diff --git a/rasmt_moveit_config/config/fake_controllers.yaml b/rasmt_moveit_config/config/fake_controllers.yaml
deleted file mode 100644
index 1409c6a..0000000
--- a/rasmt_moveit_config/config/fake_controllers.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-controller_list:
-  - name: fake_rasmt_arm_group_controller
-    type: $(arg fake_execution_type)
-    joints:
-      - rasmt_Rot_Z_1
-      - rasmt_Rot_Y_1
-      - rasmt_Rot_Z_2
-      - rasmt_Rot_Y_2
-      - rasmt_Rot_Z_3
-      - rasmt_Rot_Y_4
-  - name: fake_rasmt_hand_arm_group_controller
-    type: $(arg fake_execution_type)
-    joints:
-      - rasmt_Slide_1
-initial:  # Define initial robot poses per group
-  - group: rasmt_arm_group
-    pose: home_position
-  - group: rasmt_hand_arm_group
-    pose: home_hand
\ No newline at end of file
diff --git a/rasmt_moveit_config/config/ros_controllers.yaml b/rasmt_moveit_config/config/ros_controllers.yaml
deleted file mode 100644
index e69de29..0000000
diff --git a/rasmt_moveit_config/config/sensors_3d.yaml b/rasmt_moveit_config/config/sensors_3d.yaml
deleted file mode 100644
index 51010a3..0000000
--- a/rasmt_moveit_config/config/sensors_3d.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-sensors:
-  []
\ No newline at end of file
diff --git a/rasmt_moveit_config/config/simple_moveit_controllers.yaml b/rasmt_moveit_config/config/simple_moveit_controllers.yaml
deleted file mode 100644
index 4a92e9b..0000000
--- a/rasmt_moveit_config/config/simple_moveit_controllers.yaml
+++ /dev/null
@@ -1,18 +0,0 @@
-controller_list:
-  - name: rasmt_arm_group_controller
-    action_ns: follow_joint_trajectory
-    type: FollowJointTrajectory
-    default: True
-    joints:
-      - rasmt_Rot_Z_1
-      - rasmt_Rot_Y_1
-      - rasmt_Rot_Z_2
-      - rasmt_Rot_Y_2
-      - rasmt_Rot_Z_3
-      - rasmt_Rot_Y_4
-  - name: rasmt_hand_arm_group_controller
-    action_ns: gripper_action
-    type: GripperCommand
-    default: True
-    joints:
-      - rasmt_Slide_1
\ No newline at end of file
diff --git a/rasmt_support/launch/gazebo.launch.py b/rasmt_support/launch/gazebo.launch.py
deleted file mode 100644
index e394dcc..0000000
--- a/rasmt_support/launch/gazebo.launch.py
+++ /dev/null
@@ -1,54 +0,0 @@
-from launch.launch_description import LaunchDescription
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
-from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command
-from launch_ros.substitutions import FindPackageShare
-from launch_ros.actions import Node
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-import xacro
-import os
-from ament_index_python import get_package_share_directory
-
-
-def generate_launch_description():
-
-    # Launch Gazebo
-    gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
-                FindPackageShare("gazebo_ros"), 
-                "launch", 
-                "gazebo.launch.py"
-            ])
-        )
-    )
-    xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
-    # get error if xacro file if missing
-    assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)
-
-    sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf")
-
-
-    spawn_entity = Node(
-        package="gazebo_ros",
-        executable="spawn_entity.py",
-        arguments=[
-            "-file", xacro_file,
-            "-entity", "rasmt"
-        ],
-        output="screen"
-    )
-    cube_spawn = Node(
-        package="gazebo_ros",
-        executable="spawn_entity.py",
-        arguments=[
-            "-file", sdf_file,
-            "-entity", "cube_station"
-        ]
-    )
-
-    return LaunchDescription(
-    [
-        gazebo,
-        spawn_entity,
-        #cube_spawn
-    ])
\ No newline at end of file