diff --git a/rct_examples/config/static_camera_guesses.yaml b/rct_examples/config/static_camera_guesses.yaml
deleted file mode 100644
index 492996ea..00000000
--- a/rct_examples/config/static_camera_guesses.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-base_to_camera_guess:
-  x: 1.0  # Note: Until I fix this YOU NEED to make this a DOUBLE! Don't write just '0'.
-  y: 1.0
-  z: 0.5
-  qx: 0.0
-  qy: -0.7071068
-  qz: 0.7071068
-  qw: 0.0
-wrist_to_target_guess:
-  x: 0.0
-  y: 0.0
-  z: 0.0
-  qx: -0.7071068
-  qy: 0.0
-  qz: 0.0
-  qw: 0.7071068
diff --git a/rct_examples/config/kinect_camera_intr.yaml b/rct_examples/data/test_set_10x10/camera_intr.yaml
similarity index 100%
rename from rct_examples/config/kinect_camera_intr.yaml
rename to rct_examples/data/test_set_10x10/camera_intr.yaml
diff --git a/rct_examples/data/test_set_10x10/camera_intr_calibrated.yaml b/rct_examples/data/test_set_10x10/camera_intr_calibrated.yaml
new file mode 100644
index 00000000..c44375b6
--- /dev/null
+++ b/rct_examples/data/test_set_10x10/camera_intr_calibrated.yaml
@@ -0,0 +1,5 @@
+intrinsics:
+  fx: 542.324 # pixels
+  fy: 543.515 # pixels
+  cx: 320.474
+  cy: 226.039
diff --git a/rct_examples/config/noise_qualification/camera_to_target_guess.yaml b/rct_examples/data/test_set_10x10/noise_qualification/camera_to_target_guess.yaml
similarity index 100%
rename from rct_examples/config/noise_qualification/camera_to_target_guess.yaml
rename to rct_examples/data/test_set_10x10/noise_qualification/camera_to_target_guess.yaml
diff --git a/rct_examples/config/noise_qualification/data.yaml b/rct_examples/data/test_set_10x10/noise_qualification/data.yaml
similarity index 100%
rename from rct_examples/config/noise_qualification/data.yaml
rename to rct_examples/data/test_set_10x10/noise_qualification/data.yaml
diff --git a/rct_examples/config/camera_on_wrist_guesses.yaml b/rct_examples/data/test_set_10x10/pose_guesses.yaml
similarity index 100%
rename from rct_examples/config/camera_on_wrist_guesses.yaml
rename to rct_examples/data/test_set_10x10/pose_guesses.yaml
diff --git a/rct_examples/config/target_10x10.yaml b/rct_examples/data/test_set_10x10/target.yaml
similarity index 100%
rename from rct_examples/config/target_10x10.yaml
rename to rct_examples/data/test_set_10x10/target.yaml
diff --git a/rct_examples/config/avt_gige_camera_intr_nominal.yaml b/rct_examples/data/test_set_charuco/camera_intr.yaml
similarity index 100%
rename from rct_examples/config/avt_gige_camera_intr_nominal.yaml
rename to rct_examples/data/test_set_charuco/camera_intr.yaml
diff --git a/rct_examples/config/avt_gige_camera_intr_calibrated.yaml b/rct_examples/data/test_set_charuco/camera_intr_calibrated.yaml
similarity index 100%
rename from rct_examples/config/avt_gige_camera_intr_calibrated.yaml
rename to rct_examples/data/test_set_charuco/camera_intr_calibrated.yaml
diff --git a/rct_examples/config/charuco_camera_guesses.yaml b/rct_examples/data/test_set_charuco/pose_guesses.yaml
similarity index 100%
rename from rct_examples/config/charuco_camera_guesses.yaml
rename to rct_examples/data/test_set_charuco/pose_guesses.yaml
diff --git a/rct_examples/config/charuco_target_7x5.yaml b/rct_examples/data/test_set_charuco/target.yaml
similarity index 100%
rename from rct_examples/config/charuco_target_7x5.yaml
rename to rct_examples/data/test_set_charuco/target.yaml
diff --git a/rct_examples/launch/camera_intrinsic_calibration_example.launch b/rct_examples/launch/camera_intrinsic_calibration_example.launch
index b65f74a1..c80034fb 100644
--- a/rct_examples/launch/camera_intrinsic_calibration_example.launch
+++ b/rct_examples/launch/camera_intrinsic_calibration_example.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr_calibrated.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
 
