diff --git a/.gitmodules b/.gitmodules
index 38091a9a1..ad4deadcb 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,9 +10,6 @@
 [submodule "src/external_dependencies/fanuc"]
 	path = src/external_dependencies/fanuc
 	url = https://github.com/PickNikRobotics/fanuc.git
-[submodule "src/external_dependencies/ros2_kortex_vision"]
-	path = src/external_dependencies/ros2_kortex_vision
-	url = https://github.com/PickNikRobotics/ros2_kortex_vision.git
 [submodule "src/external_dependencies/ros2_kortex"]
 	path = src/external_dependencies/ros2_kortex
 	url = https://github.com/PickNikRobotics/ros2_kortex.git
diff --git a/src/external_dependencies/ros2_kortex_vision b/src/external_dependencies/ros2_kortex_vision
deleted file mode 160000
index bead668f8..000000000
--- a/src/external_dependencies/ros2_kortex_vision
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit bead668f83230ce1a574357f193ca9177f60eb17
diff --git a/src/moveit_pro_kinova_configs/README.md b/src/moveit_pro_kinova_configs/README.md
deleted file mode 100644
index 44844d67d..000000000
--- a/src/moveit_pro_kinova_configs/README.md
+++ /dev/null
@@ -1 +0,0 @@
-# moveit_pro_kinova_configs
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/CMakeLists.txt b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/CMakeLists.txt
deleted file mode 100644
index e7edfac17..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/CMakeLists.txt
+++ /dev/null
@@ -1,35 +0,0 @@
-cmake_minimum_required(VERSION 3.16.3)
-project(kinova_gen3_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)
-  find_package(ament_cmake_pytest REQUIRED)
-  set(_pytest_tests
-    test/test_waypoint_yaml_validation.py)
-
-  foreach(_test_path ${_pytest_tests})
-    get_filename_component(_test_name ${_test_path} NAME_WE)
-    ament_add_pytest_test(${_test_name} ${_test_path}
-      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
-      TIMEOUT 60
-      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-    )
-  endforeach()
-
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/MOVEIT_PRO_IGNORE b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/MOVEIT_PRO_IGNORE
deleted file mode 100644
index e69de29bb..000000000
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/README.md b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/README.md
deleted file mode 100644
index 65fbc1f66..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# gen3_config
-
-Base Config for using the Kinova Gen3 manipulator with MoveIt Pro.
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/cameras.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/cameras.yaml
deleted file mode 100644
index 543c68649..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/cameras.yaml
+++ /dev/null
@@ -1,36 +0,0 @@
-- wrist_mounted_camera:
-    camera_name: "wrist_mounted_camera"
-    type: "realsense"
-    use: True
-    serial_no: "0"
-    device_type: "D415"
-    framerate: 6
-    image_width: 640
-    image_height: 480
-    enable_pointcloud: True
-
-    # information about the topics the camera publishes the raw image and info
-    rgb_info: "/wrist_mounted_camera/color/camera_info"
-    rgb_image: "/wrist_mounted_camera/color/image_raw"
-
-    # By adding registered_rgb_depth_pair, This camera can be used for "Set Transform From Click"
-    registered_rgb_depth_pair:
-      depth_info: "/wrist_mounted_camera/depth/camera_info"
-      depth_image: "/wrist_mounted_camera/depth/image_rect_raw"
-      registered_info: "/wrist_mounted_camera/depth_registered/camera_info"
-      registered_image: "/wrist_mounted_camera/depth_registered/image_rect"
-
-- scene_camera:
-    camera_name: "scene_camera"
-    type: "realsense"
-    use: True
-    serial_no: "0"
-    device_type: "D415"
-    framerate: 6
-    image_width: 640
-    image_height: 480
-    enable_pointcloud: False
-
-    # information about the topics the camera publishes the raw image and info
-    rgb_info: "/scene_camera/color/camera_info"
-    rgb_image: "/scene_camera/color/image_raw"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
deleted file mode 100644
index cce8afd35..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
+++ /dev/null
@@ -1,127 +0,0 @@
-###############################################################
-#
-#  This configures the robot to work with moveit pro
-#
-###############################################################
-
-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 using the same configuration.
-  # [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: "kinova_gen3_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: "kinova_gen3_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"
-
-  # These Params are pasted to the XACRO to create the URDF
-  robot_description:
-    urdf:
-      package: "kinova_gen3_base_config"
-      path: "description/picknik_kinova_gen3.xacro"
-    srdf:
-      package: "kinova_gen3_base_config"
-      path: "config/moveit/picknik_kinova_gen3_base.srdf"
-    urdf_params:
-      - arm: "gen3"
-      - dof: "7"
-      - vision: "false"
-      - robot_ip: ""
-      - gripper: "robotiq_2f_85"
-      - username: "admin"
-      - password: "admin"
-      - port: "10000"
-      - port_realtime: "10001"
-      - session_inactivity_timeout_ms: "60000"
-      - connection_inactivity_timeout_ms: "2000"
-      - use_fake_hardware: "true"
-      - fake_sensor_commands: "false"
-      - external_camera: "true"
-      - wrist_realsense: "true"
-      - use_internal_bus_gripper_comm: "false"
-
-# This Configures moveit params that are in moveit_config.py
-moveit_params:
-  joint_group_name: "manipulator"
-
-  kinematics:
-    package: "kinova_gen3_base_config"
-    path: "config/moveit/pose_ik_distance.yaml"
-  sensors_3d:
-    package: "kinova_gen3_base_config"
-    path: "config/moveit/sensors_3d.yaml"
-  joint_limits:
-    package: "kinova_gen3_base_config"
-    path: "config/moveit/joint_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
-
-# This configures what controllers gets run at startup
-ros2_control:
-  config:
-    package: "kinova_gen3_base_config"
-    path: "config/control/picknik_kinova_gen3.ros2_control.yaml"
-  # Load and start these controllers so they can be used immediately.
-  controllers_active_at_startup:
-    - "robotiq_gripper_controller"
-    - "joint_state_broadcaster"
-    - "fault_controller"
-  controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-
-objectives:
-  behavior_loader_plugins:
-    # This plugin will load the core MoveIt Pro behaviors.
-    # Add additional plugin loaders as needed.
-    core:
-      - "moveit_pro::behaviors::CoreBehaviorsLoader"
-      - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
-      - "moveit_pro::behaviors::VisionBehaviorsLoader"
-      - "moveit_pro::behaviors::ConverterBehaviorsLoader"
-  objective_library_paths:
-    core_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/core"
-    motion_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/motion"
-    perception_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/perception"
-    sim_objectives:
-      package_name: "kinova_gen3_base_config"
-      relative_path: "objectives"
-  waypoints_file:
-    package_name: "kinova_gen3_base_config"
-    relative_path: "waypoints/waypoints.yaml"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml
deleted file mode 100644
index 60e27bf57..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml
+++ /dev/null
@@ -1,84 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000  # Hz
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    twist_controller:
-      type: picknik_twist_controller/PicknikTwistController
-
-    # The gripper controller just relays position commands
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-
-    fault_controller:
-      type: picknik_reset_fault_controller/PicknikResetFaultController
-
-
-joint_trajectory_controller:
-  ros__parameters:
-    gains:
-      joint_1:
-        angle_wraparound: true
-      joint_3:
-        angle_wraparound: true
-      joint_5:
-        angle_wraparound: true
-      joint_7:
-        angle_wraparound: true
-    joints:
-      - joint_1
-      - joint_2
-      - joint_3
-      - joint_4
-      - joint_5
-      - joint_6
-      - joint_7
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 10.0
-      joint_1:
-        goal: 0.05
-      joint_2:
-        goal: 0.05
-      joint_3:
-        goal: 0.05
-      joint_4:
-        goal: 0.05
-      joint_5:
-        goal: 0.05
-      joint_6:
-        goal: 0.05
-      joint_7:
-        goal: 0.05
-
-twist_controller:
-  ros__parameters:
-    joint: tcp
-    interface_names:
-      - twist.linear.x
-      - twist.linear.y
-      - twist.linear.z
-      - twist.angular.x
-      - twist.angular.y
-      - twist.angular.z
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
-    stall_timeout: 0.05
-    goal_tolerance: 0.02
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/joint_limits.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/joint_limits.yaml
deleted file mode 100644
index fb9bf24f9..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/joint_limits.yaml
+++ /dev/null
@@ -1,44 +0,0 @@
-# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
-# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-joint_limits:
-  joint_1:
-    has_velocity_limits: true
-    max_velocity: 1.39
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_2:
-    has_velocity_limits: true
-    max_velocity: 1.39
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_3:
-    has_velocity_limits: true
-    max_velocity: 1.39
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_4:
-    has_velocity_limits: true
-    max_velocity: 1.39
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_5:
-    has_velocity_limits: true
-    max_velocity: 1.22
-    has_acceleration_limits: true
-    max_acceleration: 10.0
-  joint_6:
-    has_velocity_limits: true
-    max_velocity: 1.22
-    has_acceleration_limits: true
-    max_acceleration: 10.0
-  joint_7:
-    has_velocity_limits: true
-    max_velocity: 1.22
-    has_acceleration_limits: true
-    max_acceleration: 10.0
-  finger_joint:
-    has_velocity_limits: true
-    max_velocity: 2.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/picknik_kinova_gen3_base.srdf b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/picknik_kinova_gen3_base.srdf
deleted file mode 100644
index 70aab1240..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/picknik_kinova_gen3_base.srdf
+++ /dev/null
@@ -1,200 +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="gen3">
-    <!--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="grasp_link"/>
-        <joint name="robotiq_85_base_joint"/>
-        <joint name="robotiq_85_left_inner_knuckle_joint"/>
-        <joint name="robotiq_85_left_knuckle_joint"/>
-        <joint name="robotiq_85_left_finger_joint"/>
-        <joint name="robotiq_85_left_finger_tip_joint"/>
-        <joint name="robotiq_85_right_inner_knuckle_joint"/>
-        <joint name="robotiq_85_right_knuckle_joint"/>
-        <joint name="robotiq_85_right_finger_joint"/>
-        <joint name="robotiq_85_right_finger_tip_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="0.7929" />
-        <joint name="robotiq_85_right_knuckle_joint" value="0.7929" />
-    </group_state>
-    <group_state name="close" 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="home" group="manipulator">
-        <joint name="joint_1" value="0" />
-        <joint name="joint_2" value="0.26" />
-        <joint name="joint_3" value="3.14" />
-        <joint name="joint_4" value="-2.27" />
-        <joint name="joint_5" value="0" />
-        <joint name="joint_6" value="0.96" />
-        <joint name="joint_7" value="1.57" />
-    </group_state>
-    <group_state name="retract" group="manipulator">
-        <joint name="joint_1" value="0" />
-        <joint name="joint_2" value="-0.35" />
-        <joint name="joint_3" value="3.14" />
-        <joint name="joint_4" value="-2.54" />
-        <joint name="joint_5" value="0" />
-        <joint name="joint_6" value="-0.87" />
-        <joint name="joint_7" value="1.57" />
-    </group_state>
-    <group_state name="vertical" group="manipulator">
-        <joint name="joint_1" value="0" />
-        <joint name="joint_2" value="0" />
-        <joint name="joint_3" value="0" />
-        <joint name="joint_4" value="0" />
-        <joint name="joint_5" value="0" />
-        <joint name="joint_6" value="0" />
-        <joint name="joint_7" value="0" />
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="gripper" parent_link="end_effector_link" group="gripper"/>
-    <!--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" link2="forearm_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="half_arm_1_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="half_arm_2_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="forearm_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="half_arm_2_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_base_link" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="wrist_camera_link_visual" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="wrist_mounted_camera_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="half_arm_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="half_arm_2_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="spherical_wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="table" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="wrist_camera_link_visual" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="half_arm_2_link" reason="Adjacent"/>
-    <disable_collisions link1="half_arm_1_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="half_arm_1_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="table" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_camera_link_visual" 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="Adjacent"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_camera_link_visual" 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="Default"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_camera_link_visual" 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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_camera_link_visual" 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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_camera_link_visual" 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="Adjacent"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_camera_link_visual" 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="Default"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_camera_link_visual" 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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_camera_link_visual" 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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_camera_link_visual" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="table" reason="Never"/>
-    <disable_collisions link1="spherical_wrist_1_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="spherical_wrist_1_link" link2="table" reason="Never"/>
-    <disable_collisions link1="spherical_wrist_1_link" link2="wrist_camera_link_visual" reason="Never"/>
-    <disable_collisions link1="spherical_wrist_2_link" link2="wrist_camera_link_visual" reason="Never"/>
-    <disable_collisions link1="spherical_wrist_2_link" link2="wrist_mounted_camera_link" reason="Never"/>
-    <disable_collisions link1="wrist_camera_link_visual" link2="wrist_mounted_camera_link" reason="Never"/>
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_speed.yaml
deleted file mode 100644
index a6da46a9a..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_speed.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-manipulator:
-  kinematics_solver: pose_ik_plugin/PoseIKPlugin
-  target_tolerance: 0.001
-  solve_mode: "first_found"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/empty.world b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/empty.world
deleted file mode 100644
index be65f8159..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/empty.world
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-<sdf version='1.5'>
-    <world name='default'>
-        <light name='sun' type='directional'>
-            <cast_shadows>1</cast_shadows>
-            <pose>0 0 10 0 -0 0</pose>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.2 0.2 0.2 1</specular>
-            <attenuation>
-                <range>1000</range>
-                <constant>0.9</constant>
-                <linear>0.01</linear>
-                <quadratic>0.001</quadratic>
-            </attenuation>
-            <direction>0.5 0.1 -0.9</direction>
-        </light>
-
-        <scene>
-            <ambient>0.4 0.4 0.4 1</ambient>
-            <background>0.7 0.7 0.7 1</background>
-            <shadows>1</shadows>
-        </scene>
-
-        <!-- A ground plane -->
-        <include>
-            <uri>model://ground_plane</uri>
-        </include>
-
-        <physics name='default_physics' default='0' type='ode'>
-            <ode>
-                <solver>
-                <type>quick</type>
-                <iters>400</iters>
-                <sor>1.3</sor>
-                <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
-                </solver>
-                <constraints>
-                <cfm>0</cfm>
-                <erp>0.2</erp>
-                <contact_max_correcting_vel>100</contact_max_correcting_vel>
-                <contact_surface_layer>0.001</contact_surface_layer>
-                </constraints>
-            </ode>
-            <max_step_size>0.005</max_step_size>
-            <real_time_factor>1</real_time_factor>
-            <real_time_update_rate>200</real_time_update_rate>
-            <gravity>0 0 -9.8</gravity>
-        </physics>
-
-    </world>
-</sdf>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/gripper_and_camera.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/gripper_and_camera.xacro
deleted file mode 100644
index 5b77b0955..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/gripper_and_camera.xacro
+++ /dev/null
@@ -1,71 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="gen3_gripper_and_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <!-- Arguments -->
-  <xacro:property name="gripper" default="robotiq_2f_85" />
-  <xacro:property name="prefix" default="" />
-
-  <!-- Import macros -->
-  <xacro:include filename="$(find kortex_description)/grippers/${gripper}/urdf/${gripper}_macro.xacro" />
-  <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
-
-  <!-- Create parent link -->
-  <!-- We use a link name called grasp_link to perform built-in Objectives such as inspect surface without modification. -->
-  <link name="grasp_link" />
-
-  <!-- Create bracelet link -->
-  <link name="bracelet_link" />
-
-  <joint name="bracelet_joint" type="fixed">
-    <origin xyz="0 -0.031521 -0.1787672" rpy="0 0 0" />
-    <parent link="grasp_link" />
-    <child link="bracelet_link" />
-  </joint>
-
-  <!-- Create the end effector link -->
-  <link name="end_effector_link" />
-  <joint name="end_effector_joint" type="fixed">
-    <origin xyz="0 0 -0.061525" rpy="${pi} 0 0" />
-    <parent link="bracelet_link" />
-    <child link="end_effector_link" />
-  </joint>
-
-  <!-- Load the gripper -->
-  <xacro:load_gripper parent="end_effector_link" prefix="${prefix}" />
-
-  <!-- Create the camera -->
-  <link name="wrist_camera_link"/>
-
-  <joint name="wrist_camera_joint" type="fixed">
-    <parent link="bracelet_link"/>
-    <child link = "wrist_camera_link"/>
-    <origin xyz="0 -0.06841 -0.05044" rpy="0 ${pi / 180.0 * 100} ${-pi/2}"/>
-  </joint>
-
-  <xacro:realsense_d415 parent="wrist_camera_link" name="wrist_mounted_camera">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </xacro:realsense_d415>
-
-  <!-- Bracket -->
-  <link name="wrist_camera_link_visual">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://picknik_accessories/descriptions/brackets/kinova_realsense_camera_adapter/realsense_bracket_for_kinova.dae" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://picknik_accessories/descriptions/brackets/kinova_realsense_camera_adapter/realsense_bracket_for_kinova.dae" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="wrist_camera_link_visual_joint" type="fixed">
-    <origin xyz="0 0 0.0" rpy="0 0 0" />
-    <parent link="bracelet_link" />
-    <child link="wrist_camera_link_visual" />
-  </joint>
-
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro
deleted file mode 100644
index f0533e2e9..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:macro name="load_robot" params="
-    parent
-    *origin
-    prefix
-    arm
-    gripper
-    gripper_joint_name
-    dof
-    vision
-    robot_ip
-    username
-    password
-    port
-    port_realtime
-    session_inactivity_timeout_ms
-    connection_inactivity_timeout_ms
-    use_internal_bus_gripper_comm:=false
-    use_fake_hardware:=false
-    fake_sensor_commands:=false
-    sim_gazebo:=false
-    sim_ignition:=false
-    sim_isaac:=false
-    isaac_joint_commands:=/isaac_joint_commands
-    isaac_joint_states:=/isaac_joint_states
-    use_external_cable:=false
-    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
-    gripper_max_velocity:=100.0
-    gripper_max_force:=100.0
-    gripper_com_port:=/dev/ttyUSB0
-    moveit_active:=false">
-
-    <!-- Include and load arm macro files -->
-    <xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_macro.xacro" />
-
-    <!-- Load the arm -->
-    <xacro:load_arm
-      parent="${parent}"
-      dof="${dof}"
-      vision="${vision}"
-      robot_ip="${robot_ip}"
-      username="${username}"
-      password="${password}"
-      port="${port}"
-      port_realtime="${port_realtime}"
-      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
-      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
-      prefix="${prefix}"
-      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-      use_fake_hardware="${use_fake_hardware}"
-      fake_sensor_commands="${fake_sensor_commands}"
-      sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
-      sim_isaac="${sim_isaac}"
-      gripper_joint_name="${gripper_joint_name}"
-      gripper_max_velocity="${gripper_max_velocity}"
-      gripper_max_force="${gripper_max_force}"
-      use_external_cable="${use_external_cable}"
-      initial_positions="${initial_positions}">
-      <xacro:insert_block name="origin" />
-    </xacro:load_arm>
-
-    <!-- If no gripper, define tool frame here -->
-    <xacro:if value="${not gripper}">
-      <link name="${prefix}tool_frame"/>
-      <joint name="${prefix}tool_frame_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <parent link="${prefix}${last_arm_link}" />
-        <child link="${prefix}tool_frame" />
-        <axis xyz="0 0 0" />
-      </joint>
-    </xacro:if>
-
-    <!-- Include and load the gripper if defined -->
-    <xacro:unless value="${not gripper}">
-      <xacro:include filename="$(find kinova_gen3_base_config)/description/robotiq_2f_85_macro.xacro" />
-      <!-- last_arm_link is defined in "$(find kortex_description)/arms/${arm}/urdf/${arm}_macro.xacro" -->
-      <xacro:load_gripper
-        parent="${prefix}${last_arm_link}"
-        prefix="${prefix}"
-        use_fake_hardware="${use_fake_hardware}"
-        fake_sensor_commands="${fake_sensor_commands}"
-        sim_ignition="${sim_ignition}"
-        sim_isaac="${sim_isaac}"
-        isaac_joint_commands="${isaac_joint_commands}"
-        isaac_joint_states="${isaac_joint_states}"
-        com_port="${gripper_com_port}"
-        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
-        moveit_active="${moveit_active}"/>
-    </xacro:unless>
-
-  </xacro:macro>
-
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro
deleted file mode 100644
index fdb64cd89..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro
+++ /dev/null
@@ -1,157 +0,0 @@
-<?xml version="1.0"?>
-<robot name="gen3" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- Arguments for Kinova -->
-    <xacro:arg name="arm" default="gen3" />
-    <xacro:arg name="dof" default="7" />
-    <xacro:arg name="vision" default="false" />
-    <xacro:arg name="robot_ip" default="yyy.yyy.yyy.yyy" />
-    <xacro:arg name="gripper" default="" />
-    <xacro:arg name="gripper_joint_name" default="robotiq_85_left_knuckle_joint" />
-    <xacro:arg name="username" default="admin" />
-    <xacro:arg name="password" default="admin" />
-    <xacro:arg name="port" default="10000" />
-    <xacro:arg name="port_realtime" default="10001" />
-    <xacro:arg name="session_inactivity_timeout_ms" default="60000" />
-    <xacro:arg name="connection_inactivity_timeout_ms" default="2000" />
-    <xacro:arg name="use_internal_bus_gripper_comm" default="true" />
-    <xacro:arg name="prefix" default="" />
-    <xacro:arg name="use_fake_hardware" default="false" />
-    <xacro:arg name="fake_sensor_commands" default="false" />
-    <xacro:arg name="sim_gazebo" default="false" />
-    <xacro:arg name="sim_ignition" default="false" />
-    <xacro:arg name="sim_isaac" default="false" />
-    <xacro:arg name="use_external_cable" default="false" />
-    <xacro:arg name="gripper_max_velocity" default="100.0" />
-    <xacro:arg name="gripper_max_force" default="100.0" />
-    <xacro:arg name="wrist_realsense" default="true" />
-
-    <!-- Import macros for main hardware components -->
-    <xacro:include filename="$(find kinova_gen3_base_config)/description/kortex_robot.xacro" />
-    <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
-
-    <!-- Import environment macros -->
-    <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/cube.urdf.xacro"/>
-
-    <!-- World is centered under base_link of the robot, on the ground -->
-    <link name="world"/>
-
-    <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
-    <xacro:arg name="initial_positions_file" default="$(find kinova_gen3_base_config)/config/initial_positions.yaml"/>
-    <!-- convert to property to use substitution in function -->
-    <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
-
-    <!-- Load the robot -->
-    <xacro:load_robot
-      parent="world"
-      prefix="$(arg prefix)"
-      arm="$(arg arm)"
-      gripper="$(arg gripper)"
-      gripper_joint_name="$(arg gripper_joint_name)"
-      dof="$(arg dof)"
-      vision="$(arg vision)"
-      robot_ip="$(arg robot_ip)"
-      username="$(arg username)"
-      password="$(arg password)"
-      port="$(arg port)"
-      port_realtime="$(arg port_realtime)"
-      session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
-      connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
-      use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
-      use_fake_hardware="$(arg use_fake_hardware)"
-      fake_sensor_commands="$(arg fake_sensor_commands)"
-      sim_gazebo="$(arg sim_gazebo)"
-      sim_ignition="$(arg sim_ignition)"
-      sim_isaac="$(arg sim_isaac)"
-      use_external_cable="$(arg use_external_cable)"
