diff --git a/source/RobotAPI/applications/ArMemGlobalStorage/CMakeLists.txt b/source/RobotAPI/applications/ArMemGlobalStorage/CMakeLists.txt
deleted file mode 100644
index 9269db1b62679e046c18f02a6ee6243140a17edf..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ArMemGlobalStorage/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("ArMemGlobalStorageApp")
-set(COMPONENT_LIBS ArMemGlobalStorage)
-armarx_add_component_executable(main.cpp)
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    target_include_directories(ArMemGlobalStorage PUBLIC ${MyLib_INCLUDE_DIRS})
-#endif()
diff --git a/source/RobotAPI/applications/ArMemGlobalStorage/main.cpp b/source/RobotAPI/applications/ArMemGlobalStorage/main.cpp
deleted file mode 100644
index 0bbd86f631cf195d9896394c7e95da7ccd72a068..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ArMemGlobalStorage/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::ArMemGlobalStorage
- * @author     fabian.peller-konrad@kit.edu ( fabian dot peller-konrad at kit dot edu )
- * @date       2020
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::ArMemGlobalStorage > (argc, argv, "ArMemGlobalStorage");
-}
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index d975f574bcd59af1251b5d109839bba795f79099..68dfd7829691a29eb2a6e70eafc975468909ff2a 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -1,59 +1,5 @@
-add_subdirectory(ForceTorqueObserver)
-add_subdirectory(HeadIKUnit)
-add_subdirectory(TCPControlUnit)
-
+add_subdirectory(AronArmemGenerator)
 add_subdirectory(WeissHapticUnit)
-add_subdirectory(HapticObserver)
-
-
-add_subdirectory(RobotControl)
 add_subdirectory(RobotControlUI)
-add_subdirectory(KinematicUnitObserver)
-add_subdirectory(KinematicUnitSimulation)
-add_subdirectory(PlatformUnitSimulation)
-add_subdirectory(PlatformUnitObserver)
 add_subdirectory(RobotStateComponent)
-add_subdirectory(HandUnitSimulation)
-add_subdirectory(ForceTorqueUnitSimulation)
-
-
-add_subdirectory(XsensIMU)
-add_subdirectory(InertialMeasurementUnitObserver)
-
-add_subdirectory(ViewSelection)
-
-add_subdirectory(HokuyoLaserUnit)
-add_subdirectory(LaserScannerUnitObserver)
-add_subdirectory(OrientedTactileSensorUnit)
-add_subdirectory(OrientedTactileSensorUnitObserver)
-
-add_subdirectory(OptoForceUnit)
-add_subdirectory(OptoForceUnitObserver)
-
-add_subdirectory(GamepadUnit)
-add_subdirectory(GamepadUnitObserver)
-add_subdirectory(GamepadControlUnit)
-
-add_subdirectory(MetaWearIMU)
-add_subdirectory(MetaWearIMUObserver)
-add_subdirectory(RobotNameService)
-add_subdirectory(SpeechObserver)
-add_subdirectory(DummyTextToSpeech)
-add_subdirectory(KITProstheticHandUnit)
-add_subdirectory(CyberGloveObserver)
-add_subdirectory(RobotHealth)
-add_subdirectory(RobotHealthDummy)
-add_subdirectory(GraspCandidateObserver)
-
-add_subdirectory(FrameTracking)
-
-add_subdirectory(KITHandUnit)
-add_subdirectory(MultiHandUnit)
-add_subdirectory(StatechartExecutorExample)
-
-
-add_subdirectory(NaturalIKTest)
-add_subdirectory(DynamicObstacleManager)
-
-add_subdirectory(ArMemGlobalStorage)
-add_subdirectory(AronArmemGenerator)
+add_subdirectory(TCPControlUnit)
diff --git a/source/RobotAPI/applications/CyberGloveObserver/CMakeLists.txt b/source/RobotAPI/applications/CyberGloveObserver/CMakeLists.txt
deleted file mode 100644
index a639bd1bd8960b9bcd99f866e134c99904ff84dc..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/CyberGloveObserver/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("CyberGloveObserverApp")
-set(COMPONENT_LIBS CyberGloveObserver)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/CyberGloveObserver/main.cpp b/source/RobotAPI/applications/CyberGloveObserver/main.cpp
deleted file mode 100644
index 7d8b134db7d26732426e1f8303120b2ca688896a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/CyberGloveObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::CyberGloveObserver
- * @author     JuliaStarke ( julia dot starke at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/CyberGloveObserver/CyberGloveObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::CyberGloveObserver > (argc, argv, "CyberGloveObserver");
-}
diff --git a/source/RobotAPI/applications/DummyTextToSpeech/CMakeLists.txt b/source/RobotAPI/applications/DummyTextToSpeech/CMakeLists.txt
deleted file mode 100644
index 68e57d98b2cda2420d5af15b471f0ed42a8934a5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyTextToSpeech/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("DummyTextToSpeechApp")
-set(COMPONENT_LIBS DummyTextToSpeech)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/DummyTextToSpeech/main.cpp b/source/RobotAPI/applications/DummyTextToSpeech/main.cpp
deleted file mode 100644
index 2d852287b667c19549edac56d8e3c2ae2c39d947..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyTextToSpeech/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::DummyTextToSpeech
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/DummyTextToSpeech/DummyTextToSpeech.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::DummyTextToSpeech > (argc, argv, "DummyTextToSpeech");
-}
diff --git a/source/RobotAPI/applications/DynamicObstacleManager/CMakeLists.txt b/source/RobotAPI/applications/DynamicObstacleManager/CMakeLists.txt
deleted file mode 100644
index e8cd2eda8e4ab5fab7909b9b1a2febf0ccbe4bf4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DynamicObstacleManager/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-armarx_component_set_name("DynamicObstacleManager")
-
-set(COMPONENT_LIBS
-    DynamicObstacleManager
-)
-
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/DynamicObstacleManager/main.cpp b/source/RobotAPI/applications/DynamicObstacleManager/main.cpp
deleted file mode 100644
index 2b115f14589702625322d2b461a5adf38aa98643..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DynamicObstacleManager/main.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Armar6Skills::ArmarXObjects::DynamicObstacleManager
- * @author     Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
- * @date       2020
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-
-// STD/STL
-#include <string>
-
-// ArmarX
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-
-// Component
-#include <RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.h>
-
-using namespace armarx;
-
-int main(int argc, char* argv[])
-{
-    const std::string name = DynamicObstacleManager::default_name;
-    return runSimpleComponentApp<DynamicObstacleManager>(argc, argv, name);
-}
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
deleted file mode 100644
index 35427e462808be20f3b1e0de77293f09b5ad7b75..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_component_set_name(ForceTorqueObserver)
-
-set(COMPONENT_LIBS RobotAPIUnits)
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
deleted file mode 100644
index 5bde42c5f96cebcaaedb5b307a47148a0d640b17..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::ForceTorqueObserver
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/ForceTorqueObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::ForceTorqueObserver>(argc, argv, "ForceTorqueObserver");
-}
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
