diff --git a/GEMstack/knowledge/defaults/e2_gazebo.yaml b/GEMstack/knowledge/defaults/e2_gazebo.yaml
deleted file mode 100644
index 4a8b55c19..000000000
--- a/GEMstack/knowledge/defaults/e2_gazebo.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-# ********* Main settings entry point for behavior stack ***********
-
-# Configure settings for the vehicle / vehicle model
-vehicle:  !include ../vehicle/gem_e2_gazebo.yaml
-
-#arguments for algorithm components here
-model_predictive_controller:
-    dt: 0.1
-    lookahead: 20
-control:
-    recovery:
-        brake_amount : 0.5
-        brake_speed : 2.0
-    pure_pursuit:
-        lookahead: 4.0
-        lookahead_scale: 3.0
-        crosstrack_gain: 1.0
-        desired_speed: trajectory
-    longitudinal_control:
-        pid_p: 0.1
-        pid_i: 0.5
-        pid_d: 0.5
-
-#configure the simulator, if using
-simulator:
-    dt: 0.01
-    real_time_multiplier: 1.0    # make the simulator run faster than real time by making this > 1
-    gnss_emulator: 
-        dt: 0.1    #10Hz
-        #position_noise: 0.1  #10cm noise
-        #orientation_noise: 0.04  #2.3 degrees noise
-        #velocity_noise:
-        #    constant: 0.04  #4cm/s noise
-        #    linear: 0.02    #2% noise
\ No newline at end of file
diff --git a/GEMstack/knowledge/defaults/e4_gazebo.yaml b/GEMstack/knowledge/defaults/e4_gazebo.yaml
deleted file mode 100644
index 7a42a5a8f..000000000
--- a/GEMstack/knowledge/defaults/e4_gazebo.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-# ********* Main settings entry point for behavior stack ***********
-
-# Configure settings for the vehicle / vehicle model
-vehicle:  !include ../vehicle/gem_e4_gazebo.yaml
-
-#arguments for algorithm components here
-model_predictive_controller:
-    dt: 0.1
-    lookahead: 20
-control:
-    recovery:
-        brake_amount : 0.5
-        brake_speed : 2.0
-    pure_pursuit:
-        lookahead: 2.5
-        lookahead_scale: 3.0
-        crosstrack_gain: 0.5
-        desired_speed: trajectory
-    longitudinal_control:
-        pid_p: 1.5
-        pid_i: 0.2
-        pid_d: 0.0
-
-#configure the simulator, if using
-simulator:
-    dt: 0.01
-    real_time_multiplier: 1.0    # make the simulator run faster than real time by making this > 1
-    gnss_emulator: 
-        dt: 0.1    #10Hz
-        #position_noise: 0.1  #10cm noise
-        #orientation_noise: 0.04  #2.3 degrees noise
-        #velocity_noise:
-        #    constant: 0.04  #4cm/s noise
-        #    linear: 0.02    #2% noise
\ No newline at end of file