-      gripper_max_velocity="$(arg gripper_max_velocity)"
-      gripper_max_force="$(arg gripper_max_force)"
-      initial_positions="${xacro.load_yaml(initial_positions_file)}" >
-      <origin xyz="0 0 0.0" rpy="0 0 0" />
-    </xacro:load_robot>
-
-    <!-- Environment -->
-    <xacro:cube link_name="table" connected_to="world" length="2.00" width="2.00" height="0.25" alpha="0.3">
-      <origin xyz="0 0 -0.145" rpy="0 0 0"/>
-    </xacro:cube>
-
-    <!-- wrist realsense -->
-    <xacro:if value="$(arg wrist_realsense)">
-      <link name="wrist_camera_link"/>
-
-      <joint name="wrist_camera_joint" type="fixed">
-        <parent link="$(arg prefix)bracelet_link"/>
-        <child link = "wrist_camera_link"/>
-        <origin xyz="0 -0.06841 -0.05044" rpy="0 ${3.14 / 180.0 * 100} -1.5708"/>
-      </joint>
-
-      <xacro:realsense_d415 parent="wrist_camera_link" name="wrist_mounted_camera">
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-      </xacro:realsense_d415>
-
-      <!-- Bracket -->
-      <link name="wrist_camera_link_visual">
-        <inertial>
-          <origin xyz="0.000281 0.011402 -0.029798" rpy="0 0 0" />
-          <mass value="0.5" />
-          <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609" />
-        </inertial>
-        <visual>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <mesh filename="package://picknik_accessories/descriptions/brackets/kinova_realsense_camera_adapter/realsense_bracket_for_kinova.dae" />
-          </geometry>
-        </visual>
-        <collision>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <mesh filename="package://picknik_accessories/descriptions/brackets/kinova_realsense_camera_adapter/realsense_bracket_for_kinova.dae" />
-          </geometry>
-        </collision>
-      </link>
-      <joint name="$(arg prefix)wrist_camera_link_visual_joint" type="fixed">
-        <origin xyz="0 0 0.0" rpy="0 0 0" />
-        <parent link="$(arg prefix)bracelet_link" />
-        <child link="$(arg prefix)wrist_camera_link_visual" />
-      </joint>
-    </xacro:if>
-
-    <!-- Visual aids for grasping -->
-    <link name="finger_tip_closed_point">
-      <visual>
-        <geometry>
-          <sphere radius="0.007"/>
-        </geometry>
-        <material name="">
-              <color rgba="0 1.0 0 0.7"/>
-        </material>
-      </visual>
-    </link>
-
-    <joint name="finger_tip_closed_point_joint" type="fixed">
-      <parent link="robotiq_85_base_link"/>
-      <child link = "finger_tip_closed_point"/>
-      <origin xyz="0 0 0.16" rpy="0 0 0"/>
-    </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 xyz="0 0 0.15" rpy="0 0 0"/>
-    </joint>
-
-    <!-- Camera External -->
-    <link name="external_camera_link" />
-    <joint name="external_camera_joint" type="fixed">
-      <parent link="world" />
-      <child link="external_camera_link" />
-      <origin xyz="-0.3 0.3 1.0" rpy="0.0 0.4 0" />
-    </joint>
-
-    <xacro:realsense_d415 parent="external_camera_link" name="scene_camera">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:realsense_d415>
-
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_gripper.urdf b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_gripper.urdf
deleted file mode 100644
index e2ec2ab94..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_gripper.urdf
+++ /dev/null
@@ -1,474 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /root/ws_studio/src/moveit_studio/moveit_studio_robot_config/picknik_ur_base_config/description/gripper_and_camera.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="ur5e_gripper_and_camera">
-  <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>
-  <!-- Create base link -->
-  <!-- We use a link name called grasp_link to perform quick tasks such as inspect surface -->
-  <link name="grasp_link"/>
-  <link name="tool0"/>
-  <joint name="flange-tool0" type="fixed">
-    <parent link="grasp_link"/>
-    <child link="tool0"/>
-    <origin rpy="0 0 -3.141592653589793" xyz="0.0 -0.016124 -0.18430"/>
-  </joint>
-  <link name="tool_changer_tool0"/>
-  <joint name="tool_side_joint" type="fixed">
-    <parent link="tool0"/>
-    <child link="tool_changer_tool0"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0331"/>
-  </joint>
-  <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>
-        <box size="0.02005 0.099 0.023" />
-      </geometry>
-      <material name="rs_aluminum">
-        <color rgba="0.5 0.5 0.5 1.0" />
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.020395 -0.02 0"/>
-      <geometry>
-        <box size="0.001 0.099 0.023" />
-      </geometry>
-      <material name="black">
-        <color rgba="0.0 0.0 0.0 1.0" />
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.020395 -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_link">
-    <sensor name="d415_camera" type="camera">
-      <update_rate>6</update_rate>
-      <camera name="d415_camera_rgb">
-        <horizontal_fov>1.13446</horizontal_fov>
-        <image>
-          <width>640</width>
-          <height>480</height>
-          <format>R8G8B8</format>
-        </image>
-        <clip>
-          <near>0.01</near>
-          <far>300</far>
-        </clip>
-        <distortion>
-          <k1>0.0</k1>
-          <k2>0.0</k2>
-          <k3>0.0</k3>
-          <p1>0.0</p1>
-          <p2>0.0</p2>
-        </distortion>
-      </camera>
-      <plugin filename="libgazebo_ros_camera.so" name="d415_camera_controller">
-        <ros>
-          <remapping>d415_camera/image_raw:=wrist_mounted_camera/color/image_raw</remapping>
-          <remapping>d415_camera/camera_info:=wrist_mounted_camera/color/camera_info</remapping>
-        </ros>
-        <camera_name>d415_camera</camera_name>
-        <frame_name>wrist_mounted_camera_depth_optical_frame</frame_name>
-        <hack_baseline>0.0</hack_baseline>
-      </plugin>
-    </sensor>
-    <sensor name="d415_depth" type="depth">
-      <update_rate>6</update_rate>
-      <camera name="d415_camera_depth">
-        <horizontal_fov>1.3997540600994522</horizontal_fov>
-        <image>
-          <format>B8G8R8</format>
-          <width>640</width>
-          <height>480</height>
-        </image>
-        <clip>
-          <near>0.05</near>
-          <far>8.0</far>
-        </clip>
-        <distortion>
-          <k1>0.0</k1>
-          <k2>0.0</k2>
-          <k3>0.0</k3>
-          <p1>0.0</p1>
-          <p2>0.0</p2>
-        </distortion>
-      </camera>
-      <plugin filename="libgazebo_ros_camera.so" name="d415_depth_controller">
-        <ros>
-          <remapping>d415_depth/depth/image_raw:=wrist_mounted_camera/depth/image_rect_raw</remapping>
-          <remapping>d415_depth/depth/camera_info:=wrist_mounted_camera/depth/camera_info</remapping>
-          <remapping>d415_depth/points:=wrist_mounted_camera/depth/color/points</remapping>
-          <remapping>d415_depth/camera_info:=wrist_mounted_camera/unused1</remapping>
-          <remapping>d415_depth/image_raw:=wrist_mounted_camera/unused2</remapping>
-        </ros>
-        <camera_name>d415_depth</camera_name>
-        <frame_name>wrist_mounted_camera_depth_optical_frame</frame_name>
-        <hack_baseline>0.0</hack_baseline>
-        <min_depth>0.15</min_depth>
-        <max_depth>4.0</max_depth>
-      </plugin>
-    </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"/>
-  <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>
-    </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>
-    </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="-0.8" upper="0.0" 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"/>
-    <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"/>
-    <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"/>
-  </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"/>
-  </joint>
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
deleted file mode 100644
index 632eab915..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-<robot name="robotiq_2f_85_model" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="load_gripper" params="
-    parent
-    prefix
-    use_fake_hardware:=false
-    fake_sensor_commands:=false
-    sim_ignition:=false
-    sim_isaac:=false
-    use_internal_bus_gripper_comm:=false
-    com_port:=/dev/ttyUSB0
-    moveit_active:=false">
-    <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
-
-    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
-    <xacro:property name="include_ros2_control" value="false"/>
-    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
-      <xacro:property name="include_ros2_control" value="true"/>
-    </xacro:if>
-
-    <xacro:robotiq_gripper
-        name="RobotiqGripperHardwareInterface"
-        prefix="${prefix}"
-        parent="${parent}"
-        include_ros2_control="${include_ros2_control}"
-        com_port="${com_port}"
-        use_fake_hardware="${use_fake_hardware}"
-        mock_sensor_commands="${fake_sensor_commands}"
-        sim_ignition="${sim_ignition}"
-        sim_isaac="${sim_isaac}"
-        isaac_joint_commands="${isaac_joint_commands}"
-        isaac_joint_states="${isaac_joint_states}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:robotiq_gripper>
-  </xacro:macro>
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/simulation_scene.urdf.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/simulation_scene.urdf.xacro
deleted file mode 100644
index 90f700767..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/simulation_scene.urdf.xacro
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<robot name="office_scene" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:include filename="$(find picknik_accessories)/descriptions/furniture/cabinet/cabinet.urdf.xacro"/>
-  <xacro:include filename="$(find picknik_accessories)/descriptions/furniture/switch_panel/switch_panel.urdf.xacro"/>
-
-  <!-- Environment -->
-  <link name="world"/>
-
-  <xacro:picknik_switch_panel parent="world" >
-    <origin xyz="0.8 0.0 0" rpy="0 0 2.7"/>
-  </xacro:picknik_switch_panel>
-
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/agent_bridge.launch.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/agent_bridge.launch.xml
deleted file mode 100644
index b2aa75434..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/robot_drivers_to_persist.launch.py b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/robot_drivers_to_persist.launch.py
deleted file mode 100644
index 622872531..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/robot_drivers_to_persist.launch.py
+++ /dev/null
@@ -1,42 +0,0 @@
-# Copyright 2022 PickNik Inc.
-# All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
-
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-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()
-    controller_config = system_config_parser.get_ros2_control_config()
-
-    protective_stop_manager_node = Node(
-        package="moveit_studio_kinova_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()
-                ),
-            }
-        ],
-    )
-
-    nodes_to_launch = [
-        protective_stop_manager_node,
-    ]
-
-    return LaunchDescription(nodes_to_launch)
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
deleted file mode 100644
index e100e495c..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/launch/sim/robot_drivers_to_persist_sim.launch.py
+++ /dev/null
@@ -1,22 +0,0 @@
-# Copyright 2022 PickNik Inc.
-# All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
-
-
-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_kinova_pstop_manager",
-        executable="mock_kinova_client_node",
-        name="fault_controller",
-        output="both",
-    )
-    # TODO(livanov93): run kinova's protective_stop_manager_node
-
-    return LaunchDescription([mock_dashboard_client])
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/clear_snapshot.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/clear_snapshot.xml
deleted file mode 100644
index 5ac3f0271..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/clear_snapshot.xml
+++ /dev/null
@@ -1,17 +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>
-  <TreeNodesModel>
-    <SubTree ID="Clear Snapshot">
-      <MetadataFields>
-        <Metadata subcategory="Perception - 3D Point Cloud" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/close_gripper.xml
deleted file mode 100644
index f888ab95d..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/close_gripper.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" ?>
-<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="0.77"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Close Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
deleted file mode 100644
index 70fa45ba6..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/get_imarker_pose_from_mesh_visualization.xml
+++ /dev/null
@@ -1,34 +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"
-  >
-    <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="false" />
-      <MetadataFields>
-        <Metadata subcategory="User Input" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
deleted file mode 100644
index 10a360d89..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
+++ /dev/null
@@ -1,106 +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="Moves the robot tip on a rectangular path."
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Control ID="Sequence">
-        <Action
-          ID="SwitchController"
-          activate_controllers="joint_trajectory_admittance_controller"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.3;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.5;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.5;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.3;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-      </Control>
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <Action
-            ID="PlanCartesianPath"
-            path="{pose_stamped_vector}"
-            planning_group_name="manipulator"
-            tip_links="end_effector_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="0.5"
-            acceleration_scale_factor="0.5"
-            trajectory_sampling_rate="100"
-            joint_trajectory_msg="{joint_trajectory_msg}"
-            debug_solution="{debug_solution}"
-          />
-          <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"
-            debug_solution="{debug_solution}"
-          />
-          <Action ID="ExecuteTrajectory" />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move Along Path">
-      <MetadataFields>
-        <Metadata subcategory="Application - Basic Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml
deleted file mode 100644
index 6afbd9d82..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml
+++ /dev/null
@@ -1,47 +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"
-  >
-    <Control ID="Sequence">
-      <Action ID="SwitchController" activate_controllers="{controller_names}" />
-      <Action
-        ID="PlanToJointGoal"
-        joint_goal="{target_joint_state}"
-        keep_orientation_tolerance="{keep_orientation_tolerance}"
-        link_padding="{link_padding}"
-        keep_orientation="{keep_orientation}"
-        acceleration_scale_factor="{acceleration_scale_factor}"
-        velocity_scale_factor="{velocity_scale_factor}"
-        planning_group_name="{joint_group_name}"
-      />
-      <Action
-        ID="ExecuteTrajectory"
-        controller_action_name="{controller_action_server}"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move to Joint State">
-      <input_port name="target_joint_state" default="{target_joint_state}" />
-      <input_port name="joint_group_name" default="manipulator" />
-      <input_port name="link_padding" default="0.01" />
-      <input_port name="keep_orientation_tolerance" default="0.05" />
-      <input_port name="keep_orientation" default="false" />
-      <input_port name="velocity_scale_factor" default="1.0" />
-      <input_port name="acceleration_scale_factor" default="1.0" />
-      <input_port
-        name="controller_names"
-        default="joint_trajectory_admittance_controller"
-      />
-      <input_port
-        name="controller_action_server"
-        default="/joint_trajectory_admittance_controller/follow_joint_trajectory"
-      />
-      <MetadataFields>
-        <Metadata subcategory="Motion - Execute" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/open_gripper.xml
deleted file mode 100644
index 48757ce3c..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/open_gripper.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" ?>
-<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"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Open Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/reactivate_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/reactivate_gripper.xml
deleted file mode 100644
index 88383610b..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_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>
-    <SubTree ID="Reactivate Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml
deleted file mode 100644
index 241b6891f..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/package.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>kinova_gen3_base_config</name>
-  <version>6.5.0</version>
-
-  <description>Base config package for a Kinova Gen3 system</description>
-
-  <maintainer email="david.yackzan@picknik.ai">David Yackzan</maintainer>
-  <maintainer email="paul.gesel@picknik.ai">Paul Gesel</maintainer>
-
-  <license>BSD-3</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>moveit_studio_kinova_pstop_manager</depend>
-  <depend>kortex_description</depend>
-
-  <exec_depend>moveit_ros_perception</exec_depend>
-  <exec_depend>moveit_studio_agent</exec_depend>
-  <exec_depend>moveit_pro_behavior</exec_depend>
-  <exec_depend>picknik_accessories</exec_depend>
-  <exec_depend>realsense2_description</exec_depend>
-  <exec_depend>tf2_ros</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>
-  <test_depend>ros2bag</test_depend>
-  <test_depend>rosbag2_storage_default_plugins</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>moveit_studio_utils_py</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/test/test_waypoint_yaml_validation.py b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/test/test_waypoint_yaml_validation.py
deleted file mode 100644
index 9a8adbdff..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/test/test_waypoint_yaml_validation.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2023 PickNik Inc.
-# All rights reserved.
-#
-# Unauthorized copying of this code base via any medium is strictly prohibited.
-# Proprietary and confidential.
-
-import unittest
-import yaml
-import os
-from moveit_studio_utils_py.jsonschema_wrapper import validate_waypoints_yaml
-
-
-class TestYamlValidation(unittest.TestCase):
-    def test_validate_yaml_with_schema(self):
-        # Verify if ../waypoints/waypoints.yaml exists
-        yaml_file_path = os.path.join(
-            os.path.dirname(__file__), "../waypoints/waypoints.yaml"
-        )
-        self.assertTrue(os.path.exists(yaml_file_path))
-
-        # Convert Waypoints Yaml to JSON
-        yaml_file = open(yaml_file_path, "r")
-        waypoints_yaml = yaml.full_load(yaml_file)
-
-        self.assertTrue(validate_waypoints_yaml(waypoints_yaml))
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/waypoints/waypoints.yaml
deleted file mode 100644
index 699f34ec3..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/waypoints/waypoints.yaml
+++ /dev/null
@@ -1,70 +0,0 @@
-- name: Home
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [7.2854474427322627e-05, 0.0060998872530424308, -3.1250605484909082, -2.5051932931762071, -2.7164243118882329e-05, 0.95966324117024648, 1.5699864595074029]
-    velocity: []
-    effort: []
-- name: Place
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [0.52290948292915906, 0.78910115573514905, -3.0436924550734994, -1.7162278254985983, -0.21909293655863848, -0.56602186649882569, 2.2964808259144789]
-    velocity: []
-    effort: []
-- name: Table
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [-2.4501082028116627e-05, 0.26205644942336931, -3.1415215471886881, -2.269061185647133, -4.1545313004931472e-05, 0.95981743819736209, 1.5707570451688178]
-    velocity: []
-    effort: []
-- name: Retract
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [8.15790740323921e-05, -0.38856425779026699, -3.1299567701550188, -2.5801602125975021, -3.0892668645421402e-05, -0.73089870221784903, 1.5699875247718389]
-    velocity: []
-    effort: []
-- name: Pick
-  favorite: true
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [-0.94002981840293653, 0.62283315124169514, -2.9856155696015962, -2.4398531684633311, -0.61596519168551644, -0.029422603723195273, 1.3260459636622164]
-    velocity: []
-    effort: []
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/CMakeLists.txt b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/CMakeLists.txt
deleted file mode 100644
index 7d60b7ecb..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-cmake_minimum_required(VERSION 3.16.3)
-project(kinova_gen3_site_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/moveit_pro_kinova_configs/kinova_gen3_site_config/MOVEIT_PRO_IGNORE b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/MOVEIT_PRO_IGNORE
deleted file mode 100644
index e69de29bb..000000000
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml
deleted file mode 100644
index bfb525f8a..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml
+++ /dev/null
@@ -1,86 +0,0 @@
-#
-#  This contains information for a unique instance of a robot.
-#
-
-# Name of the package to specialize
-based_on_package: "kinova_gen3_base_config"
-
-hardware:
-  simulated: False
-  robot_description:
-    urdf:
-      package: "kinova_gen3_site_config"
-      path: "description/kinova_gen3.xacro"
-    srdf:
-      package: "kinova_gen3_site_config"
-      path: "config/moveit/kinova_gen3.srdf"
-    urdf_params:
-      - vision: "false"
-      - robot_ip: "192.168.1.10"
-      # Either robotiq_2f_85 or robotiq_2f_140
-      - robotiq_gripper: "robotiq_2f_85"
-      # Either robotiq_85_left_knuckle_joint or left_inner_knuckle_joint
-      - gripper_joint_name: "robotiq_85_left_knuckle_joint"
-      - use_fake_hardware: "false"
-      - fake_sensor_commands: "false"
-      # When set to true, will route gripper comms through kinova and gripper_com_port is unused.
-      - use_internal_bus_gripper_comm: "true"
-      - gripper_com_port: "/dev/ttyUSB0"  # Must be 1st serial device plugged in to populate as ttyUSB0
-
-# This Configures moveit params that are in moveit_config.py
-moveit_params:
-  joint_group_name: "manipulator"
-
-  kinematics:
-    package: "kinova_gen3_base_config"
-    path: "config/moveit/pose_ik_distance.yaml"
-  sensors_3d:
-    package: "kinova_gen3_base_config"
-    path: "config/moveit/sensors_3d.yaml"
-  joint_limits:
-    package: "kinova_gen3_site_config"
-    path: "config/moveit/joint_limits.yaml"
-  pose_jog:
-    package: "kinova_gen3_site_config"
-    path: "config/moveit/pose_jog.yaml"
-  joint_jog:
-    package: "kinova_gen3_site_config"
-    path: "config/moveit/joint_jog.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
-
-objectives:
-  objective_library_paths:
-    hardware_objectives:
-      package_name: "kinova_gen3_site_config"
-      relative_path: "objectives"
-  waypoints_file:
-    package_name: "kinova_gen3_site_config"
-    relative_path: "waypoints/waypoints.yaml"
-
-# This configures what controllers gets run at startup
-ros2_control:
-  config:
-    package: "kinova_gen3_site_config"
-    path: "config/control/picknik_kinova_gen3.ros2_control.yaml"
-  # Load and start these controllers so they can be used immediately.
-  controllers_active_at_startup:
-    - "robotiq_gripper_controller"
-    - "joint_state_broadcaster"
-    - "fault_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"
-    - "joint_velocity_controller"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml
deleted file mode 100644
index 048570da2..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml
+++ /dev/null
@@ -1,135 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000  # Hz
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    joint_trajectory_admittance_controller:
-      type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
-    # The gripper controller just relays position commands
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-    velocity_force_controller:
-      type: velocity_force_controller/VelocityForceController
-    joint_velocity_controller:
-      type: joint_velocity_controller/JointVelocityController
-    fault_controller:
-      type: picknik_reset_fault_controller/PicknikResetFaultController
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - joint_1
-      - joint_2
-      - joint_3
-      - joint_4
-      - joint_5
-      - joint_6
-      - joint_7
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 10.0
-      joint_1:
-        goal: 0.05
-      joint_2:
-        goal: 0.05
-      joint_3:
-        goal: 0.05
-      joint_4:
-        goal: 0.05
-      joint_5:
-        goal: 0.05
-      joint_6:
-        goal: 0.05
-      joint_7:
-        goal: 0.05
-
-joint_trajectory_admittance_controller:
-  ros__parameters:
-    planning_group_name: manipulator
-    sensor_frame: grasp_link
-    ee_frame: grasp_link
-    stop_accelerations: [3.0, 3.0, 3.0, 3.0, 5.0, 5.0, 5.0]
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
-
-velocity_force_controller:
-  ros__parameters:
-    planning_group_name: manipulator
-    sensor_frame: grasp_link
-    ee_frame: grasp_link
-    jacobian_damping: 0.005
-    state_publish_rate: 10
-    max_joint_velocity:
-      - 0.7
-      - 0.7
-      - 0.7
-      - 0.7
-      - 0.6
-      - 0.6
-      - 0.6
-    max_joint_acceleration:
-      - 2.6
-      - 2.6
-      - 2.6
-      - 2.6
-      - 5.0
-      - 5.0
-      - 5.0
-    max_cartesian_velocity:
-      - 0.250
-      - 0.250
-      - 0.250
-      - 1.5707
-      - 1.5707
-      - 1.5707
-    max_cartesian_acceleration:
-      - 0.2
-      - 0.2
-      - 0.2
-      - 1.0
-      - 1.0
-      - 1.0
-
-joint_velocity_controller:
-  ros__parameters:
-    # Joint group to control.
-    planning_group_name: manipulator
-    # Maximum joint-space velocities.
-    max_joint_velocity:
-      - 0.7
-      - 0.7
-      - 0.7
-      - 0.7
-      - 0.6
-      - 0.6
-      - 0.6
-    # Maximum joint-space accelerations.
-    max_joint_acceleration:
-      - 2.6
-      - 2.6
-      - 2.6
-      - 2.6
-      - 5.0
-      - 5.0
-      - 5.0
-    command_interfaces: ["position"]
-    # Padding (in radians) to add to joint position limits as a safety margin.
-    joint_limit_position_tolerance: 0.02
-    # Timeout in seconds after which the controller will stop motion if no new commands are received.
-    command_timeout: 0.2
-    # Rate in Hz at which the controller will publish the state.
