diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simple/bt.xml b/test/jani_generator/_test_data/grid_robot_blackboard_simple/bt.xml
index 50f3f723..9472dc78 100644
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simple/bt.xml
+++ b/test/jani_generator/_test_data/grid_robot_blackboard_simple/bt.xml
@@ -2,7 +2,7 @@
     <BehaviorTree ID="simple_robot_blackboard">
         <Fallback name="control_loop">
             <!-- Store goal and robot pose in 4 blackboard variables -->
-            <Action ID="UpdateGoalAndCurrentPosition" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" grid_size="100" />
+            <Action ID="UpdateGoalAndCurrentPosition" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" grid_size="10" />
             <!--
                 Movement enum in the world.
                 0: right,
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml
deleted file mode 100644
index 99af0d3e..00000000
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<root BTCPP_format="4">
-    <BehaviorTree ID="simple_robot_blackboard">
-        <Sequence name="control_loop">
-            <!-- Store goal and robot pose in 4 blackboard variables -->
-            <Action ID="UpdateGoalAndCurrentPosition" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" move_out="{move}" move_in="{move}" />
-            <Fallback name="move_to_goal">
-                <!--
-                    move: 0 - right
-                        1 - left
-                        2 - up
-                        3 - down
-                        4 - stop
-                -->
-
-                <Sequence name="TryR">
-                    <Condition ID="ShallMove" direction="0" name="check_right" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" />
-                    <Action ID="Move" direction="0" name="move_right" move="{move}" />
-                </Sequence>
-                <Sequence name="TryL">
-                    <Condition ID="ShallMove" direction="1" name="check_left" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" />
-                    <Action ID="Move" direction="1" name="move_left" move="{move}" />
-                </Sequence>
-                <Sequence name="TryU">
-                    <Condition ID="ShallMove" direction="2" name="check_up" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" />
-                    <Action ID="Move" direction="2" name="move_up" move="{move}" />
-                </Sequence>
-                <Sequence name="TryD">
-                    <Condition ID="ShallMove" direction="3" name="check_down" goal_x="{goal_x}" goal_y="{goal_y}" curr_x="{curr_x}" curr_y="{curr_y}" />
-                    <Action ID="Move" direction="3" name="move_down" move="{move}" />
-                </Sequence>
-            </Fallback>
-        </Sequence>
-    </BehaviorTree>
-</root>
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml
deleted file mode 100644
index e6dc37a4..00000000
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_move.scxml
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<scxml
-    initial="running"
-    version="1.0"
-    name="Move"
-    model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
-
-    <bt_declare_port_in key="direction" type="int32" />
-    <bt_declare_port_out key="move" type="int32" />
-    <!--
-        move: 0 - right
-              1 - left
-              2 - up
-              3 - down
-              4 - stop
-    -->
-
-    <datamodel>
-        <data id="direction" expr="0" type="int32" />
-    </datamodel>
-
-    <state id="running">
-        <bt_tick target="running">
-            <assign location="direction">
-                <expr>
-                    <bt_get_input key="direction" />
-                </expr>
-            </assign>
-            <bt_set_output key="move" expr="direction" />
-            <bt_return_status status="SUCCESS" />
-        </bt_tick>
-    </state>
-
-</scxml>
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_shall_move.scxml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_shall_move.scxml
deleted file mode 100644
index 90a8a178..00000000
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_shall_move.scxml
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<scxml
-    initial="running"
-    version="1.0"
-    name="ShallMove"
-    model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
-
-    <!--
-        Movement enum in the world.
