diff --git a/data/RobotAPI/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
index ba6d63e1585426963b70af2b685368ab15d23772..20abfb8c4aafe07dc034006f08fc3b5b20113c8f 100644
--- a/data/RobotAPI/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -13,6 +13,8 @@
         <Variant baseType="::armarx::LinkedDirectionBase" dataType="::armarx::LinkedDirection" humanName="LinkedDirection" />
         <Variant baseType="::armarx::OrientedPointBase" dataType="::armarx::OrientedPoint" humanName="OrientedPoint" />
         <Variant baseType="::armarx::FramedOrientedPointBase" dataType="::armarx::FramedOrientedPoint" humanName="FramedOrientedPoint" />
+    </Lib>
+    <Lib name="RobotAPIInterfaces">
         <Proxy include="RobotAPI/interface/units/KinematicUnitInterface.h"
             humanName="Kinematic Unit"
             typeName="KinematicUnitInterfacePrx"
@@ -20,13 +22,13 @@
             getterName="getKinematicUnit"
             propertyName="KinematicUnitName"
             propertyIsOptional="false" />
-            <Proxy include="RobotAPI/interface/observers/KinematicUnitObserverInterface.h"
-                humanName="Kinematic Unit Observer"
-                typeName="KinematicUnitObserverInterfacePrx"
-                memberName="kinematicUnitObserver"
-                getterName="getKinematicUnitObserver"
-                propertyName="KinematicUnitObserverName"
-                propertyIsOptional="false" />
+        <Proxy include="RobotAPI/interface/observers/KinematicUnitObserverInterface.h"
+            humanName="Kinematic Unit Observer"
+            typeName="KinematicUnitObserverInterfacePrx"
+            memberName="kinematicUnitObserver"
+            getterName="getKinematicUnitObserver"
+            propertyName="KinematicUnitObserverName"
+            propertyIsOptional="false" />
         <Proxy include="RobotAPI/interface/units/PlatformUnitInterface.h"
             humanName="Platform Unit"
             typeName="PlatformUnitInterfacePrx"
diff --git a/data/RobotAPI/ViewSelection/graph40k.gra b/data/RobotAPI/ViewSelection/graph40k.gra
new file mode 100644
index 0000000000000000000000000000000000000000..c6df2433cc2985efb2c739be3ed59b73d70e3497
--- /dev/null
+++ b/data/RobotAPI/ViewSelection/graph40k.gra
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diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
index ba706483d794fe354d875367db1be3a02e49dea2..38ead5c0fb93347009670fa4653dc1c52bdab4db 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "SharedRobotServants.h"
 
 #include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index 178ca105a2dcb4e176c56ce2378e16d6c96a0b02..e8ec1fd3e390547c5a605894b14a87d3742d3e7e 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef __SHARED_ROBOT_SERVANTS_H__
 #define __SHARED_ROBOT_SERVANTS_H__
 
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
index 3ab494165047001c86104c218febb043c2cbcc2e..79700054c9abaa3f060ac9b6d65de9766a5e7a84 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
@@ -46,10 +46,7 @@ void ViewSelection::onInitComponent()
     cameraFrameName = getProperty<std::string>("CameraFrameName").getValue();
     drawViewDirection = getProperty<bool>("VisualizeViewDirection").getValue();
 
-    std::string graphFileName = "RobotComponents/ViewSelection/graph40k.gra";
-
-    armarx::CMakePackageFinder finder("RobotComponents");
-    ArmarXDataPath::addDataPaths(finder.getDataDir());
+    std::string graphFileName = "RobotAPI/ViewSelection/graph40k.gra";
 
     if (ArmarXDataPath::getAbsolutePath(graphFileName, graphFileName))
     {
@@ -81,6 +78,7 @@ void ViewSelection::onInitComponent()
     {
         ARMARX_ERROR << "Could not find required1 graph file";
         handleExceptions();
+        return;
     }
 
     sleepingTimeBetweenViewDirectionChanges = getProperty<int>("SleepingTimeBetweenViewDirectionChanges").getValue();
diff --git a/source/RobotAPI/components/units/HapticObserver.cpp b/source/RobotAPI/components/units/HapticObserver.cpp
index 2ad4e48737c6b673804c79d5b6e90b0fd8e02d8b..55ff2f00750cd656a7e1825e35604d744e2a2773 100644
--- a/source/RobotAPI/components/units/HapticObserver.cpp
+++ b/source/RobotAPI/components/units/HapticObserver.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "HapticObserver.h"
 