-    state_publish_rate: 20
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/initial_positions.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/initial_positions.yaml
deleted file mode 100644
index 3358344f5..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/initial_positions.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-joint_1: 0.0
-joint_2: 0.0
-joint_3: -3.14
-joint_4: -2.51
-joint_5: 0.0
-joint_6: 0.96
-joint_7: 1.57
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/hard_joint_limits.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/hard_joint_limits.yaml
deleted file mode 100644
index 137115272..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/hard_joint_limits.yaml
+++ /dev/null
@@ -1,44 +0,0 @@
-# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
-# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-joint_limits:
-  joint_1:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  joint_2:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  joint_3:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  joint_4:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  joint_5:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  joint_6:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  joint_7:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 2.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_limits.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_limits.yaml
deleted file mode 100644
index d11de8951..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_limits.yaml
+++ /dev/null
@@ -1,44 +0,0 @@
-# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
-# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-joint_limits:
-  joint_1:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_2:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_3:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_4:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
-  joint_5:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 10.0
-  joint_6:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 10.0
-  joint_7:
-    has_velocity_limits: true
-    max_velocity: 1.0
-    has_acceleration_limits: true
-    max_acceleration: 10.0
-  robotiq_85_left_knuckle_joint:
-    has_velocity_limits: true
-    max_velocity: 2.0
-    has_acceleration_limits: true
-    max_acceleration: 1.0
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf
deleted file mode 100644
index 3491f14a1..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf
+++ /dev/null
@@ -1,163 +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="gen3">
-    <!--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="grasp_link" 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" link2="forearm_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="half_arm_1_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="half_arm_2_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="mount_link" reason="Adjacent"/>
-    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="base_link" link2="table" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="forearm_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="half_arm_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="half_arm_2_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="spherical_wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="half_arm_2_link" reason="Adjacent"/>
-    <disable_collisions link1="half_arm_1_link" link2="mount_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="half_arm_1_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="table" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="mount_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="mount_link" link2="table" 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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Adjacent"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Default"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="spherical_wrist_2_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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="spherical_wrist_2_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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Adjacent"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Default"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="spherical_wrist_2_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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="table" reason="Never"/>
-    <disable_collisions link1="spherical_wrist_1_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro
deleted file mode 100644
index 970ccefd3..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro
+++ /dev/null
@@ -1,133 +0,0 @@
-<?xml version="1.0"?>
-<robot name="gen3" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- Arguments for Kinova -->
-  <xacro:arg name="vision" default="false" />
-  <xacro:arg name="robot_ip" default="yyy.yyy.yyy.yyy" />
-  <xacro:arg name="robotiq_gripper" default="robotiq_2f_85" />
-  <xacro:arg name="username" default="admin" />
-  <xacro:arg name="password" default="admin" />
-  <xacro:arg name="port" default="10000" />
-  <xacro:arg name="port_realtime" default="10001" />
-  <xacro:arg name="session_inactivity_timeout_ms" default="60000" />
-  <xacro:arg name="connection_inactivity_timeout_ms" default="2000" />
-  <xacro:arg name="use_internal_bus_gripper_comm" default="true" />
-  <xacro:arg name="prefix" default="" />
-  <xacro:arg name="use_fake_hardware" default="false" />
-  <xacro:arg name="fake_sensor_commands" default="false" />
-  <xacro:arg name="use_external_cable" default="false" />
-  <xacro:arg name="gripper_joint_name" default="robotiq_85_left_knuckle_joint" />
-  <xacro:arg name="gripper_max_velocity" default="100.0" />
-  <xacro:arg name="gripper_max_force" default="100.0" />
-  <xacro:arg name="gripper_com_port" default="/dev/ttyUSB0" />
-
-  <!-- Import environment macros -->
-  <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/cube.urdf.xacro"/>
-
-  <!-- World is centered under base_link of the robot, on the ground -->
-  <link name="world"/>
-
-  <!-- Include and load arm and gripper macro files -->
-  <xacro:include filename="$(find kortex_description)/arms/gen3/7dof/urdf/gen3_macro.xacro" />
-  <xacro:include filename="$(find kortex_description)/grippers/$(arg robotiq_gripper)/urdf/$(arg robotiq_gripper)_macro.xacro" />
-
-  <!-- Initial positions for simulations (Mock Hardware and Gazebo) -->
-  <xacro:arg name="initial_positions_file" default="$(find kinova_gen3_site_config)/config/initial_positions.yaml"/>
-  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
-
-  <!-- Load the arm -->
-  <xacro:load_arm
-    parent="world"
-    dof="7"
-    vision="$(arg vision)"
-    robot_ip="$(arg robot_ip)"
-    username="$(arg username)"
-    password="$(arg password)"
-    port="$(arg port)"
-    port_realtime="$(arg port_realtime)"
-    session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
-    connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
-    prefix="$(arg prefix)"
-    use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
-    use_fake_hardware="$(arg use_fake_hardware)"
-    fake_sensor_commands="$(arg fake_sensor_commands)"
-    gripper="$(arg robotiq_gripper)"
-    gripper_joint_name="$(arg gripper_joint_name)"
-    gripper_max_velocity="$(arg gripper_max_velocity)"
-    gripper_max_force="$(arg gripper_max_force)"
-    use_external_cable="$(arg use_external_cable)"
-    initial_positions="${xacro.load_yaml(initial_positions_file)}">
-    <origin xyz="0 0 0.02" rpy="0 0 0" />
-  </xacro:load_arm>
-
-  <!-- change the parent when adding in links in between the gripper and the arm (like a force torque sensor) -->
-  <xacro:property name="gripper_parent_link" value="end_effector_link"/>
-  <xacro:load_gripper
-    parent="${gripper_parent_link}"
-    prefix="$(arg prefix)"
-    use_fake_hardware="$(arg use_fake_hardware)"
-    fake_sensor_commands="$(arg fake_sensor_commands)"
-    use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
-    com_port="$(arg gripper_com_port)">
-  </xacro:load_gripper>
-
-  <!-- Environment -->
-  <xacro:cube link_name="table" connected_to="world" length="2.00" width="2.00" height="0.25" alpha="0.3">
-    <origin xyz="0.8 0.0 ${-0.25/2}" rpy="0 0 0"/>
-  </xacro:cube>
-  <xacro:cube link_name="wall" connected_to="world" length="0.25" width="2.00" height="3.0" alpha="0.3">
-    <origin xyz="-0.4 0.0 0.0" rpy="0 0 0"/>
-  </xacro:cube>
-
-  <!-- Robot mount -->
-  <link name="mount_link">
-    <visual> <!-- visual reach -->
-      <origin xyz="0 0 0.01" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.2" length="0.02"/>
-      </geometry>
-      <material name="Black">
-        <color rgba="0.0 0.0 0.0 1.0"/>
-      </material>
-    </visual>
-    <collision><!-- table collision -->
-      <origin xyz="0 0 0.01" rpy="0 0 0"/>
-      <geometry>
-        <cylinder radius="0.2" length="0.02"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="mount_joint" type="fixed">
-    <parent link="world"/>
-    <child link = "mount_link"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </joint>
-
-  <!-- Visual aids for grasping -->
-  <link name="finger_tip_closed_point">
-    <visual>
-      <geometry>
-        <sphere radius="0.007"/>
-      </geometry>
-      <material name="">
-            <color rgba="0 1.0 0 0.7"/>
-      </material>
-    </visual>
-  </link>
-
-  <joint name="finger_tip_closed_point_joint" type="fixed">
-    <parent link="robotiq_85_base_link"/>
-    <child link = "finger_tip_closed_point"/>
-    <origin xyz="0 0 0.16" rpy="0 0 0"/>
-  </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 xyz="0 0 0.15" rpy="0 0 0"/>
-  </joint>
-
-
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/agent_bridge.launch.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/agent_bridge.launch.xml
deleted file mode 100644
index 7d6c7dd8d..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-  <!-- Uncomment the next line for kinovas with an embedded realsense wrist camera -->
-  <!-- <include file="$(find-pkg-share kinova_gen3_site_config)/launch/cameras.launch.xml" /> -->
-</launch>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/bringup.launch.py b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/bringup.launch.py
deleted file mode 100644
index e69de29bb..000000000
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/cameras.launch.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/cameras.launch.xml
deleted file mode 100644
index 425fcc294..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/launch/cameras.launch.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<launch>
-  <include
-    file="$(find-pkg-share kinova_vision)/launch/kinova_vision.launch.py"
-  >
-    <arg name="camera" value="wrist_camera" />
-    <arg name="depth_registration" value="true" />
-    <arg name="max_color_pub_rate" value="6.0" />
-    <arg name="max_depth_pub_rate" value="6.0" />
-  </include>
-</launch>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/close_gripper.xml
deleted file mode 100644
index 2d04d3395..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/close_gripper.xml
+++ /dev/null
@@ -1,25 +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"
-    _favorite="true"
-  >
-    <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>
-  <TreeNodesModel>
-    <SubTree ID="Close Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-        <Metadata runnable="true" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/open_gripper.xml
deleted file mode 100644
index 14921bf6d..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/objectives/open_gripper.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<root BTCPP_format="4" main_tree_to_execute="Open Gripper">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Open Gripper"
-    _description="Open the gripper"
-    _favorite="false"
-  >
-    <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>
-  <TreeNodesModel>
-    <SubTree ID="Open Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/package.xml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/package.xml
deleted file mode 100644
index 3aec93c20..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/package.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>kinova_gen3_site_config</name>
-  <version>5.1.0</version>
-
-  <description>
-    Robot config package for the Kinova Gen3 Dev-003 Robot in the Boulder
-    office.
-  </description>
-
-  <maintainer email="david.yackzan@picknik.ai">David Yackzan</maintainer>
-  <maintainer email="paul.gesel@picknik.ai">Paul Gesel</maintainer>
-
-  <license>Proprietary</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>kinova_gen3_base_config</depend>
-
-  <exec_depend>kinova_vision</exec_depend>
-  <exec_depend>kortex_description</exec_depend>
-  <exec_depend>kortex_driver</exec_depend>
-  <exec_depend>joint_trajectory_admittance_controller</exec_depend>
-  <exec_depend>picknik_accessories</exec_depend>
-  <exec_depend>realsense2_camera</exec_depend>
-  <exec_depend>robotiq_description</exec_depend>
-  <exec_depend>robotiq_driver</exec_depend>
-  <exec_depend>picknik_reset_fault_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>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/waypoints/waypoints.yaml
deleted file mode 100644
index f2927aa3a..000000000
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/waypoints/waypoints.yaml
+++ /dev/null
@@ -1,65 +0,0 @@
-- name: Home
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [7.2854474427322627e-05, 0.0060998872530424308, -3.1250605484909082, -2.5051932931762071, -2.7164243118882329e-05, 0.95966324117024648, 1.5699864595074029]
-    velocity: []
-    effort: []
-- name: Place
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [0.52290948292915906, 0.78910115573514905, -3.0436924550734994, -1.7162278254985983, -0.21909293655863848, -0.56602186649882569, 2.2964808259144789]
-    velocity: []
-    effort: []
-- name: Table
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [-2.4501082028116627e-05, 0.26205644942336931, -3.1415215471886881, -2.269061185647133, -4.1545313004931472e-05, 0.95981743819736209, 1.5707570451688178]
-    velocity: []
-    effort: []
-- name: Retract
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [8.15790740323921e-05, -0.38856425779026699, -3.1299567701550188, -2.5801602125975021, -3.0892668645421402e-05, -0.73089870221784903, 1.5699875247718389]
-    velocity: []
-    effort: []
-- name: Pick
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [-0.94002981840293653, 0.62283315124169514, -2.9856155696015962, -2.4398531684633311, -0.61596519168551644, -0.029422603723195273, 1.3260459636622164]
-    velocity: []
-    effort: []
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/CMakeLists.txt b/src/moveit_pro_kinova_configs/kinova_sim/CMakeLists.txt
deleted file mode 100644
index 1a86011df..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(kinova_sim)
-
-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/moveit_pro_kinova_configs/kinova_sim/README.md b/src/moveit_pro_kinova_configs/kinova_sim/README.md
deleted file mode 100644
index e3bddf9df..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# kinova_sim
-
-A MoveIt Pro configuration to simulate a Kinova Gen3 robot using mock hardware with MuJoCo.
-
-For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/initial_positions.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/initial_positions.yaml
deleted file mode 100644
index 3358344f5..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/initial_positions.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-joint_1: 0.0
-joint_2: 0.0
-joint_3: -3.14
-joint_4: -2.51
-joint_5: 0.0
-joint_6: 0.96
-joint_7: 1.57
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_jog.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_jog.yaml
deleted file mode 100644
index 6d80c7e9c..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_jog.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-# Planning groups to use in JointJog, and their corresponding JVC controllers.
-# The number of elements in `planning_groups` and `controllers` must match.
-planning_groups: ['manipulator']
-controllers: ['joint_velocity_controller']
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/picknik_kinova_gen3_base.srdf b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/picknik_kinova_gen3_base.srdf
deleted file mode 100644
index f442c4ac4..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/picknik_kinova_gen3_base.srdf
+++ /dev/null
@@ -1,185 +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="gen3">
-    <!--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="grasp_link"/>
-        <joint name="robotiq_85_base_joint"/>
-        <joint name="robotiq_85_left_inner_knuckle_joint"/>
-        <joint name="robotiq_85_left_knuckle_joint"/>
-        <joint name="robotiq_85_left_finger_joint"/>
-        <joint name="robotiq_85_left_finger_tip_joint"/>
-        <joint name="robotiq_85_right_inner_knuckle_joint"/>
-        <joint name="robotiq_85_right_knuckle_joint"/>
-        <joint name="robotiq_85_right_finger_joint"/>
-        <joint name="robotiq_85_right_finger_tip_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="0.7929" />
-        <joint name="robotiq_85_right_knuckle_joint" value="0.7929" />
-    </group_state>
-    <group_state name="close" 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="home" group="manipulator">
-        <joint name="joint_1" value="0" />
-        <joint name="joint_2" value="0.26" />
-        <joint name="joint_3" value="3.14" />
-        <joint name="joint_4" value="-2.27" />
-        <joint name="joint_5" value="0" />
-        <joint name="joint_6" value="0.96" />
-        <joint name="joint_7" value="1.57" />
-    </group_state>
-    <group_state name="retract" group="manipulator">
-        <joint name="joint_1" value="0" />
-        <joint name="joint_2" value="-0.35" />
-        <joint name="joint_3" value="3.14" />
-        <joint name="joint_4" value="-2.54" />
-        <joint name="joint_5" value="0" />
-        <joint name="joint_6" value="-0.87" />
-        <joint name="joint_7" value="1.57" />
-    </group_state>
-    <group_state name="vertical" group="manipulator">
-        <joint name="joint_1" value="0" />
-        <joint name="joint_2" value="0" />
-        <joint name="joint_3" value="0" />
-        <joint name="joint_4" value="0" />
-        <joint name="joint_5" value="0" />
-        <joint name="joint_6" value="0" />
-        <joint name="joint_7" value="0" />
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="gripper" parent_link="end_effector_link" group="gripper"/>
-    <!--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" link2="forearm_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="half_arm_1_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="half_arm_2_link" reason="Never"/>
-    <disable_collisions link1="base_link" link2="scene_camera_link" reason="Adjacent"/>
-    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="base_link" link2="table" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="forearm_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="half_arm_2_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_base_link" reason="Adjacent"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="bracelet_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="half_arm_1_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="half_arm_2_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="forearm_link" link2="spherical_wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="half_arm_2_link" reason="Adjacent"/>
-    <disable_collisions link1="half_arm_1_link" link2="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="half_arm_1_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="half_arm_1_link" link2="table" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="half_arm_2_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Adjacent"/>
-    <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="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Default"/>
-    <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="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="spherical_wrist_2_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="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="spherical_wrist_2_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="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Adjacent"/>
-    <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="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Default"/>
-    <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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="spherical_wrist_2_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="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="scene_camera_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="spherical_wrist_2_link" reason="Never"/>
-    <disable_collisions link1="scene_camera_link" link2="shoulder_link" reason="Never"/>
-    <disable_collisions link1="scene_camera_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="scene_camera_link" link2="table" reason="Adjacent"/>
-    <disable_collisions link1="shoulder_link" link2="spherical_wrist_1_link" reason="Never"/>
-    <disable_collisions link1="shoulder_link" link2="table" reason="Never"/>
-    <disable_collisions link1="spherical_wrist_1_link" link2="spherical_wrist_2_link" reason="Adjacent"/>
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_ik_distance.yaml
deleted file mode 100644
index 69e4c7c6f..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_ik_distance.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-manipulator:
-  kinematics_solver: pose_ik_plugin/PoseIKPlugin
-  target_tolerance: 0.001
-  solve_mode: "optimize_distance"
-  optimization_timeout: 0.005
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_jog.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_jog.yaml
deleted file mode 100644
index 5ba7f244a..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/pose_jog.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-# Planning groups to use in PoseJog, and their corresponding VFC controllers.
-# The number of elements in `planning_groups` and `controllers` must match.
-planning_groups: ['manipulator']
-controllers: ['velocity_force_controller']
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/sensors_3d.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/sensors_3d.yaml
deleted file mode 100644
index 1ba80c743..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/sensors_3d.yaml
+++ /dev/null
@@ -1,23 +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"
-  # Topic to use for the point cloud updater service
-  point_cloud_service_name: "/point_cloud_service"    # Points further than this will not be used (in meters).
-  max_range: 1.2
-  # 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: 0.05
-  # 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: 0.03
-# 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/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.mtl
deleted file mode 100644
index e31e2209f..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.mtl
+++ /dev/null
@@ -1,52 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
-
-newmtl black
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.019087 0.019087 0.019087
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 2
-
-newmtl dark_black
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.000000 0.000000 0.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 2
-
-newmtl gold
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.291777 0.234548 0.061247
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 2
-
-newmtl grey
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.038204 0.051270 0.061247
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 2
-
-newmtl white
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 1.000000 1.000000 1.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 2
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.obj
deleted file mode 100644
index 7e2f3e5e7..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2e860772f125d4baeaa9daf6234d9bfbfdcbf09fc38be6d05493adf53ec809d2
-size 1193774
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.obj
deleted file mode 100644
index 09f0a741c..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_1.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:315f430a20dfb73ac149177281905a69c599c0689ae9b879344a8a585c55d79f
-size 651
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.obj
deleted file mode 100644
index 7e270f1f6..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_10.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c2f774cf7ea66b48379466b7c579cfb16c3e6736205d40898acd34965e8ad2ec
-size 664
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.obj
deleted file mode 100644
index 79619a13b..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_11.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:06a35b6acce0a82f5b33b058848a837d16e0435b228843cb02aa944476969839
-size 664
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.obj
deleted file mode 100644
index f3bc443f5..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_12.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:249f5b236b5eb6f6ea00127384c2519142495977dc78015a6fac0639c3d4b9d2
-size 664
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.obj
deleted file mode 100644
index 82a553e97..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_13.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:28c3a5e090ad0cc5aa0aca6ef926d3ce336e3a9723add01656a660cbdbb10d82
-size 664
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.obj
deleted file mode 100644
index 822529888..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_14.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89745a2c593775f6f4044ecf7351cf3ecdbbd04699d1bd36be28a8c84a474fa0
-size 664
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.obj
deleted file mode 100644
index b08bdfb02..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_15.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:012b5dc2fb6551423f3b0d08d02cf1d9eb457795a86cd53cf3961eb22bb22837
-size 664
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.obj
deleted file mode 100644
index 64e3a663b..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_16.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.obj
deleted file mode 100644
index 3cfc2c539..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_17.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.mtl
deleted file mode 100644
index 466f60143..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.mtl
+++ /dev/null
@@ -1,2 +0,0 @@
-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_18.obj
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
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--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/ring_collision_8.mtl
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-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
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-version https://git-lfs.github.com/spec/v1
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-# www.blender.org
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deleted file mode 100644
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diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.obj
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--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite.obj
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 1371519
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deleted file mode 100644
