diff --git a/data/modules/armarx_integration/robots/armar6.json b/data/modules/armarx_integration/robots/armar6.json
index 2ecb932bbaca2f1ea0c718b476fb5ae0665357e4..2fb7be523ce60743d24f8942b9a7f61f6bec1930 100644
--- a/data/modules/armarx_integration/robots/armar6.json
+++ b/data/modules/armarx_integration/robots/armar6.json
@@ -1,5 +1,6 @@
 {
   "required_modules": {
+    "armarx_integration/robots/armar6/models": {},
     "armarx_integration/robots/armar6/rt": {},
     "armarx_integration/robots/armar6/skills": {}
   }
diff --git a/data/modules/armarx_integration/robots/armar6/models.json b/data/modules/armarx_integration/robots/armar6/models.json
new file mode 100644
index 0000000000000000000000000000000000000000..2288dbf318a07d504b479575673e172f09ef9f9e
--- /dev/null
+++ b/data/modules/armarx_integration/robots/armar6/models.json
@@ -0,0 +1,28 @@
+{
+  "general": {
+    "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/models"
+  },
+
+  "update": {
+    "git": {
+      "h2t_gitlab_slug": "sw/armarx-integration/robots/armar6/models"
+    }
+  },
+
+  "prepare": {
+    "cmake": {
+      "project_name": "armar6_models",
+      "definitions": {
+        "CMAKE_C_COMPILER": "$ARMARX_C_COMPILER",
+        "CMAKE_CXX_COMPILER": "$ARMARX_CXX_COMPILER"
+      }
+    }
+  },
+
+  "build": "cmake",
+
+  "required_modules": {
+    "armarx/meta/compiler": {},
+    "armarx/ArmarXCore": {}
+  }
+}
diff --git a/data/modules/armarx_integration/robots/armar6/rt.json b/data/modules/armarx_integration/robots/armar6/rt.json
index 62a2c9477d9d25175cdae6ede0717d7f69638df4..7d431725eda21352ad67ae5e91650fbaa88937d0 100644
--- a/data/modules/armarx_integration/robots/armar6/rt.json
+++ b/data/modules/armarx_integration/robots/armar6/rt.json
@@ -8,6 +8,7 @@
       "h2t_gitlab_slug": "sw/armarx-integration/robots/armar6/rt"
     }
   },
+
   "prepare": {
     "cmake": {
       "project_name": "armar6_rt",
@@ -17,6 +18,7 @@
       }
     }
   },
+
   "build": "cmake",
 
   "required_modules": {
@@ -26,6 +28,8 @@
     "armarx/RobotAPI": {},
     "armarx/skills/control": {},
 
-    "armarx_integration/devices/ethercat": {}
+    "armarx_integration/devices/ethercat": {},
+
+    "armarx_integration/robots/armar6/models": {}
   }
 }
diff --git a/data/modules/armarx_integration/robots/armar6/skills.json b/data/modules/armarx_integration/robots/armar6/skills.json
index 0d23732a72869ddf6818bf5011d261984db7fc2a..759285445ffe63f1b7b879788f4aad16ce780392 100644
--- a/data/modules/armarx_integration/robots/armar6/skills.json
+++ b/data/modules/armarx_integration/robots/armar6/skills.json
@@ -35,7 +35,9 @@
     "armarx/ArmarXSimulation": {},
     "armarx/skills/manipulation": {},
 
-    "armarx_integration/robots/armar6/rt": {}
+    "# TODO: Remove RT when models are moved from armar6::rt to armar6::models": null,
+    "armarx_integration/robots/armar6/rt": {},
+    "armarx_integration/robots/armar6/models": {}
   }
 
 }