deleted file mode 100644
index 581a8ae8551c0c29d9aa7f0e8876891039414545..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name(ForceTorqueUnitSimulation)
-set(COMPONENT_LIBS RobotAPIUnits)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
deleted file mode 100644
index 26a126b4be868544684291042b31c0d31ee3a4d7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::ForceTorqueUnitSimulation
- * @author     Peter Kaiser
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/ForceTorqueUnitSimulation.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::ForceTorqueUnitSimulation>(argc, argv, "ForceTorqueUnitSimulation");
-}
diff --git a/source/RobotAPI/applications/FrameTracking/CMakeLists.txt b/source/RobotAPI/applications/FrameTracking/CMakeLists.txt
deleted file mode 100644
index 69311ee8d5fb8e412d615b156eb93e9a1de31dd2..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/FrameTracking/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("FrameTrackingApp")
-set(COMPONENT_LIBS FrameTracking)
-armarx_add_component_executable(main.cpp)
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    target_include_directories(FrameTracking PUBLIC ${MyLib_INCLUDE_DIRS})
-#endif()
diff --git a/source/RobotAPI/applications/FrameTracking/main.cpp b/source/RobotAPI/applications/FrameTracking/main.cpp
deleted file mode 100644
index d8a7c016d8a9ea8ba94638e1feaec9f55eb16e6f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/FrameTracking/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::FrameTracking
- * @author     Adrian Knobloch ( adrian dot knobloch at student dot kit dot edu )
- * @date       2019
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/FrameTracking/FrameTracking.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::FrameTracking > (argc, argv, "FrameTracking");
-}
diff --git a/source/RobotAPI/applications/GamepadControlUnit/CMakeLists.txt b/source/RobotAPI/applications/GamepadControlUnit/CMakeLists.txt
deleted file mode 100644
index 8ecc77b4d025f4d539b52a9fac8ca5fb95745de9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GamepadControlUnit/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("GamepadControlUnitApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    GamepadControlUnit
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/GamepadControlUnit/main.cpp b/source/RobotAPI/applications/GamepadControlUnit/main.cpp
deleted file mode 100644
index a2c5a7e4296a36c3012bbd7bb720120ef3e72c3d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GamepadControlUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::GamepadControlUnit
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::GamepadControlUnit > (argc, argv, "GamepadControlUnit");
-}
diff --git a/source/RobotAPI/applications/GamepadUnit/CMakeLists.txt b/source/RobotAPI/applications/GamepadUnit/CMakeLists.txt
deleted file mode 100644
index cfc83f3b16a9d381ba4348ec2825508fc3355033..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GamepadUnit/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("GamepadUnitApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    GamepadUnit
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/GamepadUnit/main.cpp b/source/RobotAPI/applications/GamepadUnit/main.cpp
deleted file mode 100644
index ec81535eb54772ade3b176f8d0842aa7dabc3b14..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GamepadUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::GamepadUnit
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/drivers/GamepadUnit/GamepadUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::GamepadUnit > (argc, argv, "GamepadUnit");
-}
diff --git a/source/RobotAPI/applications/GamepadUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/GamepadUnitObserver/CMakeLists.txt
deleted file mode 100644
index 1fb1582a0ed2be60dfcec7e289e6ab6c3a7076c6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GamepadUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("GamepadUnitObserverApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    RobotAPIUnits
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/GamepadUnitObserver/main.cpp b/source/RobotAPI/applications/GamepadUnitObserver/main.cpp
deleted file mode 100644
index 3cf8db15df21ea270e29f6c09f5a55358cc0b876..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GamepadUnitObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::GamepadUnitObserver
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/GamepadUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::GamepadUnitObserver > (argc, argv, "GamepadUnitObserver");
-}
diff --git a/source/RobotAPI/applications/GraspCandidateObserver/CMakeLists.txt b/source/RobotAPI/applications/GraspCandidateObserver/CMakeLists.txt
deleted file mode 100644
index 9e4ac83c0d1ccfbd7251fc44ebdc25a4d7c13a62..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GraspCandidateObserver/CMakeLists.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-armarx_component_set_name("GraspCandidateObserverApp")
-
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if(Simox_FOUND)
-    include_directories(${Simox_INCLUDE_DIRS})
-endif()
-
-set(COMPONENT_LIBS
-    RobotAPIUnits
-    ArmarXCoreInterfaces
-    ArmarXCore
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/GraspCandidateObserver/main.cpp b/source/RobotAPI/applications/GraspCandidateObserver/main.cpp
deleted file mode 100644
index 9de7e0e219db9e8d4a7fb289c9d09902fc8fabe6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/GraspCandidateObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::GraspCandidateObserver
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2019
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/GraspCandidateObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::GraspCandidateObserver > (argc, argv, "GraspCandidateObserver");
-}
diff --git a/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt
deleted file mode 100644
index 78cd12fe15ddd8cdcbb47640558cd1cb8c409111..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("HandUnitSimulation")
-set(COMPONENT_LIBS RobotAPIUnits)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/HandUnitSimulation/main.cpp b/source/RobotAPI/applications/HandUnitSimulation/main.cpp
deleted file mode 100644
index 32bd1b8d3894b856d4cfb3218805f8755d34f606..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HandUnitSimulation/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::HandUnitSimulation
- * @author     David Schiebener ( schiebener at kit dot edu )
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/HandUnitSimulation.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::HandUnitSimulation>(argc, argv, "HandUnitSimulation");
-}
diff --git a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
deleted file mode 100644
index 7b9bff253f31663346851c504c19d2bde73d32bf..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("HapticObserverApp")
-set(COMPONENT_LIBS RobotAPIUnits)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/HapticObserver/main.cpp b/source/RobotAPI/applications/HapticObserver/main.cpp
deleted file mode 100644