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-version https://git-lfs.github.com/spec/v1
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-size 607
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.mtl b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.mtl
deleted file mode 100644
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-# Blender 4.1.1 MTL File: 'box.blend'
-# www.blender.org
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.obj b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/assets/satellite_box.obj
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deleted file mode 100644
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diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml
deleted file mode 100644
index c306c66a2..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml
+++ /dev/null
@@ -1,729 +0,0 @@
-<mujoco model="gen3">
-  <compiler angle="radian" meshdir="assets" />
-  <option integrator="implicitfast" />
-
-  <default>
-    <!-- kinova defaults -->
-    <default class="kinova">
-      <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="-6.28 6.28"
-        forcerange="-87 87"
-      />
-      <default class="infiniteJoints">
-        <joint limited="false" />
-      </default>
-      <default class="limitedJoints">
-        <joint limited="true" />
-      </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="visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" />
-      </default>
-      <default class="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>
-
-  <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 name="black" rgba="0.149 0.149 0.149 1" />
-
-    <!-- Kinova collision meshes -->
-    <mesh name="base_link_c" file="kinova/base_link.STL" />
-    <mesh name="shoulder_link_c" file="kinova/shoulder_link.STL" />
-    <mesh name="half_arm_1_link_c" file="kinova/half_arm_1_link.STL" />
-    <mesh name="half_arm_2_link_c" file="kinova/half_arm_2_link.STL" />
-    <mesh name="forearm_link_c" file="kinova/forearm_link.STL" />
-    <mesh
-      name="spherical_wrist_1_link_c"
-      file="kinova/spherical_wrist_1_link.STL"
-    />
-    <mesh
-      name="spherical_wrist_2_link_c"
-      file="kinova/spherical_wrist_2_link.STL"
-    />
-    <mesh
-      name="bracelet_with_vision_link_c"
-      file="kinova/bracelet_with_vision_link.STL"
-    />
-    <!-- Kinova visual meshes -->
-    <mesh name="base_link" file="kinova/base_link.obj" />
-    <mesh name="shoulder_link" file="kinova/shoulder_link.obj" />
-    <mesh name="half_arm_1_link" file="kinova/half_arm_1_link.obj" />
-    <mesh name="half_arm_2_link" file="kinova/half_arm_2_link.obj" />
-    <mesh name="forearm_link" file="kinova/forearm_link.obj" />
-    <mesh
-      name="spherical_wrist_1_link"
-      file="kinova/spherical_wrist_1_link.obj"
-    />
-    <mesh
-      name="spherical_wrist_2_link"
-      file="kinova/spherical_wrist_2_link.obj"
-    />
-    <mesh
-      name="bracelet_with_vision_link"
-      file="kinova/bracelet_with_vision_link.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"
-    />
-    <mesh name="rafti_finger" file="rafti_finger.obj" />
-    <mesh name="rafti_finger_collision_1" file="rafti_finger_collision_1.obj" />
-    <mesh name="rafti_finger_collision_2" file="rafti_finger_collision_2.obj" />
-    <mesh name="rafti_finger_collision_3" file="rafti_finger_collision_3.obj" />
-    <mesh name="rafti_finger_collision_4" file="rafti_finger_collision_4.obj" />
-  </asset>
-
-  <contact>
-    <exclude body1="base_link" body2="shoulder_link" />
-  </contact>
-
-  <worldbody>
-    <light name="top" pos="0 0 2" mode="trackcom" />
-
-    <body name="base_link" gravcomp="1" pos="0 0 0.02" quat="1 0 0 0">
-      <inertial
-        pos="-0.000648 -0.000166 0.084487"
-        quat="1 0 0 0"
-        mass="1.697"
-        diaginertia="0.004622 0.004495 0.002079"
-      />
-      <geom class="visual" mesh="base_link" material="white" />
-      <geom class="collision" mesh="base_link_c" />
-      <body
-        name="shoulder_link"
-        gravcomp="1"
-        pos="0 0 0.15643"
-        quat="-3.67321e-06 1 0 0"
-      >
-        <inertial
-          pos="-2.3e-05 -0.010364 -0.07336"
-          quat="0.707051 0.0451246 -0.0453544 0.704263"
-          mass="1.3773"
-          diaginertia="0.00488868 0.00457 0.00135132"
-        />
-        <joint class="infiniteJoints" name="joint_1" armature="0.0000015" />
-        <geom class="visual" mesh="shoulder_link" material="white" />
-        <geom class="collision" mesh="shoulder_link_c" />
-        <body
-          name="half_arm_1_link"
-          gravcomp="1"
-          pos="0 0.005375 -0.12838"
-          quat="0.707105 0.707108 0 0"
-        >
-          <inertial
-            pos="-4.4e-05 -0.09958 -0.013278"
-            quat="0.482348 0.516286 -0.516862 0.483366"
-            mass="1.1636"
-            diaginertia="0.0113017 0.011088 0.00102532"
-          />
-          <joint
-            class="limitedJoints"
-            name="joint_2"
-            range="-2.41 2.41"
-            armature="0.0000015"
-          />
-          <geom class="visual" mesh="half_arm_1_link" material="white" />
-          <geom class="collision" mesh="half_arm_1_link_c" />
-          <body
-            name="half_arm_2_link"
-            gravcomp="1"
-            pos="0 -0.21038 -0.006375"
-            quat="0.707105 -0.707108 0 0"
-          >
-            <inertial
-              pos="-4.4e-05 -0.006641 -0.117892"
-              quat="0.706144 0.0213722 -0.0209128 0.707437"
-              mass="1.1636"
-              diaginertia="0.0111633 0.010932 0.00100671"
-            />
-            <joint class="infiniteJoints" name="joint_3" armature="0.0000015" />
-            <geom class="visual" mesh="half_arm_2_link" material="white" />
-            <geom class="collision" mesh="half_arm_2_link_c" />
-            <body
-              name="forearm_link"
-              gravcomp="1"
-              pos="0 0.006375 -0.21038"
-              quat="0.707105 0.707108 0 0"
-            >
-              <inertial
-                pos="-1.8e-05 -0.075478 -0.015006"
-                quat="0.483678 0.515961 -0.515859 0.483455"
-                mass="0.9302"
-                diaginertia="0.00834839 0.008147 0.000598606"
-              />
-              <joint
-                class="limitedJoints"
-                name="joint_4"
-                range="-2.66 2.66"
-                armature="0.0000015"
-              />
-              <geom class="visual" mesh="forearm_link" material="white" />
-              <geom class="collision" mesh="forearm_link_c" />
-              <body
-                name="spherical_wrist_1_link"
-                gravcomp="1"
-                pos="0 -0.20843 -0.006375"
-                quat="0.707105 -0.707108 0 0"
-              >
-                <inertial
-                  pos="1e-06 -0.009432 -0.063883"
-                  quat="0.703558 0.0707492 -0.0707492 0.703558"
-                  mass="0.6781"
-                  diaginertia="0.00165901 0.001596 0.000346988"
-                />
-                <joint
-                  class="infiniteJoints"
-                  name="joint_5"
-                  armature="0.000001928"
-                />
-                <geom
-                  class="visual"
-                  mesh="spherical_wrist_1_link"
-                  material="white"
-                />
-                <geom class="collision" mesh="spherical_wrist_1_link_c" />
-                <body
-                  name="spherical_wrist_2_link"
-                  gravcomp="1"
-                  pos="0 0.00017505 -0.10593"
-                  quat="0.707105 0.707108 0 0"
-                >
-                  <inertial
-                    pos="1e-06 -0.045483 -0.00965"
-                    quat="0.44426 0.550121 -0.550121 0.44426"
-                    mass="0.6781"
-                    diaginertia="0.00170087 0.001641 0.00035013"
-                  />
-                  <joint
-                    class="limitedJoints"
-                    name="joint_6"
-                    range="-2.23 2.23"
-                    armature="0.000001928"
-                  />
-                  <geom
-                    class="visual"
-                    mesh="spherical_wrist_2_link"
-                    material="white"
-                  />
-                  <geom class="collision" mesh="spherical_wrist_2_link_c" />
-                  <body
-                    name="bracelet_link"
-                    gravcomp="1"
-                    pos="0 -0.10593 -0.00017505"
-                    quat="0.707105 -0.707108 0 0"
-                  >
-                    <camera
-                      name="wrist_camera"
-                      pos="0.0 -0.056 -0.058"
-                      fovy="58"
-                      mode="fixed"
-                      resolution="640 480"
-                      quat="0.0 0.0 0.0 1.0"
-                    />
-                    <site
-                      name="wrist_camera_optical_frame"
-                      pos="0.0 -0.056 -0.058"
-                      quat="0.0 0.0 1.0 0.0"
-                    />
-                    <inertial
-                      pos="-9.3e-05 0.000132 -0.022905"
-                      quat="-0.0368025 0.719402 -0.0444884 0.69219"
-                      mass="0.364"
-                      diaginertia="0.00024027 0.000222769 0.000213961"
-                    />
-                    <joint
-                      class="infiniteJoints"
-                      name="joint_7"
-                      armature="0.000001928"
-                    />
-                    <geom
-                      class="visual"
-                      mesh="bracelet_with_vision_link"
-                      material="white"
-                    />
-                    <geom
-                      class="collision"
-                      mesh="bracelet_with_vision_link_c"
-                    />
-                    <body childclass="2f85">
-                      <!-- site for end effector's f/t sensor right at the base of the robotiq gripper -->
-                      <site
-                        name="fts"
-                        size="0.01"
-                        pos="0.0 0.0 -0.0615"
-                        quat="0 0.0 1.0 0.0"
-                      />
-                      <!-- Right-hand side 4-bar linkage -->
-                      <body
-                        name="robotiq_85_base_link"
-                        gravcomp="1"
-                        pos="0 0 -0.0615"
-                        quat="0 -0.707 0.707 0"
-                      >
-                        <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>
-  </worldbody>
-
-  <actuator>
-    <position class="kinova" name="joint_1" joint="joint_1" kp="800" kv="260" />
-    <position class="kinova" name="joint_2" joint="joint_2" kp="800" kv="260" />
-    <position class="kinova" name="joint_3" joint="joint_3" kp="260" kv="86" />
-    <position class="kinova" name="joint_4" joint="joint_4" kp="260" kv="86" />
-    <position class="kinova" name="joint_5" joint="joint_5" kp="130" kv="45" />
-    <position class="kinova" name="joint_6" joint="joint_6" kp="130" kv="45" />
-    <position class="kinova" name="joint_7" joint="joint_7" kp="130" kv="45" />
-  </actuator>
-
-  <!-- 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>
-
-  <!--
-    This adds stability to the model by having a tendon that distributes the forces between both
-    joints, such that the equality constraint doesn't have to do that much work in order to equalize
-    both joints. Since both joints share the same sign, we split the force between both equally by
-    setting coef=0.5
-  -->
-  <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>
-
-  <actuator>
-    <position
-      class="2f85"
-      name="robotiq_85_left_knuckle_joint"
-      tendon="split"
-      forcerange="-5 5"
-      ctrlrange="0 .8"
-      kp="100"
-      kv="100"
-    />
-  </actuator>
-
-  <sensor>
-    <force site="fts" />
-    <torque site="fts" />
-  </sensor>
-</mujoco>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml
deleted file mode 100644
index 41444a8a2..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml
+++ /dev/null
@@ -1,824 +0,0 @@
-<mujoco model="gen3">
-  <compiler angle="radian" meshdir="assets" />
-  <option integrator="implicitfast" />
-
-  <default>
-    <!-- kinova defaults -->
-    <default class="kinova">
-      <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="-6.28 6.28"
-        forcerange="-87 87"
-      />
-      <default class="infiniteJoints">
-        <joint limited="false" />
-      </default>
-      <default class="limitedJoints">
-        <joint limited="true" />
-      </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="visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" />
-      </default>
-      <default class="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>
-
-  <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 name="black" rgba="0.149 0.149 0.149 1" />
-
-    <!-- Kinova collision meshes -->
-    <mesh name="base_link_c" file="kinova/base_link.STL" />
-    <mesh name="shoulder_link_c" file="kinova/shoulder_link.STL" />
-    <mesh name="half_arm_1_link_c" file="kinova/half_arm_1_link.STL" />
-    <mesh name="half_arm_2_link_c" file="kinova/half_arm_2_link.STL" />
-    <mesh name="forearm_link_c" file="kinova/forearm_link.STL" />
-    <mesh
-      name="spherical_wrist_1_link_c"
-      file="kinova/spherical_wrist_1_link.STL"
-    />
-    <mesh
-      name="spherical_wrist_2_link_c"
-      file="kinova/spherical_wrist_2_link.STL"
-    />
-    <mesh
-      name="bracelet_with_vision_link_c"
-      file="kinova/bracelet_with_vision_link.STL"
-    />
-    <!-- Kinova visual meshes -->
-    <mesh name="base_link" file="kinova/base_link.obj" />
-    <mesh name="shoulder_link" file="kinova/shoulder_link.obj" />
-    <mesh name="half_arm_1_link" file="kinova/half_arm_1_link.obj" />
-    <mesh name="half_arm_2_link" file="kinova/half_arm_2_link.obj" />
-    <mesh name="forearm_link" file="kinova/forearm_link.obj" />
-    <mesh
-      name="spherical_wrist_1_link"
-      file="kinova/spherical_wrist_1_link.obj"
-    />
-    <mesh
-      name="spherical_wrist_2_link"
-      file="kinova/spherical_wrist_2_link.obj"
-    />
-    <mesh
-      name="bracelet_with_vision_link"
-      file="kinova/bracelet_with_vision_link.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"
-    />
-    <mesh name="rafti_finger" file="rafti_finger.obj" />
-    <mesh name="rafti_finger_collision_1" file="rafti_finger_collision_1.obj" />
-    <mesh name="rafti_finger_collision_2" file="rafti_finger_collision_2.obj" />
-    <mesh name="rafti_finger_collision_3" file="rafti_finger_collision_3.obj" />
-    <mesh name="rafti_finger_collision_4" file="rafti_finger_collision_4.obj" />
-  </asset>
-
-  <contact>
-    <exclude body1="base_link" body2="shoulder_link" />
-  </contact>
-
-  <worldbody>
-    <light name="top" pos="0 0 2" mode="trackcom" />
-
-    <body name="base_link" gravcomp="1" pos="0 0 0.02" quat="1 0 0 0">
-      <inertial
-        pos="-0.000648 -0.000166 0.084487"
-        quat="1 0 0 0"
-        mass="1.697"
-        diaginertia="0.004622 0.004495 0.002079"
-      />
-      <geom class="visual" mesh="base_link" material="white" />
-      <geom class="collision" mesh="base_link_c" />
-      <body
-        name="shoulder_link"
-        gravcomp="1"
-        pos="0 0 0.15643"
-        quat="-3.67321e-06 1 0 0"
-      >
-        <inertial
-          pos="-2.3e-05 -0.010364 -0.07336"
-          quat="0.707051 0.0451246 -0.0453544 0.704263"
-          mass="1.3773"
-          diaginertia="0.00488868 0.00457 0.00135132"
-        />
-        <joint class="infiniteJoints" name="joint_1" armature="0.0000015" />
-        <geom class="visual" mesh="shoulder_link" material="white" />
-        <geom class="collision" mesh="shoulder_link_c" />
-        <body
-          name="half_arm_1_link"
-          gravcomp="1"
-          pos="0 0.005375 -0.12838"
-          quat="0.707105 0.707108 0 0"
-        >
-          <inertial
-            pos="-4.4e-05 -0.09958 -0.013278"
-            quat="0.482348 0.516286 -0.516862 0.483366"
-            mass="1.1636"
-            diaginertia="0.0113017 0.011088 0.00102532"
-          />
-          <joint
-            class="limitedJoints"
-            name="joint_2"
-            range="-2.41 2.41"
-            armature="0.0000015"
-          />
-          <geom class="visual" mesh="half_arm_1_link" material="white" />
-          <geom class="collision" mesh="half_arm_1_link_c" />
-          <body
-            name="half_arm_2_link"
-            gravcomp="1"
-            pos="0 -0.21038 -0.006375"
-            quat="0.707105 -0.707108 0 0"
-          >
-            <inertial
-              pos="-4.4e-05 -0.006641 -0.117892"
-              quat="0.706144 0.0213722 -0.0209128 0.707437"
-              mass="1.1636"
-              diaginertia="0.0111633 0.010932 0.00100671"
-            />
-            <joint class="infiniteJoints" name="joint_3" armature="0.0000015" />
-            <geom class="visual" mesh="half_arm_2_link" material="white" />
-            <geom class="collision" mesh="half_arm_2_link_c" />
-            <body
-              name="forearm_link"
-              gravcomp="1"
-              pos="0 0.006375 -0.21038"
-              quat="0.707105 0.707108 0 0"
-            >
-              <inertial
-                pos="-1.8e-05 -0.075478 -0.015006"
-                quat="0.483678 0.515961 -0.515859 0.483455"
-                mass="0.9302"
-                diaginertia="0.00834839 0.008147 0.000598606"
-              />
-              <joint
-                class="limitedJoints"
-                name="joint_4"
-                range="-2.66 2.66"
-                armature="0.0000015"
-              />
-              <geom class="visual" mesh="forearm_link" material="white" />
-              <geom class="collision" mesh="forearm_link_c" />
-              <body
-                name="spherical_wrist_1_link"
-                gravcomp="1"
-                pos="0 -0.20843 -0.006375"
-                quat="0.707105 -0.707108 0 0"
-              >
-                <inertial
-                  pos="1e-06 -0.009432 -0.063883"
-                  quat="0.703558 0.0707492 -0.0707492 0.703558"
-                  mass="0.6781"
-                  diaginertia="0.00165901 0.001596 0.000346988"
-                />
-                <joint
-                  class="infiniteJoints"
-                  name="joint_5"
-                  armature="0.000001928"
-                />
-                <geom
-                  class="visual"
-                  mesh="spherical_wrist_1_link"
-                  material="white"
-                />
-                <geom class="collision" mesh="spherical_wrist_1_link_c" />
-                <body
-                  name="spherical_wrist_2_link"
-                  gravcomp="1"
-                  pos="0 0.00017505 -0.10593"
-                  quat="0.707105 0.707108 0 0"
-                >
-                  <inertial
-                    pos="1e-06 -0.045483 -0.00965"
-                    quat="0.44426 0.550121 -0.550121 0.44426"
-                    mass="0.6781"
-                    diaginertia="0.00170087 0.001641 0.00035013"
-                  />
-                  <joint
-                    class="limitedJoints"
-                    name="joint_6"
-                    range="-2.23 2.23"
-                    armature="0.000001928"
-                  />
-                  <geom
-                    class="visual"
-                    mesh="spherical_wrist_2_link"
-                    material="white"
-                  />
-                  <geom class="collision" mesh="spherical_wrist_2_link_c" />
-                  <body
-                    name="bracelet_link"
-                    gravcomp="1"
-                    pos="0 -0.10593 -0.00017505"
-                    quat="0.707105 -0.707108 0 0"
-                  >
-                    <camera
-                      name="wrist_camera"
-                      pos="0.0 -0.056 -0.058"
-                      fovy="58"
-                      mode="fixed"
-                      resolution="640 480"
-                      quat="0.0 0.0 0.0 1.0"
-                    />
-                    <site
-                      name="wrist_camera_optical_frame"
-                      pos="0.0 -0.056 -0.058"
-                      quat="0.0 0.0 1.0 0.0"
-                    />
-                    <inertial
-                      pos="-9.3e-05 0.000132 -0.022905"
-                      quat="-0.0368025 0.719402 -0.0444884 0.69219"
-                      mass="0.364"
-                      diaginertia="0.00024027 0.000222769 0.000213961"
-                    />
-                    <joint
-                      class="infiniteJoints"
-                      name="joint_7"
-                      armature="0.000001928"
-                    />
-                    <geom
-                      class="visual"
-                      mesh="bracelet_with_vision_link"
-                      material="white"
-                    />
-                    <geom
-                      class="collision"
-                      mesh="bracelet_with_vision_link_c"
-                    />
-                    <body childclass="2f85">
-                      <!-- site for end effector's f/t sensor right at the base of the robotiq gripper -->
-                      <site
-                        name="fts"
-                        size="0.01"
-                        pos="0.0 0.0 -0.0615"
-                        quat="0 0.0 1.0 0.0"
-                      />
-                      <!-- Right-hand side 4-bar linkage -->
-                      <body
-                        name="robotiq_85_base_link"
-                        gravcomp="1"
-                        pos="0 0 -0.0615"
-                        quat="0 -0.707 0.707 0"
-                      >
-                        <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>
-                              <!--                              TODO uncomment to enable RAFTI fingers -->
-                              <body
-                                name="right_rafti_finger_link"
-                                pos="0 0 0.01"
-                                quat="0 0 0 1"
-                              >
-                                <inertial
-                                  mass="0.005"
-                                  pos="0 0 0"
-                                  diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"
-                                />
-                                <geom
-                                  class="visual"
-                                  mesh="rafti_finger"
-                                  material="black"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_1"
-                                  condim="6"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_2"
-                                  condim="6"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_3"
-                                  condim="6"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_4"
-                                  condim="6"
-                                />
-                              </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>
-                              <!--                              TODO uncomment to enable RAFTI fingers -->
-                              <body
-                                name="left_rafti_finger_link"
-                                pos="0 0 0.01"
-                                quat="0 0 0 1"
-                              >
-                                <inertial mass="0.005" pos="0 0 0" />
-                                <geom
-                                  class="visual"
-                                  mesh="rafti_finger"
-                                  material="black"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_1"
-                                  condim="6"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_2"
-                                  condim="6"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_3"
-                                  condim="6"
-                                />
-                                <geom
-                                  class="collision"
-                                  mesh="rafti_finger_collision_4"
-                                  condim="6"
-                                />
-                              </body>
-                            </body>
-                          </body>
-                        </body>
-                      </body>
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <position class="kinova" name="joint_1" joint="joint_1" kp="800" kv="260" />
-    <position class="kinova" name="joint_2" joint="joint_2" kp="800" kv="260" />
-    <position class="kinova" name="joint_3" joint="joint_3" kp="260" kv="86" />
-    <position class="kinova" name="joint_4" joint="joint_4" kp="260" kv="86" />
-    <position class="kinova" name="joint_5" joint="joint_5" kp="130" kv="45" />
-    <position class="kinova" name="joint_6" joint="joint_6" kp="130" kv="45" />
-    <position class="kinova" name="joint_7" joint="joint_7" kp="130" kv="45" />
-  </actuator>
-
-  <!-- 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"
-    />
-    <!--                              TODO uncomment to enable RAFTI fingers -->
-    <exclude
-      body1="right_rafti_finger_link"
-      body2="robotiq_85_right_finger_tip_link"
-    />
-    <exclude
-      body1="right_rafti_finger_link"
-      body2="robotiq_85_right_inner_knuckle_link"
-    />
-    <exclude
-      body1="right_rafti_finger_link"
-      body2="robotiq_85_right_knuckle_link"
-    />
-    <exclude
-      body1="left_rafti_finger_link"
-      body2="robotiq_85_left_finger_tip_link"
-    />
-    <exclude
-      body1="left_rafti_finger_link"
-      body2="robotiq_85_left_inner_knuckle_link"
-    />
-    <exclude
-      body1="left_rafti_finger_link"
-      body2="robotiq_85_left_knuckle_link"
-    />
-  </contact>
-
-  <!--
-    This adds stability to the model by having a tendon that distributes the forces between both
-    joints, such that the equality constraint doesn't have to do that much work in order to equalize
-    both joints. Since both joints share the same sign, we split the force between both equally by
-    setting coef=0.5
-  -->
-  <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>
-
-  <actuator>
-    <position
-      class="2f85"
-      name="robotiq_85_left_knuckle_joint"
-      tendon="split"
-      forcerange="-5 5"
-      ctrlrange="0 .8"
-      kp="100"
-      kv="100"
-    />
-  </actuator>
-
-  <sensor>
-    <force site="fts" />
-    <torque site="fts" />
-  </sensor>
-</mujoco>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
deleted file mode 100644
index 987fcaf4d..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
+++ /dev/null
@@ -1,134 +0,0 @@
-<mujoco model="kinova scene">
-  <include file="gen3_7dof.xml" />
-  <option gravity="0 0 0" />
-  <option>
-    <flag multiccd="enable" />
-  </option>
-  <option integrator="implicit" />
-  <statistic center="0.3 0 0.4" extent="1" />
-  <default>
-    <geom solref=".004 1" />
-  </default>
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
-  </visual>
-
-  <asset>
-    <texture
-      type="2d"
-      name="april_tag"
-      file="assets/black_white.png"
-      width="32"
-      height="32"
-    />
-    <material name="april_tag" texture="april_tag" />
-    <texture
-      type="skybox"
-      file="assets/space.png"
-      gridsize="3 4"
-      gridlayout=".U..LFRB.D.."
