diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 01bd7549a8ceae418036ba78a1dd44a89d8da769..ce382383dc5aa8f6954d94889b2a2a4ad738c607 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -16,7 +16,6 @@ add_subdirectory(PlatformUnitSimulation)
add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotIK)
-add_subdirectory(HandUnitObserver)
add_subdirectory(HandUnitSimulation)
add_subdirectory(ForceTorqueUnitSimulation)
diff --git a/source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt
deleted file mode 100644
index ddfca935c3cbc959370f68d3bc05512287412cba..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-armarx_component_set_name("HandUnitObserverApp")
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-#
-# all include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-# include_directories(${MyLib_INCLUDE_DIRS})
-#endif()
-
-set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCore)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h b/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
deleted file mode 100644
index a30241cb9ea06fcbe2d8dd3685e5e690042fdc2b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
+++ /dev/null
@@ -1,54 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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::HandUnitObserver
- * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
-#define _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
-
-
-#include <RobotAPI/components/units/HandUnitObserver.h>
-
-#include <Core/core/application/Application.h>
-
-namespace armarx
-{
- /**
- * @class HandUnitObserverApp
- * @brief A brief description
- *
- * Detailed Description
- */
- class HandUnitObserverApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<HandUnitObserver>(properties) );
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/HandUnitObserver/main.cpp b/source/RobotAPI/applications/HandUnitObserver/main.cpp
deleted file mode 100644
index 340d409641c29ba3a02ea68e5a7d15ca412ff234..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/HandUnitObserver/main.cpp
+++ /dev/null
@@ -1,33 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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::HandUnitObserver
- * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "HandUnitObserverApp.h"
-#include <Core/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
- armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HandUnitObserverApp > ();
- app->setName("HandUnitObserver");
-
- return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index fc77064bec9c4a2da87908c9282757aabdb9b624..d5244fe973aa2a31d5cad9cd903b068f7e072fbe 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -36,7 +36,6 @@ set(LIB_HEADERS
TCPControlUnitObserver.h
HandUnit.h
- HandUnitObserver.h
HandUnitSimulation.h
BusInspectionUnit.h
KinematicUnit.h
@@ -61,7 +60,6 @@ set(LIB_FILES
TCPControlUnitObserver.cpp
HandUnit.cpp
- HandUnitObserver.cpp
HandUnitSimulation.cpp
BusInspectionUnit.cpp
KinematicUnit.cpp
diff --git a/source/RobotAPI/components/units/HandUnitObserver.cpp b/source/RobotAPI/components/units/HandUnitObserver.cpp
deleted file mode 100644
index fb5e2f89d6906f2609f15e6a1c2021244f33a0a6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/units/HandUnitObserver.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-#include "HandUnitObserver.h"
-
-
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckUpdated.h>
-
-
-
-
-using namespace armarx;
-
-
-void HandUnitObserver::onInitObserver()
-{
- /*usingTopic("LeftHandState");
- usingTopic("RightHandState");
-
- offerChannel("leftHand", "Gives information about the state of the left robot hand.");
- offerDataField("leftHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
- setDataField("leftHand", "isOpen", false);
- offerDataField("leftHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
- setDataField("leftHand", "isClosed", false);
- offerDataField("leftHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
- setDataField("leftHand", "shapeName", "unknown");
- updateChannel("leftHand");
-
- offerChannel("rightHand", "Gives information about the state of the right robot hand.");
- offerDataField("rightHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
- setDataField("rightHand", "isOpen", false);
- offerDataField("rightHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
