diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index 17fa472e974f7c24c540105e8aab23fa842e6191..9674d17827b4ccdbbbb27200138ee005c56bd60e 100644
--- a/source/RobotAPI/statecharts/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/CMakeLists.txt
@@ -1,4 +1,5 @@
add_subdirectory(operations)
-add_subdirectory(WeissHapticGroup)
\ No newline at end of file
+add_subdirectory(WeissHapticGroup)
+add_subdirectory(StatechartProfilesTestGroup)
\ No newline at end of file
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/CMakeLists.txt b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c00b9e340c0cc1e5f5c9b372cd9e5b4d4cbbf5d
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/CMakeLists.txt
@@ -0,0 +1,51 @@
+armarx_component_set_name("StatechartProfilesTestGroup")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+#find_package(Eigen3 QUIET)
+#find_package(Simox QUIET)
+
+#
+#armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+#armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+
+#
+#if (Eigen3_FOUND AND Simox_FOUND)
+# include_directories(
+# ${Eigen3_INCLUDE_DIR}
+# ${Simox_INCLUDE_DIRS}
+# )
+#endif()
+
+set(COMPONENT_LIBS
+# RobotAPIInterfaces RobotAPICore
+ ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers)
+
+# Sources
+
+set(SOURCES
+StatechartProfilesTestGroupRemoteStateOfferer.cpp
+./TestState.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+
+set(HEADERS
+StatechartProfilesTestGroupRemoteStateOfferer.h
+StatechartProfilesTestGroup.scgxml
+StatechartProfilesTestGroupStatechartContext.generated.h
+./TestState.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+./TestState.xml
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.xml
+./TestState.generated.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.generated.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
new file mode 100644
index 0000000000000000000000000000000000000000..c40311209e84d1dd872645ded6f675b095b60e5f
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="StatechartProfilesTestGroup" package="RobotAPI" generateContext="true">
+ <Proxies/>
+ <State filename="TestState.xml" visibility="public"/>
+</StatechartGroup>
+
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c81db898dd7187b88f4e355c5969f17c06e429db
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.cpp
@@ -0,0 +1,66 @@
+/*
+ * 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::StatechartProfilesTestGroup::StatechartProfilesTestGroupRemoteStateOfferer
+ * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "StatechartProfilesTestGroupRemoteStateOfferer.h"
+
+using namespace armarx;
+using namespace StatechartProfilesTestGroup;
+
+// DO NOT EDIT NEXT LINE
+StatechartProfilesTestGroupRemoteStateOfferer::SubClassRegistry StatechartProfilesTestGroupRemoteStateOfferer::Registry(StatechartProfilesTestGroupRemoteStateOfferer::GetName(), &StatechartProfilesTestGroupRemoteStateOfferer::CreateInstance);
+
+
+
+StatechartProfilesTestGroupRemoteStateOfferer::StatechartProfilesTestGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
+ XMLRemoteStateOfferer < StatechartProfilesTestGroupStatechartContext > (reader)
+{
+}
+
+void StatechartProfilesTestGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer()
+{
+
+}
+
+void StatechartProfilesTestGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer()
+{
+
+}
+
+void StatechartProfilesTestGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer()
+{
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string StatechartProfilesTestGroupRemoteStateOfferer::GetName()
+{
+ return "StatechartProfilesTestGroupRemoteStateOfferer";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateOffererFactoryBasePtr StatechartProfilesTestGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
+{
+ return XMLStateOffererFactoryBasePtr(new StatechartProfilesTestGroupRemoteStateOfferer(reader));
+}
+
+
+
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
new file mode 100644
index 0000000000000000000000000000000000000000..1b93984f8ca05e506ef907c8cbf4478ce1e9d1a5
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
@@ -0,0 +1,54 @@
+/*
+ * 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::StatechartProfilesTestGroup
+ * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
+
+#include <Core/statechart/xmlstates/XMLRemoteStateOfferer.h>
+#include "StatechartProfilesTestGroupStatechartContext.generated.h"
+
+namespace armarx
+{
+ namespace StatechartProfilesTestGroup
+ {
+ class StatechartProfilesTestGroupRemoteStateOfferer :