-    />
-    <material name="landsat_gold" rgba="1.0 0.85 0.6  1" reflectance="0.2" />
-    <material name="metal_rafti" rgba="0.8 0.8 0.8 1" reflectance="0.5" />
-  </asset>
-
-  <asset>
-    <mesh name="landsat" file="landsat.obj" />
-    <mesh name="landsat_white" file="landsat_white.obj" />
-    <mesh name="landsat_glass" file="landsat_glass.obj" />
-    <mesh name="landsat_collision_1" file="landsat_collision_1.obj" />
-    <mesh name="landsat_collision_2" file="landsat_collision_2.obj" />
-    <mesh name="landsat_collision_3" file="landsat_collision_3.obj" />
-    <mesh name="landsat_collision_4" file="landsat_collision_4.obj" />
-    <mesh name="april_tag" file="april_tag.obj" />
-    <mesh name="rafti" file="rafti.obj" />
-    <mesh name="rafti_collision_1" file="rafti_collision_1.obj" />
-    <mesh name="rafti_collision_2" file="rafti_collision_2.obj" />
-    <mesh name="rafti_collision_3" file="rafti_collision_3.obj" />
-    <mesh name="rafti_collision_4" file="rafti_collision_4.obj" />
-    <mesh name="rafti_collision_5" file="rafti_collision_5.obj" />
-  </asset>
-
-  <worldbody>
-    <camera
-      name="scene_camera"
-      pos="-0.5 0.75 1.5"
-      fovy="75"
-      mode="fixed"
-      resolution="640 480"
-      quat="0.365715 0.232986 -0.484157 -0.759975"
-    />
-    <site
-      name="scene_camera_optical_frame"
-      pos="0.0 0.3 0.55"
-      quat="0.365715 0.232986 -0.484157 -0.759975"
-      size="0.03"
-    />
-  </worldbody>
-
-  <worldbody>
-    <body name="landsat" pos="1.5 1.75 1" quat="0 0 -0.707106781 -0.707106781">
-      <freejoint />
-      <geom
-        class="visual"
-        type="mesh"
-        material="landsat_gold"
-        mesh="landsat"
-        density="200"
-      />
-      <geom
-        class="visual"
-        type="mesh"
-        rgba="1.0 1.0 1.0 1"
-        mesh="landsat_white"
-        density="200"
-      />
-      <geom
-        class="visual"
-        type="mesh"
-        rgba="0.6 0.6 1.0 1"
-        mesh="landsat_glass"
-        density="200"
-      />
-      <geom
-        class="collision"
-        type="mesh"
-        mesh="landsat_collision_1"
-        density="1"
-      />
-      <geom
-        class="collision"
-        type="mesh"
-        mesh="landsat_collision_2"
-        density="1"
-      />
-      <geom
-        class="collision"
-        type="mesh"
-        mesh="landsat_collision_3"
-        density="1"
-      />
-      <geom
-        class="collision"
-        type="mesh"
-        mesh="landsat_collision_4"
-        density="1"
-      />
-      <body name="rafti" pos="0.565306 -0.3 -1.6" quat="0.5 0.5 0.5 0.5">
-        <geom class="visual" mesh="rafti" material="metal_rafti" />
-        <geom class="collision" mesh="rafti_collision_1" condim="6" />
-        <geom class="collision" mesh="rafti_collision_1" condim="6" />
-        <geom class="collision" mesh="rafti_collision_2" condim="6" />
-        <geom class="collision" mesh="rafti_collision_3" condim="6" />
-        <geom class="collision" mesh="rafti_collision_4" condim="6" />
-        <geom class="collision" mesh="rafti_collision_5" condim="6" />
-        <body name="april_tag" pos="0 -.1 .132" quat="1 0 0 0">
-          <geom class="visual" mesh="april_tag" material="april_tag" />
-        </body>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
deleted file mode 100644
index 735efb6ca..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
+++ /dev/null
@@ -1,180 +0,0 @@
-<mujoco model="kinova scene">
-  <include file="gen3_7dof_rafti_fingers.xml" />
-  <statistic center="0.3 0 0.4" extent="1" />
-  <default>
-    <geom solref=".004 1" />
-  </default>
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
-  </visual>
-
-  <asset>
-    <texture
-      type="skybox"
-      builtin="gradient"
-      rgb1="0.3 0.5 0.7"
-      rgb2="0 0 0"
-      width="512"
-      height="3072"
-    />
-    <texture
-      type="2d"
-      name="groundplane"
-      builtin="checker"
-      mark="edge"
-      rgb1="0.2 0.3 0.4"
-      rgb2="0.1 0.2 0.3"
-      markrgb="0.8 0.8 0.8"
-      width="300"
-      height="300"
-    />
-    <material
-      name="groundplane"
-      texture="groundplane"
-      texuniform="true"
-      texrepeat="5 5"
-      reflectance="0.2"
-    />
-    <texture
-      type="2d"
-      name="april_tag"
-      file="assets/black_white.png"
-      width="32"
-      height="32"
-    />
-    <material name="april_tag" texture="april_tag" />
-    <texture
-      type="2d"
-      name="satellite"
-      file="assets/satellite.png"
-      width="32"
-      height="32"
-    />
-    <material name="satellite" texture="satellite" />
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <camera
-      name="scene_camera"
-      pos="0.0 0.3 0.55"
-      fovy="58"
-      mode="fixed"
-      resolution="640 480"
-      quat="0.365715 0.232986 -0.484157 -0.759975"
-    />
-    <site
-      name="scene_camera_optical_frame"
-      pos="0.0 0.3 0.55"
-      quat="0.365715 0.232986 -0.484157 -0.759975"
-      size="0.03"
-    />
-  </worldbody>
-
-  <asset>
-    <mesh name="april_tag" file="april_tag.obj" />
-    <mesh name="satellite" file="satellite.obj" />
-    <mesh name="satellite_box" file="satellite_box.obj" />
-    <mesh name="rafti_collision_1" file="rafti_collision_1.obj" />
-    <mesh name="rafti_collision_2" file="rafti_collision_2.obj" />
-    <mesh name="rafti_collision_3" file="rafti_collision_3.obj" />
-    <mesh name="rafti_collision_4" file="rafti_collision_4.obj" />
-    <mesh name="rafti_collision_5" file="rafti_collision_5.obj" />
-    <mesh name="ring_collision_1" file="ring_collision_1.obj" />
-    <mesh name="ring_collision_2" file="ring_collision_2.obj" />
-    <mesh name="ring_collision_3" file="ring_collision_3.obj" />
-    <mesh name="ring_collision_4" file="ring_collision_4.obj" />
-    <mesh name="ring_collision_5" file="ring_collision_5.obj" />
-    <mesh name="ring_collision_6" file="ring_collision_6.obj" />
-    <mesh name="ring_collision_7" file="ring_collision_7.obj" />
-    <mesh name="ring_collision_8" file="ring_collision_8.obj" />
-    <mesh name="ring_collision_9" file="ring_collision_9.obj" />
-    <mesh name="ring_collision_10" file="ring_collision_10.obj" />
-    <mesh name="ring_collision_11" file="ring_collision_11.obj" />
-    <mesh name="ring_collision_12" file="ring_collision_12.obj" />
-    <mesh name="ring_collision_13" file="ring_collision_13.obj" />
-    <mesh name="ring_collision_14" file="ring_collision_14.obj" />
-    <mesh name="ring_collision_15" file="ring_collision_15.obj" />
-    <mesh name="ring_collision_16" file="ring_collision_16.obj" />
-    <mesh name="ring_collision_17" file="ring_collision_17.obj" />
-    <mesh name="ring_collision_18" file="ring_collision_18.obj" />
-    <mesh name="ring_collision_19" file="ring_collision_19.obj" />
-    <mesh name="ring_collision_20" file="ring_collision_20.obj" />
-    <mesh name="ring_collision_21" file="ring_collision_21.obj" />
-    <mesh name="ring_collision_22" file="ring_collision_22.obj" />
-    <mesh name="ring_collision_23" file="ring_collision_23.obj" />
-    <mesh name="ring_collision_24" file="ring_collision_24.obj" />
-    <mesh name="ring_collision_25" file="ring_collision_25.obj" />
-    <mesh name="ring_collision_26" file="ring_collision_26.obj" />
-    <mesh name="ring_collision_27" file="ring_collision_27.obj" />
-    <mesh name="ring_collision_28" file="ring_collision_28.obj" />
-    <mesh name="ring_collision_29" file="ring_collision_29.obj" />
-    <mesh name="ring_collision_30" file="ring_collision_30.obj" />
-    <mesh name="ring_collision_31" file="ring_collision_31.obj" />
-    <mesh name="ring_collision_32" file="ring_collision_32.obj" />
-  </asset>
-
-  <worldbody>
-    <body name="satellite" pos=".43 -0.2 .133" quat="0.584012 0.0 0.0 0.811745">
-      <freejoint />
-      <inertial
-        pos="0.0 0.0 0.0"
-        quat="1 0 0 0"
-        mass="1.5"
-        diaginertia="0.00001 0.00001 0.00001"
-      />
-      <geom class="visual" mesh="satellite" material="satellite" />
-      <geom class="collision" mesh="satellite_box" condim="6" />
-      <geom class="collision" mesh="rafti_collision_1" condim="6" />
-      <geom class="collision" mesh="rafti_collision_2" condim="6" />
-      <geom class="collision" mesh="rafti_collision_3" condim="6" />
-      <geom class="collision" mesh="rafti_collision_4" condim="6" />
-      <geom class="collision" mesh="rafti_collision_5" condim="6" />
-      <geom class="collision" mesh="ring_collision_1" />
-      <geom class="collision" mesh="ring_collision_2" />
-      <geom class="collision" mesh="ring_collision_3" />
-      <geom class="collision" mesh="ring_collision_4" />
-      <geom class="collision" mesh="ring_collision_5" />
-      <geom class="collision" mesh="ring_collision_6" />
-      <geom class="collision" mesh="ring_collision_7" />
-      <geom class="collision" mesh="ring_collision_8" />
-      <geom class="collision" mesh="ring_collision_9" />
-      <geom class="collision" mesh="ring_collision_10" />
-      <geom class="collision" mesh="ring_collision_11" />
-      <geom class="collision" mesh="ring_collision_12" />
-      <geom class="collision" mesh="ring_collision_13" />
-      <geom class="collision" mesh="ring_collision_14" />
-      <geom class="collision" mesh="ring_collision_15" />
-      <geom class="collision" mesh="ring_collision_16" />
-      <geom class="collision" mesh="ring_collision_17" />
-      <geom class="collision" mesh="ring_collision_18" />
-      <geom class="collision" mesh="ring_collision_19" />
-      <geom class="collision" mesh="ring_collision_20" />
-      <geom class="collision" mesh="ring_collision_21" />
-      <geom class="collision" mesh="ring_collision_22" />
-      <geom class="collision" mesh="ring_collision_23" />
-      <geom class="collision" mesh="ring_collision_24" />
-      <geom class="collision" mesh="ring_collision_25" />
-      <geom class="collision" mesh="ring_collision_26" />
-      <geom class="collision" mesh="ring_collision_27" />
-      <geom class="collision" mesh="ring_collision_28" />
-      <geom class="collision" mesh="ring_collision_29" />
-      <geom class="collision" mesh="ring_collision_30" />
-      <geom class="collision" mesh="ring_collision_31" />
-      <geom class="collision" mesh="ring_collision_32" />
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key
-      name="default"
-      qpos="-1.69695e-17 -2.31038e-12 -2.98065e-17 -7.10814e-12 -9.94764e-17 -1.42119e-11 -1.0432e-16 0.00500747 0.000142046 0.0054543 -0.0057924 0.00500747 0.000142046 0.00545513 -0.00579407 0.43 -0.2 0.133001 0.583914 -1.685e-07 1.03188e-06 0.811816"
-      qvel="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-      ctrl="0 0 0 0 0 0 0 0"
-    />
-  </keyframe>
-</mujoco>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
deleted file mode 100644
index 32bfe5e76..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
+++ /dev/null
@@ -1,180 +0,0 @@
-<mujoco model="kinova scene">
-  <include file="gen3_7dof.xml" />
-  <statistic center="0.3 0 0.4" extent="1" />
-  <default>
-    <geom solref=".004 1" />
-  </default>
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
-  </visual>
-
-  <asset>
-    <texture
-      type="skybox"
-      builtin="gradient"
-      rgb1="0.3 0.5 0.7"
-      rgb2="0 0 0"
-      width="512"
-      height="3072"
-    />
-    <texture
-      type="2d"
-      name="groundplane"
-      builtin="checker"
-      mark="edge"
-      rgb1="0.2 0.3 0.4"
-      rgb2="0.1 0.2 0.3"
-      markrgb="0.8 0.8 0.8"
-      width="300"
-      height="300"
-    />
-    <material
-      name="groundplane"
-      texture="groundplane"
-      texuniform="true"
-      texrepeat="5 5"
-      reflectance="0.2"
-    />
-    <texture
-      type="2d"
-      name="april_tag"
-      file="assets/black_white.png"
-      width="32"
-      height="32"
-    />
-    <material name="april_tag" texture="april_tag" />
-    <texture
-      type="2d"
-      name="satellite"
-      file="assets/satellite.png"
-      width="32"
-      height="32"
-    />
-    <material name="satellite" texture="satellite" />
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
-    <camera
-      name="scene_camera"
-      pos="0.0 0.3 0.55"
-      fovy="58"
-      mode="fixed"
-      resolution="640 480"
-      quat="0.365715 0.232986 -0.484157 -0.759975"
-    />
-    <site
-      name="scene_camera_optical_frame"
-      pos="0.0 0.3 0.55"
-      quat="0.365715 0.232986 -0.484157 -0.759975"
-      size="0.03"
-    />
-  </worldbody>
-
-  <asset>
-    <mesh name="april_tag" file="april_tag.obj" />
-    <mesh name="satellite" file="satellite.obj" />
-    <mesh name="satellite_box" file="satellite_box.obj" />
-    <mesh name="rafti_collision_1" file="rafti_collision_1.obj" />
-    <mesh name="rafti_collision_2" file="rafti_collision_2.obj" />
-    <mesh name="rafti_collision_3" file="rafti_collision_3.obj" />
-    <mesh name="rafti_collision_4" file="rafti_collision_4.obj" />
-    <mesh name="rafti_collision_5" file="rafti_collision_5.obj" />
-    <mesh name="ring_collision_1" file="ring_collision_1.obj" />
-    <mesh name="ring_collision_2" file="ring_collision_2.obj" />
-    <mesh name="ring_collision_3" file="ring_collision_3.obj" />
-    <mesh name="ring_collision_4" file="ring_collision_4.obj" />
-    <mesh name="ring_collision_5" file="ring_collision_5.obj" />
-    <mesh name="ring_collision_6" file="ring_collision_6.obj" />
-    <mesh name="ring_collision_7" file="ring_collision_7.obj" />
-    <mesh name="ring_collision_8" file="ring_collision_8.obj" />
-    <mesh name="ring_collision_9" file="ring_collision_9.obj" />
-    <mesh name="ring_collision_10" file="ring_collision_10.obj" />
-    <mesh name="ring_collision_11" file="ring_collision_11.obj" />
-    <mesh name="ring_collision_12" file="ring_collision_12.obj" />
-    <mesh name="ring_collision_13" file="ring_collision_13.obj" />
-    <mesh name="ring_collision_14" file="ring_collision_14.obj" />
-    <mesh name="ring_collision_15" file="ring_collision_15.obj" />
-    <mesh name="ring_collision_16" file="ring_collision_16.obj" />
-    <mesh name="ring_collision_17" file="ring_collision_17.obj" />
-    <mesh name="ring_collision_18" file="ring_collision_18.obj" />
-    <mesh name="ring_collision_19" file="ring_collision_19.obj" />
-    <mesh name="ring_collision_20" file="ring_collision_20.obj" />
-    <mesh name="ring_collision_21" file="ring_collision_21.obj" />
-    <mesh name="ring_collision_22" file="ring_collision_22.obj" />
-    <mesh name="ring_collision_23" file="ring_collision_23.obj" />
-    <mesh name="ring_collision_24" file="ring_collision_24.obj" />
-    <mesh name="ring_collision_25" file="ring_collision_25.obj" />
-    <mesh name="ring_collision_26" file="ring_collision_26.obj" />
-    <mesh name="ring_collision_27" file="ring_collision_27.obj" />
-    <mesh name="ring_collision_28" file="ring_collision_28.obj" />
-    <mesh name="ring_collision_29" file="ring_collision_29.obj" />
-    <mesh name="ring_collision_30" file="ring_collision_30.obj" />
-    <mesh name="ring_collision_31" file="ring_collision_31.obj" />
-    <mesh name="ring_collision_32" file="ring_collision_32.obj" />
-  </asset>
-
-  <worldbody>
-    <body name="satellite" pos=".43 -0.2 .133" quat="0.584012 0.0 0.0 0.811745">
-      <freejoint />
-      <inertial
-        pos="0.0 0.0 0.0"
-        quat="1 0 0 0"
-        mass="1.5"
-        diaginertia="0.00001 0.00001 0.00001"
-      />
-      <geom class="visual" mesh="satellite" material="satellite" />
-      <geom class="collision" mesh="satellite_box" condim="6" />
-      <geom class="collision" mesh="rafti_collision_1" condim="6" />
-      <geom class="collision" mesh="rafti_collision_2" condim="6" />
-      <geom class="collision" mesh="rafti_collision_3" condim="6" />
-      <geom class="collision" mesh="rafti_collision_4" condim="6" />
-      <geom class="collision" mesh="rafti_collision_5" condim="6" />
-      <geom class="collision" mesh="ring_collision_1" />
-      <geom class="collision" mesh="ring_collision_2" />
-      <geom class="collision" mesh="ring_collision_3" />
-      <geom class="collision" mesh="ring_collision_4" />
-      <geom class="collision" mesh="ring_collision_5" />
-      <geom class="collision" mesh="ring_collision_6" />
-      <geom class="collision" mesh="ring_collision_7" />
-      <geom class="collision" mesh="ring_collision_8" />
-      <geom class="collision" mesh="ring_collision_9" />
-      <geom class="collision" mesh="ring_collision_10" />
-      <geom class="collision" mesh="ring_collision_11" />
-      <geom class="collision" mesh="ring_collision_12" />
-      <geom class="collision" mesh="ring_collision_13" />
-      <geom class="collision" mesh="ring_collision_14" />
-      <geom class="collision" mesh="ring_collision_15" />
-      <geom class="collision" mesh="ring_collision_16" />
-      <geom class="collision" mesh="ring_collision_17" />
-      <geom class="collision" mesh="ring_collision_18" />
-      <geom class="collision" mesh="ring_collision_19" />
-      <geom class="collision" mesh="ring_collision_20" />
-      <geom class="collision" mesh="ring_collision_21" />
-      <geom class="collision" mesh="ring_collision_22" />
-      <geom class="collision" mesh="ring_collision_23" />
-      <geom class="collision" mesh="ring_collision_24" />
-      <geom class="collision" mesh="ring_collision_25" />
-      <geom class="collision" mesh="ring_collision_26" />
-      <geom class="collision" mesh="ring_collision_27" />
-      <geom class="collision" mesh="ring_collision_28" />
-      <geom class="collision" mesh="ring_collision_29" />
-      <geom class="collision" mesh="ring_collision_30" />
-      <geom class="collision" mesh="ring_collision_31" />
-      <geom class="collision" mesh="ring_collision_32" />
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key
-      name="default"
-      qpos="-1.69695e-17 -2.31038e-12 -2.98065e-17 -7.10814e-12 -9.94764e-17 -1.42119e-11 -1.0432e-16 0.00500747 0.000142046 0.0054543 -0.0057924 0.00500747 0.000142046 0.00545513 -0.00579407 0.43 -0.2 0.133001 0.583914 -1.685e-07 1.03188e-06 0.811816"
-      qvel="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-      ctrl="0 0 0 0 0 0 0 0"
-    />
-  </keyframe>
-</mujoco>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro
deleted file mode 100644
index 7741689a8..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro
+++ /dev/null
@@ -1,696 +0,0 @@
-<?xml version="1.0"?>
-<robot name="gen3" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- Arguments for Kinova -->
-    <xacro:arg name="arm" default="gen3" />
-    <xacro:arg name="dof" default="7" />
-    <xacro:arg name="vision" default="false" />
-    <xacro:arg name="gripper" default="" />
-    <xacro:arg name="gripper_joint_name" default="robotiq_85_left_knuckle_joint" />
-    <xacro:arg name="use_internal_bus_gripper_comm" default="true" />
-    <xacro:arg name="prefix" default="" />
-    <xacro:arg name="use_fake_hardware" default="false" />
-    <xacro:arg name="fake_sensor_commands" default="false" />
-    <xacro:arg name="sim_gazebo" default="false" />
-    <xacro:arg name="sim_ignition" default="false" />
-    <xacro:arg name="sim_isaac" default="false" />
-    <xacro:arg name="isaac_joint_commands" default="/isaac_joint_commands" />
-    <xacro:arg name="isaac_joint_states" default="/isaac_joint_states" />
-    <xacro:arg name="use_external_cable" default="false" />
-    <xacro:arg name="gripper_max_velocity" default="100.0" />
-    <xacro:arg name="gripper_max_force" default="100.0" />
-    <xacro:arg name="gripper_com_port" default="/dev/ttyUSB0" />
-    <xacro:arg name="wrist_realsense" default="true" />
-    <xacro:arg name="mujoco_model" default="description/mujoco/scene.xml" />
-
-    <!-- Import macros for main hardware components -->
-    <xacro:include filename="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/urdf/$(arg arm)_macro.xacro" />
-    <xacro:include filename="$(find kortex_description)/grippers/$(arg gripper)/urdf/$(arg gripper)_macro.xacro" />
-    <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
-
-    <!-- Import environment macros -->
-    <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/cube.urdf.xacro"/>
-
-    <!-- World is centered under base_link of the robot, on the ground -->
-    <link name="world"/>
-
-    <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
-    <xacro:arg name="initial_positions_file" default="$(find kinova_gen3_base_config)/config/initial_positions.yaml"/>
-    <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
-
-    <!-- Load the arm -->
-    <joint name="base_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="0 0 0.02"/>
-      <parent link="world"/>
-      <child link="base_link"/>
-    </joint>
-    <link name="base_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
-        <mass value="1.697"/>
-        <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <link name="shoulder_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
-        <mass value="1.3773"/>
-        <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_1" type="continuous">
-      <origin rpy="3.1416 2.7629E-18 -4.9305E-36" xyz="0 0 0.15643"/>
-      <parent link="base_link"/>
-      <child link="shoulder_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="39" velocity="1.3963"/>
-    </joint>
-    <link name="half_arm_1_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-4.4E-05 -0.09958 -0.013278"/>
-        <mass value="1.1636"/>
-        <inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_2" type="revolute">
-      <origin rpy="1.5708 2.1343E-17 -1.1102E-16" xyz="0 0.005375 -0.12838"/>
-      <parent link="shoulder_link"/>
-      <child link="half_arm_1_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="39" lower="-2.41" upper="2.41" velocity="1.3963"/>
-    </joint>
-    <link name="half_arm_2_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-4.4E-05 -0.006641 -0.117892"/>
-        <mass value="1.1636"/>
-        <inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_3" type="continuous">
-      <origin rpy="-1.5708 1.2326E-32 -2.9122E-16" xyz="0 -0.21038 -0.006375"/>
-      <parent link="half_arm_1_link"/>
-      <child link="half_arm_2_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="39" velocity="1.3963"/>
-    </joint>
-    <link name="forearm_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-1.8E-05 -0.075478 -0.015006"/>
-        <mass value="0.9302"/>
-        <inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_4" type="revolute">
-      <origin rpy="1.5708 -6.6954E-17 -1.6653E-16" xyz="0 0.006375 -0.21038"/>
-      <parent link="half_arm_2_link"/>
-      <child link="forearm_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="39" lower="-2.66" upper="2.66" velocity="1.3963"/>
-    </joint>
-    <link name="spherical_wrist_1_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="1E-06 -0.009432 -0.063883"/>
-        <mass value="0.6781"/>
-        <inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_5" type="continuous">
-      <origin rpy="-1.5708 2.2204E-16 -6.373E-17" xyz="0 -0.20843 -0.006375"/>
-      <parent link="forearm_link"/>
-      <child link="spherical_wrist_1_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="9" velocity="1.2218"/>
-    </joint>
-    <link name="spherical_wrist_2_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="1E-06 -0.045483 -0.00965"/>
-        <mass value="0.6781"/>
-        <inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_6" type="revolute">
-      <origin rpy="1.5708 9.2076E-28 -8.2157E-15" xyz="0 0.00017505 -0.10593"/>
-      <parent link="spherical_wrist_1_link"/>
-      <child link="spherical_wrist_2_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="9" lower="-2.23" upper="2.23" velocity="1.2218"/>
-    </joint>
-    <link name="bracelet_link">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-9.3E-05 0.000132 -0.022905"/>
-        <mass value="0.364"/>
-        <inertia ixx="0.000214" ixy="0" ixz="1E-06" iyy="0.000223" iyz="-2E-06" izz="0.00024"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="joint_7" type="continuous">
-      <origin rpy="-1.5708 -5.5511E-17 9.6396E-17" xyz="0 -0.10593 -0.00017505"/>
-      <parent link="spherical_wrist_2_link"/>
-      <child link="bracelet_link"/>
-      <axis xyz="0 0 1"/>
-      <limit effort="9" velocity="1.2218"/>
-    </joint>
-    <link name="end_effector_link"/>
-    <joint name="end_effector" type="fixed">
-      <origin rpy="3.14159265358979 1.09937075168372E-32 0" xyz="0 0 -0.0615250000000001"/>
-      <parent link="bracelet_link"/>
-      <child link="end_effector_link"/>
-      <axis xyz="0 0 0"/>
-    </joint>
-    <link name="fts_link"/>
-    <joint name="fts_joint" type="fixed">
-      <origin rpy="0.0 0.0 3.14159265358979" xyz="0 0 0.0"/>
-      <parent link="end_effector_link"/>
-      <child link="fts_link"/>
-      <axis xyz="0 0 0"/>
-    </joint>
-
-    <!-- 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="fts_link"/>
-      <child link="robotiq_85_base_link"/>
-      <origin rpy="0 0 -3.14159265358979" 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="continuous">
-      <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="continuous">
-      <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>
-
-    <!-- Environment -->
-    <xacro:cube link_name="table" connected_to="world" length="2.00" width="2.00" height="0.25" alpha="0.3">
-      <origin xyz="0 0 -0.145" rpy="0 0 0"/>
-    </xacro:cube>
-
-    <!-- Visual aids for grasping -->
-    <link name="finger_tip_closed_point">
-      <visual>
-        <geometry>
-          <sphere radius="0.007"/>
-        </geometry>
-        <material name="">
-          <color rgba="0 1.0 0 0.7"/>
-        </material>
-      </visual>
-    </link>
-
-    <joint name="finger_tip_closed_point_joint" type="fixed">
-      <parent link="robotiq_85_base_link"/>
-      <child link = "finger_tip_closed_point"/>
-      <origin xyz="0 0 0.16" rpy="0 0 0"/>
-    </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 xyz="0 0 0.15" rpy="0 0 0"/>
-    </joint>
-
-    <!-- Camera External -->
-    <link name="external_camera_link" />
-    <joint name="external_camera_joint" type="fixed">
-      <parent link="world" />
-      <child link="external_camera_link" />
-      <origin xyz="-0.3 0.3 1.0" rpy="0.0 0.4 0" />
-    </joint>
-
-    <xacro:realsense_d415 parent="external_camera_link" name="scene_camera">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:realsense_d415>
-
-    <ros2_control name="kinova_mujoco_simulation" type="system">
-      <joint name="joint_1">
-        <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="joint_2">
-        <command_interface name="position">
-          <param name="min">-2.41</param>
-          <param name="max">2.41</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="joint_3">
-        <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="joint_4">
-        <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="joint_5">
-        <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="joint_6">
-        <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="joint_7">
-        <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">1.57</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>
-      <joint name="robotiq_85_left_inner_knuckle_joint">
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="robotiq_85_right_inner_knuckle_joint">
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="robotiq_85_left_finger_tip_joint">
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="robotiq_85_right_finger_tip_joint">
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <hardware>
-        <plugin>picknik_mujoco_ros/MujocoSystem</plugin>
-        <param name="mujoco_model">$(arg mujoco_model)</param>
-        <param name="mujoco_model_package">kinova_sim</param>
-        <param name="render_publish_rate">10</param>
-        <param name="tf_publish_rate">60</param>
-        <param name="mujoco_viewer">$(arg mujoco_viewer)</param>
-      </hardware>
-    </ros2_control>
-
-</robot>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/launch/agent_bridge.launch.xml b/src/moveit_pro_kinova_configs/kinova_sim/launch/agent_bridge.launch.xml
deleted file mode 100644
index 1179679a1..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/launch/agent_bridge.launch.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <include
-    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
-  />
-</launch>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/finger.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/finger.dae
deleted file mode 100644
index 1be5b7a22..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/finger.dae
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:572bae42ffcde0e88c449f2f9212f8bb4f4c9946a85c52970eb2fb9bb51baa84
-size 51240
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/hand.dae b/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/hand.dae
deleted file mode 100644
index 0bfca42a8..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/hand.dae
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2fbcfd05e35c3d80a083cc99b6350af276afac3144338b6be07bf6c2de106509
-size 549240
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deleted file mode 100644
index d9dfd5c14..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link0.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 1591593
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deleted file mode 100644
index 261cb1f02..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link1.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 978474
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deleted file mode 100644
index f7e58986b..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link2.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 998545
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deleted file mode 100644
index 4c02b612f..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link3.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 1099884
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deleted file mode 100644
index 1f4bc51a6..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link4.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index dc3b45efb..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link5.dae
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index 6430319dc..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link6.dae
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index aa66914b1..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/collision/link7.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index 1be5b7a22..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/finger.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index 0bfca42a8..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/hand.dae
+++ /dev/null
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deleted file mode 100644
index d9dfd5c14..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link0.dae
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index 261cb1f02..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link1.dae
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deleted file mode 100644
index f7e58986b..000000000
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deleted file mode 100644
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deleted file mode 100644
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deleted file mode 100644
index dc3b45efb..000000000
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deleted file mode 100644
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deleted file mode 100644
index aa66914b1..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/meshes/visual/link7.dae
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/admittance_parameters_no_admittance.yaml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/admittance_parameters_no_admittance.yaml
deleted file mode 100644
index 5c5e42009..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/admittance_parameters_no_admittance.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-SetAdmittanceParameters:
-  admittance:
-    damping_ratio_position:
-      max: 1000
-      min: 0
-      x: 1000
-      y: 1000
-      z: 650
-    damping_ratio_rotation:
-      max: 1000
-      min: 0
-      x: 40
-      y: 40
-      z: 40
-    joint_damping:
-      max: 100
-      min: 0
-      value: 1
-    mass_position:
-      max: 100
-      min: 0.001
-      x: 40
-      y: 40
-      z: 10
-    mass_rotation:
-      max: 100
-      min: 0.001
-      x: 4
-      y: 4
-      z: 4
-    selected_axes:
-      rx: false
-      ry: false
-      rz: false
-      x: false
-      y: false
-      z: false
-    stiffness_position:
-      max: 1000
-      min: 0
-      x: 120
-      y: 120
-      z: 300
-    stiffness_rotation:
-      max: 1000
-      min: 0
-      x: 80
-      y: 80
-      z: 80
-  control_frame: grasp_link
-  controller_name: ''
-  end_effector_frame: grasp_link
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
deleted file mode 100644
index 1e3fedfbb..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
+++ /dev/null
@@ -1,268 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="April Tag Object Registration">
-  <!--//////////-->
-  <BehaviorTree
-    ID="April Tag Object Registration"
-    _description="Estimate the pose of an object using ICP."
