diff --git a/rbs_mill_assist/config/grasping.yaml b/rbs_mill_assist/config/grasping.yaml
deleted file mode 100644
index 76cb803..0000000
--- a/rbs_mill_assist/config/grasping.yaml
+++ /dev/null
@@ -1,124 +0,0 @@
-to_graver:
-  pregrasp_pose:
-    position:
-      x: -0.3
-      y: -0.20
-      z: 0.2
-    orientation:
-      x: 0.707
-      y: -0.707
-      z: 0.0
-      w: 0.0
-  grasp_pose:
-    position:
-      x: -0.3
-      y: -0.20
-      z: 0.001
-    orientation:
-      x: 0.707
-      y: -0.707
-      z: 0.0
-      w: 0.0
-  postgrasp_pose:
-    position:
-      x: -0.3
-      y: -0.20
-      z: 0.2
-    orientation:
-      x: 0.707
-      y: -0.707
-      z: 0.0
-      w: 0.0
-
-  preplace_pose:
-    position:
-      x: 0.40
-      y: 0.0
-      z: 0.1
-    orientation:
-      x: 0.707
-      y: 0.707
-      z: 0.0
-      w: 0.0
-  place_pose:
-    position:
-      x: 0.40
-      y: 0.0
-      z: 0.015
-    orientation:
-      x: 0.707
-      y: 0.707
-      z: 0.0
-      w: 0.0
-  postplace_pose:
-    position:
-      x: 0.40
-      y: 0.0
-      z: 0.1
-    orientation:
-      x: 0.707
-      y: 0.707
-      z: 0.0
-      w: 0.0
-
-from_graver:
-  pregrasp_pose:
-    position:
-      x: 0.40
-      y: 0.0
-      z: 0.1
-    orientation:
-      x: 0.707
-      y: 0.707
-      z: 0.0
-      w: 0.0
-  grasp_pose:
-    position:
-      x: 0.40
-      y: 0.0
-      z: 0.015
-    orientation:
-      x: 0.707
-      y: 0.707
-      z: 0.0
-      w: 0.0
-  postgrasp_pose:
-    position:
-      x: 0.40
-      y: 0.0
-      z: 0.1
-    orientation:
-      x: 0.707
-      y: 0.707
-      z: 0.0
-      w: 0.0
-  preplace_pose:
-    position:
-      x: -0.3
-      y: 0.20
-      z: 0.2
-    orientation:
-      x: 0.707
-      y: -0.707
-      z: 0.0
-      w: 0.0
-  place_pose:
-    position:
-      x: -0.3
-      y: 0.20
-      z: 0.0
-    orientation:
-      x: 0.707
-      y: -0.707
-      z: 0.0
-      w: 0.0
-  postplace_pose:
-    position:
-      x: -0.3
-      y: 0.20
-      z: 0.2
-    orientation:
-      x: 0.707
-      y: -0.707
-      z: 0.0
-      w: 0.0
diff --git a/rbs_mill_assist/config/objects.yaml b/rbs_mill_assist/config/objects.yaml
deleted file mode 100644
index 8435246..0000000
--- a/rbs_mill_assist/config/objects.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-table:
-  dimensions: [1.2, 0.7, 0.8]
-  pose:
-    position:
-      x: 0.0
-      y: 0.0
-      z: -0.4
-    orientation:
-      x: 0.0
-      y: 0.0
-      z: 0.0
-      w: 1.0
-laser_graver:
-