diff --git a/atlas/build.gradle.kts b/atlas/build.gradle.kts
index 84757556add5..8c5a53b0d555 100644
--- a/atlas/build.gradle.kts
+++ b/atlas/build.gradle.kts
@@ -14,21 +14,11 @@ ihmc {
 }
 
 mainDependencies {
-   api("org.ddogleg:ddogleg:0.18")
    api("org.apache.xmlgraphics:batik-dom:1.14")
-   api("org.apache.ant:ant:1.9.0")
-   api("com.martiansoftware:jsap:2.1")
-   api("org.boofcv:boofcv-calibration:0.36")
-   api("org.boofcv:boofcv-swing:0.36")
-   api("com.github.wendykierp:JTransforms:3.1")
 
-   api("us.ihmc:euclid-frame-shape:0.21.0")
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
-   api("us.ihmc:ihmc-humanoid-behaviors:source")
    api("us.ihmc:ihmc-avatar-interfaces-visualizers:source")
    api("us.ihmc:robotiq-hand-drivers:source")
    api("us.ihmc:ihmc-model-file-loader:source")
-   api("us.ihmc:ihmc-robot-data-visualizer:source")
    api("us.ihmc:ihmc-manipulation-planning:source")
    api("us.ihmc:ihmc-parameter-tuner:source")
    api("us.ihmc:ihmc-footstep-planning-visualizers:source")
@@ -36,15 +26,8 @@ mainDependencies {
 }
 
 testDependencies {
-   api("com.thoughtworks.xstream:xstream:1.4.19")
-
-   api("us.ihmc:ihmc-commons-testing:0.32.0")
-   api("us.ihmc:ihmc-robotics-toolkit-test:source")
-   api("us.ihmc:ihmc-common-walking-control-modules-test:source")
    api("us.ihmc:ihmc-avatar-interfaces-test:source")
-   api("us.ihmc:ihmc-humanoid-robotics-test:source")
    api("us.ihmc:ihmc-sensor-processing-test:source")
    api("us.ihmc:ihmc-simulation-toolkit-test:source")
-   api("us.ihmc:simulation-construction-set-tools-test:source")
    api("us.ihmc:ihmc-messager-test:0.2.0")
 }
diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java b/atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java
deleted file mode 100644
index d42f758cfef1..000000000000
--- a/atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java
+++ /dev/null
@@ -1,86 +0,0 @@
-package us.ihmc.atlas;
-
-import java.io.IOException;
-
-import us.ihmc.euclid.referenceFrame.ReferenceFrame;
-import us.ihmc.euclid.transform.RigidBodyTransform;
-import us.ihmc.graphicsDescription.appearance.YoAppearance;
-import us.ihmc.graphicsDescription.yoGraphics.YoGraphicCoordinateSystem;
-import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsList;
-import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry;
-import us.ihmc.realtime.PriorityParameters;
-import us.ihmc.stateEstimation.head.carnegie.multisense.MultisenseSLWithMicroStrainHeadPoseEstimator;
-import us.ihmc.yoVariables.euclid.referenceFrame.YoFramePose3D;
-
-/**
- * @author Doug Stephen <a href="mailto:dstephen@ihmc.us">(dstephen@ihmc.us)</a>
- */
-public class AtlasHeadPoseEstimator extends MultisenseSLWithMicroStrainHeadPoseEstimator
-{
-   private static final boolean DEBUG = false;
-   private static final PriorityParameters imuListenerPriority = new PriorityParameters(20);
-
-   private final String simpleName = getClass().getSimpleName();
-
-   private final RigidBodyTransform headRigidBodyTransform = new RigidBodyTransform();
-   private YoFramePose3D estimatedHeadPoseFramePoint;
-   private YoGraphicCoordinateSystem estimatedHeadPoseViz;
-   private YoGraphicCoordinateSystem imuFrame;
-
-   public AtlasHeadPoseEstimator(double dt, long microStrainSerialNumber, boolean getRobotConfigurationDataFromNetwork)
-         throws IOException
-   {
-      super(dt, MultisenseSLWithMicroStrainHeadPoseEstimator.DEFAULT_MULTISENSE_TO_IMU_TRANSFORM, imuListenerPriority, microStrainSerialNumber,
-            getRobotConfigurationDataFromNetwork);
-
-   }
-
-   public AtlasHeadPoseEstimator(double dt, long microStrainSerialNumber)
-         throws IOException
-   {
-      this(dt, microStrainSerialNumber, false);
-   }
-
-//   @Override
-   public void configureYoGraphics(YoGraphicsListRegistry parentYoGraphicListRegistry)
-   {
-      if (DEBUG)
-      {
-         YoGraphicsList graphicsList = new YoGraphicsList("AtlasHeadPoseEstimator");
-         estimatedHeadPoseFramePoint = new YoFramePose3D("EstimatedHeadPoseFramePoint", ReferenceFrame.getWorldFrame(), getYoRegistry());
-
-         estimatedHeadPoseViz = new YoGraphicCoordinateSystem("EstimatedHeadPoseVizualizer", estimatedHeadPoseFramePoint, 0.2, YoAppearance.DarkGray());
-
-         imuFrame = new YoGraphicCoordinateSystem("HeadIMUFrame", new YoFramePose3D("HeadIMUPose", ReferenceFrame.getWorldFrame(), getYoRegistry()), 0.2);
-
-         graphicsList.add(estimatedHeadPoseViz);
-         graphicsList.add(imuFrame);
-
-         parentYoGraphicListRegistry.registerYoGraphicsList(graphicsList);
-      }
-   }
-
-   @Override
-   public void initialize()
-   {
-      initializeEstimator(getFullRobotModel().getHead().getBodyFixedFrame().getTransformToWorldFrame());
-      super.initialize();
-   }
-
-   @Override
-   public void compute()
-   {
-      super.compute();
-      if (DEBUG)
-      {
-         getHeadTransform(headRigidBodyTransform);
-
-         imuFrame.setToReferenceFrame(getImuFrame());
-
-         if (estimatedHeadPoseViz != null)
-         {
-            estimatedHeadPoseFramePoint.set(headRigidBodyTransform);
-         }
-      }
-   }
-}
diff --git a/example-simulations/build.gradle.kts b/example-simulations/build.gradle.kts
index 22b99846d8f0..2cc4a81a2031 100644
--- a/example-simulations/build.gradle.kts
+++ b/example-simulations/build.gradle.kts
@@ -13,12 +13,10 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:ihmc-model-file-loader:source")
    api("us.ihmc:ihmc-quadruped-robotics:source")
 }
 