+ virtual public XMLRemoteStateOfferer < StatechartProfilesTestGroupStatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
+ {
+ public:
+ StatechartProfilesTestGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader);
+
+ // inherited from RemoteStateOfferer
+ void onInitXMLRemoteStateOfferer();
+ void onConnectXMLRemoteStateOfferer();
+ void onExitXMLRemoteStateOfferer();
+
+ // static functions for AbstractFactory Method
+ static std::string GetName();
+ static XMLStateOffererFactoryBasePtr CreateInstance(StatechartGroupXmlReaderPtr reader);
+ static SubClassRegistry Registry;
+
+
+ };
+ }
+}
+
+#endif
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e98f31d5b09c7f1691907d1d09749e45c4a2ac27
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp
@@ -0,0 +1,77 @@
+/*
+ * 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::StatechartProfilesTestGroup
+ * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "TestState.h"
+
+using namespace armarx;
+using namespace StatechartProfilesTestGroup;
+
+// DO NOT EDIT NEXT LINE
+TestState::SubClassRegistry TestState::Registry(TestState::GetName(), &TestState::CreateInstance);
+
+
+
+TestState::TestState(const XMLStateConstructorParams& stateData) :
+ XMLStateTemplate<TestState>(stateData), TestStateGeneratedBase<TestState>(stateData)
+{
+}
+
+void TestState::onEnter()
+{
+ // put your user code for the enter-point here
+ // execution time should be short (<100ms)
+}
+
+void TestState::run()
+{
+ // put your user code for the execution-phase here
+ // runs in seperate thread, thus can do complex operations
+ // should check constantly whether isRunningTaskStopped() returns true
+
+// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
+// while (!isRunningTaskStopped()) // stop run function if returning true
+// {
+// // do your calculations
+// }
+
+}
+
+void TestState::onBreak()
+{
+ // put your user code for the breaking point here
+ // execution time should be short (<100ms)
+}
+
+void TestState::onExit()
+{
+ // put your user code for the exit point here
+ // execution time should be short (<100ms)
+
+}
+
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr TestState::CreateInstance(XMLStateConstructorParams stateData)
+{
+ return XMLStateFactoryBasePtr(new TestState(stateData));
+}
+
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
new file mode 100644
index 0000000000000000000000000000000000000000..6a2e87bdf12270ca84fce63547c0ea6155292d04
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
@@ -0,0 +1,55 @@
+/*
+ * 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::StatechartProfilesTestGroup
+ * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
+
+#include "TestState.generated.h"
+
+namespace armarx
+{
+ namespace StatechartProfilesTestGroup
+ {
+ class TestState :
+ public TestStateGeneratedBase<TestState>
+ {
+ public:
+ TestState(const XMLStateConstructorParams& stateData);
+
+ // inherited from StateBase
+ void onEnter();
+ void run();
+ void onBreak();
+ void onExit();
+
+ // static functions for AbstractFactory Method
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+ }
+}
+
+#endif
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.xml b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4822edd8f52deb32393f9f7f0c0298713484e3d1
--- /dev/null
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="TestState" uuid="84AE0A5A-9F6A-4CD7-B185-2173009CB87C" width="800" height="600" type="Normal State">
+ <InputParameters>
+ <Parameter name="EmptyStringTest" type="::armarx::StringVariantData" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":""}}'/>
+ </Parameter>
+ <Parameter name="TestParam1" type="::armarx::StringVariantData" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"OnlyRootSet"}}'/>
+ </Parameter>
+ <Parameter name="TestParam2" type="::armarx::StringVariantData" optional="no">
+ <DefaultValue profile="Armar3Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3BaseSet"}}'/>
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"RootSet"}}'/>
+ </Parameter>
+ <Parameter name="TestParam3" type="::armarx::StringVariantData" optional="no">
+ <DefaultValue profile="Armar3a" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3aSet"}}'/>
+ <DefaultValue profile="Armar3b" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3bSet"}}'/>
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"RootSet"}}'/>
+ </Parameter>
+ </InputParameters>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates/>
+ <Events/>
+ <Transitions/>
+</State>
+