index c521a8ac8c46219d913e8f427c4e0b30f8ff255c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HapticObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::HapticObserver
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/HapticObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::HapticObserver>(argc, argv, "HapticObserver");
-}
diff --git a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
deleted file mode 100644
index 11d3ea4c233123e7f79fb3d10271b11ce00480a4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name(HeadIKUnit)
-set(COMPONENT_LIBS RobotAPIUnits)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/HeadIKUnit/main.cpp b/source/RobotAPI/applications/HeadIKUnit/main.cpp
deleted file mode 100644
index 83eadc25c567c53051f6c75e5c46cbe98fb70b5e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HeadIKUnit/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::HeadIKUnit
- * @author     David Schiebener
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/HeadIKUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::HeadIKUnit>(argc, argv, "HeadIKUnit");
-}
diff --git a/source/RobotAPI/applications/HokuyoLaserUnit/CMakeLists.txt b/source/RobotAPI/applications/HokuyoLaserUnit/CMakeLists.txt
deleted file mode 100644
index 9c0a35a345cebaf39288fb22dfdfe2fbb24ac993..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HokuyoLaserUnit/CMakeLists.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-armarx_component_set_name("HokuyoLaserUnitApp")
-
-find_package(HokuyoLaserScannerDriver QUIET)
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    HokuyoLaserUnit
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/HokuyoLaserUnit/main.cpp b/source/RobotAPI/applications/HokuyoLaserUnit/main.cpp
deleted file mode 100644
index 111a542188d5d46aa6f5664aa5476d9c7dc6f88e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HokuyoLaserUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::HokyouLaserUnit
- * @author     Fabian Paus ( fabian dot paus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::HokuyoLaserUnit > (argc, argv, "HokuyoLaserUnit");
-}
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
deleted file mode 100644
index 1c7d0f4341b07ac7d6728c19307f41bb1d5dbe88..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-armarx_component_set_name("InertialMeasurementUnitObserverApp")
-
-set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers  RobotAPIUnits)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp b/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
deleted file mode 100644
index 593baa1d190a352b0fe2991609304b25555833ba..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::InertialMeasurementUnitObserver
- * @author     Markus Grotz ( markus-grotz at web dot de )
- * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::InertialMeasurementUnitObserver>(argc, argv, "InertialMeasurementUnitObserver");
-}
diff --git a/source/RobotAPI/applications/KITHandUnit/CMakeLists.txt b/source/RobotAPI/applications/KITHandUnit/CMakeLists.txt
deleted file mode 100644
index a7dd589b24ff8824005237c57a281ef5868b889d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KITHandUnit/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("KITHandUnitApp")
-set(COMPONENT_LIBS KITHandUnit)
-armarx_add_component_executable(main.cpp)
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    target_include_directories(KITHandUnit PUBLIC ${MyLib_INCLUDE_DIRS})
-#endif()
diff --git a/source/RobotAPI/applications/KITHandUnit/main.cpp b/source/RobotAPI/applications/KITHandUnit/main.cpp
deleted file mode 100644
index e9dcea70a7cc5d94cbc8e19649306734ae411252..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KITHandUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::KITHandUnit
- * @author     Stefan Reither ( stefan dot reither at kit dot edu )
- * @date       2019
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/KITHandUnit/KITHandUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::KITHandUnit > (argc, argv, "KITHandUnit");
-}
diff --git a/source/RobotAPI/applications/KITProstheticHandObserver/CMakeLists.txt b/source/RobotAPI/applications/KITProstheticHandObserver/CMakeLists.txt
deleted file mode 100644
index ea8df22f5cbce4de23340bd3d3a935c4cc977dd9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KITProstheticHandObserver/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("KITProstheticHandObserverApp")
-set(COMPONENT_LIBS KITProstheticHandObserver)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/KITProstheticHandObserver/main.cpp b/source/RobotAPI/applications/KITProstheticHandObserver/main.cpp
deleted file mode 100644
index 7542d5e2884d7f9bda8103d335c3e61770b27d95..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KITProstheticHandObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::KITProstheticHandObserver
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/KITProstheticHandObserver/KITProstheticHandObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::KITProstheticHandObserver > (argc, argv, "KITProstheticHandObserver");
-}
diff --git a/source/RobotAPI/applications/KITProstheticHandUnit/CMakeLists.txt b/source/RobotAPI/applications/KITProstheticHandUnit/CMakeLists.txt
deleted file mode 100644
index 695303d1d68fcd4cc1b32a0b46c8f3cfdfb1539d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KITProstheticHandUnit/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("KITProstheticHandUnitApp")
-set(COMPONENT_LIBS KITProstheticHandUnit)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/KITProstheticHandUnit/main.cpp b/source/RobotAPI/applications/KITProstheticHandUnit/main.cpp
deleted file mode 100644
index b464a35118acf0a1e26da8b5840f6f5b77f96c66..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KITProstheticHandUnit/main.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::KITProstheticHandUnit
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-#include <QCoreApplication>
-
-int main(int argc, char* argv[])
-{
-    QCoreApplication a(argc, argv);
-    return armarx::runSimpleComponentApp < armarx::KITProstheticHandUnit > (argc, argv, "KITProstheticHandUnit");
-}
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
deleted file mode 100644
index 940574be837e22e1d7742a1082a3da03660c0b74..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-
-armarx_component_set_name(KinematicUnitObserver)
-
-
-set(COMPONENT_LIBS RobotAPIUnits)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/config/testProperty b/source/RobotAPI/applications/KinematicUnitObserver/config/testProperty
deleted file mode 100644
index fd3d73770dab1e8e52b2daef51b188df7b83d1da..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KinematicUnitObserver/config/testProperty
+++ /dev/null
@@ -1,7 +0,0 @@
-# test config file for KinematicUnit configured to be a Head
-
-ArmarX.KinematicUnitObserver.RobotFileName=/org/share/home/staff/welke/projects/armarx/data/ArmarIII/ArmarIII-Head.xml        	# (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
-ArmarX.KinematicUnitObserver.RobotNodeSetName=Head								# node set name
-ArmarX.KinematicUnitObserver.AdapterName=KinematicUnitObserver      						# name of the ICE adapter
-
-