 testDependencies {
-   api("us.ihmc:ihmc-commons-testing:0.32.0")
    api("us.ihmc:ihmc-robotics-toolkit-test:source")
    api("us.ihmc:ihmc-quadruped-robotics-test:source")
    api("us.ihmc:ihmc-quadruped-planning-test:source")
diff --git a/ihmc-avatar-interfaces/build.gradle.kts b/ihmc-avatar-interfaces/build.gradle.kts
index 0760821527da..69197b5999f9 100644
--- a/ihmc-avatar-interfaces/build.gradle.kts
+++ b/ihmc-avatar-interfaces/build.gradle.kts
@@ -16,43 +16,16 @@ ihmc {
 mainDependencies {
    api("com.martiansoftware:jsap:2.1")
    api("org.apache.poi:poi:3.15") // I/O library for xls files.
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.boofcv:boofcv-geo:0.36")
-   api("org.jfree:jfreechart:1.0.19")
-   api("com.github.quickhull3d:quickhull3d:1.0.0")
-   api("com.github.wendykierp:JTransforms:3.1")
-   api("org.reflections:reflections:0.9.10")
    api("com.hierynomus:sshj:0.32.0")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
    api("us.ihmc:mecano-graphviz:17-0.18.1")
-   api("us.ihmc:robot-environment-awareness:source")
-   api("us.ihmc:robot-environment-awareness-visualizers:source")
-   api("us.ihmc:ihmc-ros-tools:source")
-   api("us.ihmc:ihmc-common-walking-control-modules:source")
-   api("us.ihmc:ihmc-model-file-loader:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:ihmc-communication:source")
+   api("us.ihmc:scs2-bullet-simulation:17-0.26.0")
+
    api("us.ihmc:ihmc-humanoid-behaviors:source")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-perception:source")
-   api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-state-estimation:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-graphics-javafx:source")
    api("us.ihmc:ihmc-graphics-jmonkeyengine:source")
    api("us.ihmc:ihmc-simulation-toolkit:source")
    api("us.ihmc:ihmc-robot-data-visualizer:source")
-   api("us.ihmc:ihmc-footstep-planning:source")
-   api("us.ihmc:simulation-construction-set-tools:source")
-   api("us.ihmc:scs2-definition:17-0.26.0")
-   api("us.ihmc:scs2-bullet-simulation:17-0.26.0")
-   api("us.ihmc:scs2-session-visualizer-jfx:17-0.26.0")
-   api("us.ihmc:scs2-simulation-construction-set:17-0.26.0")
+   api("us.ihmc:robot-environment-awareness-visualizers:source")
 }
 
 testDependencies {
@@ -68,7 +41,6 @@ testDependencies {
 visualizersDependencies {
    api(ihmc.sourceSetProject("main"))
 
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
    api("us.ihmc:robot-environment-awareness-application:source")
    api("us.ihmc:ihmc-path-planning-visualizers:source")
    api("us.ihmc:ihmc-footstep-planning-visualizers:source")
diff --git a/ihmc-common-walking-control-modules/build.gradle.kts b/ihmc-common-walking-control-modules/build.gradle.kts
index 55dbfe557316..94fd86e7c499 100644
--- a/ihmc-common-walking-control-modules/build.gradle.kts
+++ b/ihmc-common-walking-control-modules/build.gradle.kts
@@ -14,31 +14,14 @@ ihmc {
 }
 
 mainDependencies {
-   api("gov.nist.math:jama:1.0.3")
-   api("com.google.guava:guava:18.0")
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.ejml:ejml-core:0.39")
-   api("net.sf.trove4j:trove4j:3.0.3")
-
-   api("us.ihmc:ihmc-realtime:1.6.0")
-   api("us.ihmc:ihmc-native-library-loader:2.0.3")
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
    api("us.ihmc:ihmc-trajectory-optimization:source")
-   api("us.ihmc:ihmc-communication:source")
    api("us.ihmc:ihmc-convex-optimization:0.17.19")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-//   api("us.ihmc:ihmc-footstep-planning:source")
    api("us.ihmc:ihmc-humanoid-robotics:source")
    api("us.ihmc:ihmc-parameter-estimation:source")
 }
 
 testDependencies {
    api(ihmc.sourceSetProject("visualizers"))
-   api("us.ihmc:ihmc-commons-testing:0.32.0")
    api("us.ihmc:simulation-construction-set-tools-test:source")
    api("us.ihmc:ihmc-robotics-toolkit-test:source")
    api("us.ihmc:ihmc-robotics-toolkit-test:source")
diff --git a/ihmc-footstep-planning/build.gradle.kts b/ihmc-footstep-planning/build.gradle.kts
index 88d4cd55323b..dd34a4cba901 100644
--- a/ihmc-footstep-planning/build.gradle.kts
+++ b/ihmc-footstep-planning/build.gradle.kts
@@ -14,19 +14,14 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:ihmc-convex-optimization:0.17.19")
-   api("us.ihmc:ihmc-path-planning:source")
    api("us.ihmc:ihmc-perception:source")
    api("us.ihmc:ihmc-common-walking-control-modules:source")
    api("us.ihmc:ihmc-path-planning-data-sets:source")
-   api("us.ihmc:ihmc-pub-sub-serializers-extra:0.19.1")
 }
 
 testDependencies {
    api(ihmc.sourceSetProject("visualizers"))
 