 #include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 67fbafdb0324c25daa4cc8c49883f329e7c0cf71..b959c6353d3c8d0c9bf9f01c4b3fbea055652ad1 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "HeadIKUnit.h"
 
 
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
index 1d290b00b66da954bd48037b5837a7c0ecd5323d..47045722ae8202283e1cd50ce9e0d7944da1df9f 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "InertialMeasurementUnitObserver.h"
 
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
index d043c16bb07af22398afd2a338be706ed3b557c0..d9d29472bcc23e06d4eca7f068f2b6767875a986 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "AbstractInterface.h"
 #include "Response.h"
 #include "Checksum.h"
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
index b148061e0c0701d48d080bf3ba192c27fb33f0a3..383f14e50ea5fe6a6d0160b0ab4a2875142f90f4 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef ABSTRACTINTERFACE_H
 #define ABSTRACTINTERFACE_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
index 9142b7349a5bcb8b8260d101d4e3baed9568d50f..8c94e3f712af244c2282d8a85e5e5a5cb7c050a7 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "BinaryLogger.h"
 #include <boost/format.hpp>
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
index e48ce78dc925f224852fce4002aa8089a45af474..937d4802c0c9996b471b26bed9286de2addb8725 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef BINARYLOGGER_H
 #define BINARYLOGGER_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp
index 0497f62321d65cb6b724e257ff3fd466fb15acc2..e62be677f470e53752266f4f6d4fe3a6a62bc83d 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "CalibrationHelper.h"
 
 #include <stdexcept>
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
index 243d79ff5b068191f1134c1a4301f4bd94e1083a..c82bf7e624dedfef4f1dafc3428c90943a262f86 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef CALIBRATIONHELPER_H
 #define CALIBRATIONHELPER_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp
index caad13edcd6b065b499876a0cf81c51d9976eedf..a1fe35266b766661e3f2c48863bca8c142180e65 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "CalibrationInfo.h"
 
 using namespace armarx;
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
index d1ca58a0ca742c2ca317f16470824f9b506c458b..cb969ee8cc8e52077002f3616006ca3bf4489d4d 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef CALIBRATIONINFO_H
 #define CALIBRATIONINFO_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp
index 44ebd21ff0fa2cbfd03f22e32d4c5670349c4f3c..7c5be00e3830067e10e91c5b5b759aa39c118bfb 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 
 #include "Checksum.h"
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
index 2561f727b247456d73eef711a053220f96b3ecf6..7a51c4cffc54fb131230e0f5ee17b52001dbd0bc 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef CHECKSUM_H
 #define CHECKSUM_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
index a6ea680edea82f600fa4e52349343ecb215869ba..34e86f42e4b8b77600461fabfd2a1c9d53aed887 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Response.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef RESPONSE_H
 #define RESPONSE_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
index bdf17ddceb516bbe65fa07311767601770876f5b..d679887d136f2cf5989df82250ce1c6a734e131a 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "SerialInterface.h"
 
 #include <iostream>
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
index 33770d3b817c42b325e85b81e719c7bf68e6a005..95542c1f0d934e7e757730580e9c6df85082453e 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef SERIALINTERFACE_H
 #define SERIALINTERFACE_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
index da246c4414726ac488c386e8266b4e4ab2997206..4e4c9a1717c29d4f9622e302e6c8bb3405b80fd4 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "TactileSensor.h"
 #include "AbstractInterface.h"
 #include "Response.h"
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
index 131d10d765f90dead6133a7e4d7a2a7e203bc7ee..659d9dec3ab30b6601bc316854f8858665ddf485 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef TACTILESENSOR_H
 #define TACTILESENSOR_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
index 021bcc12ce7d98f9ef594a90d01bff701a4d152e..3bae695864eeb521e63807c84b9d63b71c889b6b 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "TextWriter.h"
 
