diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
index 3c9cde6b67a1106976beee9032795262755a4be3..6abaa676025df57bbfbbde4f61ad147ac54e97eb 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
@@ -103,8 +103,6 @@ namespace armarx
 
         globalPosePrx->reportGlobalRobotPose(currentPose);
 
-        // legacy
-        listenerPrx->reportPlatformPose(toPlatformPose(currentPose));
         simulationTask->start();
     }
 
@@ -229,8 +227,17 @@ namespace armarx
         odometryPrx->reportOdometryPose(platformPose);
         odometryPrx->reportOdometryVelocity(platformVelocity);
 
-        // legacy
-        listenerPrx->reportPlatformPose(toPlatformPose(platformPose));
+        {
+            TransformStamped currentPose;
+            currentPose.header.parentFrame = GlobalFrame;
+            currentPose.header.frame = robotRootFrame;
+            currentPose.header.agent = agentName;
+            currentPose.header.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();
+            currentPose.transform = currentPlatformPose();
+        
+            globalPosePrx->reportGlobalRobotPose(currentPose);
+        }
+
 
         // legacy
         const auto& velo = platformVelocity.twist;
@@ -259,9 +266,6 @@ namespace armarx
         TransformStamped targetPose;
         targetPose.header = header;
         targetPose.transform = VirtualRobot::MathTools::posrpy2eigen4f(targetPositionX, targetPositionY, 0, 0, 0, targetRotation);
-
-        const auto tp = toPlatformPose(targetPose);
-        listenerPrx->reportNewTargetPose(tp.x, tp.y, tp.rotationAroundZ);
     }
 
     void armarx::PlatformUnitSimulation::move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c)