-   api("us.ihmc:ihmc-path-planning-data-sets:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-path-planning-test:source")
    api("us.ihmc:simulation-construction-set-tools-test:source")
 }
@@ -34,15 +29,7 @@ testDependencies {
 visualizersDependencies {
    api(ihmc.sourceSetProject("main"))
 
-   api("us.ihmc:ihmc-messager-javafx:0.2.0")
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
-   api("us.ihmc:robot-environment-awareness-application:source")
-   api("us.ihmc:ihmc-communication:source")
    api("us.ihmc:ihmc-path-planning-visualizers:source")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-graphics-javafx:source")
-   api("us.ihmc:ihmc-graphics-jmonkeyengine:source")
-   api("us.ihmc:ihmc-whole-body-controller:source")
    api("us.ihmc:ihmc-common-walking-control-modules-test:source")
 
 }
diff --git a/ihmc-graphics/build.gradle.kts b/ihmc-graphics/build.gradle.kts
index f432409f04ff..aaf3a161402a 100644
--- a/ihmc-graphics/build.gradle.kts
+++ b/ihmc-graphics/build.gradle.kts
@@ -14,7 +14,6 @@ ihmc {
 
 mainDependencies {
    api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:ihmc-graphics-description:0.25.1")
 }
 
 testDependencies {
diff --git a/ihmc-high-level-behaviors/build.gradle.kts b/ihmc-high-level-behaviors/build.gradle.kts
index 9ed1101e55c6..ffce3cb07b5f 100644
--- a/ihmc-high-level-behaviors/build.gradle.kts
+++ b/ihmc-high-level-behaviors/build.gradle.kts
@@ -23,12 +23,6 @@ mainDependencies {
 }
 
 missionControlDependencies {
-   api("us.ihmc:ihmc-commons:0.32.0")
-   api("us.ihmc:log-tools:0.6.3")
-   api("us.ihmc:ihmc-ros2-library:0.24.2")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-interfaces:source")
    api("us.ihmc:ihmc-communication:source")
 }
 
@@ -37,9 +31,6 @@ libgdxDependencies {
    api(ihmc.sourceSetProject("mission-control"))
    api("org.abego.treelayout:org.abego.treelayout.core:1.0.3")
    api("us.ihmc:ihmc-graphics-libgdx:source")
-   api("us.ihmc:ihmc-graphics-libgdx:source")
-   api("us.ihmc:scs2-definition:17-0.26.0")
-   api("us.ihmc:mecano-graphviz:17-0.18.1")
    api("com.badlogicgames.gdx-controllers:gdx-controllers-core:2.2.3")
    api("com.badlogicgames.gdx-controllers:gdx-controllers-desktop:2.2.3")
    api("commons-io:commons-io:2.11.0") // IOUtils method was old version without this
@@ -53,12 +44,6 @@ testDependencies {
    api("us.ihmc:scs2-examples:17-0.26.0")
    api("us.ihmc:scs2-bullet-simulation-test:17-0.26.0")
    api("us.ihmc:example-simulations:source")
-
-   api("us.ihmc:ihmc-avatar-interfaces:source") {
-      exclude(group = "org.openjfx")
-      exclude(group = "org.jmonkeyengine")
-      exclude(group = "org.lwjgl.lwjgl") // exclude lwjgl 2
-   }
 }
 
 app.entrypoint(ihmc.sourceSetProject("mission-control"),
@@ -86,7 +71,7 @@ tasks.create("deploy") {
          // Delete mission-control-2 if it's still around
          exec("sudo systemctl stop mission-control-2")
          exec("sudo systemctl disable mission-control-2")
-         exec("sudo rm -rf /etc/systemd/system/mission-control-2.service");
+         exec("sudo rm -rf /etc/systemd/system/mission-control-2.service")
 
          exec("sudo systemctl stop mission-control-3")
 
diff --git a/ihmc-humanoid-behaviors/build.gradle.kts b/ihmc-humanoid-behaviors/build.gradle.kts
index 35425b24e35b..563d22130a5d 100644
--- a/ihmc-humanoid-behaviors/build.gradle.kts
+++ b/ihmc-humanoid-behaviors/build.gradle.kts
@@ -13,21 +13,9 @@ ihmc {
 }
 
 mainDependencies {
-   api("com.thoughtworks.xstream:xstream:1.4.19")
-   api("org.georegression:georegression:0.22")
-   api("org.boofcv:boofcv-geo:0.36")
-   api("org.boofcv:boofcv-ip:0.36")
-   api("org.boofcv:boofcv-io:0.36")
-   api("org.boofcv:boofcv-recognition:0.36")
    api("org.postgresql:postgresql:42.2.5")
 
-   api("us.ihmc:simulation-construction-set:0.25.1")
    api("us.ihmc:ihmc-manipulation-planning:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-robot-data-logger:0.29.1")
-   api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-perception:source")
    api("us.ihmc:ihmc-footstep-planning:source")
 }
 
diff --git a/ihmc-interfaces/build.gradle.kts b/ihmc-interfaces/build.gradle.kts
index 7192eb1333f1..6f1c770ec31d 100644
--- a/ihmc-interfaces/build.gradle.kts
+++ b/ihmc-interfaces/build.gradle.kts
@@ -29,7 +29,6 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:euclid:0.21.0")
    api("us.ihmc:euclid-geometry:0.21.0")
    api("us.ihmc:ihmc-pub-sub:0.19.1")
    api("us.ihmc:ros2-common-interfaces:0.24.2") {
diff --git a/ihmc-java-toolkit/build.gradle.kts b/ihmc-java-toolkit/build.gradle.kts
index cfdc02ce63e5..17e457e7d10d 100644
--- a/ihmc-java-toolkit/build.gradle.kts
+++ b/ihmc-java-toolkit/build.gradle.kts
@@ -25,8 +25,6 @@ mainDependencies {
 
