diff --git a/src/hangar_sim/images/.gitattributes b/src/hangar_sim/images/.gitattributes
deleted file mode 100644
index 7db549b5c..000000000
--- a/src/hangar_sim/images/.gitattributes
+++ /dev/null
@@ -1 +0,0 @@
-*.{png,jpg,jpeg,obj,dae,stl,OBJ,DAE,STL} filter=lfs diff=lfs merge=lfs -text
diff --git a/src/hangar_sim/images/box.png b/src/hangar_sim/images/box.png
deleted file mode 100644
index e90334b35..000000000
--- a/src/hangar_sim/images/box.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d60187c9e0524730fdb3647ddb501b63756e305183dab70e0fe1a07539dcccf8
-size 28979
diff --git a/src/hangar_sim/images/box_2.png b/src/hangar_sim/images/box_2.png
deleted file mode 100644
index ddd2f1cc7..000000000
--- a/src/hangar_sim/images/box_2.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8fdc45eb5b359665f27894696d6799eade1febee306b047242aa1229ee44cec9
-size 1638227
diff --git a/src/hangar_sim/objectives/count_boxes.xml b/src/hangar_sim/objectives/count_boxes.xml
deleted file mode 100644
index 967efbb54..000000000
--- a/src/hangar_sim/objectives/count_boxes.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Count Boxes">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Count Boxes"
-    _description="Count the number of boxes in a given area."
-    _favorite="false"
-    name="Show images taken by the robot to a human for box count verification"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="LogMessage"
-        log_level="error"
-        message="Make sure to update the absolute path by replacing moveit-pro-user with your username, then you can delete this message"
-      />
-      <SubTree
-        ID="Count Boxes Objective"
-        _collapsed="true"
-        pose_path="/home/moveit-pro-user/user_ws/src/hangar_sim/poses"
-        scene_camera_folder="/home/moveit-pro-user/user_ws/src/hangar_sim/scene_camera_images"
-        wrist_camera_folder="/home/moveit-pro-user/user_ws/src/hangar_sim/wrist_camera_images"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Count Boxes">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/count_boxes_objective.xml b/src/hangar_sim/objectives/count_boxes_objective.xml
deleted file mode 100644
index 85f310b92..000000000
--- a/src/hangar_sim/objectives/count_boxes_objective.xml
+++ /dev/null
@@ -1,130 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Count Boxes Objective">
-  <BehaviorTree
-    ID="Count Boxes Objective"
-    _description="Count the number of boxes in a given area."
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree
-        ID="CreatePoseVectorFromDirectory"
-        _collapsed="false"
-        pose_vector="{pose_vector}"
-        directory_path="{pose_path}"
-        name="given a path, load a PoseStamped from each yaml in that directory"
-      />
-      <!--Crop outliers from our region of interest-->
-      <Action
-        ID="CreateStampedPose"
-        reference_frame="world"
-        stamped_pose="{crop_pose_centroid}"
-        position_xyz="-11;2.75;0"
-      />
-      <Action
-        ID="VisualizePath"
-        marker_lifetime="0.000000"
-        marker_name="path_initial"
-        path="{pose_vector}"
-        pose_marker_size="1"
-        show_poses="true"
-      />
-      <Action
-        ID="CropPosesInBox"
-        crop_box_centroid_pose="{crop_pose_centroid}"
-        poses="{pose_vector}"
-        poses_cropped="{path_cropped}"
-        crop_box_size="12;12;1"
-      />
-      <SubTree
-        ID="Order Poses"
-        _collapsed="false"
-        centroid="{crop_pose_centroid}"
-        poses_in="{path_cropped}"
-        poses_ordered="{poses_ordered}"
-        x_extent="12"
-        y_extent="12"
-      />
-      <Action
-        ID="VisualizePath"
-        marker_lifetime="0.000000"
-        marker_name="poses_ordered"
-        path="{poses_ordered}"
-        pose_marker_size="1"
-        show_poses="true"
-      />
-      <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"
-        activate_controllers="platform_velocity_controller_nav2"
-        deactivate_controllers="platform_velocity_controller"
-      />
-      <Action ID="Script" code="total_box_count:=0" />
-      <!--Drive through our newly ordered list of poses and count boxes at each Pose-->