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Move to Waypoint" waypoint_name="View Satellite" />
-      <Action ID="ClearSnapshot" />
-      <SubTree ID="Open Gripper" _collapsed="true" />
-      <SubTree ID="Take Snapshot" _collapsed="true" />
-      <SubTree
-        ID="Sample April Tag"
-        _collapsed="true"
-        num_samples="1"
-        tag_id="5"
-        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}"
-      />
-      <Control ID="Fallback">
-        <Decorator ID="Timeout" msec="1000">
-          <Action
-            ID="PublishStaticFrame"
-            pose="{tag_pose_world}"
-            child_frame_id="tag_frame"
-            publish_rate="5"
-          />
-        </Decorator>
-        <Decorator ID="Timeout" msec="1000">
-          <Control ID="Sequence">
-            <Action
-              ID="TransformPose"
-              input_pose="{tag_pose_world}"
-              translation_xyz="0.104533 ;-0.104463;-0.132927"
-              quaternion_xyzw="0.0;0.0;1.0;0.0"
-              output_pose="{object_pose_stamped_estimate}"
-            />
-            <Action
-              ID="PublishStaticFrame"
-              pose="{object_pose_stamped_estimate}"
-              child_frame_id="object_frame"
-              publish_rate="5"
-            />
-          </Control>
-        </Decorator>
-        <Control ID="Sequence">
-          <Action
-            ID="LoadPointCloudFromFile"
-            file_path="descriptions/miscellaneous/mock_satellite.stl"
-            package_name="picknik_accessories"
-            frame_id="object_frame"
-            num_sampled_points="3000"
-            random_seed="1234"
-            point_cloud="{model_point_cloud}"
-            scale="1.0"
-            color="255;150;0"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="1000">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{object_pose_stamped_estimate}"
-                child_frame_id="object_frame"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-          <Action
-            ID="TransformPointCloudFrame"
-            input_cloud="{model_point_cloud}"
-            target_frame="world"
-            output_cloud="{model_point_cloud}"
-          />
-          <Action
-            ID="GetSyncedImageAndPointCloud"
-            point_cloud_topic_name="/wrist_camera/points"
-            rgb_image_topic_name="/wrist_camera/color"
-            rgb_camera_info_topic_name="/wrist_camera/camera_info"
-            point_cloud="{point_cloud}"
-            rgb_image="{rgb_image}"
-            rgb_camera_info="{rgb_camera_info}"
-          />
-          <Action
-            ID="TransformPointCloudFrame"
-            input_cloud="{point_cloud}"
-            target_frame="world"
-            output_cloud="{point_cloud}"
-          />
-          <Action
-            ID="RegisterPointClouds"
-            base_point_cloud="{model_point_cloud}"
-            target_point_cloud="{point_cloud}"
-            max_correspondence_distance="0.01"
-            target_pose_in_base_frame="{model_to_real_pose}"
-            max_iterations="5"
-          />
-          <Action
-            ID="TransformPointCloud"
-            input_cloud="{model_point_cloud}"
-            transform_pose="{model_to_real_pose}"
-            output_cloud="{aligned_model_cloud}"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="100">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{object_pose_stamped_estimate}"
-                child_frame_id="object_frame"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{aligned_model_cloud}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-          <Action
-            ID="TransformPoseWithPose"
-            input_pose="{object_pose_stamped_estimate}"
-            transform_pose="{model_to_real_pose}"
-            output_pose="{model_world}"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="1000">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{model_world}"
-                child_frame_id="object_frame_new"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-          <Action
-            ID="TransformPoseFrame"
-            input_pose="{model_world}"
-            target_frame_id="object_frame_new"
-            output_pose="{model_object}"
-          />
-          <Action
-            ID="TransformPose"
-            input_pose="{model_object}"
-            translation_xyz="0.155;-0.1075;0.0"
-            quaternion_xyzw="0.5;-0.5;-0.5;0.5"
-            output_pose="{hole_object}"
-          />
-          <Action
-            ID="TransformPoseFrame"
-            input_pose="{hole_object}"
-            target_frame_id="world"
-            output_pose="{hole_object}"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="1000">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{hole_object}"
-                child_frame_id="object_hole"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-        </Control>
-      </Control>
-      <Action
-        ID="TransformPose"
-        input_pose="{hole_object}"
-        translation_xyz="0.0;0.0;-0.11"
-        quaternion_xyzw="0.0;0.0;0.0;1.0"
-        output_pose="{goal_pose}"
-      />
-      <Action
-        ID="TransformPose"
-        input_pose="{goal_pose}"
-        translation_xyz="0.0;0.1;0.0"
-        quaternion_xyzw="0.0;0.0;0.0;1.0"
-        output_pose="{initial_goal_pose}"
-      />
-      <Control ID="Fallback">
-        <Decorator ID="Timeout" msec="1000">
-          <Action
-            ID="PublishStaticFrame"
-            pose="{goal_pose}"
-            child_frame_id="goal_pose"
-            publish_rate="5"
-          />
-        </Decorator>
-        <Action ID="AlwaysSuccess" />
-      </Control>
-      <Action
-        ID="AddPoseStampedToVector"
-        vector="{pose_stamped_vector}"
-        input="{initial_goal_pose}"
-      />
-      <Action
-        ID="AddPoseStampedToVector"
-        vector="{pose_stamped_vector}"
-        input="{goal_pose}"
-      />
-      <Action
-        ID="AddPoseStampedToVector"
-        vector="{pose_stamped_vector}"
-        input="{hole_object}"
-      />
-      <Action
-        ID="VisualizePose"
-        marker_lifetime="0.000000"
-        marker_name="pose"
-        marker_size="0.100000"
-        pose="{hole_object}"
-      />
-      <Control ID="Fallback">
-        <Action
-          ID="PlanCartesianPath"
-          trajectory_sampling_rate="100.000000"
-          acceleration_scale_factor="0.5"
-          debug_solution="{debug_solution}"
-          velocity_scale_factor="0.2"
-          blending_radius="0.020000"
-          position_only="false"
-          joint_trajectory_msg="{joint_trajectory_msg}"
-          tip_links="grasp_link"
-          planning_group_name="manipulator"
-          path="{pose_stamped_vector}"
-          ik_cartesian_space_density="0.010000"
-          ik_joint_space_density="0.100000"
-          tip_offset="0;0;0.05;0;0;0"
-        />
-        <Action
-          ID="WaitForUserTrajectoryApproval"
-          solution="{debug_solution}"
-          cartesian_path_links="grasp_link"
-        />
-      </Control>
-      <Action
-        ID="WaitForUserTrajectoryApproval"
-        solution="{debug_solution}"
-        cartesian_path_links="grasp_link"
-      />
-      <Control ID="Fallback">
-        <Action ID="ExecuteTrajectory" />
-        <Action ID="AlwaysSuccess" />
-      </Control>
-      <SubTree ID="Close Gripper" _collapsed="true" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="April Tag Object Registration">
-      <MetadataFields>
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/close_gripper.xml
deleted file mode 100644
index 435a8854e..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/close_gripper.xml
+++ /dev/null
@@ -1,20 +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="0.77"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Close Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-        <Metadata runnable="true" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
deleted file mode 100644
index c2503638a..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
+++ /dev/null
@@ -1,311 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Compliant Grasp RAFTI VFC">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Compliant Grasp RAFTI VFC"
-    _description="Grasp RAFTI with admittance."
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="ClearSnapshot" />
-      <SubTree ID="Open Gripper" _collapsed="true" />
-      <SubTree ID="Move to Waypoint" waypoint_name="View Satellite" />
-      <SubTree ID="Take Snapshot" _collapsed="false" />
-      <SubTree
-        ID="Sample April Tag"
-        _collapsed="false"
-        num_samples="1"
-        tag_id="5"
-        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}"
-      />
-      <Control ID="Fallback">
-        <Decorator ID="Timeout" msec="1000">
-          <Action
-            ID="PublishStaticFrame"
-            pose="{tag_pose_world}"
-            child_frame_id="tag_frame"
-            publish_rate="5"
-          />
-        </Decorator>
-        <Decorator ID="Timeout" msec="1000">
-          <Control ID="Sequence">
-            <Action
-              ID="TransformPose"
-              input_pose="{tag_pose_world}"
-              translation_xyz="0.104533 ;-0.104463;-0.132927"
-              quaternion_xyzw="0.0;0.0;1.0;0.0"
-              output_pose="{object_pose_stamped_estimate}"
-            />
-            <Action
-              ID="PublishStaticFrame"
-              pose="{object_pose_stamped_estimate}"
-              child_frame_id="object_frame"
-              publish_rate="5"
-            />
-          </Control>
-        </Decorator>
-        <Control ID="Sequence">
-          <Action
-            ID="LoadPointCloudFromFile"
-            file_path="descriptions/miscellaneous/mock_satellite.stl"
-            package_name="picknik_accessories"
-            frame_id="object_frame"
-            num_sampled_points="3000"
-            random_seed="1234"
-            point_cloud="{model_point_cloud}"
-            scale="1.0"
-            color="255;150;0"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="1000">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{object_pose_stamped_estimate}"
-                child_frame_id="object_frame"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-          <Action
-            ID="TransformPointCloudFrame"
-            input_cloud="{model_point_cloud}"
-            target_frame="world"
-            output_cloud="{model_point_cloud}"
-          />
-          <Action
-            ID="GetSyncedImageAndPointCloud"
-            point_cloud="{point_cloud}"
-            rgb_image="{rgb_image}"
-            point_cloud_topic_name="/wrist_camera/points"
-            rgb_camera_info_topic_name="/wrist_camera/camera_info"
-            rgb_image_topic_name="/wrist_camera/color"
-            rgb_camera_info="{rgb_camera_info}"
-          />
-          <Action
-            ID="TransformPointCloudFrame"
-            input_cloud="{point_cloud}"
-            target_frame="world"
-            output_cloud="{point_cloud}"
-          />
-          <Action
-            ID="RegisterPointClouds"
-            base_point_cloud="{model_point_cloud}"
-            target_point_cloud="{point_cloud}"
-            max_iterations="30"
-            max_correspondence_distance="0.02"
-            target_pose_in_base_frame="{model_to_real_pose}"
-          />
-          <Action
-            ID="TransformPointCloud"
-            input_cloud="{model_point_cloud}"
-            transform_pose="{model_to_real_pose}"
-            output_cloud="{aligned_model_cloud}"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="100">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{object_pose_stamped_estimate}"
-                child_frame_id="object_frame"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-          <Action
-            ID="SendPointCloudToUI"
-            point_cloud="{aligned_model_cloud}"
-            pcd_topic="/pcd_pointcloud_captures"
-          />
-          <Action
-            ID="TransformPoseWithPose"
-            input_pose="{object_pose_stamped_estimate}"
-            transform_pose="{model_to_real_pose}"
-            output_pose="{model_world}"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="1000">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{model_world}"
-                child_frame_id="object_frame_new"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-          <Action
-            ID="TransformPoseFrame"
-            input_pose="{model_world}"
-            target_frame_id="object_frame_new"
-            output_pose="{model_object}"
-          />
-          <Action
-            ID="TransformPose"
-            input_pose="{model_object}"
-            translation_xyz="0.0;0.0;0.28"
-            quaternion_xyzw="-0.707107;0.707107;0.0;0.0"
-            output_pose="{hole_object}"
-          />
-          <Action
-            ID="TransformPoseFrame"
-            input_pose="{hole_object}"
-            target_frame_id="world"
-            output_pose="{hole_object}"
-          />
-          <Control ID="Fallback">
-            <Decorator ID="Timeout" msec="1000">
-              <Action
-                ID="PublishStaticFrame"
-                pose="{hole_object}"
-                child_frame_id="object_hole"
-                publish_rate="5"
-              />
-            </Decorator>
-            <Action ID="AlwaysSuccess" />
-          </Control>
-        </Control>
-      </Control>
-      <Action
-        ID="InitializeMTCTask"
-        task_id=""
-        controller_names="joint_trajectory_admittance_controller;robotiq_gripper_controller"
-        task="{mtc_task}"
-        trajectory_monitoring="false"
-      />
-      <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
-      <Action
-        ID="SetupMTCPlanToPose"
-        target_pose="{hole_object}"
-        acceleration_scale_factor="1.000000"
-        ik_frame="grasp_link"
-        keep_orientation="false"
-        keep_orientation_link_names="grasp_link"
-        keep_orientation_tolerance="0.100000"
-        link_padding="0.000000"
-        max_iterations="5000"
-        monitored_stage="current state"
-        planning_group_name="manipulator"
-        task="{mtc_task}"
-        trajectory_sampling_rate="100"
-        velocity_scale_factor="1.000000"
-      />
-      <Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}" />
-      <SubTree
-        ID="Execute MTC Solution"
-        solution="{mtc_solution}"
-        goal_duration_tolerance="-1.0"
-      />
-      <Action
-        ID="TransformPose"
-        input_pose="{hole_object}"
-        translation_xyz="0.0;0.0;-0.1"
-        quaternion_xyzw="0.0;1.0;0.0;0.0"
-        output_pose="{goal_pose}"
-      />
-      <Action
-        ID="InitializeMTCTask"
-        task_id=""
-        controller_names="joint_trajectory_admittance_controller;robotiq_gripper_controller"
-        task="{mtc_task}"
-        trajectory_monitoring="false"
-      />
-      <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
-      <Action
-        ID="SetupMTCUpdateGroupCollisionRule"
-        group_name="gripper"
-        object_name="&lt;octomap&gt;"
-        allow_collision="true"
-        task="{mtc_task}"
-      />
-      <Action
-        ID="SetupMTCMoveAlongFrameAxis"
-        task="{mtc_task}"
-        hand_frame="grasp_link"
-        axis_frame="grasp_link"
-        axis_x="0.0"
-        axis_y="0.0"
-        axis_z="1.0"
-        max_distance="0.1"
-        min_distance="0"
-        planning_group_name="manipulator"
-        velocity_scale=".2"
-        acceleration_scale="1.0"
-        ignore_environment_collisions="false"
-      />
-      <Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}" />
-      <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-      <SubTree
-        ID="Execute MTC Solution"
-        solution="{mtc_solution}"
-        goal_duration_tolerance="-1.0"
-      />
-      <Action
-        ID="SwitchController"
-        activate_controllers="velocity_force_controller"
-        activate_asap="true"
-        automatic_deactivation="true"
-        controller_list_action_name="/controller_manager/list_controllers"
-        controller_switch_action_name="/controller_manager/switch_controller"
-        strictness="1"
-        timeout="-1.0"
-      />
-      <Action
-        ID="CreateTwistStamped"
-        angular_velocity_xyz="0.0;0.0;0.0"
-        linear_velocity_xyz="0.0;0.0;0.0"
-        twist_stamped="{desired_twist}"
-        reference_frame="world"
-      />
-      <Action
-        ID="CreateWrenchStamped"
-        torque_xyz="0.0;0.0;0.0"
-        force_xyz="0.0;0.0;0.0"
-        wrench_stamped="{desired_wrench}"
-        reference_frame="world"
-      />
-      <Control ID="Parallel" success_count="1" failure_count="1">
-        <Action
-          ID="PublishVelocityForceCommand"
-          force_controlled_axes="1;1;1;1;1;1"
-          publish_rate="10"
-          twist_stamped="{desired_twist}"
-          velocity_controlled_axes="0;0;0;0;0;0"
-          velocity_force_controller_command_topic="/velocity_force_controller/command"
-          wrench_gain="0.0"
-          wrench_stamped="{desired_wrench}"
-        />
-        <SubTree ID="Close Gripper" _collapsed="true" />
-      </Control>
-      <Decorator ID="Delay" delay_msec="1000">
-        <Action
-          ID="SwitchController"
-          activate_controllers="joint_trajectory_admittance_controller"
-          activate_asap="true"
-          automatic_deactivation="true"
-          controller_list_action_name="/controller_manager/list_controllers"
-          controller_switch_action_name="/controller_manager/switch_controller"
-          strictness="1"
-          timeout="-1.0"
-        />
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Compliant Grasp RAFTI VFC">
-      <MetadataFields>
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml
deleted file mode 100644
index 6f3e04874..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml
+++ /dev/null
@@ -1,144 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Demo Trajectory Stitching">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Demo Trajectory Stitching"
-    _description="Demonstrated trajectory stitching using the JTAC: while the JTAC is executing a trajectory, send a new trajectory that can be stitched to the active trajectory."
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="LogMessage"
-        log_level="warn"
-        message="There will be an error when the stiching occurs and the first goal is aborted, this is expected."
-      />
-      <SubTree ID="Move to Waypoint" _collapsed="true" waypoint_name="Home" />
-      <Action
-        ID="GetCurrentPlanningScene"
-        planning_scene_msg="{planning_scene}"
-      />
-      <Action
-        ID="GetRobotJointState"
-        planning_group_name="manipulator"
-        planning_scene="{planning_scene}"
-        joint_state="{start_joint_state}"
-      />
-      <Action
-        ID="UnpackJointStateMessage"
-        joint_state="{start_joint_state}"
-        effort="{start_effort}"
-        header="{start_header}"
-        name_="{joint_names}"
-        position="{start_position}"
-        velocity="{start_velocity}"
-      />
-      <Action
-        ID="CreateJointState"
-        joint_state_msg="{start_state}"
-        positions="{start_position}"
-        joint_names="{joint_names}"
-        velocities="{start_velocity}"
-      />
-      <Action
-        ID="CreateJointState"
-        positions="0.5;0.51;-3.025;-2.31;0.2;1.159;1.37"
-        joint_names="{joint_names}"
-        joint_state_msg="{target_state}"
-        velocities="0.0;0.0;0.0;0.0;0.0;0.0;0.0"
-      />
-      <Action
-        ID="GetRobotJointState"
-        planning_group_name="manipulator"
-        planning_scene="{planning_scene}"
-        joint_state="{joint_state}"
-      />
-      <Action
-        ID="CreateJointState"
-        positions="-0.5;-0.51;-3.025;-2.31;0.2;1.159;1.37"
-        joint_names="{joint_names}"
-        joint_state_msg="{stitch_target_state}"
-        velocities="0.0;0.0;0.0;0.0;0.0;0.0;0.0"
-      />
-      <Action
-        ID="GeneratePointToPointTrajectory"
-        jerk_scale_factor="0.5"
-        velocity_scale_factor="1.0"
-        acceleration_scale_factor="1.0"
-        planning_group_name="manipulator"
-        start_state="{start_state}"
-        start_time="0.000000"
-        target_state="{target_state}"
-        trajectory_sampling_rate="100"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-      />
-      <Action
-        ID="GetTrajectoryStateAtTime"
-        time_from_reference="0.8"
-        joint_state="{stitch_state}"
-        from_start="true"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-      />
-      <Action
-        ID="GeneratePointToPointTrajectory"
-        start_state="{stitch_state}"
-        target_state="{stitch_target_state}"
-        joint_trajectory_msg="{stitch_joint_trajectory_msg}"
-        velocity_scale_factor="1.0"
-        start_time="0.8"
-        acceleration_scale_factor="1.0"
-        jerk_scale_factor="0.5"
-        planning_group_name="manipulator"
-        trajectory_sampling_rate="100"
-      />
-      <Action
-        ID="SetAdmittanceParameters"
-        config_file_name="admittance_parameters_no_admittance.yaml"
-        admittance_parameters_msg="{admittance_parameters_msg}"
-      />
-      <Action
-        ID="SwitchController"
-        activate_controllers="joint_trajectory_admittance_controller"
-        activate_asap="true"
-        automatic_deactivation="true"
-        controller_list_action_name="/controller_manager/list_controllers"
-        controller_switch_action_name="/controller_manager/switch_controller"
-        strictness="1"
-        timeout="-1.0"
-      />
-      <Control ID="Parallel" failure_count="2" success_count="1">
-        <Action
-          ID="ExecuteTrajectory"
-          path_position_tolerance="0.2"
-          absolute_force_torque_threshold="45;45;45;10;10;10"
-          execution_pipeline="jtac"
-          admittance_parameters_msg="{admittance_parameters_msg}"
-          controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
-          goal_duration_tolerance="-1.000000"
-          goal_position_tolerance="0.001000"
-          joint_trajectory_msg="{joint_trajectory_msg}"
-        />
-        <Decorator ID="Delay" delay_msec="400">
-          <Action
-            ID="ExecuteTrajectory"
-            joint_trajectory_msg="{stitch_joint_trajectory_msg}"
-            absolute_force_torque_threshold="45;45;45;10;10;10"
-            execution_pipeline="jtac"
-            admittance_parameters_msg="{admittance_parameters_msg}"
-            goal_position_tolerance="0.001000"
-            path_position_tolerance="0.2"
-            controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
-            goal_duration_tolerance="-1.000000"
-          />
-        </Decorator>
-      </Control>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Demo Trajectory Stitching">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/jtac_parameters.yaml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/jtac_parameters.yaml
deleted file mode 100644
index f88f3ad6a..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/jtac_parameters.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-SetAdmittanceParameters:
-  admittance:
-    damping_ratio_position:
-      max: 100
-      min: 0
-      x: 40
-      y: 40
-      z: 40
-    damping_ratio_rotation:
-      max: 100
-      min: 0
-      x: 40
-      y: 40
-      z: 40
-    joint_damping:
-      max: 100
-      min: 0
-      value: 1
-    mass_position:
-      max: 100
-      min: 0.001
-      x: 15
-      y: 15
-      z: 15
-    mass_rotation:
-      max: 100
-      min: 0.001
-      x: 15
-      y: 15
-      z: 15
-    selected_axes:
-      rx: true
-      ry: true
-      rz: true
-      x: true
-      y: true
-      z: true
-    stiffness_position:
-      max: 1000
-      min: 0
-      x: 80
-      y: 80
-      z: 80
-    stiffness_rotation:
-      max: 1000
-      min: 0
-      x: 80
-      y: 80
-      z: 80
-  control_frame: grasp_link
-  controller_name: ''
-  end_effector_frame: grasp_link
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
deleted file mode 100644
index d94681faf..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
+++ /dev/null
@@ -1,113 +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="Moves the robot tip on a rectangular path."