    api("us.ihmc:ihmc-commons:0.32.0")
    api("us.ihmc:log-tools:0.6.3")
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
    api("us.ihmc:euclid-shape:0.21.0")
    api("us.ihmc:euclid-geometry:0.21.0")
    api("us.ihmc:ihmc-graphics-description:0.25.1")
diff --git a/ihmc-manipulation-planning/build.gradle.kts b/ihmc-manipulation-planning/build.gradle.kts
index c41a0b8544b3..3949ec588f4b 100644
--- a/ihmc-manipulation-planning/build.gradle.kts
+++ b/ihmc-manipulation-planning/build.gradle.kts
@@ -13,14 +13,8 @@ ihmc {
 }
 
 mainDependencies {
-   api("javax.vecmath:vecmath:1.5.2")
-   api("org.georegression:georegression:0.22")
-
    api("us.ihmc:simulation-construction-set:0.25.1")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
    api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
 }
 
 testDependencies {
diff --git a/ihmc-parameter-estimation/build.gradle.kts b/ihmc-parameter-estimation/build.gradle.kts
index 43e4f409e225..56d829c01b02 100644
--- a/ihmc-parameter-estimation/build.gradle.kts
+++ b/ihmc-parameter-estimation/build.gradle.kts
@@ -13,9 +13,6 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:mecano:17-0.18.1")
-   api("us.ihmc:log-tools:0.6.3")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-robot-models:source")
 }
 
diff --git a/ihmc-parameter-tuner/build.gradle.kts b/ihmc-parameter-tuner/build.gradle.kts
index 5d9865d71531..386cd754c3ad 100644
--- a/ihmc-parameter-tuner/build.gradle.kts
+++ b/ihmc-parameter-tuner/build.gradle.kts
@@ -18,10 +18,8 @@ mainDependencies {
    api("jakarta.xml.bind:jakarta.xml.bind-api:2.3.2")
    api("org.glassfish.jaxb:jaxb-runtime:2.3.2")
 
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
    api("us.ihmc:ihmc-robot-data-logger:0.29.1")
    api("us.ihmc:ihmc-graphics-javafx:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
 
    var javaFXVersion = "17.0.9"
    api(ihmc.javaFXModule("base", javaFXVersion))
diff --git a/ihmc-path-planning/build.gradle b/ihmc-path-planning/build.gradle
index 8fe1b8b354b6..b0d6c080b362 100644
--- a/ihmc-path-planning/build.gradle
+++ b/ihmc-path-planning/build.gradle
@@ -16,11 +16,6 @@ ihmc {
 mainDependencies {
    api("org.jgrapht:jgrapht-core:0.9.0")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
    api("us.ihmc:ihmc-convex-optimization:0.17.19")
    api("us.ihmc:robot-environment-awareness:source")
 }
@@ -29,20 +24,13 @@ visualizersDependencies {
    api(ihmc.sourceSetProject("main"))
    api(ihmc.sourceSetProject("data-sets"))
 
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
    api("us.ihmc:robot-environment-awareness-application:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-graphics-javafx:source")
-   api("us.ihmc:ihmc-graphics-jmonkeyengine:source")
 }
 
 testDependencies {
    api(ihmc.sourceSetProject("visualizers"))
    api(ihmc.sourceSetProject("data-sets"))
 
-   api("us.ihmc:ihmc-commons-testing:0.32.0")
-   api("us.ihmc:simulation-construction-set:0.25.1")
-   api("us.ihmc:robot-environment-awareness-application:source")
    api("us.ihmc:ihmc-robotics-toolkit-test:source")
 }
 
@@ -50,9 +38,6 @@ dataSetsDependencies {
    api(ihmc.sourceSetProject("main"))
 
    api("us.ihmc:ihmc-commons-testing:0.32.0")
-   api("us.ihmc:simulation-construction-set-tools:source")
-   api("us.ihmc:robot-environment-awareness:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
 }
 
 task updateDataSetList {
diff --git a/ihmc-perception/build.gradle.kts b/ihmc-perception/build.gradle.kts
index fa370e5f557f..e9889ccc0d00 100644
--- a/ihmc-perception/build.gradle.kts
+++ b/ihmc-perception/build.gradle.kts
@@ -25,16 +25,12 @@ mainDependencies {
    // api(files("/usr/local/share/OpenCV/java/opencv-310.jar"))
 
    api("org.georegression:georegression:0.22")
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
    api("net.java.dev.jna:jna:4.1.0")
-   api("org.boofcv:boofcv-geo:0.36")
    api("org.boofcv:boofcv-ip:0.36")
    api("org.boofcv:boofcv-swing:0.36")
    api("org.boofcv:boofcv-io:0.36")
    api("org.boofcv:boofcv-recognition:0.36")
    api("org.boofcv:boofcv-calibration:0.36")
-   api("org.ddogleg:ddogleg:0.18")
 
    api("org.bytedeco:javacpp:1.5.9")
    val openblasVersion = "0.3.23-1.5.9"
@@ -96,17 +92,7 @@ mainDependencies {
       exclude(group = "org.bytedeco", module = "javacpp")
    }
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:simulation-construction-set:0.25.1")
-   api("us.ihmc:ihmc-native-library-loader:2.0.3")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-ros-tools:source")
    api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:robot-environment-awareness:source")
 
    api("com.microsoft.onnxruntime:onnxruntime:1.11.0")
@@ -114,8 +100,6 @@ mainDependencies {
 }
 
 testDependencies {
-   api("us.ihmc:ihmc-commons-testing:0.32.0")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:simulation-construction-set-tools:source")
    api("us.ihmc:simulation-construction-set-tools-test:source")
 }
diff --git a/ihmc-quadruped/build.gradle.kts b/ihmc-quadruped/build.gradle.kts
index e563ae8b439b..54986ca44674 100644
--- a/ihmc-quadruped/build.gradle.kts
+++ b/ihmc-quadruped/build.gradle.kts
@@ -59,8 +59,6 @@ footstepPlanningTestDependencies {
 
 communicationDependencies {
    api(ihmc.sourceSetProject("footstep-planning"))
-
-   api("us.ihmc:euclid-geometry:0.21.0")
 }
 
 communicationTestDependencies {
@@ -71,7 +69,8 @@ communicationTestDependencies {
 roboticsDependencies {
    api(ihmc.sourceSetProject("communication"))
 