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/main.cpp b/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
deleted file mode 100644
index 213d65125408c6ae4d7fb90083aef4958b848279..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Core::application::KinematicUnitObserver
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/KinematicUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::KinematicUnitObserver>(argc, argv, "KinematicUnitObserver");
-}
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
deleted file mode 100644
index da3097f2bd0f6af5d07f2cb6a4a76d380aafa044..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name(KinematicUnitSimulation)
-set(COMPONENT_LIBS RobotAPIUnits)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/config/testProperty b/source/RobotAPI/applications/KinematicUnitSimulation/config/testProperty
deleted file mode 100644
index f5a03878511ff258740126bb8b4b916e603cd261..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KinematicUnitSimulation/config/testProperty
+++ /dev/null
@@ -1,5 +0,0 @@
-# test config file for KinematicUnit configured to be a Head
-
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml
-ArmarX.KinematicUnitSimulation.RobotNodeSetName=Head                            # node set name
-ArmarX.KinematicUnitSimulation.AdapterName=HeadKinematicUnitInstructionChannel  # name of the Ice adapter
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp b/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
deleted file mode 100644
index 766a0c8a0d9c2628516317252259321f14d6e42d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Core::application::KinematicUnitSimulation
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/KinematicUnitSimulation.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::KinematicUnitSimulation>(argc, argv, "KinematicUnitSimulation");
-}
diff --git a/source/RobotAPI/applications/LaserScannerUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/LaserScannerUnitObserver/CMakeLists.txt
deleted file mode 100644
index 2e78fb522ca8c291486bd71aa610e92f570e49da..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/LaserScannerUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("LaserScannerUnitObserverApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    RobotAPIUnits
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/LaserScannerUnitObserver/main.cpp b/source/RobotAPI/applications/LaserScannerUnitObserver/main.cpp
deleted file mode 100644
index ecae3d6b3b6a05d96acf8d1e3b661d2ed47e5f58..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/LaserScannerUnitObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::LaserScannerUnitObserver
- * @author     Fabian Paus ( fabian dot paus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/LaserScannerUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::LaserScannerUnitObserver > (argc, argv, "LaserScannerUnitObserver");
-}
diff --git a/source/RobotAPI/applications/MetaWearIMU/CMakeLists.txt b/source/RobotAPI/applications/MetaWearIMU/CMakeLists.txt
deleted file mode 100644
index acf61ea40d6f898ca6beb9c49e4f5def0f1f951a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MetaWearIMU/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("MetaWearIMUApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    MetaWearIMU
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/MetaWearIMU/main.cpp b/source/RobotAPI/applications/MetaWearIMU/main.cpp
deleted file mode 100644
index 1f86708a7f1c12cd4f4dd198b6fe40e4664314ff..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MetaWearIMU/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::MetaWearIMU
- * @author     Lukas Kaul ( lukas dot s dot kaul at gmail dot com )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::MetaWearIMU > (argc, argv, "MetaWearIMU");
-}
diff --git a/source/RobotAPI/applications/MetaWearIMUObserver/CMakeLists.txt b/source/RobotAPI/applications/MetaWearIMUObserver/CMakeLists.txt
deleted file mode 100644
index eb94631d6e3da594b6d0deba7195031d850eee8b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MetaWearIMUObserver/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("MetaWearIMUObserverApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    RobotAPIUnits
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/MetaWearIMUObserver/main.cpp b/source/RobotAPI/applications/MetaWearIMUObserver/main.cpp
deleted file mode 100644
index 376425b06be3750b2d16b74a9e156a7753bf4172..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MetaWearIMUObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::MetaWearIMUObserver
- * @author     Lukas Kaul ( lukas dot s dot kaul at gmail dot com )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/MetaWearIMUObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::MetaWearIMUObserver > (argc, argv, "MetaWearIMUObserver");
-}
diff --git a/source/RobotAPI/applications/MultiHandUnit/CMakeLists.txt b/source/RobotAPI/applications/MultiHandUnit/CMakeLists.txt
deleted file mode 100644
index 83ad8ec8e46c15ef37af9d9cd991144dddbec1b0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MultiHandUnit/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("MultiHandUnitApp")
-set(COMPONENT_LIBS MultiHandUnit)
-armarx_add_component_executable(main.cpp)
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    target_include_directories(MultiHandUnit PUBLIC ${MyLib_INCLUDE_DIRS})
-#endif()
diff --git a/source/RobotAPI/applications/MultiHandUnit/main.cpp b/source/RobotAPI/applications/MultiHandUnit/main.cpp
deleted file mode 100644
index b284606d543efcd6326d2bfd03e645c5b8e61e8b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MultiHandUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::MultiHandUnit
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2019
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/MultiHandUnit/MultiHandUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::MultiHandUnit > (argc, argv, "MultiHandUnit");
-}
diff --git a/source/RobotAPI/applications/NaturalIKTest/CMakeLists.txt b/source/RobotAPI/applications/NaturalIKTest/CMakeLists.txt
deleted file mode 100644
index 69f1eb98516cb5ebd6951ac4082e741b976527dd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/NaturalIKTest/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("NaturalIKTestApp")
-set(COMPONENT_LIBS NaturalIKTest)
-armarx_add_component_executable(main.cpp)
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-# all target_include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    target_include_directories(NaturalIKTest PUBLIC ${MyLib_INCLUDE_DIRS})
-#endif()
diff --git a/source/RobotAPI/applications/NaturalIKTest/main.cpp b/source/RobotAPI/applications/NaturalIKTest/main.cpp
deleted file mode 100644
index 5f47c44165584faf07301537cd79c2789379bfea..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/NaturalIKTest/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::NaturalIKTest
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2020
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/NaturalIKTest/NaturalIKTest.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::NaturalIKTest > (argc, argv, "NaturalIKTest");
