diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ArticulatedObjectProviderPlugin.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/ArticulatedObjectProviderPlugin.cpp
deleted file mode 100644
index 584d5dec78eed91ea00d27dc11a69cf27c8368b0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ArticulatedObjectProviderPlugin.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#include "ArticulatedObjectProviderPlugin.h"
-
-namespace armarx::plugins
-{
-
-    void ArticulatedObjectProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
-    {
-        if (!properties->hasDefinition(makePropertyName(propertyName)))
-        {
-            properties->defineOptionalProperty<std::string>(
-                makePropertyName(propertyName),
-                "ArticulatedObjectTopic",
-                "Name of the articulated object topic.");
-        }
-    }
-
-    void ArticulatedObjectProviderPlugin::preOnInitComponent()
-    {
-        parent<Component>().offeringTopicFromProperty(makePropertyName(propertyName));
-    }
-
-    void ArticulatedObjectProviderPlugin::preOnConnectComponent()
-    {
-        parent<articulated_object::ArticulatedObjectProviderPluginUser>().articulatedObjectTopic = createArticulatedObjectTopic();
-    }
-
-    void ArticulatedObjectProviderPlugin::postOnConnectComponent()
-    {
-        // TODO(fabian.reister): implement
-
-        // ArticulatedObjectProviderPluginUser& parent = this->parent<ArticulatedObjectProviderPluginUser>();
-        // objpose::ObjectPoseTopicPrx& topic = parent.articulatedObjectTopic;
-        // if (topic)
-        // {
-        //     objpose::ProviderInfo info = parent.getProviderInfo();
-        //     if (!info.proxy)
-        //     {
-        //         info.proxy = ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
-        //     }
-        //     topic->reportProviderAvailable(parent.getName(), info);
-        // }
-        // else
-        // {
-        //     ARMARX_ERROR << "Object pose topic not ready.";
-        // }
-    }
-
-    articulated_object::ArticulatedObjectTopicPrx ArticulatedObjectProviderPlugin::createArticulatedObjectTopic()
-    {
-        return parent<Component>().getTopicFromProperty<articulated_object::ArticulatedObjectTopicPrx>(makePropertyName(propertyName));
-    }
-
-}  // namespace armarx::plugins
-
-
-namespace armarx::articulated_object
-{
-
-    ArticulatedObjectProviderPluginUser::ArticulatedObjectProviderPluginUser()
-    {
-        addPlugin(plugin);
-    }
-
-    provider::TrackingRequestResponse ArticulatedObjectProviderPluginUser::trackObjects(const provider::TrackingRequest& input, const ::Ice::Current&)
-    {
-        ARMARX_INFO << "Requested " << input.objectIDs.size() << " objects for " << input.relativeTimeoutMS << " ms.";
-        provider::TrackingRequestResponse output;
-        for (const auto& id : input.objectIDs)
-        {
-            output.status[id] = false;
-        }
-        return output;
-    }
-
-    ArticulatedObjectTopicPrx ArticulatedObjectProviderPluginUser::createArticulatedObjectTopic()
-    {
-        return plugin->createArticulatedObjectTopic();
-    }
-
-}  // namespace armarx::articulated_object
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ArticulatedObjectProviderPlugin.h b/source/RobotAPI/libraries/ArmarXObjects/plugins/ArticulatedObjectProviderPlugin.h
deleted file mode 100644
index 95062ae405e9cdd1f26c1f913c0263978430587b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ArticulatedObjectProviderPlugin.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-
-#include <ArmarXCore/core/Component.h>
-
-#include <RobotAPI/interface/core/articulated_object/provider.h>
-#include <RobotAPI/interface/core/articulated_object/topic.h>
-
-
-namespace armarx::plugins
-{
-
-    class ArticulatedObjectProviderPlugin : public ComponentPlugin
-    {
-    public:
-
-        using ComponentPlugin::ComponentPlugin;
-
-        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
-        void preOnInitComponent() override;
-        void preOnConnectComponent() override;
-        void postOnConnectComponent() override;
-
-        articulated_object::ArticulatedObjectTopicPrx createArticulatedObjectTopic();
-
-
-    private:
-
-        static constexpr const char* propertyName = "ArticulatedObjectTopicName";
-
-    };
-
-}  // namespace armarx::plugins
-
-
-namespace armarx::articulated_object
-{
-
-    /**
-     * @brief Provides an `articulated_object::ObjectPoseTopicPrx objectPoseTopic` as member variable.
-     */
-    class ArticulatedObjectProviderPluginUser :
-        virtual public ManagedIceObject
-        , virtual public provider::ArticulatedObjectStateProvider
-    {
-    public:
-
-        ArticulatedObjectProviderPluginUser();
-
-        /// Implement to process object requests (empty default implementation).
-        // articulated_object::provider::RequestObjectsOutput requestObjects(const articulated_object::provider::RequestObjectsInput& input, const Ice::Current&) override;
-
-        provider::TrackingRequestResponse trackObjects(const provider::TrackingRequest&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
-
-        ArticulatedObjectTopicPrx createArticulatedObjectTopic();
-
-        ArticulatedObjectTopicPrx articulatedObjectTopic;
-
-
-    private:
-
-        armarx::plugins::ArticulatedObjectProviderPlugin* plugin = nullptr;
-
-    };
-
-}  // namespace armarx::articulated_object