diff --git a/src/ur/state.cpp b/src/ur/state.cpp
deleted file mode 100644
index 66af615..0000000
--- a/src/ur/state.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-#include "ur_modern_driver/ur/state.h"
-#include "ur_modern_driver/log.h"
-
-// StatePacket::~StatePacket() { }
-
-/*
-bool RobotState::parseWith(BinParser &bp) {
-    //continue as long as there are bytes to read
-    while(!bp.empty()) {
-
-        if(!bp.checkSize(sizeof(uint32_t))){
-            LOG_ERROR("Failed to read sub-package length, there's likely a parsing error");
-            return false;
-        }
-
-        uint32_t sub_size = bp.peek<uint32_t>();
-        if(!bp.checkSize(static_cast<size_t>(sub_size))) {
-            LOG_WARN("Invalid sub-package size of %" PRIu32 " received!", sub_size);
-            return false;
-        }
-
-        //deconstruction of a sub parser will increment the position of the parent parser
-        BinParser sub_parser(bp, sub_size);
-        sub_parser.consume(sizeof(sub_size));
-
-        if(!parse_package(sub_parser)) {
-            LOG_ERROR("Failed to parse sub-package");
-            return false;
-        }
-
-        if(!sub_parser.empty()) {
-            LOG_ERROR("Sub-package was not parsed completely!");
-            return false;
-        }
-    }
-    return true;
-}
-
-template <typename T>
-bool parse_base(BinParser &bp, T &pkg) {
-    package_type type = bp.peek<package_type>();
-    switch(type) {
-        case package_type::ROBOT_MODE_DATA:
-            LOG_DEBUG("Parsing robot_mode");
-            bp.consume(sizeof(package_type));
-            pkg.robot_mode.parseWith(bp);
-            break;
-        case package_type::MASTERBOARD_DATA:
-            LOG_DEBUG("Parsing master_board");
-            bp.consume(sizeof(package_type));
-            pkg.master_board.parseWith(bp);
-            break;
-
-        case package_type::TOOL_DATA:
-        case package_type::CARTESIAN_INFO:
-        case package_type::JOINT_DATA:
-            LOG_DEBUG("Skipping tool, cartesian or joint data");
-            //for unhandled packages we consume the rest of the
-            //package buffer
-            bp.consume();
-            break;
-        default:
-            return false;
-    }
-    return true;
-}
-
-
-template <typename T>
-bool parse_advanced(BinParser &bp, T &pkg) {
-    if(parse_base(bp, pkg))
-        return true;
-
-    package_type type = bp.peek<package_type>();
-
-    switch(type) {
-        case package_type::KINEMATICS_INFO:
-        case package_type::CONFIGURATION_DATA:
-        case package_type::ADDITIONAL_INFO:
-        case package_type::CALIBRATION_DATA:
-        case package_type::FORCE_MODE_DATA:
-            LOG_DEBUG("Skipping kinematics, config, additional, calibration or force mode data");
-            //for unhandled packages we consume the rest of the
-            //package buffer
-            bp.consume();
-            break;
-        default:
-            LOG_ERROR("Invalid sub-package type parsed: %" PRIu8 "", type);
-            return false;
-    }
-
-    return true;
-}
-
-
-bool RobotState_V1_6__7::parse_package(BinParser &bp) {
-    if(!parse_base(bp, *this)) {
-        LOG_ERROR("Invalid sub-package type parsed: %" PRIu8 "", bp.peek<package_type>());
-        return false;
-    }
-    return true;
-}
-
-bool RobotState_V1_8::parse_package(BinParser &bp) {
-    return parse_advanced(bp, *this);
-}
-
-bool RobotState_V3_0__1::parse_package(BinParser &bp) {
-    return parse_advanced(bp, *this);
-}
-
-bool RobotState_V3_2::parse_package(BinParser &bp) {
-    return parse_advanced(bp, *this);
-}
-*/
\ No newline at end of file