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree
-        ID="Move to Waypoint"
-        _collapsed="false"
-        waypoint_name="View Satellite"
-      />
-      <Control ID="Sequence">
-        <Action
-          ID="SwitchController"
-          activate_controllers="joint_trajectory_admittance_controller"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.3;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.5;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.5;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.3;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-      </Control>
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <Action
-            ID="PlanCartesianPath"
-            path="{pose_stamped_vector}"
-            planning_group_name="manipulator"
-            tip_links="end_effector_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="0.5"
-            acceleration_scale_factor="0.5"
-            trajectory_sampling_rate="100"
-            joint_trajectory_msg="{joint_trajectory_msg}"
-            debug_solution="{debug_solution}"
-            ik_cartesian_space_density="0.010000"
-            ik_joint_space_density="0.100000"
-          />
-          <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"
-            debug_solution="{debug_solution}"
-          />
-          <Action ID="ExecuteTrajectory" />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move Along Path">
-      <MetadataFields>
-        <Metadata subcategory="Application - Basic Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
deleted file mode 100644
index 024074393..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.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 Admittance">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Move Along Path Admittance"
-    _description="Moves the robot tip on a rectangular path."
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Control ID="Sequence">
-        <Action
-          ID="SwitchController"
-          activate_controllers="joint_trajectory_admittance_controller"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.3;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.5;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.5;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-        <Action
-          ID="CreatePoseStamped"
-          reference_frame="base_link"
-          position_xyz="0.3;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
-          pose_stamped="{pose_stamped}"
-        />
-        <Action
-          ID="AddPoseStampedToVector"
-          input="{pose_stamped}"
-          vector="{pose_stamped_vector}"
-        />
-      </Control>
-      <Decorator ID="KeepRunningUntilFailure">
-        <Control ID="Sequence">
-          <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true" />
-          <Action
-            ID="PlanCartesianPath"
-            path="{pose_stamped_vector}"
-            planning_group_name="manipulator"
-            tip_links="end_effector_link"
-            tip_offset="0.0;0.0;0.0;0.0;0.0;0.0"
-            position_only="false"
-            blending_radius="0.001"
-            velocity_scale_factor="0.2"
-            acceleration_scale_factor="0.5"
-            trajectory_sampling_rate="100"
-            joint_trajectory_msg="{joint_trajectory_msg}"
-            debug_solution="{debug_solution}"
-          />
-          <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"
-            debug_solution="{debug_solution}"
-          />
-          <Action
-            ID="WaitForUserTrajectoryApproval"
-            solution="{debug_solution}"
-          />
-          <Action
-            ID="SetAdmittanceParameters"
-            config_file_name="jtac_parameters.yaml"
-          />
-          <Action
-            ID="ExecuteTrajectory"
-            path_position_tolerance="2.0"
-            goal_position_tolerance="0.1000"
-            execution_pipeline="jtac"
-            admittance_parameters_msg="{admittance_parameters_msg}"
-            controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Move Along Path Admittance">
-      <MetadataFields>
-        <Metadata subcategory="Application - Basic Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/open_gripper.xml
deleted file mode 100644
index 48757ce3c..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/open_gripper.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" ?>
-<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"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Open Gripper">
-      <MetadataFields>
-        <Metadata subcategory="Grasping" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/re_zero_force_torque_sensors.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/re_zero_force_torque_sensors.xml
deleted file mode 100644
index 5fbbf52e3..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/re_zero_force_torque_sensors.xml
+++ /dev/null
@@ -1,27 +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_fts"
-        />
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Re-Zero Force-Torque Sensors">
-      <MetadataFields>
-        <Metadata subcategory="Motion - Execute" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml
deleted file mode 100644
index 314848efe..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Reset Simulation">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Reset Simulation"
-    _description="Reset the MuJoCo simulation to the `default` keyframe (if specified in the mujoco model)."
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="SwitchController"
-        activate_asap="true"
-        automatic_deactivation="true"
-        controller_list_action_name="/controller_manager/list_controllers"
-        controller_switch_action_name="/controller_manager/switch_controller"
-        strictness="1"
-        timeout="-1.000000"
-        deactivate_controllers="joint_trajectory_admittance_controller;velocity_force_controller;joint_trajectory_admittance_controller"
-      />
-      <Action
-        ID="ResetMujocoKeyframe"
-        response_timeout="10.000000"
-        wait_for_server_available_timeout="3.000000"
-        keyframe_name="default"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Reset Simulation">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="MuJoCo Simulation" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/sample_april_tag.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/sample_april_tag.xml
deleted file mode 100644
index 07e21a4f8..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/sample_april_tag.xml
+++ /dev/null
@@ -1,66 +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="GetCameraInfo"
-          topic_name="/wrist_camera/camera_info"
-          message_out="{camera_info}"
-        />
-        <Decorator ID="RetryUntilSuccessful" num_attempts="5">
-          <Control ID="Sequence">
-            <Action
-              ID="GetImage"
-              topic_name="/wrist_camera/color"
-              message_out="{image}"
-            />
-            <Action
-              ID="DetectAprilTags"
-              image="{image}"
-              camera_info="{camera_info}"
-              detections="{detections}"
-              apriltag_family_name="36h11"
-              max_hamming="0"
-              n_threads="1"
-              quad_decimate="2.0"
-              quad_sigma="0.0"
-              refine_edges="true"
-              tag_size="0.051"
-            />
-            <Action
-              ID="GetDetectionPose"
-              detections="{detections}"
-              target_label=""
-              detection_pose="{detection_pose}"
-              target_id="{tag_id}"
-            />
-          </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>
-  <TreeNodesModel>
-    <SubTree ID="Sample April Tag">
-      <input_port name="tag_id" default="-1" />
-      <MetadataFields>
-        <Metadata subcategory="Perception - Image Processing" />
-        <Metadata runnable="false" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml
deleted file mode 100644
index 7053616a3..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Velocity Force Controller Zero">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Velocity Force Controller Zero"
-    _description="Publish a zero force command to the Velocity Force Controller"
-    _favorite="true"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="CreateTwistStamped"
-        twist_stamped="{desired_twist}"
-        angular_velocity_xyz="0.0;0.0;0.0"
-        linear_velocity_xyz="0.0;0.0;0.0"
-      />
-      <Action
-        ID="SwitchController"
-        activate_controllers="velocity_force_controller"
-      />
-      <Action
-        ID="CreateWrenchStamped"
-        torque_xyz="0.0;0.0;0.0"
-        force_xyz="0.0;0.0;0.0"
-        wrench_stamped="{desired_wrench}"
-      />
-      <Decorator ID="KeepRunningUntilFailure">
-        <Action
-          ID="PublishVelocityForceCommand"
-          wrench_gain="0.1"
-          velocity_controlled_axes="0;0;0;0;0;0"
-          force_controlled_axes="1;1;1;0;0;0"
-        />
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Velocity Force Controller Zero">
-      <MetadataFields>
-        <Metadata subcategory="Application - Basic Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
deleted file mode 100644
index 64bdb6f54..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
+++ /dev/null
@@ -1,85 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Write PickNik">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Write PickNik"
-    _description=""
-    _favorite="true"
-    _hardcoded="false"
-  >
-    <Control ID="Sequence">
-      <SubTree ID="Move to Waypoint" _collapsed="true" waypoint_name="Home" />
-      <Action
-        ID="CreatePoseStamped"
-        reference_frame="base_link"
-        position_xyz="0.4;0.5;0.09"
-        orientation_xyzw="0.7073883;-0.7068252;0.0000327;0.0000328"
-        pose_stamped="{pose_stamped}"
-      />
-      <Control ID="Parallel" success_count="1" failure_count="1">
-        <Action
-          ID="PublishStaticFrame"
-          pose="{pose_stamped}"
-          child_frame_id="local"
-          publish_rate="50"
-        />
-        <Control ID="Sequence" name="TopLevelSequence">
-          <Action
-            ID="SwitchController"
-            activate_controllers="joint_trajectory_admittance_controller"
-            activate_asap="true"
-            automatic_deactivation="true"
-            controller_list_action_name="/controller_manager/list_controllers"
-            controller_switch_action_name="/controller_manager/switch_controller"
-            strictness="1"
-            timeout="0.000000"
-          />
-          <Action
-            ID="LoadPoseStampedVectorFromYaml"
-            file_path="write_picknik_waypoints.yaml"
-            output="{pose_stamped_msgs}"
-          />
-          <Action
-            ID="VisualizePath"
-            marker_lifetime="0.000000"
-            marker_name="path"
-            path="{pose_stamped_msgs}"
-            pose_marker_size="0.100000"
-            show_poses="false"
-          />
-          <Control ID="Fallback">
-            <Action
-              ID="PlanCartesianPath"
-              path="{pose_stamped_msgs}"
-              planning_group_name="manipulator"
-              tip_links="grasp_link"
-              tip_offset="0.0;0.0;0.01;0.0;0.0;0.0"
-              position_only="false"
-              blending_radius="0.001"
-              velocity_scale_factor="0.5"
-              acceleration_scale_factor="0.5"
-              trajectory_sampling_rate="100"
-              joint_trajectory_msg="{joint_trajectory_msg}"
-              debug_solution="{debug_solution}"
-              ik_cartesian_space_density="0.010000"
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diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik_waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik_waypoints.yaml
deleted file mode 100644
index ad3afad21..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik_waypoints.yaml
+++ /dev/null
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-    y: 0.013351050728148496
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.5086229011494898
-    y: 0.01169471275
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.49930159006171615
-    y: 0.023376408807757744
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.4820972772304196
-    y: 0.03794781624900318
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.47076882952936533
-    y: 0.05301839903035277
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.48526854698289174
-    y: 0.07028317497977662
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.49976826443641803
-    y: 0.08754795092920047
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.4829209470432883
-    y: 0.09020369500000001
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.4670273673072691
-    y: 0.07630035971199492
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.4528813315739715
-    y: 0.05874462082557477
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.4478528928896693
-    y: 0.07793526448008453
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.4354219568105598
-    y: 0.09020369500000001
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.42758745632567197
-    y: 0.07808291185916139
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.43190068755044797
-    y: 0.055953512156107624
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.436213918775224
-    y: 0.03382411245305381
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.44052715
-    y: 0.011694712750000003
-    z: 0.0
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
----
-header:
-  frame_id: local
-pose:
-  position:
-    x: 0.44052715
-    y: 0.011694712750000003
-    z: -0.01
-  orientation:
-    x: 0
-    y: 0
-    z: 1
-    w: 0
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/package.xml b/src/moveit_pro_kinova_configs/kinova_sim/package.xml
deleted file mode 100644
index cca74f3be..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0" ?>
-<package format="3">
-  <name>kinova_sim</name>
-  <version>6.5.0</version>
-
-  <description>
-    Configuration package for a UR arm that can be simulated with mock hardware
-  </description>
-
-  <maintainer email="paul.gesel@picknik.ai">Paul Gesel</maintainer>
-  <maintainer email="david.yackzan@picknik.ai">David Yackzan</maintainer>
-
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <exec_depend>joint_trajectory_admittance_controller</exec_depend>
-  <exec_depend>kortex_description</exec_depend>
-  <exec_depend>moveit_studio_kinova_pstop_manager</exec_depend>
-  <exec_depend>picknik_mujoco_ros</exec_depend>
-  <exec_depend>picknik_accessories</exec_depend>
-  <exec_depend>realsense2_description</exec_depend>
-  <exec_depend>velocity_force_controller</exec_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/thumbnail.png b/src/moveit_pro_kinova_configs/kinova_sim/thumbnail.png
deleted file mode 100644
index dbc1a4719..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/thumbnail.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9332e4ffb90451a3dc2004e8b5ce9297994dad3694b5edb022db87c94a852dbc
-size 252907
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/kinova_sim/waypoints/waypoints.yaml
deleted file mode 100644
index 578ac4d79..000000000
--- a/src/moveit_pro_kinova_configs/kinova_sim/waypoints/waypoints.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-- name: Home
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [7.2854474427322627e-05, 0.0060998872530424308, -3.1250605484909082, -2.5051932931762071, -2.7164243118882329e-05, 0.95966324117024648, 1.5699864595074029]
-    velocity: []
-    effort: []
-- name: View Satellite
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [-0.09307641483383389, -0.19300567578465877, -3.1300095007446025, -1.0300920675150191, 0.10809231574510887, -1.8633714704671105, 0.6960333295958311]
-    velocity: []
-    effort: []
-- name: Servo Start
-  joint_group_names:
-    - manipulator
-  joint_state:
-    header:
-      frame_id: world
-      stamp:
-        sec: 0
-        nanosec: 0
-    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
-    position: [-0.00720012232313838, 0.046292085559112114, -3.1164649297565687, -1.9802682633550486, 0.002955344711620508, 0.47456175742007445, 1.5661967812762208]
-    velocity: []
-    effort: []
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt
deleted file mode 100644
index 76c4050a5..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt
+++ /dev/null
@@ -1,74 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(moveit_studio_kinova_pstop_manager)
-
-find_package(moveit_pro_package REQUIRED)
-moveit_pro_package()
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wpedantic)
-endif()
-
-# Detect ROS distro for API compatibility
-if(DEFINED ENV{ROS_DISTRO})
-  if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-    add_compile_definitions(ROS_DISTRO_JAZZY)
-  elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
-    add_compile_definitions(ROS_DISTRO_HUMBLE)
-  endif()
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_ros REQUIRED)
-find_package(controller_manager_msgs REQUIRED)
-find_package(moveit_studio_agent_msgs)
-find_package(pluginlib REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(example_interfaces REQUIRED)
-
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  controller_manager_msgs
-  moveit_studio_agent_msgs
-  pluginlib
-  rclcpp
-  rclcpp_components
-  std_srvs
-  example_interfaces
-)
-
-add_executable(protective_stop_manager_node src/protective_stop_manager_node.cpp)
-target_include_directories(protective_stop_manager_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-ament_target_dependencies(protective_stop_manager_node ${THIS_PACKAGE_INCLUDE_DEPENDS})
-
-# Mock Kinova dashboard client
-add_executable(mock_kinova_client_node
-  src/mock_kinova_client.cpp
-  src/mock_kinova_client_node.cpp)
-target_include_directories(mock_kinova_client_node
-  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  PUBLIC $<INSTALL_INTERFACE:include>)
-ament_target_dependencies(mock_kinova_client_node ${THIS_PACKAGE_INCLUDE_DEPENDS})
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(TARGETS
-    mock_kinova_client_node
-    protective_stop_manager_node
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION lib/${PROJECT_NAME})
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
-ament_package()
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp
deleted file mode 100644
index 750736bae..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright 2022 PickNik Inc.
-// All rights reserved.
-//
-// Unauthorized copying of this code base via any medium is strictly prohibited.
-// Proprietary and confidential.
-
-#pragma once
-
-#include <example_interfaces/msg/bool.hpp>
-#include <example_interfaces/srv/trigger.hpp>
-#include <rclcpp/rclcpp.hpp>
-
-namespace moveit_studio::kinova_pstop_manager
-{
-/**
- * \brief This class is intended for use in simulation, and mocks some of the services that the DashboardClientROS class
- * provides for real hardware.
- */
-class MockKinovaClient : public rclcpp::Node
-{
-public:
-  MockKinovaClient(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
-
-private:
-  /**
-   * @brief Returns the result of fault reset try
-   *
-   * @param request The request object.
-   * @param response The response (always OK).
-   */
-  void handleFaultResetQuery(const example_interfaces::srv::Trigger::Request::SharedPtr request,
-                             example_interfaces::srv::Trigger::Response::SharedPtr response);
-
-  void publishFaultState();
-
-  void mockFaultState(const example_interfaces::srv::Trigger::Request::SharedPtr request,
-                      example_interfaces::srv::Trigger::Response::SharedPtr response);
-
-  rclcpp::Service<example_interfaces::srv::Trigger>::SharedPtr reset_fault_service_;
-  rclcpp::Service<example_interfaces::srv::Trigger>::SharedPtr mock_fault_service_;
-
-  rclcpp::Publisher<example_interfaces::msg::Bool>::SharedPtr fault_state_pub_;
-  bool in_fault_;
-  rclcpp::TimerBase::SharedPtr fault_state_timer_;
-};
-}  // namespace moveit_studio::kinova_pstop_manager
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp
deleted file mode 100644
index ce001211f..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/include/moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-// Copyright 2022 PickNik Inc.
-// All rights reserved.
-//
-// Unauthorized copying of this code base via any medium is strictly prohibited.
-// Proprietary and confidential.
-
-// Implementing this feature as a node that provides a service that calls other ROS services is not ideal.  Please see
-// the README for a discussion of alternatives.
-
-#pragma once
-
-#include <controller_manager_msgs/srv/switch_controller.hpp>
-#include <example_interfaces/msg/bool.hpp>
-#include <example_interfaces/srv/trigger.hpp>
-#include <moveit_studio_agent_msgs/msg/fault_status.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/bool.hpp>
-#include <std_srvs/srv/trigger.hpp>
-
-namespace moveit_studio::kinova_pstop_manager
-{
-class ProtectiveStopManager : public rclcpp::Node
-{
-public:
-  ProtectiveStopManager(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
-
-private:
-  using SwitchController = controller_manager_msgs::srv::SwitchController;
-
-  /**
-   * @brief This is the callback for the "recover_from_protective_stop" service.  It unlocks the protective stop, stops
-   * the program currently running on the arm, and re-sends the control program.
-   *
-   * @param request An empty request.
-   * @param response Indicates whether the protective stop was successfully released.
-   */
-  void recoverFromProtectiveStop(const std_srvs::srv::Trigger::Request::SharedPtr request,
-                                 std_srvs::srv::Trigger::Response::SharedPtr response);
-
-  /**
-   * @brief Helper function to check whether a service is unavailable.  If the service is unavailable, this function
-   * also sets displays the appropriate error message and sets the Response.
-   *
-   * @param client The client for the service we are checking.
-   * @param response The response object, which will indicate success or failure.
-   * @return true The service is unavailable.
-   * @return false The service is available.
-   */
-  bool indicateUnavailableService(rclcpp::ClientBase::SharedPtr client,
-                                  std_srvs::srv::Trigger::Response::SharedPtr response = nullptr);
-
-  /**
-   * @brief Callback function that publishes the current fault status of the robot.
-   *
-   */
-  void publishFaultStatus();
-
-  /**
-   * @brief Determines whether the Kinova robot is in fault.
-   *
-   * @return true The robot is in fault.
-   * @return false The robot is not in fault.
-   * @return std::nullopt An error occurred when attempting to call the service.
-   */
-  bool isRobotInFault();
-
-  std::vector<std::string> all_controller_names;
-  std::vector<std::string> active_controller_names;
-
-  rclcpp::CallbackGroup::SharedPtr reentrant_callback_group_;
-  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr recovery_service_;
-  rclcpp::Client<SwitchController>::SharedPtr switch_controller_client_;
-
-  // generic moveit studio fault publisher
-  rclcpp::Publisher<moveit_studio_agent_msgs::msg::FaultStatus>::SharedPtr fault_status_publisher_;
-  rclcpp::TimerBase::SharedPtr fault_status_timer_;
-  std::atomic<bool> in_fault_;
-
-  // time measurement
-  rclcpp::Time last_fault_status_update_;
-
-  // connect to the fault_controller that is communication pipe to/from the driver
-  rclcpp::Subscription<example_interfaces::msg::Bool>::SharedPtr fault_ctrl_sub_;
-  rclcpp::Client<example_interfaces::srv::Trigger>::SharedPtr fault_reset_client_;
-};
-}  // namespace moveit_studio::kinova_pstop_manager
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml
deleted file mode 100644
index 25ffb6ab7..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>moveit_studio_kinova_pstop_manager</name>
-  <version>6.5.0</version>
-  <description>
-    Provides a node to monitor the protective stop state of the Kinova, and
-    reset protective stops when necessary.
-  </description>
-  <maintainer email="lovro.ivanov@picknik.ai">Lovro Ivanov</maintainer>
-  <license>Proprietary</license>
-
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <build_depend>moveit_pro_package</build_depend>
-  <buildtool_depend>ros_environment</buildtool_depend>
-
-  <depend>controller_manager_msgs</depend>
-  <depend>moveit_studio_agent_msgs</depend>
-  <depend>pluginlib</depend>
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>std_srvs</depend>
-  <depend>example_interfaces</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>ament_lint_auto</test_depend>
-  <test_depend>picknik_ament_copyright</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client.cpp
deleted file mode 100644
index a4bdaf220..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2022 PickNik Inc.
-// All rights reserved.
-//
-// Unauthorized copying of this code base via any medium is strictly prohibited.
-// Proprietary and confidential.
-
-#include <moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp>
-
-namespace moveit_studio::kinova_pstop_manager
-{
-constexpr auto kNodeName = "fault_controller";
-constexpr auto kFaultTopic = "~/internal_fault";
-constexpr auto kResetFault = "~/reset_fault";
-constexpr auto kMockFault = "~/mock_fault";
-
-MockKinovaClient::MockKinovaClient(const rclcpp::NodeOptions& options)
-  : rclcpp::Node(kNodeName, options)
-  , reset_fault_service_(create_service<example_interfaces::srv::Trigger>(
-        kResetFault,
-        [this](const example_interfaces::srv::Trigger::Request::SharedPtr request,
-               example_interfaces::srv::Trigger::Response::SharedPtr response) {
-          handleFaultResetQuery(request, response);
-        }))
-  , mock_fault_service_(create_service<example_interfaces::srv::Trigger>(
-        kMockFault,
-        [this](const example_interfaces::srv::Trigger::Request::SharedPtr request,
-               example_interfaces::srv::Trigger::Response::SharedPtr response) { mockFaultState(request, response); }))
-  , fault_state_pub_(create_publisher<example_interfaces::msg::Bool>(kFaultTopic, rclcpp::QoS(1).transient_local()))
-  , in_fault_(false)
-  , fault_state_timer_(create_wall_timer(std::chrono::milliseconds(50), [&]() { publishFaultState(); }))
-{
-}
-
-void MockKinovaClient::handleFaultResetQuery(const example_interfaces::srv::Trigger::Request::SharedPtr /*request*/,
-                                             example_interfaces::srv::Trigger::Response::SharedPtr response)
-{
-  in_fault_ = false;
-  response->success = true;
-}
-
-void MockKinovaClient::publishFaultState()
-{
-  example_interfaces::msg::Bool msg;
-  msg.data = in_fault_;
-  fault_state_pub_->publish(msg);
-}
-
-void MockKinovaClient::mockFaultState(const example_interfaces::srv::Trigger::Request::SharedPtr /*request*/,
-                                      example_interfaces::srv::Trigger::Response::SharedPtr response)
-{
-  in_fault_ = true;
-  response->success = true;
-}
-}  // namespace moveit_studio::kinova_pstop_manager
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client_node.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client_node.cpp
deleted file mode 100644
index 1c4ec4c1e..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/mock_kinova_client_node.cpp
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright 2022 PickNik Inc.