-      <Decorator
-        ID="ForEach"
-        index="{index}"
-        out="{out}"
-        vector_in="{poses_ordered}"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="NavigateToPoseAction"
-            action_name="/navigate_to_pose"
-            current_pose="{current_pose}"
-            distance_remaining="{distance_remaining}"
-            estimated_time_remaining="{estimated_time_remaining}"
-            ignore_stamp_time="true"
-            navigation_time="{navigation_time}"
-            number_of_recoveries="{number_of_recoveries}"
-            pose_stamped="{out}"
-            timeout_sec="-1.000000"
-            behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
-          />
-          <SubTree
-            ID="Count boxes subtree"
-            _collapsed="false"
-            box_count="{box_count}"
-            scene_camera_folder="{scene_camera_folder}"
-            wrist_camera_folder="{wrist_camera_folder}"
-          />
-          <Action ID="Script" code="total_box_count+=box_count" />
-        </Control>
-      </Decorator>
-      <Action ID="LogMessage" log_level="info" message="{total_box_count}" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Count Boxes Objective">
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-      <inout_port
-        name="wrist_camera_folder"
-        default="/home/moveit-pro-user/user_ws/src/hangar_sim/wrist_camera_images"
-        type="std::string"
-      >
-        Absolute path to a directory for saving wrist camera pictures
-      </inout_port>
-      <inout_port
-        name="scene_camera_folder"
-        default="/home/moveit-pro-user/user_ws/src/hangar_sim/scene_camera_images"
-        type="std::string"
-      >
-        Absolute path to a directory for saving scene camera pictures
-      </inout_port>
-      <inout_port
-        name="pose_path"
-        default="/home/moveit-pro-user/user_ws/src/hangar_sim/poses"
-        type="std::string"
-      >
-        Absolute path to a directory of pose YAML files
-      </inout_port>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/count_boxes_subtree.xml b/src/hangar_sim/objectives/count_boxes_subtree.xml
deleted file mode 100644
index 1dcc5f307..000000000
--- a/src/hangar_sim/objectives/count_boxes_subtree.xml
+++ /dev/null
@@ -1,168 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Count boxes subtree">
-  <BehaviorTree
-    ID="Count boxes subtree"
-    _description="Counts the boxes visible in a scene"
-    _favorite="false"
-  >
-    <Control ID="Fallback">
-      <Control ID="Sequence" name="TopLevelSequence">
-        <Action
-          ID="GetSyncedImages"
-          camera_info_1="{camera_info_1}"
-          camera_info_1_topic_name="/wrist_camera/camera_info"
-          camera_info_2="{camera_info_2}"
-          camera_info_2_topic_name="/scene_camera/camera_info"
-          image_1="{wrist_camera_image}"
-          image_1_topic_name="/wrist_camera/color"
-          image_2="{scene_camera_image}"
-          image_2_topic_name="/scene_camera/color"
-        />
-        <Action
-          ID="SaveImageToFile"
-          file_path="{wrist_camera_folder}"
-          file_prefix="box"
-          image="{wrist_camera_image}"
-        />
-        <Action
-          ID="SaveImageToFile"
-          file_path="{scene_camera_folder}"
-          file_prefix="box"
-          image="{scene_camera_image}"
-        />
-        <SubTree
-          ID="Segment Image from Text Prompt Subtree"
-          _collapsed="true"
-          clip_model_path="models/clip.onnx"
-          clipseg_model_path="models/clipseg.onnx"
-          erosion_size="0"
-          image_topic_name="/wrist_camera/color"
-          masks_visualization_topic="/masks_visualization"
-          masks2d="{masks2d}"
-          model_package="moveit_pro_clipseg"
-          prompts="small boxes"
-          negative_prompts="grey"
-          threshold="0.4"
-        />
-        <Action
-          ID="PublishMask2D"
-          image="{wrist_camera_image}"
-          masks="{masks2d}"
-          masks_visualization_topic="/masks_visualization"
-          opacity="0.500000"
