diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 53e7a0b568e114e77a255be8274e0cd3dc7d227c..e98d4a57647f581f282f0b6447169c6911343abf 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -46,3 +46,5 @@ add_subdirectory(RobotHealthDummy)
add_subdirectory(GraspCandidateObserver)
add_subdirectory(FrameTracking)
+
+add_subdirectory(KITHandUnit)
\ No newline at end of file
diff --git a/source/RobotAPI/applications/KITHandUnit/CMakeLists.txt b/source/RobotAPI/applications/KITHandUnit/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7dd589b24ff8824005237c57a281ef5868b889d
--- /dev/null
+++ b/source/RobotAPI/applications/KITHandUnit/CMakeLists.txt
@@ -0,0 +1,11 @@
+armarx_component_set_name("KITHandUnitApp")
+set(COMPONENT_LIBS KITHandUnit)
+armarx_add_component_executable(main.cpp)
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# target_include_directories(KITHandUnit PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()
diff --git a/source/RobotAPI/applications/KITHandUnit/main.cpp b/source/RobotAPI/applications/KITHandUnit/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e9dcea70a7cc5d94cbc8e19649306734ae411252
--- /dev/null
+++ b/source/RobotAPI/applications/KITHandUnit/main.cpp
@@ -0,0 +1,32 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::application::KITHandUnit
+ * @author Stefan Reither ( stefan dot reither at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/components/KITHandUnit/KITHandUnit.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ return armarx::runSimpleComponentApp < armarx::KITHandUnit > (argc, argv, "KITHandUnit");
+}
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 7bec9c6c9fd32508e487c43cc3ef2a983f2e6152..9157c99873b7abfc44defe843a7264f68904acac 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -10,3 +10,5 @@ add_subdirectory(KITProstheticHandUnit)
add_subdirectory(CyberGloveObserver)
add_subdirectory(RobotHealth)
add_subdirectory(FrameTracking)
+
+add_subdirectory(KITHandUnit)
\ No newline at end of file
diff --git a/source/RobotAPI/components/KITHandUnit/CMakeLists.txt b/source/RobotAPI/components/KITHandUnit/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..569fabf81e568580066228074781b7fcdd6ffeeb
--- /dev/null
+++ b/source/RobotAPI/components/KITHandUnit/CMakeLists.txt
@@ -0,0 +1,26 @@
+armarx_component_set_name("KITHandUnit")
+
+find_package(KITHand REQUIRED)
+armarx_build_if(KITHand_FOUND "KITHand stand-alone lib not available")
+
+set(COMPONENT_LIBS
+ ArmarXCore
+ ArmarXCoreInterfaces
+ RobotAPIUnits
+ KITHandCommunicationDriver
+)
+
+set(SOURCES
+ ./KITHandUnit.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+set(HEADERS
+ ./KITHandUnit.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+add_subdirectory(test)
diff --git a/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp b/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6d54559b72c1ea34aa2d8323cdc97d30dae939b0
--- /dev/null
+++ b/source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp
@@ -0,0 +1,187 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::KITHandUnit
+ * @author Stefan Reither ( stefan dot reither at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "KITHandUnit.h"
+#include <ArmarXCore/core/ArmarXManager.h>
+
+using namespace KITHand;
+
+namespace armarx
+{
+ KITHandUnitPropertyDefinitions::KITHandUnitPropertyDefinitions(std::string prefix) :
+ armarx::HandUnitPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<KITHandCommunicationDriver::ScanMode>("ConnectionType", KITHandCommunicationDriver::ScanMode::Bluetooth, "Type of the connection to the hand, either Bluetooth or Serial")
+ .map("Bluetooth", KITHandCommunicationDriver::ScanMode::Bluetooth)
+ .map("Serial", KITHandCommunicationDriver::ScanMode::Serial);
+ defineRequiredProperty<std::string>("MAC-Address", "MAC-Address of the hand to connect to.");
