"
-        num_samples="5"
-        tag_id="1"
-        apriltag_config="51mm_apriltag_detection_config.yaml"
-        max_distance="0.02"
-        max_rotation="0.2"
-        avg_pose="{tag_pose}"
-      />
-      <Action
-        ID="TransformPoseFrame"
-        input_pose="{tag_pose}"
-        target_frame_id="world"
-        output_pose="{tag_pose_world}"
-      />
-      <Decorator
-        ID="ForEachPoseStamped"
-        vector_in="{adjusted_poses}"
-        out="{user_grasp_pose}"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="CalculatePoseOffset"
-            source_pose="{tag_pose_world}"
-            destination_pose="{user_grasp_pose}"
-            source_to_destination_pose="{tag_to_user_grasp_pose}"
-          />
-          <Action
-            ID="SavePoseToYaml"
-            yaml_filename="apriltag1_grasp_offset"
-            namespace="GraspOffset"
-            message="{tag_to_user_grasp_pose}"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/update_admittance_controller.xml b/src/picknik_ur_site_config/objectives/update_admittance_controller.xml
deleted file mode 100644
index c9722e52..00000000
--- a/src/picknik_ur_site_config/objectives/update_admittance_controller.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Update Admittance Controller">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Update Admittance Controller"
-    _description="Updates the admittance controller configurations according to a specified yaml."
-    _favorite="false"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <!-- Wrap in a ForceSuccess until we have a mock admittance_controller loaded for sim. -->
-      <Decorator ID="ForceSuccess">
-        <Action
-          ID="UpdateAdmittanceController"
-          config_file_name="open_door_admittance_controller_config.yaml"
-        />
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/visual_servo_reference.yaml b/src/picknik_ur_site_config/objectives/visual_servo_reference.yaml
deleted file mode 100644
index c6265582..00000000
--- a/src/picknik_ur_site_config/objectives/visual_servo_reference.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-ServoReference:
-  position:
-    x: 0.045306888032763615
-    y: 0.053867148569981871
-    z: 0.1720067433901151
-  orientation:
-    x: -0.69868796363054175
-    y: 0.71517864722160651
-    z: 0.00054314097295501279
-    w: -0.018823842167928755
diff --git a/src/picknik_ur_site_config/objectives/visual_servo_teach_reference.xml b/src/picknik_ur_site_config/objectives/visual_servo_teach_reference.xml
deleted file mode 100644
index 69bb619d..00000000
--- a/src/picknik_ur_site_config/objectives/visual_servo_teach_reference.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Visual Servo Teach Reference">
-  <BehaviorTree
-    ID="Visual Servo Teach Reference"
-    _description="Teach the pose reference used in `Visual Servo To Reference'"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="root">
-      <SubTree
-        ID="Sample April Tag"
-        _collapsed="true"
-        num_samples="5"
-        tag_id="2"
-        apriltag_config="51mm_apriltag_detection_config.yaml"
-        max_distance="0.02"
-        max_rotation="0.2"
-        avg_pose="{tag_pose}"
-      />
-      <Action
-        ID="CreateStampedPose"
-        reference_frame="grasp_link"
-        position_xyz="0.0;0.0;0.0"
-        orientation_xyzw="0.0;0.0;0.0;1.0"
-        stamped_pose="{grasp_link_pose}"
-      />
-      <Action
-        ID="TransformPoseFrame"
-        input_pose="{tag_pose}"
-        target_frame_id="world"
-        output_pose="{tag_pose_world}"
-      />
-      <Action
-        ID="TransformPoseFrame"
-        input_pose="{grasp_link_pose}"
-        target_frame_id="world"
-        output_pose="{grasp_link_pose_world}"
-      />
-      <Action
-        ID="CalculatePoseOffset"
-        source_pose="{tag_pose_world}"
-        destination_pose="{grasp_link_pose_world}"
-        source_to_destination_pose="{tag_to_user_grasp_pose}"
-      />
-      <Action
-        ID="SavePoseToYaml"
-        yaml_filename="visual_servo_reference"
-        namespace="ServoReference"
-        message="{tag_to_user_grasp_pose}"
-      />
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/visual_servo_to_reference.xml b/src/picknik_ur_site_config/objectives/visual_servo_to_reference.xml
deleted file mode 100644
index cbed8f4b..00000000
--- a/src/picknik_ur_site_config/objectives/visual_servo_to_reference.xml
+++ /dev/null
@@ -1,99 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Visual Servo To Reference">