-}
diff --git a/source/RobotAPI/applications/OptoForceUnit/CMakeLists.txt b/source/RobotAPI/applications/OptoForceUnit/CMakeLists.txt
deleted file mode 100644
index 314d412e20c3c05830d3cd1c496bf08d9c6753ee..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OptoForceUnit/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("OptoForceUnitApp")
-set(COMPONENT_LIBS  OptoForceUnit)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/OptoForceUnit/main.cpp b/source/RobotAPI/applications/OptoForceUnit/main.cpp
deleted file mode 100644
index 4c41d5d633660d88e8087cbf7b67320b23c7c642..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OptoForceUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::OptoForceUnit
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::OptoForceUnit > (argc, argv, "OptoForceUnit");
-}
diff --git a/source/RobotAPI/applications/OptoForceUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/OptoForceUnitObserver/CMakeLists.txt
deleted file mode 100644
index e9888678a5761884e8ae45d5e5f7bbf172971e7d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OptoForceUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("OptoForceUnitObserverApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    RobotAPIUnits
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/OptoForceUnitObserver/main.cpp b/source/RobotAPI/applications/OptoForceUnitObserver/main.cpp
deleted file mode 100644
index 5701513b4255edbcbd3e1646b72f9bceaa7078ea..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OptoForceUnitObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::OptoForceUnitObserver
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/OptoForceUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::OptoForceUnitObserver > (argc, argv, "OptoForceUnitObserver");
-}
diff --git a/source/RobotAPI/applications/OrientedTactileSensorUnit/CMakeLists.txt b/source/RobotAPI/applications/OrientedTactileSensorUnit/CMakeLists.txt
deleted file mode 100644
index d55194dc8867083cd757c4e1f0047bae582446f8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OrientedTactileSensorUnit/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("OrientedTactileSensorUnitApp")
-set(COMPONENT_LIBS OrientedTactileSensor)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/OrientedTactileSensorUnit/main.cpp b/source/RobotAPI/applications/OrientedTactileSensorUnit/main.cpp
deleted file mode 100644
index f4ab124f78163892921a4330c9680f618be3aef0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OrientedTactileSensorUnit/main.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/Component.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::OrientedTactileSensorUnit > (argc, argv, "OrientedTactileSensorUnit");
-}
diff --git a/source/RobotAPI/applications/OrientedTactileSensorUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/OrientedTactileSensorUnitObserver/CMakeLists.txt
deleted file mode 100644
index d2bbae6ff527cfbdc1bc36f77b27c71f0f68967a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OrientedTactileSensorUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-armarx_component_set_name("OrientedTactileSensorUnitObserverApp")
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    RobotAPIUnits
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/OrientedTactileSensorUnitObserver/main.cpp b/source/RobotAPI/applications/OrientedTactileSensorUnitObserver/main.cpp
deleted file mode 100644
index e400516ab5faa9c676abd943be2a35afa25c3db3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/OrientedTactileSensorUnitObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::OrientedTactileSensorUnitObserver
- * @author     andreeatulbure ( andreea_tulbure at yahoo dot de )
- * @date       2017
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/OrientedTactileSensorUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::OrientedTactileSensorUnitObserver > (argc, argv, "OrientedTactileSensorUnitObserver");
-}
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
deleted file mode 100644
index c9deac457ac8eab1bdb0f09419066063739ac163..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-
-armarx_component_set_name(PlatformUnitObserver)
-
-set(COMPONENT_LIBS RobotAPIUnits)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/main.cpp b/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
deleted file mode 100644
index 71e4411ddd80a86b6e282b3368140ee61a462820..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Core::application::PlatformUnitObserver
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/PlatformUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::PlatformUnitObserver>(argc, argv, "PlatformUnitObserver");
-}
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
deleted file mode 100644
index a6eae5afe96958d0839d314a3a90191ee3c17317..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-
-armarx_component_set_name(PlatformUnitSimulation)
-
-set(COMPONENT_LIBS RobotAPIUnits)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp b/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
deleted file mode 100644
index bca561916e0cd5f6c2e240f9af82986ea857fd07..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Core::application::PlatformUnitSimulation
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/PlatformUnitSimulation.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::PlatformUnitSimulation>(argc, argv, "PlatformUnitSimulation");
-}
diff --git a/source/RobotAPI/applications/RobotControl/CMakeLists.txt b/source/RobotAPI/applications/RobotControl/CMakeLists.txt
deleted file mode 100644
index 798af63ac18774167778230a0e8ffa02380fa42d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotControl/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-
-armarx_component_set_name(RobotControl)
-
-set(COMPONENT_LIBS RobotAPIOperations)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/RobotControl/main.cpp b/source/RobotAPI/applications/RobotControl/main.cpp
deleted file mode 100644
index 720e6420bb59dd20dcda28e2d3fc16dd827171a2..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotControl/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Core::application::RobotControl
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/statecharts/operations/RobotControl.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::RobotControl>(argc, argv, "RobotControl");
-}
diff --git a/source/RobotAPI/applications/RobotHealth/CMakeLists.txt b/source/RobotAPI/applications/RobotHealth/CMakeLists.txt
deleted file mode 100644
index 1009dfb456bf010814c9aa55aaf8d07d432a63cb..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotHealth/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("RobotHealthApp")
-set(COMPONENT_LIBS RobotHealth)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/RobotHealth/main.cpp b/source/RobotAPI/applications/RobotHealth/main.cpp
deleted file mode 100644
index 18f81718c69c04a3f939757936d95d248d58ac00..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotHealth/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::RobotHealth