+ defineOptionalProperty<bool>("AutomaticReconnectActive", false, "Whether the hand unit should try to reconnect after the connection is lost.");
+ defineOptionalProperty<bool>("ScanUntilHandFound", true, "Wheather to keep scanning until the hand with the given MAC-Address is found.");
+ defineOptionalProperty<int>("ScanTimeout", 5, "Timeout for scanning repeatedly.");
+ }
+
+
+ std::string KITHandUnit::getDefaultName() const
+ {
+ return "KITHandUnit";
+ }
+
+ void KITHandUnit::onInitHandUnit()
+ {
+ //addShapeName("Open"); //is added by something else already
+ addShapeName("Close");
+ addShapeName("G0");
+ addShapeName("G1");
+ addShapeName("G2");
+ addShapeName("G3");
+ addShapeName("G4");
+ addShapeName("G5");
+ addShapeName("G6");
+ addShapeName("G7");
+ addShapeName("G8");
+
+// KITHand::INIT_LOG
+ _driver = std::make_unique<KITHandCommunicationDriver>();
+ _driver->registerConnectionStateChangedCallback(std::bind(&KITHandUnit::connectionStateChangedCallback, this, std::placeholders::_1));
+ }
+
+ void KITHandUnit::onStartHandUnit()
+ {
+ std::string macAddress = getProperty<std::string>("MAC-Address");
+ KITHandCommunicationDriver::ScanMode mode = getProperty<KITHandCommunicationDriver::ScanMode>("ConnectionType").getValue();
+ bool found = false;
+ auto start = std::chrono::system_clock::now();
+ do {
+ std::vector<HandDevice> devices = _driver->scanForDevices(mode);
+ for (HandDevice& d : devices)
+ {
+ ARMARX_INFO << "Found device with MAC-Address: " << d.macAdress;
+ if (d.macAdress == macAddress)
+ {
+ d.hardwareTarget = mode == KITHandCommunicationDriver::ScanMode::Bluetooth ? KITHand::HardwareTarget::Bluetooth : KITHand::HardwareTarget::Serial;
+ _driver->connect(d);
+ while (!_driver->connected())
+ {
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+ return;
+ }
+ }
+ }
+ while (getProperty<bool>("ScanUntilHandFound").getValue()
+ && !found
+ && std::chrono::duration_cast<std::chrono::seconds>(std::chrono::system_clock::now() - start).count() < getProperty<int>("ScanTimeout").getValue());
+
+ ARMARX_WARNING << "Could not find hand with the given MAC-Address: " << macAddress << " Shutting down this KITHandUnit.";
+ getArmarXManager()->asyncShutdown();
+ }
+
+ void KITHandUnit::onExitHandUnit()
+ {
+ ARMARX_IMPORTANT << "Calling driver disconnect";
+ _driver->disconnect();
+ _driver.reset();
+ }
+
+ void KITHandUnit::setShape(const std::string &shapeName, const Ice::Current &)
+ {
+ if (std::regex_match(shapeName, std::regex{"[gG](0|[1-9][0-9]*)"}) && _driver->getCurrentConnectedDevice()->abilities.receivesAdditionalGraspCommands)
+ {
+ _driver->sendGrasp(std::stoul(shapeName.substr(1)));
+ }
+ else if (shapeName == "Open")
+ {
+ _driver->sendGrasp(0);
+ }
+ else if (shapeName == "Close")
+ {
+ _driver->sendGrasp(1);
+ }
+ else if (!_shapes.count(shapeName))
+ {
+ ARMARX_WARNING << "Unknown shape name '" << shapeName
+ << "'\nKnown shapes: " << _shapes;
+ }
+ else
+ {
+ setJointAngles(_shapes.at(shapeName));
+ }
+ }
+
+ void KITHandUnit::setJointAngles(const NameValueMap &targetJointAngles, const Ice::Current &)
+ {
+ ARMARX_CHECK_NOT_NULL(_driver);
+
+ for (const std::pair<std::string, float>& pair : targetJointAngles)
+ {
+ if (pair.first == "Fingers")
+ {
+ _driver->sendFingersPosition(static_cast<std::uint64_t>(pair.second * KITHand::ControlOptions::maxPosFingers));
+ }
+ else if (pair.first == "Thumb")
+ {
+ _driver->sendThumbPosition(static_cast<std::uint64_t>(pair.second * KITHand::ControlOptions::maxPosThumb));
+ }
+ else
+ {
+ ARMARX_WARNING << "Invalid HandJointName '" << pair.first << "', ignoring.";
+ }
+ }
+ }
+
+ NameValueMap KITHandUnit::getCurrentJointValues(const Ice::Current &)
+ {
+ NameValueMap jointValues;
+ jointValues["Fingers"] = _driver->getFingersPos() * 1.f / KITHand::ControlOptions::maxPosFingers;
+ jointValues["Thumb"] = _driver->getThumbPos() * 1.f / KITHand::ControlOptions::maxPosThumb;
+ return jointValues;
+ }
+
