diff --git a/launch/ivo_play_motion_bt_client_sim.launch b/launch/ivo_play_motion_bt_client_sim.launch
deleted file mode 100644
index 99f86ee060f12a32192e189c60d729f3bec04d52..0000000000000000000000000000000000000000
--- a/launch/ivo_play_motion_bt_client_sim.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <arg name="node_name" 	 default="tiago_play_motion_client" />
-  <arg name="output" 	 	 default="screen" />
-  <arg name="launch_prefix" 	 default="" />
-  <arg name="tree_path"          default="$(find tiago_play_motion_module)/src/xml" />
-  <arg name="tree_file"          default="bt_test" />
-  <arg name="bt_client_rate"     default="10" />
-
-  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
-  </include>
-
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
-    <arg name="node_name"                  value="$(arg node_name)" />
-    <arg name="output"                     value="$(arg output)" />
-    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
-    <arg name="tree_path"       	   value="$(arg tree_path)"/>
-    <arg name="tree_file"       	   value="$(arg tree_file)"/>
-    <arg name="bt_client_rate"  	   value="$(arg bt_client_rate)"/>
-  </include>
-
-</launch>
-
diff --git a/launch/ivo_play_motion_client_sim.launch b/launch/ivo_play_motion_client_sim.launch
deleted file mode 100644
index 75d10ca71999e24d281a26d0df629a70f02619c1..0000000000000000000000000000000000000000
--- a/launch/ivo_play_motion_client_sim.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <arg name="node_name" 	 default="tiago_play_motion_client" />
-  <arg name="output" 	 	 default="screen" />
-  <arg name="launch_prefix" 	 default="" />
-
-  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
-  </include>
-
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch">
-    <arg name="node_name"                  value="$(arg node_name)" />
-    <arg name="output"                     value="$(arg output)" />
-    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
-  </include>
-
-</launch>
-
diff --git a/launch/tiago_play_motion_bt_client_sim.launch b/launch/tiago_play_motion_bt_client_sim.launch
deleted file mode 100644
index 1c94bd5c8614ca2963dcf99f0f22362061ccd2b1..0000000000000000000000000000000000000000
--- a/launch/tiago_play_motion_bt_client_sim.launch
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <arg name="node_name" 	 default="tiago_play_motion_client" />
-  <arg name="output" 	 	 default="screen" />
-  <arg name="launch_prefix" 	 default="" />
-  <arg name="tree_path"          default="$(find tiago_play_motion_module)/src/xml" />
-  <arg name="tree_file"          default="bt_test" />
-  <arg name="bt_client_rate"     default="10" />
-
-  <include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
-    <arg name="public_sim" value="true" />
-    <arg name="robot" value="steel" />
-  </include>
-
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
-    <arg name="node_name"                  value="$(arg node_name)" />
-    <arg name="output"                     value="$(arg output)" />
-    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
-    <arg name="tree_path"       	   value="$(arg tree_path)"/>
-    <arg name="tree_file"       	   value="$(arg tree_file)"/>
-    <arg name="bt_client_rate"  	   value="$(arg bt_client_rate)"/>
-  </include>
-
-</launch>
-
diff --git a/launch/tiago_play_motion_client_sim.launch b/launch/tiago_play_motion_client_sim.launch
deleted file mode 100644
index 654988d34a7762537875ad7aeae6d247046ee1c2..0000000000000000000000000000000000000000
--- a/launch/tiago_play_motion_client_sim.launch
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <arg name="node_name" 	 default="tiago_play_motion_client" />
-  <arg name="output" 	 	 default="screen" />
-  <arg name="launch_prefix" 	 default="" />
-
-  <include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
-    <arg name="public_sim" value="true" />
-    <arg name="robot" value="steel" />
-  </include>
-
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch">
-    <arg name="node_name"                  value="$(arg node_name)" />
-    <arg name="output"                     value="$(arg output)" />
-    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
-  </include>
-
-</launch>
-