diff --git a/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml b/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
deleted file mode 100644
index 8e2ffd5e..00000000
--- a/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0" ?>
-<root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
-  <BehaviorTree
-    ID="Cycle Between Waypoints"
-    _description="Cycles between two waypoints until failure"
-  >
-    <Decorator ID="KeepRunningUntilFailure">
-      <Control ID="Sequence">
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Right Corner"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="moveit_default"
-        />
-        <SubTree
-          ID="Move to Waypoint"
-          waypoint_name="Place"
-          joint_group_name="manipulator"
-          controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
-          planner_interface="moveit_default"
-        />
-      </Control>
-    </Decorator>
-  </BehaviorTree>
-</root>