diff --git a/src/Rover.cpp b/src/Rover.cpp
index 05bcd42c..f349e2dc 100644
--- a/src/Rover.cpp
+++ b/src/Rover.cpp
@@ -9,7 +9,6 @@
 #include <csignal>
 #include <ctime>
 #include <filesystem>
-#include <fstream>
 #include <loguru.cpp>
 #include <sstream>
 #include <thread>
@@ -33,39 +32,6 @@ void closeRover(int signum) {
 	raise(SIGTERM);
 }
 
-std::vector<URCLegGPS> parseGPSLegs(std::string filepath) {
-	std::vector<URCLegGPS> urc_legs;
-	std::ifstream gps_legs(filepath);
-
-	int left_post_id, right_post_id;
-	double lat, lon;
-	std::string line;
-
-	// A properly formatted file has each leg on a separate line, with each line of the form
-	// left_post_id right_post_id lat lon
-	// Improperly formatted lines (empty lines, comments) are ignored, and text
-	// after the above data on properly formatted lines is ignored
-	// An example can be found at example_gps_legs.txt
-	while (getline(gps_legs, line)) {
-		std::istringstream line_stream(line);
-		if (line_stream >> left_post_id >> right_post_id >> lat >> lon) {
-			// we assume that gps already has a fix
-			gpscoords_t gps = {lat, lon};
-			URCLegGPS leg = {left_post_id, right_post_id, gps};
-			LOG_F(INFO, "Got urc leg at lat=%f lon=%f", lat, lon);
-			urc_legs.push_back(leg);
-		}
-	}
-	LOG_F(INFO, "Got %ld urc legs\n", urc_legs.size());
-
-	if (urc_legs.size() == 0) {
-		LOG_F(ERROR, "could not get URC legs");
-		std::exit(EXIT_FAILURE);
-	}
-
-	return urc_legs;
-}
-
 void parseCommandLine(int argc, char** argv) {
 	argparse::ArgumentParser program("Rover", "N/A");
 
diff --git a/src/navtypes.h b/src/navtypes.h
index 4969109c..5ac7670f 100644
--- a/src/navtypes.h
+++ b/src/navtypes.h
@@ -25,11 +25,6 @@ struct eulerangles_t {
 	double yaw;
 };
 
-/* Obstacles are specifed as a list of 2D vertices. Must be convex.
- * Do not repeat the starting vertex at the end. */
-using obstacle_t = Eigen::ArrayX2d;
-using obstacles_t = std::vector<obstacle_t>;
-
 using pose_t = Eigen::Vector3d;		 // Robot pose: x, y, theta
 using transform_t = Eigen::Matrix3d; // a pose in matrix form; see toPose below
 using trajectory_t = std::vector<transform_t>;
@@ -44,18 +39,5 @@ using point_t =
 	Eigen::Vector3d; // x, y, 1 (or 0, 0, 0 to represent "no data")
 					 // The 1 at the end makes calculating affine transforms easier.
 using points_t = std::vector<point_t>;
-using traj_points_t = std::vector<points_t>; // points_t for each time along a trajectory
-
-struct URCLeg {
-	int left_post_id;
-	int right_post_id; // This will be -1 for legs that are just single posts
-	point_t approx_GPS;
-};
-
-struct URCLegGPS {
-	int left_post_id;
-	int right_post_id;
-	gpscoords_t gps;
-};
 
 } // namespace navtypes
diff --git a/src/world_interface/noop_world.cpp b/src/world_interface/noop_world.cpp
index 400a97a4..22743c80 100644
--- a/src/world_interface/noop_world.cpp
+++ b/src/world_interface/noop_world.cpp
@@ -47,14 +47,6 @@ DataPoint<pose_t> getTruePose() {
 	return {};
 }
 
-DataPoint<pose_t> readVisualOdomVel() {
-	return DataPoint<pose_t>{};
-}
-
-URCLeg getLeg(int /*id*/) {
-	return URCLeg{-1, -1, {0., 0., 0.}};
-}
-
 void setMotorPower(motorid_t motor, double normalizedPWM) {}
 
 void setMotorPos(motorid_t motor, int32_t targetPos) {}
diff --git a/src/world_interface/real_world_interface.cpp b/src/world_interface/real_world_interface.cpp
index 48470201..5f2f7d57 100644
--- a/src/world_interface/real_world_interface.cpp
+++ b/src/world_interface/real_world_interface.cpp
@@ -234,14 +234,6 @@ landmarks_t readLandmarks() {
 	return {};
 }
 
-DataPoint<pose_t> readVisualOdomVel() {
-	return DataPoint<pose_t>{};
-}
-
-URCLeg getLeg(int index) {
-	return URCLeg{0, -1, {0., 0., 0.}};
-}
-
 template <typename T>
 int getIndex(const std::vector<T>& vec, const T& val) {
 	auto itr = std::find(vec.begin(), vec.end(), val);
diff --git a/src/world_interface/simulator_interface.cpp b/src/world_interface/simulator_interface.cpp
index 0312fe42..995dce5a 100644
--- a/src/world_interface/simulator_interface.cpp
+++ b/src/world_interface/simulator_interface.cpp
@@ -338,10 +338,6 @@ landmarks_t readLandmarks() {
 	return {};
 }
 
-DataPoint<pose_t> readVisualOdomVel() {
-	return DataPoint<pose_t>{};
-}
-
 DataPoint<Eigen::Quaterniond> readIMU() {
 	std::lock_guard<std::mutex> guard(orientationMutex);
 	return lastOrientation;
@@ -352,10 +348,6 @@ DataPoint<pose_t> getTruePose() {
 	return lastTruePose;
 }
 
-URCLeg getLeg(int index) {
-	return URCLeg{0, -1, {0., 0., 0.}};
-}
-
 void setMotorPower(motorid_t motor, double normalizedPWM) {
 	std::shared_ptr<robot::base_motor> motor_ptr = getMotor(motor);
 	motor_ptr->setMotorPower(normalizedPWM);
diff --git a/src/world_interface/world_interface.h b/src/world_interface/world_interface.h
index f5fd4d43..b5bccfb6 100644
--- a/src/world_interface/world_interface.h
+++ b/src/world_interface/world_interface.h
@@ -171,25 +171,6 @@ types::DataPoint<navtypes::pose_t> getTruePose();
  */
 std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
 
-/**
- * @brief Calculate the current pose velocity (in the robot's reference frame) using visual
- * odometry.
- *
- * @return types::DataPoint<navtypes::pose_t> The current velocity in each axis of the pose
- * vector, or an empty data point if no data is available.
- */
-types::DataPoint<navtypes::pose_t> readVisualOdomVel();
-
-/**
- * @brief Get the URC leg of the given index.
- *
- * @param index The index of the URC leg, in the range [0, 6]
- * @return navtypes::URCLeg Information for the URC leg of the given index.
- *
- * @deprecated This function is probably deprecated, and will be replaced in the future.
- */
-navtypes::URCLeg getLeg(int index);
-
 /**
  * @brief Set the robot indicator to indicate the given signal.
  *
@@ -291,8 +272,6 @@ getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
 	return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
 }
 
-// TODO: document
-void zeroJoint(robot::types::jointid_t joint);
 } // namespace robot
 
 namespace gps {