-   api("us.ihmc:ihmc-convex-optimization:0.17.19")
+   api("us.ihmc:ihmc-whole-body-controller:source")
+
    api("us.ihmc:ihmc-state-estimation:source")
    api("us.ihmc:ihmc-simulation-toolkit:source")
    api("us.ihmc:ihmc-system-identification:source")
@@ -81,7 +80,6 @@ roboticsTestDependencies {
    api(ihmc.sourceSetProject("robotics"))
    api(ihmc.sourceSetProject("basics-test"))
 
-   api("us.ihmc:ihmc-robotics-toolkit-test:source")
    api("us.ihmc:ihmc-common-walking-control-modules-test:source")
    api("us.ihmc:ihmc-communication-test:source")
 }
diff --git a/ihmc-robot-data-visualizer/build.gradle.kts b/ihmc-robot-data-visualizer/build.gradle.kts
index 0f0f4239e30b..ed7cc73ae5a4 100644
--- a/ihmc-robot-data-visualizer/build.gradle.kts
+++ b/ihmc-robot-data-visualizer/build.gradle.kts
@@ -14,20 +14,12 @@ ihmc {
 }
 
 mainDependencies {
-   api("net.sf.trove4j:trove4j:3.0.3")
    api("com.martiansoftware:jsap:2.1")
    api("net.sourceforge.jmatio:jmatio:1.0")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:ihmc-video-codecs:2.1.6")
-   api("us.ihmc:simulation-construction-set:0.25.1")
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
    api("us.ihmc:ihmc-graphics-javafx:source")
    api("us.ihmc:ihmc-model-file-loader:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
    api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-robot-data-logger:0.29.1") {
       exclude(group = "org.junit.jupiter", module = "junit-jupiter-api")
       exclude(group = "org.junit.jupiter", module = "junit-jupiter-engine")
diff --git a/ihmc-robot-models/build.gradle.kts b/ihmc-robot-models/build.gradle.kts
index cbb0ce4f7e24..fd08bb861043 100644
--- a/ihmc-robot-models/build.gradle.kts
+++ b/ihmc-robot-models/build.gradle.kts
@@ -14,10 +14,8 @@ ihmc {
 
 mainDependencies {
    api("javax.vecmath:vecmath:1.5.2")
-   api("com.google.guava:guava:18.0")
 
    api("us.ihmc:ihmc-robot-description:0.25.1")
-   api("us.ihmc:scs2-definition:17-0.26.0")
    api("us.ihmc:ihmc-robotics-toolkit:source")
 }
 
diff --git a/ihmc-robotics-toolkit/build.gradle.kts b/ihmc-robotics-toolkit/build.gradle.kts
index 4e760ddc139e..d8bfe919c2c8 100644
--- a/ihmc-robotics-toolkit/build.gradle.kts
+++ b/ihmc-robotics-toolkit/build.gradle.kts
@@ -21,17 +21,12 @@ mainDependencies {
    api("org.apache.commons:commons-math3:3.6.1")
    api("jgraph:jgraph:5.13.0.0")
    api("org.ejml:ejml-zdense:0.39")
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
    api("org.javassist:javassist:3.18.1-GA")
    api("com.google.guava:guava:18.0")
    api("org.yaml:snakeyaml:1.17") //1.11
 
    api("us.ihmc:log-tools:0.6.3")
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
    api("us.ihmc:euclid-frame-shape:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
    api("us.ihmc:mecano:17-0.18.1")
    api("us.ihmc:mecano-yovariables:17-0.18.1")
    api("us.ihmc:ihmc-commons:0.32.0")
diff --git a/ihmc-ros-tools/build.gradle.kts b/ihmc-ros-tools/build.gradle.kts
index 09f5c6578fa3..81f839188ae6 100644
--- a/ihmc-ros-tools/build.gradle.kts
+++ b/ihmc-ros-tools/build.gradle.kts
@@ -15,10 +15,7 @@ ihmc {
 
 mainDependencies {
    api("io.netty:netty:3.5.8.Final")
-   api("com.google.guava:guava:18.0")
    api("org.apache.commons:com.springsource.org.apache.commons.io:1.4.0")
-   api("org.boofcv:boofcv-geo:0.36")
-   api("org.reflections:reflections:0.9.10")
 
    api("org.apache.logging.log4j:log4j-1.2-api:2.17.0") // required for rosjava to log stuff
    api("org.ros.rosjava_core:rosjava:0.2.1") {
@@ -40,10 +37,7 @@ mainDependencies {
    api("org.ros.rosjava_messages:tf2_msgs:0.5.9")
    api("org.ros.rosjava_messages:tf:1.10.8")
 