- setDataField("rightHand", "isClosed", false);
- offerDataField("rightHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
- setDataField("rightHand", "shapeName", "unknown");
- updateChannel("rightHand");
-
- offerConditionCheck("equals", new armarx::ConditionCheckEquals());
- offerConditionCheck("updated", new armarx::ConditionCheckUpdated());*/
-}
-
-
-
-void HandUnitObserver::onConnectObserver()
-{
-
-}
-
-
-
-void HandUnitObserver::onExitObserver()
-{
-
-}
-
-
-/*
-void HandUnitObserver::reportHandClosed(bool isLeftHand, const Ice::Current&)
-{
- if (isLeftHand)
- {
- setDataField("leftHand", "isOpen", false);
- setDataField("leftHand", "isClosed", true);
- updateChannel("leftHand");
- }
- else
- {
- setDataField("rightHand", "isOpen", false);
- setDataField("rightHand", "isClosed", true);
- updateChannel("rightHand");
- }
-}
-
-
-
-void HandUnitObserver::reportHandOpened(bool isLeftHand, const Ice::Current&)
-{
- if (isLeftHand)
- {
- setDataField("leftHand", "isOpen", true);
- setDataField("leftHand", "isClosed", false);
- updateChannel("leftHand");
- }
- else
- {
- setDataField("rightHand", "isOpen", true);
- setDataField("rightHand", "isClosed", false);
- updateChannel("rightHand");
- }
-}
-*/
-
-void HandUnitObserver::reportHandShaped(const std::string &handName, const std::string &shapeName, const Ice::Current&)
-{
- // todo
- /*if (isLeftHand)
- {
- setDataField("leftHand", "isOpen", false);
- setDataField("leftHand", "isClosed", false);
- updateChannel("leftHand");
- }
- else
- {
- setDataField("rightHand", "isOpen", false);
- setDataField("rightHand", "isClosed", false);
- updateChannel("rightHand");
- }*/
-}
-
-
-
-void HandUnitObserver::reportNewHandShapeName(const std::string &handName, const std::string& handShapeName, const Ice::Current&)
-{
- // todo
- /*if (isLeftHand)
- {
- setDataField("leftHand", "shapeName", handShapeName);
- updateChannel("leftHand");
- }
- else
- {
- setDataField("rightHand", "shapeName", handShapeName);
- updateChannel("rightHand");
- }*/
-}
-
-
-void armarx::HandUnitObserver::reportJointAngles(const armarx::NameValueMap &actualJointAngles, const Ice::Current &)
-{
-
-}
-
-void HandUnitObserver::reportJointPressures(const NameValueMap &actualJointPressures, const Ice::Current &)
-{
-
-}
diff --git a/source/RobotAPI/components/units/HandUnitObserver.h b/source/RobotAPI/components/units/HandUnitObserver.h
deleted file mode 100644
index f490f82064f11ac2183b36be20ab32a47a845951..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/units/HandUnitObserver.h
+++ /dev/null
@@ -1,82 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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::units
- * @author David Schiebener <schiebener at kit dot edu>
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
-#define _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
-
-#include <RobotAPI/interface/units/HandUnitInterface.h>
-#include <Core/observers/Observer.h>
-
-
-namespace armarx
-{
-
- class HandUnitObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- HandUnitObserverPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
- //defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
- }
- };
-
-
- // TODO !!!
- /**
- * @class HandUnitObserver
- * @ingroup RobotAPI-SensorActorUnits-observers
- * @brief The HandUnitObserver class
- */
- class HandUnitObserver :
- virtual public Observer,
- virtual public HandUnitObserverInterface
- {
- public:
- HandUnitObserver(){}
-
- // framework hooks
- virtual std::string getDefaultName() const { return "HandUnitObserver"; }
- virtual void onInitObserver();
- virtual void onConnectObserver();
- virtual void onExitObserver();
-
- // observer interface
- // implementation: todo...
- virtual void reportHandShaped(const std::string &handName, const std::string &shapeName, const ::Ice::Current& = ::Ice::Current());
- virtual void reportNewHandShapeName(const std::string &handName, const ::std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
- void reportJointAngles(const NameValueMap &actualJointAngles, const Ice::Current& = ::Ice::Current());
- void reportJointPressures(const NameValueMap &actualJointPressures, const Ice::Current& = ::Ice::Current());
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- //virtual PropertyDefinitionsPtr createPropertyDefinitions();
- private:
-
-
- };
-}
-
-#endif