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/RobotHealth/RobotHealth.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::RobotHealth > (argc, argv, "RobotHealth");
-}
diff --git a/source/RobotAPI/applications/RobotHealthDummy/CMakeLists.txt b/source/RobotAPI/applications/RobotHealthDummy/CMakeLists.txt
deleted file mode 100644
index 47f7ea2455f4723bdff0e6e8025a0b98e5761a51..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotHealthDummy/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("RobotHealthDummyApp")
-set(COMPONENT_LIBS RobotHealth)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/RobotHealthDummy/main.cpp b/source/RobotAPI/applications/RobotHealthDummy/main.cpp
deleted file mode 100644
index 60e4ee420854515edd778047657ccf414f20fe61..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotHealthDummy/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::RobotHealthDummy
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/RobotHealth/RobotHealthDummy.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::RobotHealthDummy > (argc, argv, "RobotHealthDummy");
-}
diff --git a/source/RobotAPI/applications/RobotNameService/CMakeLists.txt b/source/RobotAPI/applications/RobotNameService/CMakeLists.txt
deleted file mode 100644
index 0e89b9bfe5ef9b1a5398da55fd607b2fc143cb33..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotNameService/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("RobotNameServiceApp")
-set(COMPONENT_LIBS RobotNameService)
-armarx_add_component_executable("main.cpp")
diff --git a/source/RobotAPI/applications/RobotNameService/main.cpp b/source/RobotAPI/applications/RobotNameService/main.cpp
deleted file mode 100644
index 4a8242fe17c0647bcf6dae3232d45de9224e3c10..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotNameService/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::RobotNameService
- * @author     [Author Name] ( [Author Email] )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/RobotNameService/RobotNameService.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::RobotNameService > (argc, argv, "RobotNameService");
-}
diff --git a/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt b/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt
deleted file mode 100644
index 656f134988a1767c4be01b51484ebf6128da6c00..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-armarx_component_set_name(RobotStateObserver)
-set(COMPONENT_LIBS RobotAPICore)
-set(SOURCES main.cpp RobotStateObserverApp.h)
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h b/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
deleted file mode 100644
index e3538fda2a18bf3bb490de05ac06a9a01a6b7efe..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    ArmarXCore::applications
- * @author     Kai Welke (welke dot at kit dot edu)
- * @date       2012
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/libraries/core/remoterobot/RobotStateObserver.h>
-
-namespace armarx
-{
-    /**
-     * Application for testing armarx::RobotStateObserver
-     */
-    class RobotStateObserverApp :
-        virtual public armarx::Application
-    {
-        /**
-         * @see armarx::Application::setup()
-         */
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<RobotStateObserver>(properties));
-        }
-    };
-}
diff --git a/source/RobotAPI/applications/RobotStateObserver/config/testProperty b/source/RobotAPI/applications/RobotStateObserver/config/testProperty
deleted file mode 100644
index fd3d73770dab1e8e52b2daef51b188df7b83d1da..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotStateObserver/config/testProperty
+++ /dev/null
@@ -1,7 +0,0 @@
-# test config file for KinematicUnit configured to be a Head
-
-ArmarX.KinematicUnitObserver.RobotFileName=/org/share/home/staff/welke/projects/armarx/data/ArmarIII/ArmarIII-Head.xml        	# (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
-ArmarX.KinematicUnitObserver.RobotNodeSetName=Head								# node set name
-ArmarX.KinematicUnitObserver.AdapterName=KinematicUnitObserver      						# name of the ICE adapter
-
-
diff --git a/source/RobotAPI/applications/RobotStateObserver/main.cpp b/source/RobotAPI/applications/RobotStateObserver/main.cpp
deleted file mode 100644
index 1c1a74f270c34d93cc1f0895772be7c738139a50..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/RobotStateObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    Core::application::RobotStateObserver
- * @author     Manfred Kroehnert
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include "RobotStateObserverApp.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::RobotStateObserverApp>();
-    app->setName("RobotStateObserver");
-
-    return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/applications/SpeechObserver/CMakeLists.txt b/source/RobotAPI/applications/SpeechObserver/CMakeLists.txt
deleted file mode 100644
index 513924b4d11e928fca183e52fc3596f99370a3c9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/SpeechObserver/CMakeLists.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-armarx_component_set_name("SpeechObserverApp")
-
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    RobotAPIUnits
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/SpeechObserver/main.cpp b/source/RobotAPI/applications/SpeechObserver/main.cpp
deleted file mode 100644
index 2ea82bf4082f388586e0d61d206954f1e7a81547..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/SpeechObserver/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::SpeechObserver
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2018
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/units/SpeechObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::SpeechObserver > (argc, argv, "SpeechObserver");
-}
diff --git a/source/RobotAPI/applications/StatechartExecutorExample/CMakeLists.txt b/source/RobotAPI/applications/StatechartExecutorExample/CMakeLists.txt
deleted file mode 100644
index 7777d60f18d7420ce0542ea8f7406d2e0a20112e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/StatechartExecutorExample/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("StatechartExecutorExampleApp")
-set(COMPONENT_LIBS StatechartExecutorExample)
-armarx_add_component_executable(main.cpp)
diff --git a/source/RobotAPI/applications/StatechartExecutorExample/main.cpp b/source/RobotAPI/applications/StatechartExecutorExample/main.cpp
deleted file mode 100644
index cce20936d9e6abf83b80f764e0d5e9a1b231b0c1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/StatechartExecutorExample/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    ArmarXGui::application::StatechartExecutorExample
- * @author     Stefan Reither ( stefan dot reither at kit dot edu )
- * @date       2019
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/components/StatechartExecutorExample/StatechartExecutorExample.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp < armarx::StatechartExecutorExample > (argc, argv, "StatechartExecutorExample");
-}
diff --git a/source/RobotAPI/applications/ViewSelection/CMakeLists.txt b/source/RobotAPI/applications/ViewSelection/CMakeLists.txt
deleted file mode 100644