-          bounding_box_detection_class="box"
-          _skipIf="true"
-        />
-        <Action
-          ID="SwitchUIPrimaryView"
-          primary_view_name="/masks_visualization"
-          _skipIf="true"
-        />
-        <Action
-          ID="GetPointCloud"
-          message_out="{point_cloud}"
-          publisher_timeout_sec="5.000000"
-          message_timeout_sec="5.000000"
-          topic_name="/wrist_camera/points"
-        />
-        <Action
-          ID="CreateStampedPose"
-          reference_frame="ridgeback_base_link"
-          stamped_pose="{robot_pose}"
-          orientation_xyzw="0;0;0;1"
-          position_xyz="0;0;0"
-        />
-        <Action
-          ID="FindMaskedObjects"
-          base_frame="world"
-          camera_info="{camera_info_1}"
-          detected_shapes="{detected_shapes}"
-          face_separation_threshold="0.010000"
-          masks2d="{masks2d}"
-          minimum_face_area="0.000625"
-          plane_inlier_threshold="0.010000"
-          point_cloud="{point_cloud}"
-        />
-        <Action ID="Script" code="box_count:=0" />
-        <Decorator
-          ID="ForEach"
-          index="{index}"
-          out="{out}"
-          vector_in="{detected_shapes}"
-        >
-          <Control ID="Sequence">
-            <Control ID="IfThenElse">
-              <Control ID="Sequence">
-                <Action
-                  ID="ExtractGraspableObjectPose"
-                  graspable_object="{out}"
-                  pose="{pose_stamped}"
-                />
-                <Action
-                  ID="CreateGraspableObject"
-                  cuboid_object="{reference_cuboid}"
-                  dx="0.25"
-                  dy="0.25"
-                  dz="0.25"
-                  generate_front_face="true"
-                  generate_side_faces="true"
-                  generate_top_face="true"
-                  object_id="reference_cuboid"
-                  pose="{pose_stamped}"
-                />
-                <Action
-                  ID="CheckCuboidSimilarity"
-                  base_frame="world"
-                  distance_threshold="0.020000"
-                  input_cuboid="{out}"
-                  orientation_threshold="3.142"
-                  reference_cuboid="{reference_cuboid}"
-                />
-              </Control>
-              <Action ID="Script" code="box_count+=1" />
-              <Action
-                ID="AlwaysSuccess"
-                name="If the cuboid isn't similar, just don't count it"
-              />
-            </Control>
-          </Control>
-        </Decorator>
-        <Action
-          ID="ResetPlanningSceneObjects"
-          apply_planning_scene_service="/apply_planning_scene"
-          name="CreateGraspableObject adds to the planning scene but we don't want that"
-        />
-      </Control>
-      <Action
-        ID="Script"
-        code="box_count:=0"
-        name="This can happen if CLIPSeg doesn't find any boxes"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Count boxes subtree">
-      <MetadataFields>
-        <Metadata runnable="False" />
-        <Metadata subcategory="Perception - ML" />
-      </MetadataFields>
-      <inout_port
-        name="scene_camera_folder"
-        default="/home/moveit-pro-user/user_ws/src/hangar_sim/scene_camera_images"
-        type="std::string"
-      >
-        Absolute path to a directory for saving scene camera pictures
-      </inout_port>
-      <inout_port
-        name="wrist_camera_folder"
-        default="/home/moveit-pro-user/user_ws/src/hangar_sim/wrist_camera_images"
-        type="std::string"
-      >
-        Absolute path to a directory for saving wrist camera pictures
-      </inout_port>
-      <inout_port name="box_count" default="{box_count}" type="int">
-        Number of boxes
-      </inout_port>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/createposevectorfromdirectory.xml b/src/hangar_sim/objectives/createposevectorfromdirectory.xml
deleted file mode 100644
index 27d3ed6ac..000000000
--- a/src/hangar_sim/objectives/createposevectorfromdirectory.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="CreatePoseVectorFromDirectory">
