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-/**
-    \defgroup RobotAPI-MotionControl RobotAPI MotionControl
-    \ingroup RobotAPI
-    
-    \section Overview Overview of the implemented functionality in MotionControl
-    All functionality is implemented with State to provide a convenient interface
-    for the non-instant move functions (States receive events when desired targets
-    are reached).<br/>
-    The following functionality is available in the MotionControl:
-    - Direct kinematics: move joints to a desired configuration (armarx::MotionControl::MoveJoints)
-    - Velocity control: set the desired velocities for joints (armarx::MotionControl::MoveJointsVelocityControl)
-    - Inverse kinematics: move the TCP of a kinematic chain to a desired pose (armarx::MotionControl::MoveTCPPoseIK)
-    - Trajectory: move the TCP of a kinematic chain along a trajectory defined by a list of poses (armarx::MotionControl::MoveTCPTrajectory)
-    - Stop: stop all motion of the robot (armarx::MotionControl::StopRobot)
-
-    \section HowTo How to use the states
-    To use one of the MotionControl states, you have to make it a substate of your own state (see ArmarXCore::Statechart). To set its parameters,
-    map them from you own state to it. The standard configuration is set in file ${ArmarX_Home}/data/HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml.
-
-    Two kinds of kinematic entities are controlled using the MotionControl: single joints and kinematic chains. A kinematic chain is a list of joints
-    that usually belong to a part of the robot, e.g. an arm. The joints and the kinematic chains are all defined in the xml files that describe the
-    kinematic model of the robot (e.g. ${ArmarX_Home/data/ArmarIV/RobotModel/ArmarIV.xml and the files for the subparts). Look in these files to find out the name of
-    the joint or kinematic chain you want to move.
-
-    \subsection UsingMoveJoints Using armarx::MotionControl::MoveJoints
-    This state moves the specified joints to the desired configuration.
-    Input parameters:
-    - jointNames: the names of the joints to be moved
-    - targetJointValues: the desired joint values
-    - targetTolerance: tolerance defining how precisely the joint position has to be reached
-    - timeoutInMs: a timeout after which the attempt to move is aborted
-    Output parameters:
-    - jointDistancesToTargets: the distance of each joint to the desired configuration
-
-    \subsection UsingMoveJointsVelocityControl Using armarx::MotionControl::MoveJointsVelocityControl
-    This state moves the specified joints with the desired velocity.
-    Input parameters:
-    - jointNames: the names of the joints to be moved
-    - targetJointVelocities: the desired joint velocities
-    - targetJointVelocityTolerance: tolerance defining how precisely the joint velocity has to be reached
-    - timeoutInMs: a timeout after which the attempt is aborted
-    Output parameters:
-    - jointVelocitiesDistancesToTargets: the difference between the desired and actual joint velocities
-
-    \subsection UsingMoveTCPPoseIK Using armarx::MotionControl::MoveTCPPoseIK
-    Moves the TCP of the specified kinematic chain to the desired pose if possible.
-    Input parameters:
-    - kinematicChainName: the name of the kinematic chain that is used
-    - targetTCPPosition: the target position for the TCP
-    - targetTCPOrientation: the target orientation
-    - targetPositionDistanceTolerance: tolerance for the position to decide if the motion was successfull
-    - targetOrientationDistanceTolerance: tolerance for the orientation to decide if the motion was successfull
-    - ikWithOrientation: Consider orientation for IK computation. if false, the rotation of the TCP is not considered.
-    - timeoutInMs: a timeout after which the motion is aborted
-    Output parameters:
-    - TCPDistanceToTarget: kartesian distance between TCP and target position
-    - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP
-
-    \subsection UsingMoveTCPTrajectory Using armarx::MotionControl::MoveTCPTrajectory
-    Moves the TCP of the specified kinematic chain along the defined poses.
-    Input parameters:
-    - kinematicChainName: the name of the kinematic chain that is used
-    - targetTCPPositions: the list of target positions for the TCP
-    - targetTCPOrientations: the list of target orientations
-    - targetPositionDistanceTolerance: tolerance for the position to decide if the motion was successfull
-    - targetOrientationDistanceTolerance: tolerance for the orientation to decide if the motion was successfull
-    - ikWithOrientation: Consider orientation for IK computation. if false, the rotation of the TCP is not considered.
-    - timeoutInMs: a timeout after which the motion is aborted
-    Output parameters:
-    - TCPDistanceToTarget: kartesian distance between TCP and target position
-    - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP
-
-    \subsection UsingStopRobot Using armarx::MotionControl::StopRobot
-    Stops all motion of the robot. No parameters.
-
-*/