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diff --git a/models/robots/Barrett/iv/link2.xml b/models/robots/Barrett/iv/link2.xml
deleted file mode 100644
index 98f9ae7822..0000000000
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diff --git a/models/robots/Barrett/iv/link3.iv b/models/robots/Barrett/iv/link3.iv
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index 9330c76824..0000000000
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diff --git a/models/robots/Barrett/iv/link3.xml b/models/robots/Barrett/iv/link3.xml
deleted file mode 100644
index c8229a6e3d..0000000000
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diff --git a/models/robots/Barrett/iv/palm.iv b/models/robots/Barrett/iv/palm.iv
deleted file mode 100644
index 11749ddc4b..0000000000
--- a/models/robots/Barrett/iv/palm.iv
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diff --git a/models/robots/Barrett/iv/palm.xml b/models/robots/Barrett/iv/palm.xml
deleted file mode 100644
index cd443fed4e..0000000000
--- a/models/robots/Barrett/iv/palm.xml
+++ /dev/null
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diff --git a/models/robots/Barrett/virtual/all_16_contacts.xml b/models/robots/Barrett/virtual/all_16_contacts.xml
deleted file mode 100644
index dd40bb7d58..0000000000
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diff --git a/models/robots/Barrett/virtual/fingertips.xml b/models/robots/Barrett/virtual/fingertips.xml
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index 45b9af5e1c..0000000000
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diff --git a/models/robots/Barrett/virtual/fingertips_extra.xml b/models/robots/Barrett/virtual/fingertips_extra.xml
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diff --git a/models/robots/Barrett/virtual/palm.xml b/models/robots/Barrett/virtual/palm.xml
deleted file mode 100644
index 67da6c38f9..0000000000
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diff --git a/models/robots/Barrett/virtual/phal_distal.xml b/models/robots/Barrett/virtual/phal_distal.xml
deleted file mode 100644
index c9ff349b42..0000000000
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diff --git a/models/robots/Barrett/virtual/phal_prox.xml b/models/robots/Barrett/virtual/phal_prox.xml
deleted file mode 100644
index cdfc78b3f4..0000000000
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