-  <BehaviorTree
-    ID="CreatePoseVectorFromDirectory"
-    _description=""
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="GetFilenamesFromDirectory"
-        result="{result}"
-        directory_path="{directory_path}"
-        file_type=".yaml"
-      />
-      <Action ID="ResetVector" vector="{pose_vector}" />
-      <Decorator ID="ForEach" index="{index}" out="{out}" vector_in="{result}">
-        <Control ID="Sequence">
-          <Action
-            ID="LoadPoseStampedFromYaml"
-            output="{pose_msg}"
-            file_path="{out}"
-          />
-          <Action
-            ID="PushBackVector"
-            input_vector="{pose_vector}"
-            output_vector="{pose_vector}"
-            element="{pose_msg}"
-          />
-        </Control>
-      </Decorator>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="CreatePoseVectorFromDirectory">
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-      <inout_port
-        name="directory_path"
-        default="{directory_path}"
-        type="std::string"
-      />
-      <inout_port name="pose_vector" default="{pose_vector}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/order_poses.xml b/src/hangar_sim/objectives/order_poses.xml
deleted file mode 100644
index c7f395c34..000000000
--- a/src/hangar_sim/objectives/order_poses.xml
+++ /dev/null
@@ -1,244 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Order Poses">
-  <BehaviorTree
-    ID="Order Poses"
-    _description="Orders poses for the Count Boxes Objective"
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Control
-        ID="Sequence"
-        name="Calculate the 4 corners of the region of interest"
-      >
-        <Action ID="CreateFloat64Message" data="{x_extent}" float64="{x_msg}" />
-        <Action ID="UnpackFloat64Message" data="{x_extent}" float64="{x_msg}" />
-        <Action ID="CreateFloat64Message" data="{y_extent}" float64="{y_msg}" />
-        <Action ID="UnpackFloat64Message" data="{y_extent}" float64="{y_msg}" />
-        <Action ID="Script" code="poses_ordered:=poses_in" />
-        <Action
-          ID="UnpackPoseStampedMessage"
-          header="{header}"
-          pose="{pose}"
-          pose_stamped="{centroid}"
-        />
-        <Action
-          ID="UnpackPoseMessage"
-          orientation="{orientation}"
-          pose="{pose}"
-          position="{position}"
-        />
-        <Action
-          ID="UnpackPointMessage"
-          point="{position}"
-          x="{x}"
-          y="{y}"
-          z="{z}"
-        />
-        <Action ID="Script" code="left:=x-(x_extent/2)" />
-        <Action ID="Script" code="right:=x+(x_extent/2)" />
-        <Action ID="Script" code="top:=y+(y_extent/2)" />
-        <Action ID="Script" code="bottom:=y-(y_extent/2)" />
-      </Control>
-      <Control
-        ID="Sequence"
-        name="Create a StampedPose for each of the region of interest's corners"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="CreatePointMessage"
-            point="{bottom_left}"
-            x="{left}"
-            y="{bottom}"
-            z="{z}"
-          />
-          <Action
-            ID="CreatePoseMessage"
-            orientation="{orientation}"
-            pose="{pose_bottom_left}"
-            position="{bottom_left}"
-          />
-          <Action
-            ID="CreatePoseStampedMessage"
-            header="{header}"
-            pose="{pose_bottom_left}"
-            pose_stamped="{pose_stamped_bottom_left}"
-          />
-        </Control>
-        <Control ID="Sequence">
-          <Action
-            ID="CreatePointMessage"
-            point="{top_left}"
-            x="{left}"
-            y="{top}"
-            z="{z}"
-          />
-          <Action
-            ID="CreatePoseMessage"
-            orientation="{orientation}"
-            pose="{pose_top_left}"
-            position="{top_left}"
-          />
-          <Action
-            ID="CreatePoseStampedMessage"
-            header="{header}"
-            pose="{pose_top_left}"
-            pose_stamped="{pose_stamped_top_left}"
-          />
-        </Control>