-   api("us.ihmc:euclid:0.21.0")
    api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
 }
 
 testDependencies {
diff --git a/ihmc-simulation-toolkit/build.gradle.kts b/ihmc-simulation-toolkit/build.gradle.kts
index aad21f0e842e..8689977d27a9 100644
--- a/ihmc-simulation-toolkit/build.gradle.kts
+++ b/ihmc-simulation-toolkit/build.gradle.kts
@@ -14,23 +14,12 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:simulation-construction-set-tools:source")
    api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-model-file-loader:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-common-walking-control-modules:source")
    api("us.ihmc:ihmc-state-estimation:source")
-
-   api("us.ihmc:scs2-definition:17-0.26.0")
+   api("us.ihmc:ihmc-model-file-loader:source")
+   api("us.ihmc:simulation-construction-set-tools:source")
 }
 
 testDependencies {
-   api("us.ihmc:ihmc-robotics-toolkit-test:source")
    api("us.ihmc:ihmc-humanoid-robotics-test:source")
 }
diff --git a/ihmc-state-estimation/build.gradle.kts b/ihmc-state-estimation/build.gradle.kts
index d92f0489b1be..e73a03574fb6 100644
--- a/ihmc-state-estimation/build.gradle.kts
+++ b/ihmc-state-estimation/build.gradle.kts
@@ -18,10 +18,8 @@ mainDependencies {
 
    api("us.ihmc:ihmc-common-walking-control-modules:source")
    api("us.ihmc:ekf:0.7.7")
-   api("us.ihmc:ihmc-lord-microstrain-drivers:17-0.0.7")
 }
 