-  <!-- ////////// -->
-  <BehaviorTree
-    ID="Visual Servo To Reference"
-    _description="Move in closed loop to a pose relative to an AprilTag"
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence">
-      <Action
-        ID="LoadObjectiveParameters"
-        config_file_name="visual_servo_reference.yaml"
-        parameters="{servo_reference_parameters}"
-      />
-      <Action ID="ActivateControllers" controller_names="servo_controller" />
-      <Control ID="Sequence">
-        <SubTree
-          ID="Sample April Tag"
-          _collapsed="true"
-          num_samples="1"
-          tag_id="2"
-          apriltag_config="51mm_apriltag_detection_config.yaml"
-          max_distance="0.02"
-          max_rotation="0.2"
-          avg_pose="{tag_pose}"
-        />
-        <Action
-          ID="TransformPoseFrame"
-          input_pose="{tag_pose}"
-          target_frame_id="base_link"
-          output_pose="{tag_pose_base}"
-        />
-        <Action
-          ID="TransformPoseFromYaml"
-          input_pose="{tag_pose_base}"
-          parameter_namespace="ServoReference"
-          pose_parameters="{servo_reference_parameters}"
-          output_pose="{reference_pose}"
-        />
-      </Control>
-      <Control ID="Parallel" success_count="1" failure_count="1">
-        <Decorator ID="KeepRunningUntilFailure">
-          <Control ID="Sequence">
-            <SubTree
-              ID="Sample April Tag"
-              _collapsed="true"
-              num_samples="1"
-              tag_id="2"
-              apriltag_config="51mm_apriltag_detection_config.yaml"
-              max_distance="0.02"
-              max_rotation="0.2"
-              avg_pose="{tag_pose}"
-            />
-            <Action
-              ID="TransformPoseFrame"
-              input_pose="{tag_pose}"
-              target_frame_id="base_link"
-              output_pose="{tag_pose_base}"
-            />
-          </Control>
-        </Decorator>
-        <Action
-          ID="AveragePoseStamped"
-          run_continuously="true"
-          num_samples="5"
-          max_distance="0.04"
-          max_rotation="0.4"
-          pose_sample="{tag_pose_base}"
-          avg_pose="{tag_pose_avg}"
-        />
-        <Decorator ID="KeepRunningUntilFailure">
-          <Control ID="Sequence">
-            <Action
-              ID="TransformPoseFromYaml"
-              input_pose="{tag_pose_avg}"
-              parameter_namespace="ServoReference"
-              pose_parameters="{servo_reference_parameters}"
-              output_pose="{reference_pose}"
-            />
-          </Control>
-        </Decorator>
-        <Action
-          ID="ServoTowardsPose"
-          planning_group_name="manipulator"
-          target_pose="{reference_pose}"
-          translational_gain="1.0"
-          rotational_gain="1.0"
-          max_translational_vel="0.1"
-          max_rotational_vel="0.1"
-          publish_rate="20"
-          exit_threshold_translation="0.01"
-          exit_threshold_rotation="0.01"
-          exit_threshold_time="0.1"
-        />
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/package.xml b/src/picknik_ur_site_config/package.xml
deleted file mode 100644
index 4413b45d..00000000
--- a/src/picknik_ur_site_config/package.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>picknik_ur_site_config</name>
-  <version>6.0.0</version>
-
-  <description>
-    Site configuration package for a UR arm that can be simulated with mock
-    hardware
-  </description>
-
-  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
-
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <build_depend>moveit_studio_common</build_depend>
-
-  <depend>moveit_studio_behavior_interface</depend>
-  <depend>picknik_ur_base_config</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/picknik_ur_studio_integration_testing/test/launch/test_basic_ur5e_objectives.test.py b/src/picknik_ur_studio_integration_testing/test/launch/test_basic_ur5e_objectives.test.py
index 8adc4b40..35466dcd 100644
--- a/src/picknik_ur_studio_integration_testing/test/launch/test_basic_ur5e_objectives.test.py
+++ b/src/picknik_ur_studio_integration_testing/test/launch/test_basic_ur5e_objectives.test.py
@@ -43,7 +43,7 @@ def generate_test_description():
         gtest_name="test_basic_ur5e_objectives",
         env_vars={
             # Load site config for simulated UR-5e
-            "STUDIO_CONFIG_PACKAGE": "arm_on_rail_sim",
+            "STUDIO_CONFIG_PACKAGE": "picknik_ur_sim_config",
             "MOCK_HARDWARE": "true",
         },
     )