-// All rights reserved.
-//
-// Unauthorized copying of this code base via any medium is strictly prohibited.
-// Proprietary and confidential.
-
-#include <moveit_studio_kinova_pstop_manager/mock_kinova_client.hpp>
-
-int main(int argc, char* argv[])
-{
-  rclcpp::init(argc, argv);
-
-  auto node = std::make_shared<moveit_studio::kinova_pstop_manager::MockKinovaClient>();
-
-  rclcpp::executors::MultiThreadedExecutor exec;
-  exec.add_node(node);
-  exec.spin();
-  exec.remove_node(node);
-
-  rclcpp::shutdown();
-}
diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp
deleted file mode 100644
index 7c485d50a..000000000
--- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp
+++ /dev/null
@@ -1,221 +0,0 @@
-// Copyright 2022 PickNik Inc.
-// All rights reserved.
-//
-// Unauthorized copying of this code base via any medium is strictly prohibited.
-// Proprietary and confidential.
-
-#include <moveit_studio_kinova_pstop_manager/protective_stop_manager_node.hpp>
-
-namespace moveit_studio::kinova_pstop_manager
-{
-constexpr auto kNodeName = "protective_stop_manager";
-static const auto kLogger = rclcpp::get_logger(kNodeName);
-constexpr auto kSwitchControllerService = "/controller_manager/switch_controller";
-constexpr auto kRecoveryServiceName = "recover_from_protective_stop";
-constexpr auto kFaultStatusTopic = "~/robot_fault_status";
-constexpr auto kServiceCallTimeout = std::chrono::duration<double>(1.0);
-
-constexpr auto kFaultStatusPeriod = std::chrono::duration<double>(0.02);
-constexpr auto kWatchdogPeriodSec = 0.1;
-
-constexpr auto kFaultTopic = "/fault_controller/internal_fault";
-constexpr auto kResetFault = "/fault_controller/reset_fault";
-
-constexpr auto kParameterControllersDefaultActive = "controllers_default_active";
-constexpr auto kParameterControllersDefaultNotActive = "controllers_default_not_active";
-
-ProtectiveStopManager::ProtectiveStopManager(const rclcpp::NodeOptions& options)
-  : rclcpp::Node("protective_stop_manager", options)
-  , reentrant_callback_group_(create_callback_group(rclcpp::CallbackGroupType::Reentrant))
-  , recovery_service_(create_service<std_srvs::srv::Trigger>(
-        kRecoveryServiceName,
-        [this](const std_srvs::srv::Trigger::Request::SharedPtr request,
-               std_srvs::srv::Trigger::Response::SharedPtr response) { recoverFromProtectiveStop(request, response); },
-        rmw_qos_profile_services_default, reentrant_callback_group_))
-  , switch_controller_client_(create_client<SwitchController>(
-        kSwitchControllerService, rmw_qos_profile_services_default, reentrant_callback_group_))
-  , fault_status_publisher_(create_publisher<moveit_studio_agent_msgs::msg::FaultStatus>(kFaultStatusTopic, 1))
-  , fault_status_timer_(create_wall_timer(kFaultStatusPeriod, [this] { this->publishFaultStatus(); }))
-  , in_fault_(false)
-  , last_fault_status_update_(0, 0, this->now().get_clock_type())
-  , fault_ctrl_sub_(create_subscription<example_interfaces::msg::Bool>(
-        kFaultTopic, rclcpp::QoS(1),
-        [&](const example_interfaces::msg::Bool::ConstSharedPtr msg) {
-          in_fault_ = msg->data;
-          last_fault_status_update_ = this->now();
-        }))
-  , fault_reset_client_(create_client<example_interfaces::srv::Trigger>(kResetFault, rmw_qos_profile_services_default,
-                                                                        reentrant_callback_group_))
-{
-  declare_parameter<std::vector<std::string>>(kParameterControllersDefaultActive, std::vector<std::string>{});
-  declare_parameter<std::vector<std::string>>(kParameterControllersDefaultNotActive, std::vector<std::string>{});
-
-  // Retrieve list of controllers which should be active by default
-  active_controller_names = get_parameter(kParameterControllersDefaultActive).as_string_array();
-
-  // Set of all controllers = default-active controllers + default-inactive controllers
-  all_controller_names = get_parameter(kParameterControllersDefaultNotActive).as_string_array();
-  all_controller_names.insert(all_controller_names.end(), active_controller_names.cbegin(),
-                              active_controller_names.cend());
-
-  // remove fault controller because it is needed for the protective stop manager to work
-  // fault controller exposes reset_fault service and internal_fault topic
-  auto iter = std::find_if(all_controller_names.begin(), all_controller_names.end(),
-                           [&](const std::string& name) { return name == "fault_controller"; });
-  if (iter != all_controller_names.end())
-  {
-    all_controller_names.erase(iter);
-  }
-}
-
-void ProtectiveStopManager::recoverFromProtectiveStop(const std_srvs::srv::Trigger::Request::SharedPtr /* request */,
-                                                      std_srvs::srv::Trigger::Response::SharedPtr response)
-{
-  // Deactivate currently-active controllers.
-  // This is needed to prevent any controllers from commanding the robot hardware to a stale position when the Kinova
-  // enabled again
-  RCLCPP_INFO_STREAM(kLogger, "Deactivating all controllers...");
-  if (indicateUnavailableService(switch_controller_client_, response))
-  {
-    return;
-  }
-  auto deactivate_all_controllers_request = std::make_shared<SwitchController::Request>();
-#ifdef ROS_DISTRO_JAZZY
-  deactivate_all_controllers_request->deactivate_controllers = all_controller_names;
-#else
-  deactivate_all_controllers_request->stop_controllers = all_controller_names;
-#endif
-  // Use BEST_EFFORT strictness because some controllers may already be inactive, and attempting to stop them while
-  // using STRICT strictness would introduce an unnecessary error.
-  deactivate_all_controllers_request->strictness = SwitchController::Request::BEST_EFFORT;
-  auto deactivate_all_controllers_future =
-      switch_controller_client_->async_send_request(deactivate_all_controllers_request);
-  if (deactivate_all_controllers_future.wait_for(kServiceCallTimeout) == std::future_status::timeout)
-  {
-    const auto msg = std::string("Timed out waiting for response from `") +
-                     switch_controller_client_->get_service_name() +
-                     "` service. You may need to restart the robot drivers manually.";
-    RCLCPP_ERROR_STREAM(kLogger, msg);
-    response->success = false;
-    response->message = msg;
-    return;
-  }
-  if (!deactivate_all_controllers_future.get()->ok)
-  {
-    const auto msg = "Failed to deactivate robot controllers.";
-    RCLCPP_ERROR_STREAM(kLogger, msg);
-    response->success = false;
-    response->message = msg;
-    return;
-  }
-
-  // Reactivate controllers set in the site config as active by default.
-  // This resets the state of the robot controllers to match the state it was in at startup.
-  RCLCPP_INFO_STREAM(kLogger, "Reactivating default controllers...");
-  auto activate_default_controllers_request = std::make_shared<SwitchController::Request>();
-#ifdef ROS_DISTRO_JAZZY
-  activate_default_controllers_request->activate_controllers = active_controller_names;
-#else
-  activate_default_controllers_request->start_controllers = active_controller_names;
-#endif
-  // BEST_EFFORT is good enough to put the system back into an operational state without throwing unnecessary errors.
-  activate_default_controllers_request->strictness = SwitchController::Request::BEST_EFFORT;
-  auto activate_default_controllers_future =
-      switch_controller_client_->async_send_request(activate_default_controllers_request);
-  if (activate_default_controllers_future.wait_for(kServiceCallTimeout) == std::future_status::timeout)
-  {
-    const auto msg = std::string("Timed out waiting for response from `") +
-                     switch_controller_client_->get_service_name() +
-                     "` service. You may need to restart the robot drivers manually.";
-    RCLCPP_ERROR_STREAM(kLogger, msg);
-    response->success = false;
-    response->message = msg;
-    return;
-  }
-  if (!activate_default_controllers_future.get()->ok)
-  {
-    const auto msg = "Failed to activate default robot controllers.";
-    RCLCPP_ERROR_STREAM(kLogger, msg);
-    response->success = false;
-    response->message = msg;
-    return;
-  }
-
-  // reset fault
-  RCLCPP_INFO_STREAM(kLogger, "Resetting fault on the robot...");
-  if (indicateUnavailableService(fault_reset_client_, response))
-  {
-    return;
-  }
-
-  auto reset_fault_request = std::make_shared<example_interfaces::srv::Trigger::Request>();
-  auto reset_fault_future = fault_reset_client_->async_send_request(reset_fault_request);
-  if (reset_fault_future.wait_for(kServiceCallTimeout) == std::future_status::timeout)
-  {
-    const auto msg = std::string("Timed out waiting for response from `") + fault_reset_client_->get_service_name() +
-                     "` service. You may need to restart the robot drivers manually.";
-    RCLCPP_ERROR_STREAM(kLogger, msg);
-    response->success = false;
-    response->message = msg;
-    return;
-  }
-  if (!reset_fault_future.get()->success)
-  {
-    const auto msg = "Failed to reset robot fault.";
-    RCLCPP_ERROR_STREAM(kLogger, msg);
-    response->success = false;
-    response->message = msg;
-    return;
-  }
-}
-
-bool ProtectiveStopManager::indicateUnavailableService(rclcpp::ClientBase::SharedPtr client,
-                                                       std_srvs::srv::Trigger::Response::SharedPtr response)
-{
-  if (client->service_is_ready())
-  {
-    return false;
-  }
-
-  const auto msg = std::string("`") + client->get_service_name() + "` service is not ready.";
-  RCLCPP_ERROR_STREAM(kLogger, msg);
-  if (response)
-  {
-    response->success = false;
-    response->message = msg;
-  }
-  return true;
-}
-
-void ProtectiveStopManager::publishFaultStatus()
-{
-  auto msg = moveit_studio_agent_msgs::msg::FaultStatus();
-  msg.status = in_fault_ ? moveit_studio_agent_msgs::msg::FaultStatus::RECOVERABLE_FAULT :
-                           moveit_studio_agent_msgs::msg::FaultStatus::NORMAL;
-
-  msg.status = ((this->now() - last_fault_status_update_).seconds() < kWatchdogPeriodSec) ?
-                   msg.status :
-                   moveit_studio_agent_msgs::msg::FaultStatus::NONRECOVERABLE_FAULT;
-
-  fault_status_publisher_->publish(msg);
-}
-
-bool ProtectiveStopManager::isRobotInFault()
-{
-  return in_fault_;
-}
-}  // namespace moveit_studio::kinova_pstop_manager
-
-int main(int argc, char* argv[])
-{
-  rclcpp::init(argc, argv);
-
-  auto node = std::make_shared<moveit_studio::kinova_pstop_manager::ProtectiveStopManager>();
-
-  rclcpp::executors::MultiThreadedExecutor exec;
-  exec.add_node(node);
-  exec.spin();
-  exec.remove_node(node);
-
-  rclcpp::shutdown();
-}
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml
deleted file mode 100644
index ee880f72f..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-###############################################################
-#
-#  This configures the robot to work with MoveIt Pro
-#
-###############################################################
-
-# Extend the basic Kinova MuJoCo configuration
-based_on_package: kinova_sim
-
-# Baseline hardware configuration parameters for MoveIt Pro.
-# [Required]
-hardware:
-  # Parameters used to configure the robot description through XACRO.
-  # A URDF and SRDF are both required.
-  # [Required]
-  robot_description:
-    urdf:
-      package: "space_satellite_sim"
-      path: "description/space_satellite_sim.xacro"
-    srdf:
-      package: "space_satellite_sim"
-      path: "config/moveit/space_satellite_sim.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:
-      - arm: "gen3"
-      - dof: "7"
-      - mujoco_keyframe: "default"
-      - mujoco_model: "description/mujoco/scene.xml"
-      - mujoco_viewer: "false"
-
-# Configuration for loading behaviors and objectives.
-# [Required]
-objectives:
-  # Specify source folder for objectives
-  # [Required]
-  objective_library_paths:
-    core_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/core"
-    motion_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/motion"
-    perception_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/perception"
-    mujoco_objectives:
-      package_name: "moveit_pro_objectives"
-      relative_path: "objectives/mujoco"
-    sim_objectives:
-      package_name: "space_satellite_sim"
-      relative_path: "objectives"
-  # Specify the location of the saved waypoints file.
-  # [Required]
-  waypoints_file:
-    package_name: "space_satellite_sim"
-    relative_path: "waypoints/waypoints.yaml"
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml
deleted file mode 100644
index 3358344f5..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/initial_positions.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-joint_1: 0.0
-joint_2: 0.0
-joint_3: -3.14
-joint_4: -2.51
-joint_5: 0.0
-joint_6: 0.96
-joint_7: 1.57
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.STL
deleted file mode 100644
index 5f6aff0d1..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3e38517e653d58f4160cfdcee34c9dea983d8b3ecb8f2c147444f58235335260
-size 183884
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.mtl
deleted file mode 100644
index a771bd2d5..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.mtl
+++ /dev/null
@@ -1,22 +0,0 @@
-# Blender 4.1.1 MTL File: 'None'
-# www.blender.org
-
-newmtl Blue_002
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.000000 0.000000 1.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
-
-newmtl White_002
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 1.000000 1.000000 1.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.obj
deleted file mode 100644
index 502aa742f..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/base_link.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d209049c7784b700dacd3ff6b92e5a5e653b175b81cd40cdc3ac08c2c4115a63
-size 221550
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.STL
deleted file mode 100644
index 705d64f18..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b2ec7dafbf6a3c9a2cac717d18132a8a1efd9fcb8f2c40d9c12c8ece7323ec8
-size 1334384
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.mtl
deleted file mode 100644
index 66af0bf77..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Blender 4.1.1 MTL File: 'None'
-# www.blender.org
-
-newmtl White
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 1.000000 1.000000 1.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.obj
deleted file mode 100644
index a17b9d033..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_no_vision_link.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:190b2a97e289f208cd1e9cc053d1fdd2d7bd147909e026784d3a854d473b0c20
-size 1362966
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.STL
deleted file mode 100644
index 72f81c50b..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8bb05e420a88532b4eee3948a0047fb8e7f341c3e5cc971d54e97e2aaffcf878
-size 1164084
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.mtl
deleted file mode 100644
index fdb35325d..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Blender 4.1.1 MTL File: 'None'
-# www.blender.org
-
-newmtl white
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 1.000000 1.000000 1.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.obj
deleted file mode 100644
index 66914c558..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/bracelet_with_vision_link.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:479465e12fa09738aa1853d6033839e61bb2f8976088f2b180842feca3fe39d7
-size 1560243
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/end_effector_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/end_effector_link.STL
deleted file mode 100644
index 3e2754219..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/end_effector_link.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b6fb58e61fa475939767d68a446f97f1bff02c0e5935a3ea8bb51e6515783d8
-size 80
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.STL
deleted file mode 100644
index 0c616b5f7..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a00d96d2c7ec37e9fe4c5fb6d3fa2b4386dfd48fea5ac25632f4cb83b3505105
-size 456284
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.mtl b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.mtl
deleted file mode 100644
index b435e8789..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Blender 4.1.1 MTL File: 'None'
-# www.blender.org
-
-newmtl White.001
-Ns 250.000000
-Ka 1.000000 1.000000 1.000000
-Kd 1.000000 1.000000 1.000000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.obj b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.obj
deleted file mode 100644
index 92be4a04e..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/forearm_link.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:72520fe6116385b46ad20320e03f7b1ca8741ecab6b1cec196c554fdb903b58f
-size 507752
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.STL b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.STL
deleted file mode 100644
index 00b636d56..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/assets/kinova/half_arm_1_link.STL
+++ /dev/null
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/take_snapshot.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/take_snapshot.xml
deleted file mode 100644
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+++ /dev/null
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-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Take Snapshot"
-    _description="Take a pointcloud snapshot of the scene with a depth camera"
-    _favorite="true"
-  >
-    <Control ID="Sequence">
-      <!-- Clear out old snapshot data -->
-      <Action ID="ClearSnapshot" />
-      <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
-      <Action ID="SendPointCloudToUI" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Take Snapshot">
-      <MetadataFields>
-        <Metadata subcategory="Application - Basic Examples" />
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/.gitattributes b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/.gitattributes
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/LICENSE b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/LICENSE
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+++ /dev/null
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-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
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-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/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/.gitattributes b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/.gitattributes
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-oid sha256:f3dc58dcc1d08458e151071e808dfd4c85362dcc081b7f5d7b704f62f3fce4be
-size 580
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/space.png b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/space.png
deleted file mode 100644
index 90a9ae138..000000000
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/space.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ac2c66c232c5fc74927b010efa9bc5529e4d049470f32981bf587e082499bf51
-size 1253929
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/.gitattributes b/src/space_satellite_sim/.gitattributes
similarity index 100%
rename from src/moveit_pro_kinova_configs/kinova_sim/.gitattributes
rename to src/space_satellite_sim/.gitattributes
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/CMakeLists.txt b/src/space_satellite_sim/CMakeLists.txt
similarity index 100%
rename from src/moveit_pro_kinova_configs/space_satellite_sim/CMakeLists.txt
rename to src/space_satellite_sim/CMakeLists.txt
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/LICENSE b/src/space_satellite_sim/LICENSE
similarity index 100%
rename from src/moveit_pro_kinova_configs/kinova_sim/LICENSE
rename to src/space_satellite_sim/LICENSE
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/README.md b/src/space_satellite_sim/README.md
similarity index 100%
rename from src/moveit_pro_kinova_configs/space_satellite_sim/README.md
rename to src/space_satellite_sim/README.md
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml b/src/space_satellite_sim/config/config.yaml
similarity index 65%
rename from src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
rename to src/space_satellite_sim/config/config.yaml
index 561092ce8..e8ef8c354 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml
+++ b/src/space_satellite_sim/config/config.yaml
@@ -7,8 +7,7 @@
 # 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 using the same configuration.
+  # MuJoCo simulation; no real hardware to talk to.
   # [Required]
   simulated: True
 
@@ -21,48 +20,24 @@ hardware:
   # [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: "kinova_sim"
-    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: "kinova_sim"
-#    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: "kinova_sim"
-      path: "description/picknik_kinova_gen3.xacro"
+      package: "space_satellite_sim"
+      path: "description/space_satellite_sim.xacro"
     srdf:
-      package: "kinova_sim"
-      path: "config/moveit/picknik_kinova_gen3_base.srdf"
+      package: "space_satellite_sim"
+      path: "config/moveit/space_satellite_sim.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:
-      - mujoco_keyframe: "default"
       - arm: "gen3"
       - dof: "7"
-      - vision: "false"
-      - gripper: "robotiq_2f_85"
-      - use_fake_hardware: "%>> hardware.simulated"
-      - fake_sensor_commands: "false"
-      - external_camera: "true"
-      - wrist_realsense: "true"
-      - use_internal_bus_gripper_comm: "false"
-      - mujoco_model: "description/mujoco/rafti_fingers_scene.xml"
-      - mujoco_viewer: false
+      - mujoco_keyframe: "default"
+      - mujoco_model: "description/mujoco/scene.xml"
+      - mujoco_viewer: "false"
 
 # Sets ROS global params for launch.
 # [Optional]
@@ -72,26 +47,25 @@ ros_global_params:
   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"
 
   kinematics:
-    package: "kinova_sim"
+    package: "space_satellite_sim"
     path: "config/moveit/pose_ik_distance.yaml"
   sensors_3d:
-    package: "kinova_sim"
+    package: "space_satellite_sim"
     path: "config/moveit/sensors_3d.yaml"
   joint_limits:
-    package: "kinova_sim"
+    package: "space_satellite_sim"
     path: "config/moveit/joint_limits.yaml"
   pose_jog:
-    package: "kinova_sim"
+    package: "space_satellite_sim"
     path: "config/moveit/pose_jog.yaml"
   joint_jog:
-    package: "kinova_sim"
+    package: "space_satellite_sim"
     path: "config/moveit/joint_jog.yaml"
 
   publish:
@@ -110,11 +84,10 @@ moveit_params:
 # [Required, if using ros2_control]
 ros2_control:
   config:
-    package: "kinova_sim"
+    package: "space_satellite_sim"
     path: "config/control/picknik_kinova_gen3.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.
+  # MoveIt Pro will load and activate these controllers at start up to ensure
+  # they are available.
   # [Optional, default=[]]
   controllers_active_at_startup:
     - "force_torque_sensor_broadcaster"
@@ -128,7 +101,8 @@ ros2_control:
   # 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.
+  # Optionally configure remapping rules to let multiple controllers receive
+  # commands on the same topic.
   # [Optional, default=[]]
   controller_shared_topics: []
 
@@ -138,8 +112,6 @@ 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_pro::behaviors::CoreBehaviorsLoader"
       - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
@@ -165,10 +137,10 @@ objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/mujoco"
     sim_objectives:
-      package_name: "kinova_sim"
+      package_name: "space_satellite_sim"
       relative_path: "objectives"
   # Specify the location of the saved waypoints file.
   # [Required]
   waypoints_file:
-    package_name: "kinova_sim"
+    package_name: "space_satellite_sim"
     relative_path: "waypoints/waypoints.yaml"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/space_satellite_sim/config/control/picknik_kinova_gen3.ros2_control.yaml
similarity index 100%
rename from src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml
rename to src/space_satellite_sim/config/control/picknik_kinova_gen3.ros2_control.yaml
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.rviz b/src/space_satellite_sim/config/fuse/fuse.rviz
similarity index 100%
rename from src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.rviz
rename to src/space_satellite_sim/config/fuse/fuse.rviz
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.yaml b/src/space_satellite_sim/config/fuse/fuse.yaml
similarity index 100%
rename from src/moveit_pro_kinova_configs/space_satellite_sim/config/fuse/fuse.yaml
rename to src/space_satellite_sim/config/fuse/fuse.yaml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/initial_positions.yaml b/src/space_satellite_sim/config/initial_positions.yaml
similarity index 100%
rename from src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/initial_positions.yaml
rename to src/space_satellite_sim/config/initial_positions.yaml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_jog.yaml b/src/space_satellite_sim/config/moveit/joint_jog.yaml
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rename from src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/joint_jog.yaml
rename to src/space_satellite_sim/config/moveit/joint_jog.yaml
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_limits.yaml b/src/space_satellite_sim/config/moveit/joint_limits.yaml
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rename from src/moveit_pro_kinova_configs/kinova_sim/config/moveit/joint_limits.yaml
rename to src/space_satellite_sim/config/moveit/joint_limits.yaml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml b/src/space_satellite_sim/config/moveit/pose_ik_distance.yaml
similarity index 100%
rename from src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml
rename to src/space_satellite_sim/config/moveit/pose_ik_distance.yaml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/pose_jog.yaml b/src/space_satellite_sim/config/moveit/pose_jog.yaml
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rename from src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/pose_jog.yaml
rename to src/space_satellite_sim/config/moveit/pose_jog.yaml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/sensors_3d.yaml b/src/space_satellite_sim/config/moveit/sensors_3d.yaml
similarity index 100%
rename from src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/sensors_3d.yaml
rename to src/space_satellite_sim/config/moveit/sensors_3d.yaml
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/moveit/space_satellite_sim.srdf b/src/space_satellite_sim/config/moveit/space_satellite_sim.srdf
similarity index 100%
rename from src/moveit_pro_kinova_configs/space_satellite_sim/config/moveit/space_satellite_sim.srdf
rename to src/space_satellite_sim/config/moveit/space_satellite_sim.srdf
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/gen3_7dof_assets.xml b/src/space_satellite_sim_camera_cal/description/mujoco/gen3_7dof_assets.xml
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/launch/36h11.launch.yml b/src/space_satellite_sim_camera_cal/launch/36h11.launch.yml
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml b/src/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera.xml b/src/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera.xml
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diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml b/src/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml
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