 testDependencies {
    api("us.ihmc:simulation-construction-set-tools-test:source")
-   api("us.ihmc:ihmc-robotics-toolkit-test:source")
 }
diff --git a/ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java b/ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java
deleted file mode 100644
index 448401394613..000000000000
--- a/ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java
+++ /dev/null
@@ -1,230 +0,0 @@
-package us.ihmc.stateEstimation.head.carnegie.multisense;
-
-import java.io.IOException;
-
-import controller_msgs.msg.dds.RobotConfigurationData;
-import us.ihmc.communication.ROS2Tools;
-import us.ihmc.euclid.referenceFrame.FramePoint3D;
-import us.ihmc.euclid.referenceFrame.FrameVector3D;
-import us.ihmc.euclid.referenceFrame.ReferenceFrame;
-import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
-import us.ihmc.euclid.transform.RigidBodyTransform;
-import us.ihmc.euclid.tuple3D.Vector3D;
-import us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics;
-import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
-import us.ihmc.euclid.tuple4D.Quaternion;
-import us.ihmc.pubsub.DomainFactory;
-import us.ihmc.pubsub.subscriber.Subscriber;
-import us.ihmc.realtime.PriorityParameters;
-import us.ihmc.robotModels.FullRobotModel;
-import us.ihmc.robotics.math.filters.YoIMUMahonyFilter;
-import us.ihmc.ros2.RealtimeROS2Node;
-import us.ihmc.sensorProcessing.communication.producers.RobotConfigurationDataBuffer;
-import us.ihmc.sensors.imu.lord.microstrain.MicroStrainData;
-import us.ihmc.sensors.imu.lord.microstrain.MicroStrainUDPPacketListener;
-import us.ihmc.stateEstimation.head.EKFHeadPoseEstimator;
-import us.ihmc.yoVariables.euclid.YoPoint3D;
-import us.ihmc.yoVariables.euclid.referenceFrame.YoFrameVector3D;
-import us.ihmc.yoVariables.registry.YoRegistry;
-import us.ihmc.yoVariables.variable.YoBoolean;
-import us.ihmc.yoVariables.variable.YoDouble;
-
-/**
- * @author Doug Stephen <a href="mailto:dstephen@ihmc.us">(dstephen@ihmc.us)</a>
- */
-public class MultisenseSLWithMicroStrainHeadPoseEstimator extends EKFHeadPoseEstimator
-{
-   private static final boolean USE_VIRTUAL_MAGNETOMETER = true;
-   public static final RigidBodyTransform DEFAULT_MULTISENSE_TO_IMU_TRANSFORM = new RigidBodyTransform(new Quaternion(0.0, Math.PI/2.0, 0.0), new Vector3D(-0.04, 0.0, 0.0777));
-
-   private static final boolean ESTIMATE_ANGULAR_VELOCITY_BIAS = false;
-
-   private final MicroStrainUDPPacketListener imuListener;
-
-   private final RobotConfigurationDataBuffer robotConfigurationDataBuffer = new RobotConfigurationDataBuffer();
-   private final FramePoint3D headPositionEstimateFromRobotModel;
-
-   private final boolean getRobotConfigurationDataFromNetwork;
-
-   /*
-    this field is not final but is still real-time safe because
-    the value returned by the UDP listener is a concurrent copier
-    buffer element.
-   */
-   private MicroStrainData microStrainData = new MicroStrainData();
-   private final YoFrameVector3D imuAngularVelocity;
-   private final YoFrameVector3D imuLinearAcceleration;
-   private final YoFrameVector3D imuMagneticNorthVector;
-
-   private final YoPoint3D initialHeadPosition;
-   private final YoPoint3D initialHeadOrientationYPR;
-   private final YoFrameVector3D initialMagneticFieldVector;
-
-   private final FrameVector3D virtualMagnetometerMeasurement = new FrameVector3D();
-
-   private final YoBoolean inErrorState;
-
-   public ReferenceFrame getImuFrame()
-   {
-      return imuFrame;
-   }
-
-   private ReferenceFrame imuFrame;
-
-   public MultisenseSLWithMicroStrainHeadPoseEstimator(double dt, RigidBodyTransform imuToHeadTransform, PriorityParameters imuListenerPriority,
-                                                       long microStrainSerialNumber, boolean getRobotConfigurationDataFromNetwork) throws IOException
-   {
-      super(dt, imuToHeadTransform, ESTIMATE_ANGULAR_VELOCITY_BIAS);
-
-      if (imuListenerPriority != null)
-      {
-         imuListener = MicroStrainUDPPacketListener.createRealtimeListener(imuListenerPriority, microStrainSerialNumber);
-      }
-      else
-      {
-         imuListener = MicroStrainUDPPacketListener.createNonRealtimeListener(microStrainSerialNumber);
-      }
-
-      this.getRobotConfigurationDataFromNetwork = getRobotConfigurationDataFromNetwork;
-      if (this.getRobotConfigurationDataFromNetwork)
-      {
-         RealtimeROS2Node realtimeROS2Node = ROS2Tools
-               .createRealtimeROS2Node(DomainFactory.PubSubImplementation.FAST_RTPS, "multisense_microstrain_head_pose_estimator");
-         realtimeROS2Node.createSubscription(ROS2Tools.IHMC_ROOT.withTypeName(RobotConfigurationData.class), this::onNewDataMessage);
-      }
-
-      headPositionEstimateFromRobotModel = new FramePoint3D(ReferenceFrame.getWorldFrame());
-
-      YoRegistry registry = getYoRegistry();
-
-      String prefix = "MicroStrainData";
-      imuAngularVelocity = new YoFrameVector3D(prefix, "AngularVelocity", ReferenceFrame.getWorldFrame(), registry);
-      imuLinearAcceleration = new YoFrameVector3D(prefix, "LinearAcceleration", ReferenceFrame.getWorldFrame(), registry);
-      imuMagneticNorthVector = new YoFrameVector3D(prefix, "MagneticNorth", ReferenceFrame.getWorldFrame(), registry);
-
-      initialHeadPosition = new YoPoint3D("EstimatedHeadPose", "InitialHeadPosition", registry);
-      initialHeadOrientationYPR = new YoPoint3D(new YoDouble("EstimatedHeadPoseInitialYaw", registry), new YoDouble("EstimatedHeadPoseInitialPitch", registry), new YoDouble("EstimatedHeadPoseInitialRoll", registry));
-      initialMagneticFieldVector = new YoFrameVector3D("EstimatedHeadPose", "InitialMagneticField", ReferenceFrame.getWorldFrame(), registry);
-
-      inErrorState = new YoBoolean("inErrorState", registry);
-      inErrorState.set(false);
-
-   }
-
-   @Override
-   public void setFullRobotModel(FullRobotModel fullRobotModel)
-   {
-      super.setFullRobotModel(fullRobotModel);
-
-      if(USE_VIRTUAL_MAGNETOMETER)
-      {
-         imuFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("VirtualMagnetometerIMUFrame", fullRobotModel.getHead().getBodyFixedFrame(), DEFAULT_MULTISENSE_TO_IMU_TRANSFORM);
-      }
-   }
-
-   @Override
-   public void initialize(RigidBodyTransform initialHeadTransform, FrameVector3D magneticFieldDirection)
-   {
-      FrameVector3D initialMagneticFieldDirection = null;
-      if (magneticFieldDirection == null)
-      {
-         if(!USE_VIRTUAL_MAGNETOMETER)
-         {
-            microStrainData = imuListener.getLatestData(MicroStrainData.MicrostrainFilterType.COMPLIMENTARY_FILTER);
-            Tuple3DBasics geomagneticNorthVector = new Vector3D(microStrainData.getGeomagneticNorthVector());
-            MicroStrainData.MICROSTRAIN_TO_ZUP_WORLD.transform(geomagneticNorthVector);
-            initialMagneticFieldDirection = new FrameVector3D(ReferenceFrame.getWorldFrame(), geomagneticNorthVector);
-         }
-         else
-         {
-            initialMagneticFieldDirection = new FrameVector3D(ReferenceFrame.getWorldFrame(), YoIMUMahonyFilter.NORTH_REFERENCE);
-         }
-      }
-      else
-      {
-         initialMagneticFieldDirection = magneticFieldDirection;
-      }
-
-      this.initialHeadPosition.set(initialHeadTransform.getTranslation());
-      this.initialHeadOrientationYPR.set(initialHeadTransform.getRotation().getYaw(), initialHeadTransform.getRotation().getPitch(), initialHeadTransform.getRotation().getRoll());
-      this.initialMagneticFieldVector.set(initialMagneticFieldDirection);
-
-      inErrorState.set(false);
-
-      super.initialize(initialHeadTransform, initialMagneticFieldDirection);
-   }
-
-   @Override
-   public void compute()
-   {
-      microStrainData = imuListener.getLatestData(MicroStrainData.MicrostrainFilterType.COMPLIMENTARY_FILTER);
-
-      if (getRobotConfigurationDataFromNetwork)
-      {
-         boolean modelUpdatedWithNewData = robotConfigurationDataBuffer.updateFullRobotModelWithNewestData(getFullRobotModel(), null);
-         if (modelUpdatedWithNewData)
-         {
-            headPositionEstimateFromRobotModel.set(getFullRobotModel().getHead().getBodyFixedFrame().getTransformToWorldFrame().getTranslation());
-            super.setEstimatedHeadPosition(headPositionEstimateFromRobotModel);
-         }
-      }
-      else
-      {
-         headPositionEstimateFromRobotModel.set(getFullRobotModel().getHead().getBodyFixedFrame().getTransformToWorldFrame().getTranslation());
-         super.setEstimatedHeadPosition(headPositionEstimateFromRobotModel);
-      }
-
-      if (microStrainData != null)
-      {
-         Vector3DReadOnly angularRate = microStrainData.getAngularRate();
-         Vector3DReadOnly linearAcceleration = microStrainData.getLinearAcceleration();
-         Vector3DReadOnly geomagneticNorthVector = null;
-
-         if(!USE_VIRTUAL_MAGNETOMETER)
-         {
-           geomagneticNorthVector = microStrainData.getGeomagneticNorthVector();
-           imuMagneticNorthVector.set(geomagneticNorthVector);
-         }
-         else
-         {
-            imuFrame.update();
-            virtualMagnetometerMeasurement.setIncludingFrame(ReferenceFrame.getWorldFrame(), YoIMUMahonyFilter.NORTH_REFERENCE);
-            virtualMagnetometerMeasurement.changeFrame(imuFrame);
-            imuMagneticNorthVector.setMatchingFrame(virtualMagnetometerMeasurement);
-         }
-
-         imuAngularVelocity.set(angularRate);
-         imuLinearAcceleration.set(linearAcceleration);
-
-         imuLinearAcceleration.scale(MicroStrainData.MICROSTRAIN_GRAVITY);
-
-         super.setImuAngularVelocity(imuAngularVelocity);
-         super.setImuLinearAcceleration(imuLinearAcceleration);
-         super.setImuMagneticFieldVector(virtualMagnetometerMeasurement);
-      }
-
-      try
-      {
-         super.compute();
-      }
-      catch(Throwable t)
-      {
-         if(!inErrorState.getBooleanValue())
-         {
-            System.err.println("Caught a throwable from the head pose EKF, ignoring.");
-            inErrorState.set(true);
-         }
-      }
-
-   }
-
-   private void updateRobotConfigurationData(RobotConfigurationData latestData)
-   {
-      robotConfigurationDataBuffer.receivedPacket(latestData);
-   }
-
-   private void onNewDataMessage(Subscriber<RobotConfigurationData> subscriber)
-   {
-      updateRobotConfigurationData(subscriber.takeNextData());
-   }
-}
diff --git a/ihmc-system-identification/build.gradle.kts b/ihmc-system-identification/build.gradle.kts
index a0e8427644d6..88ca1caad19e 100644
--- a/ihmc-system-identification/build.gradle.kts
+++ b/ihmc-system-identification/build.gradle.kts
@@ -13,9 +13,6 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:euclid:0.21.0")
-   api("org.ddogleg:ddogleg:0.18")
-
    api("us.ihmc:simulation-construction-set:0.25.1")
    api("us.ihmc:ihmc-robotics-toolkit:source")
 }
diff --git a/ihmc-whole-body-controller/build.gradle b/ihmc-whole-body-controller/build.gradle
index 4196f7e00df4..25dc7b63e70f 100644
--- a/ihmc-whole-body-controller/build.gradle
+++ b/ihmc-whole-body-controller/build.gradle
@@ -16,9 +16,6 @@ ihmc {
 }
 
