diff --git a/utils/utils.h b/utils/utils.h
index 716e74b..ffad7ac 100644
--- a/utils/utils.h
+++ b/utils/utils.h
@@ -1,20 +1,7 @@
 #pragma once
 
-#include <iostream>
-#include <limits>
-#include <vector>
 #include <opencv2/opencv.hpp>
 
-namespace utils {
-    void waitForUserInput()
-    {
-        std::cout << "Press Enter to continue...";
-        std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
-
-    }
-}
-
-
 namespace Type
 {
     struct Angle
@@ -27,37 +14,6 @@ namespace Type
     struct RobotPose
     {
         cv::Point3f position;
-        Angle angle;
-    };
-
-    struct ArucoTag
-    {
-        int id;
-        std::string name;
-        float length;
+        float theta; // rotation around the y axis
     };
 }
-
-namespace ArucoTagData
-{
-    inline Type::ArucoTag whiteFlower = { 36, "whiteFlower", 0.02f };
-    inline Type::ArucoTag purpleFlower = { 13, "purpleFlower", 0.02f };
-    inline Type::ArucoTag solarPanel = { 47, "solarPanel", 0.1f };
-}
-
-namespace draw
-{
-    // Function to draw a line from the center of an ArUco marker to a point with depth
-    void drawCenterPoints(cv::Mat& frame, const std::vector<std::vector<cv::Point2f>>& markerCorners, double depth) {
-        for (const auto& corners : markerCorners) {
-            cv::Point2f center(0, 0);
-            for (const auto& corner : corners) {
-                center += corner;
-            }
-            center *= (1.0 / corners.size());  // Average to find the center
-
-            // Draw a line from the center of the marker to the point with depth
-            cv::line(frame, center, cv::Point(center.x, center.y + depth), cv::Scalar(0, 255, 0), 2);  // Draw a green line
-        }
-    }
-}
\ No newline at end of file