diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e8ca5feb4cf3ac489ee0fb95688c5a2f65607f9..c821ad1f658194916a1ed951d3e628ea0d33dd4a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,8 @@ include(${ArmarXCore_USE_FILE})
 armarx_project("RobotAPI")
 depends_on_armarx_package(ArmarXGui "OPTIONAL")
 
+set(ArmarX_Simox_VERSION 2.3.6)
+
 add_subdirectory(source)
 
 install_project()
diff --git a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
index 7def4d89ffc672e3f1e0fbe313ac790f021ab617..8967cc8981a3f72918d87f41b22b21fe09b44b2f 100644
--- a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
@@ -10,7 +10,7 @@ if (Eigen3_FOUND)
 endif()
 
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Simox_INCLUDE_DIRS})
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
index 4c74a3e44879db07d8b72c1483b2088ed1c16d87..48b4f09038c23b32cc2b7ba79a472dcfee10e5c2 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
@@ -9,7 +9,7 @@ if (Eigen3_FOUND)
 endif()
 
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Simox_INCLUDE_DIRS})
diff --git a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
index 9f18a5c8169a0a85ec0597bbbfc802bbd4681ede..d56810c4437fa5dbd90a5a9055ce4cc7889b839c 100644
--- a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
@@ -10,7 +10,7 @@ if (Eigen3_FOUND)
 endif()
 
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Simox_INCLUDE_DIRS})
diff --git a/source/RobotAPI/components/MMMPlayer/CMakeLists.txt b/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
index 4d8af688ee617cf7e18209e9b155d28fd045e80c..f452b59e4afd5eddc472300f350322748973c5ee 100644
--- a/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
+++ b/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
@@ -7,7 +7,7 @@ if(MMMCore_FOUND)
 endif()
 
 find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index e7f220a189dde78cdea4764011711728a850df76..91e27f9476afba11d3ab1056977419ec877a068f 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -2,7 +2,7 @@ armarx_set_target("RobotAPI Units Library: RobotAPIUnits")
 
 
 find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt
index 8c894008a8ffec5ce0c8e8ebdc3292dc20153179..6bed53b72473a1516a251bfad620ca64a30a96fe 100644
--- a/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt
@@ -3,7 +3,7 @@ armarx_set_target("HandUnitGuiPlugin")
 find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
 armarx_build_if(QT_FOUND "Qt not available")
 
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt
index 5da1cc4cf1cc1d751ba8323716045b7382bb7001..85ec3418868f863d69b838f78ce7d6c8ce566e13 100644
--- a/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt
@@ -3,7 +3,7 @@ armarx_set_target("HapticUnitUnitGuiPlugin")
 find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
 armarx_build_if(QT_FOUND "Qt not available")
 
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
index f0374fc8801a9572e04daf1ff44089def04651ae..e901507cfff19d9c499ce4eec8fc097485364bfb 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL QUIET)
 find_package(Eigen3 QUIET)
 
 # VirtualRobot (adds dependencies to COin3D and SoQt)
-find_package(Simox 2.1.5 QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
index 7dc4de3b2a96c405445eec8a0f150fe4006c9433..2e986c3ecd8a5e6949c24b2c8f43dff31424cda8 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
@@ -3,7 +3,7 @@ armarx_set_target("PlatformUnitGuiPlugin")
 find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
 armarx_build_if(QT_FOUND "Qt not available")
 
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt
index 63fc84ec64d1800309e0e814e8f53dec4cc9af9b..ef5fa04ceca9d1bb8125a354cdae1b364c4bd1d1 100644
--- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(qwt QUIET)
 
 find_package(Eigen3 QUIET)
 # VirtualRobot
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 840451b97dc917368e82e80039fe6cc2bcb98d14..d59abb50e04af16698ccc2f04d8fc694f08bef7f 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -2,7 +2,7 @@ armarx_set_target("RobotAPI Core Library: RobotAPICore")
 
 
 find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
diff --git a/source/RobotAPI/libraries/robotstate/CMakeLists.txt b/source/RobotAPI/libraries/robotstate/CMakeLists.txt
index e4c185dd8337f93acb01113ea984b10096bd8544..27b864120204b76639a2a1cd3a34359849d5d17b 100644
--- a/source/RobotAPI/libraries/robotstate/CMakeLists.txt
+++ b/source/RobotAPI/libraries/robotstate/CMakeLists.txt
@@ -1,7 +1,7 @@
 armarx_set_target("Core Library: ArmarXCoreRobotStateComponent")
 
 find_package(Eigen3 QUIET)
-find_package(Simox 2.3.0 QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
diff --git a/source/RobotAPI/libraries/robotstate/remote/CMakeLists.txt b/source/RobotAPI/libraries/robotstate/remote/CMakeLists.txt
index 149001100000a6d337d8bbfbd8ad9e4e4d839f7f..f49a6b357b61df272451a44380f13a3328f984c2 100644
--- a/source/RobotAPI/libraries/robotstate/remote/CMakeLists.txt
+++ b/source/RobotAPI/libraries/robotstate/remote/CMakeLists.txt
@@ -2,7 +2,7 @@
 armarx_set_target("Core Library: RobotAPIRemoteRobot")
 find_package(Eigen3 QUIET)
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
diff --git a/source/RobotAPI/statecharts/operations/CMakeLists.txt b/source/RobotAPI/statecharts/operations/CMakeLists.txt
index 3c2cce08c190726aafe66c219d9f8d65ebee8a54..82eaea4f7afe6ee67f637961eab4cab903f7710d 100644
--- a/source/RobotAPI/statecharts/operations/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/operations/CMakeLists.txt
@@ -1,7 +1,7 @@
 
 armarx_set_target("Core Library: RobotAPIOperations")
 find_package(Eigen3 QUIET)
-find_package(Simox 2.3.0 QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")