-        0: right,
-        1: left,
-        2: up,
-        3: down
-    -->
-    <bt_declare_port_in key="direction" type="int32" />
-    <bt_declare_port_in key="goal_x" type="int32" />
-    <bt_declare_port_in key="goal_y" type="int32" />
-    <bt_declare_port_in key="curr_x" type="int32" />
-    <bt_declare_port_in key="curr_y" type="int32" />
-
-    <datamodel>
-        <data id="shall_move" expr="false" type="bool" />
-        <data id="goal_x" expr="0" type="int32" />
-        <data id="goal_y" expr="0" type="int32" />
-        <data id="curr_x" expr="0" type="int32" />
-        <data id="curr_y" expr="0" type="int32" />
-        <data id="direction" expr="0" type="int32" />
-    </datamodel>
-
-    <state id="running">
-        <bt_tick target="running">
-            <!-- TODO: Fetch Blackboard variables. The most correct way would be a request / reply, this would require splitting this into two states -->
-            <assign location="direction">
-                <expr>
-                    <bt_get_input key="direction" />
-                </expr>
-            </assign>
-            <assign location="goal_x">
-                <expr>
-                    <bt_get_input key="goal_x" />
-                </expr>
-            </assign>
-            <assign location="goal_y">
-                <expr>
-                    <bt_get_input key="goal_y" />
-                </expr>
-            </assign>
-            <assign location="curr_x">
-                <expr>
-                    <bt_get_input key="curr_x" />
-                </expr>
-            </assign>
-            <assign location="curr_y">
-                <expr>
-                    <bt_get_input key="curr_y" />
-                </expr>
-            </assign>
-            <if cond="direction == 0">
-                <assign location="shall_move" expr="goal_x &gt; curr_x" />
-            <elseif cond="direction == 1" />
-                <assign location="shall_move" expr="goal_x &lt; curr_x" />
-            <elseif cond="direction == 2" />
-                <assign location="shall_move" expr="goal_y &gt; curr_y" />
-            <else />
-                <assign location="shall_move" expr="goal_y &lt; curr_y" />
-            </if>
-            <if cond="shall_move">
-                <bt_return_status status="SUCCESS" />
-            <else />
-                <bt_return_status status="FAILURE" />
-            </if>
-        </bt_tick>
-    </state>
-
-</scxml>
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml
deleted file mode 100644
index 07b1d82c..00000000
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/bt_update_goal_and_current_position.scxml
+++ /dev/null
@@ -1,94 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<scxml
-    initial="init"
-    version="1.0"
-    name="UpdateGoalAndCurrentPosition"
-    model_src=""
-    xmlns="http://www.w3.org/2005/07/scxml">
-
-    <bt_declare_port_out key="goal_x" type="int32" />
-    <bt_declare_port_out key="goal_y" type="int32" />
-    <bt_declare_port_out key="curr_x" type="int32" />
-    <bt_declare_port_out key="curr_y" type="int32" />
-    <bt_declare_port_in key="move_in" type="int32" />
-    <bt_declare_port_out key="move_out" type="int32" />
-    <!--
-        move: 0 - right
-              1 - left
-              2 - up
-              3 - down
-              4 - stop
-    -->
-
-    <ros_topic_publisher name="at_goal" topic="at_goal" type="std_msgs/Bool" />
-
-    <datamodel>
-        <data id="n" expr="100" type="int32" /> <!-- grid size -->
-        <data id="goal_x" expr="0" type="int32" />
-        <data id="goal_y" expr="0" type="int32" />
-        <data id="pose_x" expr="0" type="int32" />
-        <data id="pose_y" expr="0" type="int32" />
-        <data id="move" expr="4" type="int32" />
-        <data id="first_tick" expr="true" type="bool" />
-        <data id="n_goals" expr="3" type="int32" />
-        <data id="n_goals_reached" expr="0" type="int32" />
-    </datamodel>
-
-    <state id="init">
-        <onentry>
-            <bt_set_output key="move_out" expr="4" />
-            <assign location="goal_x" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="goal_y" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="pose_x" expr="Math.floor(Math.random() * (n-1))" />
-            <assign location="pose_y" expr="Math.floor(Math.random() * (n-1))" />
-        </onentry>
-        <transition target="wait_for_tick" />
-    </state>
-
-    <state id="wait_for_tick">
-        <bt_tick target="running">
-            <bt_set_output key="goal_x" expr="goal_x" />
-            <bt_set_output key="goal_y" expr="goal_y" />
-            <bt_set_output key="curr_x" expr="pose_x" />
-            <bt_set_output key="curr_y" expr="pose_y" />
-            <if cond="first_tick">
-                <!-- this is a bit useless, but we test if the propagation of event data in the if tag works -->
-                <assign location="move">
-                    <expr>
-                        <bt_get_input key="move_in" />
-                    </expr>
-                </assign>
-            </if>
-        </bt_tick>
-    </state>
-
-    <state id="running">
