diff --git a/fanuc_moveit_config/config/fanuc.ros2_control.xacro b/fanuc_moveit_config/config/fanuc.ros2_control.xacro
deleted file mode 100644
index f9c2c58b..00000000
--- a/fanuc_moveit_config/config/fanuc.ros2_control.xacro
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:macro name="fanuc_ros2_control" params="name initial_positions_file">
-        <xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
-
-        <ros2_control name="${name}" type="system">
-            <hardware>
-                <plugin>fake_components/GenericSystem</plugin>
-            </hardware>
-            <joint name="joint_1">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['joint_1']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="joint_2">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['joint_2']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="joint_3">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['joint_3']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="joint_4">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['joint_4']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="joint_5">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['joint_5']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="joint_6">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['joint_6']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-        </ros2_control>
-    </xacro:macro>
-</robot>
diff --git a/fanuc_moveit_config/config/fanuc.urdf.xacro b/fanuc_moveit_config/config/fanuc.urdf.xacro
deleted file mode 100644
index c2077df3..00000000
--- a/fanuc_moveit_config/config/fanuc.urdf.xacro
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fanuc">
-    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
-
-    <!-- Import panda urdf file -->
-    <xacro:include filename="$(find moveit_resources_fanuc_description)/urdf/fanuc.urdf" />
-
-    <!-- Import fanuc ros2_control description -->
-    <xacro:include filename="fanuc.ros2_control.xacro" />
-
-    <xacro:fanuc_ros2_control name="FanucFakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
-</robot>
diff --git a/fanuc_moveit_config/config/initial_positions.yaml b/fanuc_moveit_config/config/initial_positions.yaml
deleted file mode 100644
index 842abde6..00000000
--- a/fanuc_moveit_config/config/initial_positions.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-# Default initial positions for the FANUC arm's ros2_control fake system
-initial_positions:
-  joint_1: 0.0
-  joint_2: 0.0
-  joint_3: 0.0
-  joint_4: 0.0
-  joint_5: 0.0
-  joint_6: 0.0
diff --git a/panda_moveit_config/config/panda.ros2_control.xacro b/panda_moveit_config/config/panda.ros2_control.xacro
deleted file mode 100644
index 991bce04..00000000
--- a/panda_moveit_config/config/panda.ros2_control.xacro
+++ /dev/null
@@ -1,62 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:macro name="panda_ros2_control" params="name initial_positions_file">
-        <xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
-
-        <ros2_control name="${name}" type="system">
-            <hardware>
-                <plugin>fake_components/GenericSystem</plugin>
-            </hardware>
-            <joint name="panda_joint1">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint1']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_joint2">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint2']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_joint3">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint3']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_joint4">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint4']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_joint5">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint5']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_joint6">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint6']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_joint7">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['panda_joint7']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-        </ros2_control>
-    </xacro:macro>
-</robot>
diff --git a/panda_moveit_config/config/panda.urdf.xacro b/panda_moveit_config/config/panda.urdf.xacro
deleted file mode 100644
index d46cb4df..00000000
--- a/panda_moveit_config/config/panda.urdf.xacro
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
-    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
-
-    <!-- Import panda urdf file -->
-    <xacro:include filename="$(find moveit_resources_panda_description)/urdf/panda.urdf" />
-
-    <!-- Import panda ros2_control description -->
-    <xacro:include filename="panda.ros2_control.xacro" />
-    <xacro:include filename="panda_hand.ros2_control.xacro" />
-
-    <xacro:panda_ros2_control name="PandaFakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
-    <xacro:panda_hand_ros2_control name="PandaHandFakeSystem"/>
-</robot>
diff --git a/panda_moveit_config/config/panda_hand.ros2_control.xacro b/panda_moveit_config/config/panda_hand.ros2_control.xacro
deleted file mode 100644
index a3ea406e..00000000
--- a/panda_moveit_config/config/panda_hand.ros2_control.xacro
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:macro name="panda_hand_ros2_control" params="name">
-        <ros2_control name="${name}" type="system">
-            <hardware>
-                <plugin>fake_components/GenericSystem</plugin>
-            </hardware>
-            <joint name="panda_finger_joint1">
-                <command_interface name="position" />
-                <state_interface name="position">
-                  <param name="initial_value">0.0</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="panda_finger_joint2">
-                <param name="mimic">panda_finger_joint1</param>
-                <param name="multiplier">1</param>
-                <command_interface name="position" />
-                <state_interface name="position">
-                  <param name="initial_value">0.0</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-        </ros2_control>
-    </xacro:macro>
-
-</robot>
diff --git a/panda_moveit_config/launch/demo.launch.py b/panda_moveit_config/launch/demo.launch.py
index 351119fd..1e7009a0 100644
--- a/panda_moveit_config/launch/demo.launch.py
+++ b/panda_moveit_config/launch/demo.launch.py
@@ -22,7 +22,6 @@ def generate_launch_description():
 
     moveit_config = (
         MoveItConfigsBuilder("moveit_resources_panda")
-        .robot_description(file_path="config/panda.urdf.xacro")
         .robot_description_semantic(file_path="config/panda.srdf")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
         .planning_pipelines(pipelines=["ompl", "chomp"])