 using namespace armarx;
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
index d0a87537ba549d958082b0849380b1863261ea74..86fd6541e0cc3a49e13b558af2b3b8b7ba4c9c08 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef TEXTWRITER_H
 #define TEXTWRITER_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
index c50a5f0931c55b4a6ffe3fa9a4f1cdfc495e49a9..5591904aa2ea28e0ea4e0adefa696b77c7349bd8 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef TRANSMISSIONEXCEPTION_H
 #define TRANSMISSIONEXCEPTION_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Types.h b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
index 19275ae1226d6e996e1c389d4ea4e2152d253547..3d0d116ccfced5167acd41b4e40eb85a5a6e7518 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Types.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef TYPES_H
 #define TYPES_H
 
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
index cb5d80f620055dd65932e3bb73b4f754fb613fb7..614b0dbf17787eb2eb7bd8fe1e87f815b94d806a 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "WeissHapticSensor.h"
 #include "TransmissionException.h"
 #include <boost/regex.hpp>
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
index a90f2fc4ccbb39228c8fa7acd90c8756145110a8..343a6cf465f460e2b87d65f06b597fc66bf46b11 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef WEISSHAPTICSENSOR_H
 #define WEISSHAPTICSENSOR_H
 
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index 11628ca2e20f32473b81d9bdc6f1b30a2d60ae5b..9518ea582b0d9a8bc6cb9fbfa3ff79330974a8cb 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "HandUnitGuiPlugin.h"
 #include "HandUnitConfigDialog.h"
 #include "ui_HandUnitConfigDialog.h"
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
index a3437fbd79e0b255c956d7bfc3383a9746faf56b..87040a65b019304e3ebfe0b6317232bf3ad7786b 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "HapticUnitGuiPlugin.h"
 #include "HapticUnitConfigDialog.h"
 #include "ui_HapticUnitConfigDialog.h"
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp
index ba3f893e94292aaedab26bf463ee311196d20c40..861723e7a05f4d1f174bac985a2434d3d0bb2e75 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "MatrixDatafieldDisplayWidget.h"
 //#include "ui_MatrixDatafieldDisplayWidget.h"
 
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
index d24da08e71f8bf8eb529bb2052502e091246accc..00985dbe94206c3b0ef0072ccb64495d18116882 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef MATRIXDATAFIELDDISPLAYWIDGET_H
 #define MATRIXDATAFIELDDISPLAYWIDGET_H
 
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
index 85bfd0506081b94bb2f9664ce9fc8948646d3a33..a032ff457d8a5b54ea695965c231226c276f2245 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "MatrixDisplayWidget.h"
 #include "ui_MatrixDisplayWidget.h"
 
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
index 6354d65c7d01d0e15cade9187c41dbd4823a99d1..93086c584d1c311d86de924cc8c914cac62e2783 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef MATRIXDISPLAYWIDGET_H
 #define MATRIXDISPLAYWIDGET_H
 
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index f712c2ecd934d4f702c37c3c689b6ff4e2e7fdcc..e191ec3555aee91a649be74fe61d34f57aaae5ad 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "KinematicUnitGuiPlugin.h"
 #include "KinematicUnitConfigDialog.h"
 
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
index 2e284ba71c4dab425e4f0522d721fc4fadfe5854..fbce51723cb98f4b6002cf8f981c655f0c74dc2e 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "PlatformUnitGuiPlugin.h"
 #include "PlatformUnitConfigDialog.h"
 #include "ui_PlatformUnitConfigDialog.h"
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
index 838783ebd9aca7d7c665fdae629ed9052ddc92c4..3bffe4d3b405b5b2a1e51c273d89f60fb7cbb8a9 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "RobotViewerGuiPlugin.h"
 #include "RobotViewerConfigDialog.h"
 