-        <Control ID="Sequence">
-          <Action
-            ID="CreatePointMessage"
-            point="{top_right}"
-            x="{right}"
-            y="{top}"
-            z="{z}"
-          />
-          <Action
-            ID="CreatePoseMessage"
-            orientation="{orientation}"
-            pose="{pose_top_right}"
-            position="{top_right}"
-          />
-          <Action
-            ID="CreatePoseStampedMessage"
-            header="{header}"
-            pose="{pose_top_right}"
-            pose_stamped="{pose_stamped_top_right}"
-          />
-        </Control>
-        <Control ID="Sequence">
-          <Action
-            ID="CreatePointMessage"
-            point="{bottom_right}"
-            x="{right}"
-            y="{bottom}"
-            z="{z}"
-          />
-          <Action
-            ID="CreatePoseMessage"
-            orientation="{orientation}"
-            pose="{pose_bottom_right}"
-            position="{bottom_right}"
-          />
-          <Action
-            ID="CreatePoseStampedMessage"
-            header="{header}"
-            pose="{pose_bottom_right}"
-            pose_stamped="{pose_stamped_bottom_right}"
-          />
-        </Control>
-      </Control>
-      <Control
-        ID="Sequence"
-        name="From our given set of poses, find one that is closes to each of our region if interest's conrners"
-      >
-        <Decorator
-          ID="ForEach"
-          index="{index}"
-          out="{out}"
-          vector_in="{poses_in}"
-        >
-          <Control ID="Fallback">
-            <Decorator ID="Precondition" else="FAILURE" if="index == 0">
-              <Control ID="Sequence">
-                <SubTree
-                  ID="Find Nearest Pose In Path"
-                  _collapsed="true"
-                  nearest_index="{nearest_index}"
-                  nearest_pose="{nearest_pose}"
-                  pose_vector="{poses_in}"
-                  search_pose="{pose_stamped_bottom_left}"
-                />
-                <Action
-                  ID="ReplaceInVector"
-                  index="{index}"
-                  input_vector="{poses_ordered}"
-                  output_vector="{poses_ordered}"
-                  element="{nearest_pose}"
-                />
-              </Control>
-            </Decorator>
-            <Decorator ID="Precondition" else="FAILURE" if="index == 1">
-              <Control ID="Sequence">
-                <SubTree
-                  ID="Find Nearest Pose In Path"
-                  nearest_index="{nearest_index}"
-                  nearest_pose="{nearest_pose}"
-                  pose_vector="{poses_in}"
-                  search_pose="{pose_stamped_top_left}"
-                />
-                <Action
-                  ID="ReplaceInVector"
-                  index="{index}"
-                  input_vector="{poses_ordered}"
-                  output_vector="{poses_ordered}"
-                  element="{nearest_pose}"
-                />
-              </Control>
-            </Decorator>
-            <Decorator ID="Precondition" else="FAILURE" if="index == 2">
-              <Control ID="Sequence">
-                <SubTree
-                  ID="Find Nearest Pose In Path"
-                  nearest_index="{nearest_index}"
-                  nearest_pose="{nearest_pose}"
-                  pose_vector="{poses_in}"
-                  search_pose="{pose_stamped_top_right}"
-                />
-                <Action
-                  ID="ReplaceInVector"
-                  index="{index}"
-                  input_vector="{poses_ordered}"
-                  output_vector="{poses_ordered}"
-                  element="{nearest_pose}"
-                />
-              </Control>
-            </Decorator>
-            <Decorator ID="Precondition" else="FAILURE" if="index == 3">
-              <Control ID="Sequence">
-                <SubTree
-                  ID="Find Nearest Pose In Path"
-                  nearest_index="{nearest_index}"
-                  nearest_pose="{nearest_pose}"
-                  pose_vector="{poses_in}"
-                  search_pose="{pose_stamped_bottom_right}"