index feeeadcdd892eca6f0c95247c4f17270006a425e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ViewSelection/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-armarx_component_set_name("ViewSelectionApp")
-set(COMPONENT_LIBS ViewSelection)
-set(EXE_SOURCE main.cpp ViewSelectionApp.h)
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h b/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
deleted file mode 100644
index 8d19a221169e041eb312a4b1e17889f238014d99..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2015-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotComponents::application::ViewSelection
- * @author     David Schiebener (schiebener qt kit dot edu)
- * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#pragma once
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/ViewSelection/ViewSelection.h>
-
-namespace armarx
-{
-    /**
-     * @class ViewSelectionApp
-     * @brief A brief description
-     *
-     * Detailed Description
-     */
-    class ViewSelectionApp :
-        virtual public armarx::Application
-    {
-        /**
-         * @see armarx::Application::setup()
-         */
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
-                   Ice::PropertiesPtr properties) override
-        {
-            registry->addObject(Component::create<ViewSelection>(properties));
-        }
-    };
-}
-
diff --git a/source/RobotAPI/applications/ViewSelection/main.cpp b/source/RobotAPI/applications/ViewSelection/main.cpp
deleted file mode 100644
index 01e91acc5430646d786aa12fd1207487e0da7a93..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/ViewSelection/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2015-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotComponents::application::ViewSelection
- * @author     David Schiebener (schiebener qt kit dot edu)
- * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include "ViewSelectionApp.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::ViewSelectionApp > ();
-    app->setName("ViewSelection");
-
-    return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/applications/XsensIMU/CMakeLists.txt b/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
deleted file mode 100644
index 2289d9a8e053e175b327cc1bf06b8e89b1d31287..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-armarx_component_set_name("XsensIMUApp")
-
-set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore XsensIMU)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/XsensIMU/main.cpp b/source/RobotAPI/applications/XsensIMU/main.cpp
deleted file mode 100644
index 2b5d6083b23b08b01c2b7b3824ab79178ed36a9b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/XsensIMU/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::application::XsensIMU
- * @author     Markus Grotz ( markus-grotz at web dot de )
- * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <RobotAPI/drivers/XsensIMU/XsensIMU.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
-    return armarx::runSimpleComponentApp<armarx::XsensIMU>(argc, argv, "XsensIMU");
-}
diff --git a/source/RobotAPI/components/ArMemGlobalStorage/CMakeLists.txt b/source/RobotAPI/components/ArMemGlobalStorage/CMakeLists.txt
index 0ba2006624568d9b140e4ee4c2954d3711142fed..768ddea4f7b4825cd002a248237be89727062ae9 100644
--- a/source/RobotAPI/components/ArMemGlobalStorage/CMakeLists.txt
+++ b/source/RobotAPI/components/ArMemGlobalStorage/CMakeLists.txt
@@ -14,3 +14,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/CyberGloveObserver/CMakeLists.txt b/source/RobotAPI/components/CyberGloveObserver/CMakeLists.txt
index 10645a37cad068afe0c6c1bf44d85f8081521118..1027e5985e7eca3522e6a629aa274fed35644355 100644
--- a/source/RobotAPI/components/CyberGloveObserver/CMakeLists.txt
+++ b/source/RobotAPI/components/CyberGloveObserver/CMakeLists.txt
@@ -3,3 +3,5 @@ set(COMPONENT_LIBS ArmarXCore RobotAPICore ArmarXCoreObservers)
 set(SOURCES CyberGloveObserver.cpp)
 set(HEADERS CyberGloveObserver.h)
 armarx_add_component("${SOURCES}" "${HEADERS}")
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/DummyTextToSpeech/CMakeLists.txt b/source/RobotAPI/components/DummyTextToSpeech/CMakeLists.txt
index b8f01d7865729cd8fa6194efc10169d153efd1d4..06e452e555081286433dd9fefe4d158204e7e55e 100644
--- a/source/RobotAPI/components/DummyTextToSpeech/CMakeLists.txt
+++ b/source/RobotAPI/components/DummyTextToSpeech/CMakeLists.txt
@@ -6,3 +6,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
index e76f315c66d87cefc6f1877bf22cda4688befa1e..7136f05db5538c47faa2ed7d875a69166172e6db 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
+++ b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
@@ -41,3 +41,5 @@ set(HEADERS
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
 
+armarx_generate_and_add_component_executable()
+
diff --git a/source/RobotAPI/components/FrameTracking/CMakeLists.txt b/source/RobotAPI/components/FrameTracking/CMakeLists.txt
index edc0c7094b5ab9c536ddde2b0c5e8f746dd53fa0..ee7ca06b7df533103d908e0fda41b422f317a08a 100644
--- a/source/RobotAPI/components/FrameTracking/CMakeLists.txt
+++ b/source/RobotAPI/components/FrameTracking/CMakeLists.txt
@@ -9,3 +9,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt b/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
index 54a4ca048ab3933541b5bbccf11060da7824b6b4..c3b764a153b15400568f67eb1dc9c2813874b921 100644
--- a/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
@@ -9,3 +9,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/KITHandUnit/CMakeLists.txt b/source/RobotAPI/components/KITHandUnit/CMakeLists.txt
index 31d10218cce049319ec9bd4e72d60f0cca6cbca7..b272a6b26d6e4b35b4d8d618c0c59b8bc82459ab 100644
--- a/source/RobotAPI/components/KITHandUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/KITHandUnit/CMakeLists.txt
@@ -17,3 +17,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt b/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt
index 2232317e14f40fad1a8d6b317e9dfd2c639a25d9..92bc44f64073b1a26ceb15782207265f7bbdcad0 100644
--- a/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt
@@ -15,3 +15,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/MultiHandUnit/CMakeLists.txt b/source/RobotAPI/components/MultiHandUnit/CMakeLists.txt
index 517efc0f07ec762628ce02fc99b8885f20501d2a..1118d00fce2d52dfbc3ae02d00fb3e0bf121c1ee 100644
--- a/source/RobotAPI/components/MultiHandUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/MultiHandUnit/CMakeLists.txt
@@ -9,3 +9,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/NaturalIKTest/CMakeLists.txt b/source/RobotAPI/components/NaturalIKTest/CMakeLists.txt
index 262dc18e43d1d80ee59e4b4a51f01c1777c4a44f..dcf81778c35b15b22b99fdcde688e18d7f5af801 100644
--- a/source/RobotAPI/components/NaturalIKTest/CMakeLists.txt
+++ b/source/RobotAPI/components/NaturalIKTest/CMakeLists.txt
@@ -17,3 +17,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(COMPONENT_NAME NaturalIKTest APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/RobotHealth/CMakeLists.txt b/source/RobotAPI/components/RobotHealth/CMakeLists.txt
index 7de0817d36ac6d60f2ade305b9e5c4183ab8b2aa..065edb26d7c32cf48a6cdacfaeabd2baacb12d25 100644
--- a/source/RobotAPI/components/RobotHealth/CMakeLists.txt
+++ b/source/RobotAPI/components/RobotHealth/CMakeLists.txt