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index ecf90dbafba3bc373f84939c11d5f31a1f38d519..936fd47c8e5bc433d50ee06bbcd90ee454485f4c 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
 #define ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
 
diff --git a/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
index fbc0b40cadd7c0e3029ae69c1be1571a37e509b1..e18e9e401ed4036459d13e22276a058665db25ed 100644
--- a/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
+++ b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef ARMARX_ROBOTAPI_ROBOTIK_SLICE
 #define ARMARX_ROBOTAPI_ROBOTIK_SLICE
 
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 2ea1a8f0fd280b3e495cab1cdf49eed109012810..fe3c74ffadf18ccffb56a10dea3bd5a9d8e48dda 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include <RobotAPI/libraries/core/FramedPose.h>
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index b5c09569e34b067cfe10c6d63027745a67dfb15d..b903ee4d185cdc75b4fdcd6d5ef7069e5eb918c4 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "LinkedPose.h"
 
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index e44d4a9f9453920deb25e6470cc9369b16302999..a56c01fb0826e3f9f369e2237c174b8945bb7703 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "Pose.h"
 
 #include <VirtualRobot/Robot.h>
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
index 30e6279ff01253fb967b8b8749f1f5a9141257ad..ede6214142ca4989d89105651f95a3481ab51f37 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
 #define _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
 
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
index a31803d6bc3a045cca19510c41030cd5fe941baf..cf0bca1ed0f9f8b753263e3c5537679a6d664151 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
 #define ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
 
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
index 5b5ea5cddf872017db681e37b8126619e6f1d815..e8ab3aa85ef4d7d10eafa6d9d74bf064285d6a6e 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "ConditionCheckMagnitudeChecks.h"
 
 #include <ArmarXCore/core/util/StringHelpers.h>
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
index 2c91a36fc0755fd5a8446586be472fb461dde936..91241410fa33f9f8c075860a40c98d2c8c78f8ff 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
 #define ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
 
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index 74d860defc9f43cdfb9ea21091b56439c6284dba..2286e1a2aec9572dfa59e4950b63818cc3fc6641 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef _ARMARX_ROBOTAPI_POSEMEDIANFILTER_H
 #define _ARMARX_ROBOTAPI_POSEMEDIANFILTER_H
 
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp
index 7e516f71757f112a18f77ea258124ec96e8cff29..dccb0bd02b9047a970497954e1abb4004b696be0 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "PoseMedianOffsetFilter.h"
 
 using namespace armarx;
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
index dc90a1085a4a8dcb083d48ec57692c6aff182e82..227d4a02cd8e445a57b40dab491b60fc04c1be47 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef _ARMARX_ROBOTAPI_PoseMedianOffsetFilter_H
 #define _ARMARX_ROBOTAPI_PoseMedianOffsetFilter_H
 
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index ba63534b35522ddf271cbc53398d85c4a751284a..b210594bb797e7d6ca247426d8c0b7a2fe7bd689 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "RemoteRobot.h"
 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
index 0e08d9dfe215b65a413f7e6303b7c8e044bfb348..a2f8c3cee6b630404469a11951e49fada0d8fa9d 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "RemoteRobot.h"
 #include <boost/foreach.hpp>
 #include <boost/weak_ptr.hpp>
diff --git a/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.cpp b/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.cpp
index 8d59a733879f76dd088a93e9b1e76836efa405c2..58d8fd373807fc0a06153f504329194b622f3ba4 100644
--- a/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.cpp
+++ b/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.cpp
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #include "DebugLayerControlWidget.h"
 #include <RobotAPI/libraries/widgets/ui_DebugLayerControlWidget.h>
 
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
index a9286cbdde6732fe3bff44c5b4bd969176476347..82ecaf358a76c0e2a07b6566c5137ff94f34d6a8 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
 #define ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
 
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
index 8e2979669ade0da92d0a7f9a409e7617f3e5b4f3..bea113238883938df52a52d4d1b7e05bfc6eb5f5 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
@@ -1,3 +1,26 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, 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    
+ * @author     
+ * @date       
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
 #ifndef _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
 #define _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H