-                />
-                <Action
-                  ID="ReplaceInVector"
-                  index="{index}"
-                  input_vector="{poses_ordered}"
-                  output_vector="{poses_ordered}"
-                  element="{nearest_pose}"
-                />
-              </Control>
-            </Decorator>
-            <Decorator ID="ForceFailure">
-              <Action
-                ID="LogMessage"
-                log_level="error"
-                message="This shouldn't get over here"
-              />
-            </Decorator>
-          </Control>
-        </Decorator>
-      </Control>
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Order Poses">
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Motion - Planning" />
-      </MetadataFields>
-      <inout_port
-        name="centroid"
-        default="{centroid}"
-        type="geometry_msgs::msg::PoseStamped_&lt;std::allocator&lt;void&gt; &gt;"
-      />
-      <inout_port name="poses_in" default="{poses_in}" />
-      <inout_port name="poses_ordered" default="{poses_ordered}" />
-      <inout_port name="x_extent" default="{x_extent}" />
-      <inout_port name="y_extent" default="{y_extent}" />
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/verify_box_count.xml b/src/hangar_sim/objectives/verify_box_count.xml
deleted file mode 100644
index 2de673e8a..000000000
--- a/src/hangar_sim/objectives/verify_box_count.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Verify Box Count">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Verify Box Count"
-    _description="User verify the number of boxes"
-    _favorite="false"
-    name="Show images taken by the robot to a human for box count verification"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="LogMessage"
-        log_level="error"
-        message="Make sure to update the absolute path by replacing moveit-pro-user with your username, then you can delete this message"
-      />
-      <SubTree
-        ID="Verify Box Count Subtree"
-        _collapsed="true"
-        directory_path="/home/moveit-pro-user/user_ws/src/hangar_sim/wrist_camera_images"
-      />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Verify Box Count">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/objectives/verify_box_count_subtree.xml b/src/hangar_sim/objectives/verify_box_count_subtree.xml
deleted file mode 100644
index 3bbd6ed19..000000000
--- a/src/hangar_sim/objectives/verify_box_count_subtree.xml
+++ /dev/null
@@ -1,89 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Verify Box Count Subtree">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Verify Box Count Subtree"
-    _description="User verify the number of boxes"
-    _favorite="false"
-    name="Show images taken by the robot to a human for box count verification"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <Action
-        ID="GetFilenamesFromDirectory"
-        file_type=".png"
-        result="{image_filename_vector}"
-        directory_path="{directory_path}"
-      />
-      <Action ID="Script" code="inc:=0" />
-      <Decorator
-        ID="ForEach"
-        index="{index}"
-        out="{out}"
-        vector_in="{image_filename_vector}"
-      >
-        <Control ID="Sequence">
-          <Action
-            ID="LoadImageFromFile"
-            frame_id="world"
-            image="{image}"
-            file_path="{out}"
-          />
-          <Action ID="ResetVector" vector="{masks2d}" />
-          <Action
-            ID="SwitchUIPrimaryView"
-            primary_view_name="/masks_visualization"
-          />
-          <Action
-            ID="PublishMask2D"
-            image="{image}"
-            masks="{masks2d}"
-            masks_visualization_topic="/masks_visualization"
-            opacity="0.500000"
-          />
-          <Action ID="WaitForDuration" delay_duration="5.000000" />
-          <Decorator ID="RetryUntilSuccessful" num_attempts="3">
-            <Control ID="Sequence">
-              <Action
-                ID="GetTextFromUser"
-                text_output="{text_output}"
-                prompts="Number of boxes in masks_visualization pane?"