@@ -13,3 +13,8 @@ armarx_find_qt_base("QtCore;QtGui;QtOpenGL;QtXml;QtScript;QtDesigner" REQUIRED)
 armarx_find_qt(Script)
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(
+    COMPONENT_NAME       RobotHealthDummy
+    APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/RobotNameService/CMakeLists.txt b/source/RobotAPI/components/RobotNameService/CMakeLists.txt
index 3a7f08440261f548035574caaff233aabde083e8..1205ad25b0f143b5ca6af3719b44d4b3b6e07117 100644
--- a/source/RobotAPI/components/RobotNameService/CMakeLists.txt
+++ b/source/RobotAPI/components/RobotNameService/CMakeLists.txt
@@ -6,3 +6,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/StatechartExecutorExample/CMakeLists.txt b/source/RobotAPI/components/StatechartExecutorExample/CMakeLists.txt
index 7956e73c449b60c61bd9833fa3cc63729dada0b3..46da61e1d6d8f17246567cb2a46546eb2f27e58c 100644
--- a/source/RobotAPI/components/StatechartExecutorExample/CMakeLists.txt
+++ b/source/RobotAPI/components/StatechartExecutorExample/CMakeLists.txt
@@ -13,3 +13,4 @@ set(HEADERS StatechartExecutorExample.h)
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
 
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/ViewSelection/CMakeLists.txt b/source/RobotAPI/components/ViewSelection/CMakeLists.txt
index ecad234c2f621485b413044d1231a60aa725ece9..9fece3cd9ce2faf6ad37df1ce5cfa0a9fbba7862 100644
--- a/source/RobotAPI/components/ViewSelection/CMakeLists.txt
+++ b/source/RobotAPI/components/ViewSelection/CMakeLists.txt
@@ -10,3 +10,4 @@ set(HEADERS ViewSelection.h)
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
 
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 430741e730cde5b4751d15963039f180fe57e340..51d1930b83753c195ff7558154092ea025466e4c 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -77,3 +77,21 @@ armarx_add_library("${LIB_NAME}"  "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
 add_subdirectory(ObstacleAvoidingPlatformUnit)
 add_subdirectory(relays)
 add_subdirectory(RobotUnit)
+
+armarx_generate_and_add_component_executable(COMPONENT_NAME ForceTorqueObserver                                     )
+armarx_generate_and_add_component_executable(COMPONENT_NAME ForceTorqueUnitSimulation                               )
+armarx_generate_and_add_component_executable(COMPONENT_NAME GamepadUnitObserver               APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME GraspCandidateObserver            APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME HandUnitSimulation                                      )
+armarx_generate_and_add_component_executable(COMPONENT_NAME HapticObserver                    APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME HeadIKUnit                                              )
+armarx_generate_and_add_component_executable(COMPONENT_NAME InertialMeasurementUnitObserver   APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME KinematicUnitObserver                                   )
+armarx_generate_and_add_component_executable(COMPONENT_NAME KinematicUnitSimulation                                 )
+armarx_generate_and_add_component_executable(COMPONENT_NAME LaserScannerUnitObserver          APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME MetaWearIMUObserver               APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME SpeechObserver                    APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME PlatformUnitSimulation                                  )
+armarx_generate_and_add_component_executable(COMPONENT_NAME PlatformUnitObserver                                    )
+armarx_generate_and_add_component_executable(COMPONENT_NAME OrientedTactileSensorUnitObserver APPLICATION_APP_SUFFIX)
+armarx_generate_and_add_component_executable(COMPONENT_NAME OptoForceUnitObserver             APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/drivers/GamepadUnit/CMakeLists.txt b/source/RobotAPI/drivers/GamepadUnit/CMakeLists.txt
index 26d2a25a68efa5bbaee41fbf4e930c8f155fbd85..dd8ee4c48f70aad699de65a0520440932e724684 100644
--- a/source/RobotAPI/drivers/GamepadUnit/CMakeLists.txt
+++ b/source/RobotAPI/drivers/GamepadUnit/CMakeLists.txt
@@ -9,3 +9,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt b/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt
index fca70b9a3b847f7d8c3c73da2b2570740cbb1454..2edd677f1a3c9bc022d0cc587dff6d1dca3ce833 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt
@@ -14,3 +14,5 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
 
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/drivers/MetaWearIMU/CMakeLists.txt b/source/RobotAPI/drivers/MetaWearIMU/CMakeLists.txt
index 958bc4a7eafa19275d275edfe2b7290abb5e2f4d..974366720a630284932bc1620bfac3c2281bbabe 100644
--- a/source/RobotAPI/drivers/MetaWearIMU/CMakeLists.txt
+++ b/source/RobotAPI/drivers/MetaWearIMU/CMakeLists.txt
@@ -7,3 +7,4 @@ set(HEADERS MetaWearIMU.h)
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
 
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/drivers/OptoForceUnit/CMakeLists.txt b/source/RobotAPI/drivers/OptoForceUnit/CMakeLists.txt
index 9fec620570591101578f819a052813f7aec58b12..24b5942e6af3f6dadd175e7ec2616a7df3189d74 100644
--- a/source/RobotAPI/drivers/OptoForceUnit/CMakeLists.txt
+++ b/source/RobotAPI/drivers/OptoForceUnit/CMakeLists.txt
@@ -15,3 +15,5 @@ if(OptoForceOMD_FOUND)
 endif()
 # add unit tests
 add_subdirectory(test)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/CMakeLists.txt b/source/RobotAPI/drivers/OrientedTactileSensor/CMakeLists.txt
index 8db77f68741c2e2f34fe0eb3e2f4284e37df515f..3c8064670b1be73b907c5baee9f3b95bdc26c423 100644
--- a/source/RobotAPI/drivers/OrientedTactileSensor/CMakeLists.txt
+++ b/source/RobotAPI/drivers/OrientedTactileSensor/CMakeLists.txt
@@ -7,3 +7,5 @@ set(LIB_FILES OrientedTactileSensorUnit.cpp)
 set(LIB_HEADERS OrientedTactileSensorUnit.h)
 
 armarx_add_library("${LIB_NAME}"  "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+armarx_generate_and_add_component_executable(COMPONENT_NAME OrientedTactileSensorUnit APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/drivers/XsensIMU/CMakeLists.txt b/source/RobotAPI/drivers/XsensIMU/CMakeLists.txt
index 36af4d9c69601a212725ae35b53f989beb8bf2a4..ec20cb89023baf93c67ab53308a3895921145eac 100644
--- a/source/RobotAPI/drivers/XsensIMU/CMakeLists.txt
+++ b/source/RobotAPI/drivers/XsensIMU/CMakeLists.txt
@@ -8,3 +8,5 @@ set(HEADERS XsensIMU.h)
 armarx_add_component("${SOURCES}" "${HEADERS}")
 
 add_subdirectory(IMU)
+
+armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
diff --git a/source/RobotAPI/statecharts/operations/CMakeLists.txt b/source/RobotAPI/statecharts/operations/CMakeLists.txt
index d9de1b3d03dd5337a0791bd6c280b03d8142e01a..4c5dbf0b75803a3df189be3ed2105f265d287d85 100644
--- a/source/RobotAPI/statecharts/operations/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/operations/CMakeLists.txt
@@ -8,3 +8,5 @@ set(LIB_FILES RobotControl.cpp)
 set(LIB_HEADERS RobotControl.h)
 
 armarx_add_library("${LIB_NAME}"  "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+armarx_generate_and_add_component_executable(COMPONENT_NAME RobotControl)