diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 8e093e38bd854f9eda7d03309749fd663000e23a..5426b819f4815088179d2c9d8dabea617518916b 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -1,6 +1,5 @@
add_subdirectory(units)
-#add_subdirectory(WeissHapticSensorListener)
add_subdirectory(DebugDrawer)
add_subdirectory(MMMPlayer)
add_subdirectory(robotstate)
diff --git a/source/RobotAPI/components/WeissHapticSensorListener/CMakeLists.txt b/source/RobotAPI/components/WeissHapticSensorListener/CMakeLists.txt
deleted file mode 100644
index bb04b5df7eeb244a1f9d61abe4f24b2af3c44c24..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/WeissHapticSensorListener/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-armarx_component_set_name("WeissHapticSensorListener")
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
- include_directories(
- ${Eigen3_INCLUDE_DIR})
-endif()
-
-set(COMPONENT_LIBS ArmarXCoreObservers ArmarXCoreEigen3Variants RobotAPIInterfaces)
-
-set(SOURCES WeissHapticSensorListener.cpp)
-set(HEADERS WeissHapticSensorListener.h)
-
-armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.cpp b/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.cpp
deleted file mode 100644
index be6fc19e0aec5d313af934ceb557c75cf724bfbe..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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::WeissHapticSensorListener
- * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "WeissHapticSensorListener.h"
-
-
-using namespace armarx;
-
-
-void WeissHapticSensorListener::onInitComponent()
-{
- this->usingTopic("HapticValues");
- ARMARX_LOG << "WeissHapticSensorListener::onInitComponent()";
-}
-
-
-void WeissHapticSensorListener::onConnectComponent()
-{
-
-}
-
-
-void WeissHapticSensorListener::onDisconnectComponent()
-{
-
-}
-
-
-void WeissHapticSensorListener::onExitComponent()
-{
-
-}
-
-PropertyDefinitionsPtr WeissHapticSensorListener::createPropertyDefinitions()
-{
- return PropertyDefinitionsPtr(new WeissHapticSensorListenerPropertyDefinitions(
- getConfigIdentifier()));
-}
-
-void armarx::WeissHapticSensorListener::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
-{
- ARMARX_LOG << deactivateSpam(1) << "WeissHapticSensorListener::reportSensorValues" << MatrixFloatPtr::dynamicCast(values)->toEigen();
-
-}
-
diff --git a/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h b/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
deleted file mode 100644
index 2a1501e57324edf37063f283b87dff43242c176f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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::WeissHapticSensorListener
- * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_COMPONENT_RobotAPI_WeissHapticSensorListener_H
-#define _ARMARX_COMPONENT_RobotAPI_WeissHapticSensorListener_H
-
-
-#include <Core/core/Component.h>
-#include <RobotAPI/interface/units/HapticUnit.h>
-#include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
-
-
-namespace armarx
-{
- /**
- * @class WeissHapticSensorListenerPropertyDefinitions
- * @brief
-
- */
- class WeissHapticSensorListenerPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- WeissHapticSensorListenerPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
- //defineRequiredProperty<std::string>("PropertyName", "Description");
- //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
- }
- };
-
- /**
- * @class WeissHapticSensorListener
- * @ingroup RobotAPI-Components
- * @brief A brief description
- *
- * Detailed Description
- */
- class WeissHapticSensorListener :
- virtual public armarx::Component,
- virtual public armarx::HapticUnitListener
- {
- public:
- /**
- * @see armarx::ManagedIceObject::getDefaultName()
- */
- virtual std::string getDefaultName() const
- {
- return "WeissHapticSensorListener";
- }
-
- virtual void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
-
- protected:
- /**
- * @see armarx::ManagedIceObject::onInitComponent()
- */
- virtual void onInitComponent();
-
- /**
- * @see armarx::ManagedIceObject::onConnectComponent()
- */
- virtual void onConnectComponent();
-
- /**
- * @see armarx::ManagedIceObject::onDisconnectComponent()
- */
- virtual void onDisconnectComponent();
-
- /**
- * @see armarx::ManagedIceObject::onExitComponent()
- */
- virtual void onExitComponent();
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
- };
-}
-
-#endif
diff --git a/source/RobotAPI/components/WeissHapticSensorListener/test/CMakeLists.txt b/source/RobotAPI/components/WeissHapticSensorListener/test/CMakeLists.txt
deleted file mode 100644
index 2c89a2d67c402d97784d7a903af9de0c6191150f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/WeissHapticSensorListener/test/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-
-# Libs required for the tests
-SET(LIBS ${LIBS} ArmarXCore WeissHapticSensorListener)
-
-armarx_add_test(WeissHapticSensorListenerTest WeissHapticSensorListenerTest.cpp "${LIBS}")
\ No newline at end of file
diff --git a/source/RobotAPI/components/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp b/source/RobotAPI/components/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
deleted file mode 100644
index 4d6aeba35c3fc5fd3eeebcf03f54488dd56ab9e9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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::WeissHapticSensorListener
- * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::WeissHapticSensorListener
-
-#define ARMARX_BOOST_TEST
-
-#include <RobotAPI/Test.h>
-#include <RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h>
-
-#include <iostream>
-
-BOOST_AUTO_TEST_CASE(testExample)
-{
- armarx::WeissHapticSensorListener instance;
-
- BOOST_CHECK_EQUAL(true, true);
-}