+ void KITHandUnit::addShape(const std::string& name, const std::map<std::string, float>& shape)
+ {
+ _shapes[name] = shape;
+ addShapeName(name);
+ }
+
+ void KITHandUnit::addShapeName(const std::string& name)
+ {
+ Variant currentPreshape;
+ currentPreshape.setString(name);
+ shapeNames->addVariant(currentPreshape);
+ }
+
+
+ armarx::PropertyDefinitionsPtr KITHandUnit::createPropertyDefinitions()
+ {
+ return armarx::PropertyDefinitionsPtr(new KITHandUnitPropertyDefinitions(
+ getConfigIdentifier()));
+ }
+
+ void KITHandUnit::connectionStateChangedCallback(const State state)
+ {
+ if (state == State::DeviceLost)
+ {
+ _driver.reset();
+ getArmarXManager()->asyncShutdown();
+ }
+ }
+}
diff --git a/source/RobotAPI/components/KITHandUnit/KITHandUnit.h b/source/RobotAPI/components/KITHandUnit/KITHandUnit.h
new file mode 100644
index 0000000000000000000000000000000000000000..d989ab9e3a38ae0b4459c6d89429eecb5d01e092
--- /dev/null
+++ b/source/RobotAPI/components/KITHandUnit/KITHandUnit.h
@@ -0,0 +1,90 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::KITHandUnit
+ * @author Stefan Reither ( stefan dot reither at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+
+#include <RobotAPI/components/units/HandUnit.h>
+
+#include <KITHandCommunicationDriver.h>
+
+namespace armarx
+{
+ /**
+ * @class KITHandUnitPropertyDefinitions
+ * @brief
+ */
+ class KITHandUnitPropertyDefinitions :
+ public armarx::HandUnitPropertyDefinitions
+ {
+ public:
+ KITHandUnitPropertyDefinitions(std::string prefix);
+ };
+
+
+
+ /**
+ * @defgroup Component-KITHandUnit KITHandUnit
+ * @ingroup RobotAPI-Components
+ * A description of the component KITHandUnit.
+ *
+ * @class KITHandUnit
+ * @ingroup Component-KITHandUnit
+ * @brief Brief description of class KITHandUnit.
+ *
+ * Detailed description of class KITHandUnit.
+ */
+ class KITHandUnit :
+ virtual public armarx::HandUnit
+ {
+ public:
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ virtual std::string getDefaultName() const override;
+
+ void onInitHandUnit() override;
+ void onStartHandUnit() override;
+ void onExitHandUnit() override;
+ void setShape(const std::string &shapeName, const Ice::Current & = Ice::emptyCurrent) override;
+ void setJointAngles(const NameValueMap &targetJointAngles, const Ice::Current & = Ice::emptyCurrent) override;
+ NameValueMap getCurrentJointValues(const Ice::Current& = Ice::emptyCurrent) override;
+
+ void addShape(const std::string& name, const std::map<std::string, float>& shape);
+ void addShapeName(const std::string& name);
+
+ protected:
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ void connectionStateChangedCallback(const KITHand::State state);
+
+ private:
+ KITHand::KITHandCommunicationDriverPtr _driver;
+
+ std::map<std::string, std::map<std::string, float>> _shapes;
+
+ };
+}
diff --git a/source/RobotAPI/components/KITHandUnit/test/CMakeLists.txt b/source/RobotAPI/components/KITHandUnit/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39efa64bf38e2ee7ddd2d0aee750e6203cce7a29
--- /dev/null
+++ b/source/RobotAPI/components/KITHandUnit/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore KITHandUnit)
+
+armarx_add_test(KITHandUnitTest KITHandUnitTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/components/KITHandUnit/test/KITHandUnitTest.cpp b/source/RobotAPI/components/KITHandUnit/test/KITHandUnitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4350346ba4141202887160e311aecac65e227d0e
--- /dev/null
+++ b/source/RobotAPI/components/KITHandUnit/test/KITHandUnitTest.cpp
@@ -0,0 +1,37 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::KITHandUnit
+ * @author Stefan Reither ( stefan dot reither at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::KITHandUnit
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/KITHandUnit/KITHandUnit.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::KITHandUnit instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}