   <node pkg="rct_examples" type="intr_camera_cal_ex" name="intrinsic_cal_example" output="screen">
diff --git a/rct_examples/launch/camera_intrinsic_calibration_validation.launch b/rct_examples/launch/camera_intrinsic_calibration_validation.launch
index 51761759..cb387cb2 100644
--- a/rct_examples/launch/camera_intrinsic_calibration_validation.launch
+++ b/rct_examples/launch/camera_intrinsic_calibration_validation.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/camera_on_wrist_guesses.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr_calibrated.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
+  <arg name="guess_file" default="$(find rct_examples)/data/test_set_10x10/pose_guesses.yaml"/>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
 
   <node pkg="rct_examples" type="camera_intrinsic_calibration_validation" name="camera_intr_validation" output="screen">
diff --git a/rct_examples/launch/camera_on_wrist_example.launch b/rct_examples/launch/camera_on_wrist_example.launch
index 899bd306..6a2a8f4e 100644
--- a/rct_examples/launch/camera_on_wrist_example.launch
+++ b/rct_examples/launch/camera_on_wrist_example.launch
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/camera_on_wrist_guesses.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
+  <arg name="guess_file" default="$(find rct_examples)/data/test_set_10x10/pose_guesses.yaml"/>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
-  <arg name="homography_threshold" default="1.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
+  <arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
 
   <node pkg="rct_examples" type="moving_cam_extr_cal_ex" name="camera_on_wrist" output="screen">
     <rosparam command="load" file="$(arg camera_file)"/>
diff --git a/rct_examples/launch/noise_qualification_2d.launch b/rct_examples/launch/noise_qualification_2d.launch
index eb7d2907..bbb6447e 100644
--- a/rct_examples/launch/noise_qualification_2d.launch
+++ b/rct_examples/launch/noise_qualification_2d.launch
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10"/>
-  <arg name="data_file" default="$(find rct_examples)/config/noise_qualification/data.yaml"/>
-  <arg name="pose_file" default="$(find rct_examples)/config/noise_qualification/camera_to_target_guess.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="camera_intr_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
+  <arg name="data_file" default="$(arg data_path)/noise_qualification/data.yaml"/>
+  <arg name="pose_file" default="$(arg data_path)/noise_qualification/camera_to_target_guess.yaml"/>
+  <arg name="target_file" default="$(arg data_path)/target.yaml"/>
+  <arg name="camera_intr_file" default="$(arg data_path)/camera_intr.yaml"/>
 
   <node name="noise_qualification_2d" pkg="rct_examples" type="noise_qualification_2d" output="screen">
     <param name="data_path" value="$(arg data_path)"/>
diff --git a/rct_examples/launch/pnp_example.launch b/rct_examples/launch/pnp_example.launch
index 15df9c94..66fa36ec 100644
--- a/rct_examples/launch/pnp_example.launch
+++ b/rct_examples/launch/pnp_example.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
   <arg name="image_path" default="$(find rct_examples)/data/test_set_10x10/images/0.png"/>
 
   <node pkg="rct_examples" type="solve_pnp_ex" name="solve_pnp_ex" output="screen">
diff --git a/rct_examples/launch/static_camera_charuco_example.launch b/rct_examples/launch/static_camera_charuco_example.launch
deleted file mode 100644
index 79d4c4b5..00000000
--- a/rct_examples/launch/static_camera_charuco_example.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/avt_gige_camera_intr_calibrated.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/charuco_target_7x5.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/charuco_camera_guesses.yaml"/>
-  <arg name="data_path" default="$(find rct_examples)/data/test_set_charuco/cal_data.yaml"/>
-  <arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
-
-  <node pkg="rct_examples" type="static_cam_extr_cal_ex" name="charuco_cal" output="screen">
-    <rosparam command="load" file="$(arg camera_file)"/>
-    <rosparam command="load" file="$(arg target_file)"/>
-    <rosparam command="load" file="$(arg guess_file)"/>
-    <param name="data_path" value="$(arg data_path)"/>
-    <param name="homography_threshold" value="$(arg homography_threshold)"/>
-  </node>
-</launch>
diff --git a/rct_examples/launch/static_camera_example.launch b/rct_examples/launch/static_camera_example.launch
index a4a1d2dd..5d97833e 100644
--- a/rct_examples/launch/static_camera_example.launch
+++ b/rct_examples/launch/static_camera_example.launch
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/avt_gige_camera_intr_nominal.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/static_camera_guesses.yaml"/>
-  <arg name="data_path"/>
-  <arg name="homography_threshold" default="1.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_charuco/camera_intr_calibrated.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_charuco/target.yaml"/>
+  <arg name="guess_file" default="$(find rct_examples)/data/test_set_charuco/pose_guesses.yaml"/>
+  <arg name="data_path" default="$(find rct_examples)/data/test_set_charuco/cal_data.yaml"/>
+  <arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
 
   <node pkg="rct_examples" type="static_cam_extr_cal_ex" name="static_camera_cal" output="screen">
     <rosparam command="load" file="$(arg camera_file)"/>