diff --git a/src/picknik_ur_base_config/config/moveit/pick_ik_kinematics.yaml b/src/picknik_ur_base_config/config/moveit/pick_ik_kinematics.yaml
deleted file mode 100644
index 128a76c0..00000000
--- a/src/picknik_ur_base_config/config/moveit/pick_ik_kinematics.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-manipulator:
-  kinematics_solver: pick_ik/PickIkPlugin
-  kinematics_solver_timeout: 0.05
-  kinematics_solver_attempts: 3
-  mode: global
-
-  # Cost functions, weights, and thresholds
-  rotation_scale: 0.5
-  position_threshold: 0.001
-  orientation_threshold: 0.001
-  approximate_solution_position_threshold: 0.01
-  approximate_solution_orientation_threshold: 0.01
-  cost_threshold: 0.001
-  minimal_displacement_weight: 0.0
-  avoid_joint_limits_weight: 0.0001
-
-  # Gradient descent options
-  gd_max_iters: 100
-  gd_step_size: 0.0001
diff --git a/src/picknik_ur_base_config/config/moveit/pick_ik_kinematics_servo.yaml b/src/picknik_ur_base_config/config/moveit/pick_ik_kinematics_servo.yaml
deleted file mode 100644
index e227a556..00000000
--- a/src/picknik_ur_base_config/config/moveit/pick_ik_kinematics_servo.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-manipulator:
-  kinematics_solver: pick_ik/PickIkPlugin
-  kinematics_solver_timeout: 0.01
-  kinematics_solver_attempts: 1
-  mode: global
-
-  # Cost functions, weights, and thresholds
-  rotation_scale: 0.5
-  position_threshold: 0.001
-  orientation_threshold: 0.001
-  approximate_solution_position_threshold: 0.01
-  approximate_solution_orientation_threshold: 0.01
-  approximate_solution_joint_threshold: 0.1
-  cost_threshold: 0.001
-  minimal_displacement_weight: 0.001
-  avoid_joint_limits_weight: 0.0
-
-  # Gradient descent options
-  gd_max_iters: 100
-  gd_step_size: 0.0001
diff --git a/src/picknik_ur_base_config/package.xml b/src/picknik_ur_base_config/package.xml
index 9d95a1f9..53ddeae4 100644
--- a/src/picknik_ur_base_config/package.xml
+++ b/src/picknik_ur_base_config/package.xml
@@ -18,7 +18,6 @@
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_studio_behavior</exec_depend>
   <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
-  <exec_depend>pick_ik</exec_depend>
   <exec_depend>picknik_accessories</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>