 mainDependencies {
-   api("commons-net:commons-net:3.3")
-   api("org.yaml:snakeyaml:1.17") //1.11
-   api("org.apache.commons:commons-math3:3.6.1")
    api("us.ihmc:ihmc-common-walking-control-modules:source")
    api("us.ihmc:simulation-construction-set-tools:source")
    api("us.ihmc:ihmc-robot-data-logger:0.29.1") {
diff --git a/promp/build.gradle.kts b/promp/build.gradle.kts
index ab189dbd189e..374950bb38e5 100644
--- a/promp/build.gradle.kts
+++ b/promp/build.gradle.kts
@@ -15,5 +15,4 @@ ihmc {
 mainDependencies {
    api("org.bytedeco:javacpp:1.5.9")
    api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-native-library-loader:2.0.3")
 }
diff --git a/robot-environment-awareness/build.gradle.kts b/robot-environment-awareness/build.gradle.kts
index bddb533eac44..37e7736f10fb 100644
--- a/robot-environment-awareness/build.gradle.kts
+++ b/robot-environment-awareness/build.gradle.kts
@@ -27,17 +27,12 @@ ihmc {
 mainDependencies {
    api("com.vividsolutions:jts:1.13") // TODO Update to https://github.com/locationtech/jts
 
-   api("us.ihmc:euclid-shape:0.21.0")
    api("us.ihmc:joctomap:1.12.5")
-   api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-graphics-javafx:source")
    api("us.ihmc:ihmc-graphics-jmonkeyengine:source")
    api("us.ihmc:ihmc-robot-data-logger:0.29.1")
    api("us.ihmc:ihmc-ros-tools:source")
 
-   api("org.bytedeco:javacpp:1.5.9")
    val openblasVersion = "0.3.23-1.5.9"
    api("org.bytedeco:openblas:$openblasVersion")
    api("org.bytedeco:openblas:$openblasVersion:linux-x86_64")
@@ -50,9 +45,6 @@ mainDependencies {
 
 applicationDependencies {
    api(ihmc.sourceSetProject("main"))
-
-   api("us.ihmc:ihmc-ros-tools:source")
-   api("us.ihmc:simulation-construction-set-tools:source")
 }
 
 testDependencies {
diff --git a/robotiq-hand-drivers/build.gradle.kts b/robotiq-hand-drivers/build.gradle.kts
index eb4bebe7bea9..5d0d787b72ff 100644
--- a/robotiq-hand-drivers/build.gradle.kts
+++ b/robotiq-hand-drivers/build.gradle.kts
@@ -14,16 +14,9 @@ ihmc {
 }
 
 mainDependencies {
-   api("com.martiansoftware:jsap:2.1")
    api("net.wimpi:jamod:1.2")
-   api("commons-collections:commons-collections:3.2.1")
 
-   api("us.ihmc:ihmc-humanoid-robotics:source")
    api("us.ihmc:ihmc-avatar-interfaces:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
 }
 
 testDependencies {
diff --git a/simulation-construction-set-tools/build.gradle.kts b/simulation-construction-set-tools/build.gradle.kts
index ec4f507e90d3..a3aea143bf34 100644
--- a/simulation-construction-set-tools/build.gradle.kts
+++ b/simulation-construction-set-tools/build.gradle.kts
@@ -14,11 +14,7 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:euclid-frame-shape:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
    api("us.ihmc:simulation-construction-set:0.25.1")
-   api("us.ihmc:scs2-definition:17-0.26.0")
    api("us.ihmc:scs2-simulation-construction-set:17-0.26.0")
    api("us.ihmc:ihmc-parameter-optimization:source")
    api("us.ihmc:ihmc-java-toolkit:source")