diff --git a/kuka_driver_examples/eci_demo/src/MoveitCollisionAvoidanceExample.cpp b/kuka_driver_examples/eci_demo/src/MoveitCollisionAvoidanceExample.cpp
index d26e37a1..1ed1c6ff 100755
--- a/kuka_driver_examples/eci_demo/src/MoveitCollisionAvoidanceExample.cpp
+++ b/kuka_driver_examples/eci_demo/src/MoveitCollisionAvoidanceExample.cpp
@@ -33,22 +33,9 @@ int main(int argc, char * argv[])
   .detach();
 
   example_node->initialize();
-  example_node->addBreakPoint();
 
   // Add robot platform
   example_node->addRobotPlatform();
-
-  // Add collision object
-  kuka_driver_interfaces::msg::CollisionBox box_msg;
-  box_msg.position.x = 0.25;
-  box_msg.position.y = -0.075;
-  box_msg.position.z = 0.675;
-
-  box_msg.size.x = 0.1;
-  box_msg.size.y = 0.4;
-  box_msg.size.z = 0.1;
-
-  example_node->addCollisionBox(std::make_shared<kuka_driver_interfaces::msg::CollisionBox>(box_msg));
   example_node->addBreakPoint();
 
   auto standing_pose = Eigen::Isometry3d(
diff --git a/kuka_driver_examples/eci_demo/src/MoveitConstrainedPlanningExample.cpp b/kuka_driver_examples/eci_demo/src/MoveitConstrainedPlanningExample.cpp
index 81408a46..d89e292c 100755
--- a/kuka_driver_examples/eci_demo/src/MoveitConstrainedPlanningExample.cpp
+++ b/kuka_driver_examples/eci_demo/src/MoveitConstrainedPlanningExample.cpp
@@ -33,22 +33,9 @@ int main(int argc, char * argv[])
   .detach();
 
   example_node->initialize();
-  example_node->addBreakPoint();
 
   // Add robot platform
   example_node->addRobotPlatform();
-
-  // Add collision object
-  kuka_driver_interfaces::msg::CollisionBox box_msg;
-  box_msg.position.x = 0.25;
-  box_msg.position.y = -0.075;
-  box_msg.position.z = 0.675;
-
-  box_msg.size.x = 0.1;
-  box_msg.size.y = 0.4;
-  box_msg.size.z = 0.1;
-
-  example_node->addCollisionBox(std::make_shared<kuka_driver_interfaces::msg::CollisionBox>(box_msg));
   example_node->addBreakPoint();
 
   auto cart_goal = Eigen::Isometry3d(