diff --git a/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt b/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt
deleted file mode 100644
index 711bc726927394a249a20ac8ecb4583b01433c64..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-
-armarx_component_set_name(MotionControl)
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-
-set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations)
-
-set(SOURCES main.cpp MotionControlApp.h)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h b/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h
deleted file mode 100644
index d454f0f01d90b75b266ba41343835e12e6f8f0fd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h
+++ /dev/null
@@ -1,42 +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 (weöle 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/statecharts/motioncontrol/MotionControl.h>
-
-namespace armarx
-{
- class MotionControlApp :
- virtual public armarx::Application
- {
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<MotionControl::MotionControlOfferer>(properties));
- }
- };
-}
-
-
-
diff --git a/source/RobotAPI/applications/deprecated/MotionControl/main.cpp b/source/RobotAPI/applications/deprecated/MotionControl/main.cpp
deleted file mode 100644
index 640b6fb8b0a39be29356a26937152e067122b20a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/deprecated/MotionControl/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::MotionControl
- * @author Manfred Kroehnert
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#include "MotionControlApp.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::MotionControlApp>();
- app->setName("MotionControl");
-
- return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/applications/deprecated/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/deprecated/MotionControlTest/CMakeLists.txt
deleted file mode 100644
index d31601d58a49fc902720f97bb4a3433739851dc0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/deprecated/MotionControlTest/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-armarx_component_set_name(MotionControlTest)
-set(COMPONENT_LIBS MotionControl)
-set(SOURCES main.cpp MotionControlTestApp.h)
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h b/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h
deleted file mode 100644
index 1f9365dfd42fcc0dc98c94ca0d8912d1146bce41..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h
+++ /dev/null
@@ -1,42 +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 (weöle 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/statecharts/motioncontrol/MotionControl.h>
-
-namespace armarx
-{
- class MotionControlTestApp :
- virtual public armarx::Application
- {
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<MotionControl::MotionControlOfferer>(properties));
- }
- };
-}
-
-
-
diff --git a/source/RobotAPI/applications/deprecated/MotionControlTest/main.cpp b/source/RobotAPI/applications/deprecated/MotionControlTest/main.cpp
deleted file mode 100644
index 446f63c70bcd4e09af98bb87bd4dfcd8f8f71bdd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/deprecated/MotionControlTest/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::MotionControlTest
- * @author Manfred Kroehnert
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#include "MotionControlTestApp.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::MotionControlTestApp>();
- app->setName("MotionControlTest");
-
- return app->main(argc, argv);
-}