-                default_values="0"
-              />
-              <Decorator
-                ID="ForEach"
-                index="{index}"
-                out="{out}"
-                vector_in="{text_output}"
-              >
-                <Control ID="Sequence">
-                  <Action
-                    ID="StringToInt"
-                    result="{num_boxes}"
-                    string_to_convert="{out}"
-                  />
-                  <Action ID="Script" code="inc+=num_boxes" />
-                </Control>
-              </Decorator>
-            </Control>
-          </Decorator>
-        </Control>
-      </Decorator>
-      <Action ID="LogMessage" log_level="info" message="{inc}" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Verify Box Count Subtree">
-      <MetadataFields>
-        <Metadata runnable="false" />
-        <Metadata subcategory="Application - Advanced Examples" />
-      </MetadataFields>
-      <inout_port
-        name="directory_path"
-        default="/home/moveit-pro-user/user_ws/src/hangar_sim/wrist_camera_images"
-        type="std::string"
-      >
-        Absolute path to wrist camera images
-      </inout_port>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/hangar_sim/poses/1.yaml b/src/hangar_sim/poses/1.yaml
deleted file mode 100644
index 1f2d9da5c..000000000
--- a/src/hangar_sim/poses/1.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -15.0
-    y: -0.75
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: 0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/2.yaml b/src/hangar_sim/poses/2.yaml
deleted file mode 100644
index 0ce2bd381..000000000
--- a/src/hangar_sim/poses/2.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -7.0
-    y: -0.75
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: 0.924
-    w: 0.383
diff --git a/src/hangar_sim/poses/3.yaml b/src/hangar_sim/poses/3.yaml
deleted file mode 100644
index 991fdca99..000000000
--- a/src/hangar_sim/poses/3.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -15.0
-    y: 7.5
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/4.yaml b/src/hangar_sim/poses/4.yaml
deleted file mode 100644
index 205980f54..000000000
--- a/src/hangar_sim/poses/4.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -7.0
-    y: 7.5
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: 0.924
-    w: -0.383
diff --git a/src/hangar_sim/poses/random1.yaml b/src/hangar_sim/poses/random1.yaml
deleted file mode 100644
index fa88ac02a..000000000
--- a/src/hangar_sim/poses/random1.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: 20.0
-    y: 10.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/random2.yaml b/src/hangar_sim/poses/random2.yaml
deleted file mode 100644
index 6028227f9..000000000
--- a/src/hangar_sim/poses/random2.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: 20.0
-    y: 20.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/random3.yaml b/src/hangar_sim/poses/random3.yaml
deleted file mode 100644
index 33cad35b0..000000000
--- a/src/hangar_sim/poses/random3.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: 20.0
-    y: 30.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/random4.yaml b/src/hangar_sim/poses/random4.yaml
deleted file mode 100644
index a6af148c2..000000000
--- a/src/hangar_sim/poses/random4.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: 30.0
-    y: 30.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/random5.yaml b/src/hangar_sim/poses/random5.yaml
deleted file mode 100644
index a6857058a..000000000
--- a/src/hangar_sim/poses/random5.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -20.0
-    y: -10.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/random6.yaml b/src/hangar_sim/poses/random6.yaml
deleted file mode 100644
index 1e9702277..000000000
--- a/src/hangar_sim/poses/random6.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -20.0
-    y: -20.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924
diff --git a/src/hangar_sim/poses/random7.yaml b/src/hangar_sim/poses/random7.yaml
deleted file mode 100644
index 3aafe4409..000000000
--- a/src/hangar_sim/poses/random7.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-header:
-  stamp:
-    sec: 1746467553
-    nanosec: 486561938
-  frame_id: world
-pose:
-  position:
-    x: -20.0
-    y: -30.0
-    z: 0.0
-  orientation:
-    x: 0.0
-    y: 0.0
-    z: -0.383
-    w: 0.924