-        <transition target="wait_for_tick">
-            <if cond="move == 0 &amp;&amp; pose_x &lt; n - 1">
-                <!-- right -->
-                <assign location="pose_x" expr="pose_x + 1" />
-                <elseif cond="move == 1 &amp;&amp; pose_x &gt; 0" />
-                <!-- left -->
-                <assign location="pose_x" expr="pose_x - 1" />
-                <elseif cond="move == 2 &amp;&amp; pose_y &lt; n - 1" />
-                <!-- up -->
-                <assign location="pose_y" expr="pose_y + 1" />
-                <elseif cond="move == 3 &amp;&amp; pose_y &gt; 0" />
-                <!-- down -->
-                <assign location="pose_y" expr="pose_y - 1" />
-            </if>
-            <bt_set_output key="move_out" expr="4" />
-            <if cond="pose_x == goal_x &amp;&amp; pose_y == goal_y">
-                <assign location="n_goals_reached" expr="n_goals_reached + 1" />
-                <if cond="n_goals_reached == n_goals">
-                    <ros_topic_publish name="at_goal">
-                        <field name="data" expr="true" />
-                    </ros_topic_publish>
-                </if>
-                <assign location="goal_x" expr="Math.floor(Math.random() * (n-1))" />
-                <assign location="goal_y" expr="Math.floor(Math.random() * (n-1))" />
-            </if>
-            <bt_return_status status="SUCCESS" />
-        </transition>
-    </state>
-</scxml>
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/main.xml b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/main.xml
deleted file mode 100644
index 9a3ce9cf..00000000
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/main.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<convince_mc_tc>
-    <mc_parameters>
-        <max_time value="100" unit="s" />
-        <max_array_size value="10" />
-        <bt_tick_rate value="5.0" />
-        <bt_tick_if_not_running value="true" />
-    </mc_parameters>
-
-    <behavior_tree>
-        <input type="bt.cpp-xml" src="./bt.xml" />
-        <input type="bt-plugin-ros-scxml" src="./bt_move.scxml" />
-        <input type="bt-plugin-ros-scxml" src="./bt_shall_move.scxml" />
-        <input type="bt-plugin-ros-scxml" src="./bt_update_goal_and_current_position.scxml" />
-    </behavior_tree>
-
-    <node_models>
-        <!-- <input type="ros-scxml" src="./world.scxml" /> -->
-    </node_models>
-
-    <properties>
-        <input type="jani" src="./properties.jani" />
-    </properties>
-</convince_mc_tc>
diff --git a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/properties.jani b/test/jani_generator/_test_data/grid_robot_blackboard_simpler/properties.jani
deleted file mode 100644
index 23996849..00000000
--- a/test/jani_generator/_test_data/grid_robot_blackboard_simpler/properties.jani
+++ /dev/null
@@ -1,47 +0,0 @@
-{
-    "properties": [
-        {
-            "expression": {
-                "fun": "values",
-                "op": "filter",
-                "states": {
-                    "op": "initial"
-                },
-                "values": {
-                    "exp": {
-                        "exp": {
-                            "comment": "Bt 1000 is always the root, Values = {1: SUCCESS, 2: FAILURE, 3: RUNNING}",
-                            "left": "bt_1000_response.status",
-                            "op": "=",
-                            "right": 1
-                        },
-                        "op": "F"
-                    },
-                    "op": "Pmin"
-                }
-            },
-            "name": "tree_success"
-        },
-        {
-            "expression": {
-                "fun": "values",
-                "op": "filter",
-                "states": {
-                    "op": "initial"
-                },
-                "values": {
-                    "exp": {
-                        "exp": {
-                            "left": "topic_at_goal_msg.valid",
-                            "op": "∧",
-                            "right": "topic_at_goal_msg.ros_fields__data"
-                        },
-                        "op": "F"
-                    },
-                    "op": "Pmin"
-                }
-            },
-            "name": "at_goal"
-        }
-    ]
-}
diff --git a/test/jani_generator/test_systemtest_scxml_to_jani.py b/test/jani_generator/test_systemtest_scxml_to_jani.py
index d3c93049..cc7020f2 100644
--- a/test/jani_generator/test_systemtest_scxml_to_jani.py
+++ b/test/jani_generator/test_systemtest_scxml_to_jani.py
@@ -454,12 +454,12 @@ def test_grid_robot_blackboard(self):
             success=True,
         )
 
-    def test_grid_robot_blackboard_simpler(self):
+    def test_grid_robot_blackboard_simple(self):
         """Test the simpler grid_robot_blackboard model (BT + Blackboard)."""
         self._test_with_main(
-            "grid_robot_blackboard_simpler",
+            "grid_robot_blackboard_simple",
             model_xml="main.xml",
-            property_name="at_goal",
+            property_name="tree_success",
             success=True,
             size_limit=1_000_000,
         )