diff --git a/source/RobotAPI/components/ArViz/Client/elements/Line.cpp b/source/RobotAPI/components/ArViz/Client/elements/Line.cpp
index 985162f1726a66c88c4a310e6b287641294fa9f9..35287f4d55adc284fab6bf74b02f75ecb5307880 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Line.cpp
+++ b/source/RobotAPI/components/ArViz/Client/elements/Line.cpp
@@ -1,6 +1,6 @@
 #include "Line.h"
 
-#include "ArmarXCore/interface/core/BasicVectorTypesHelpers.h"
+#include <ArmarXCore/interface/core/BasicVectorTypesHelpers.h>
 
 namespace armarx::viz
 {
@@ -17,4 +17,4 @@ namespace armarx::viz
 
         return *this;
     }
-} // namespace armarx::viz
\ No newline at end of file
+} // namespace armarx::viz
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Line.h b/source/RobotAPI/components/ArViz/Client/elements/Line.h
index 6f6d9427e05b9d91606e8ecdfa8a2164f4847515..2d55b5d340f14cdd55252ec9f7f0007d625b5c7e 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Line.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/Line.h
@@ -21,7 +21,7 @@
 
 #pragma once
 
-#include "RobotAPI/components/ArViz/Client/elements/ElementOps.h"
+#include <RobotAPI/components/ArViz/Client/elements/ElementOps.h>
 #include <RobotAPI/interface/ArViz/Elements.h>
 
 namespace armarx::viz
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Path.h b/source/RobotAPI/components/ArViz/Client/elements/Path.h
index 7cfbecbd973a194cef0e0e350a5c7c3c1aedbc13..54615e9d44a0f12272ea35cecb3d62f63ccff08e 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Path.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/Path.h
@@ -23,7 +23,7 @@
 
 #pragma once
 
-#include "RobotAPI/components/ArViz/Client/elements/ElementOps.h"
+#include <RobotAPI/components/ArViz/Client/elements/ElementOps.h>
 #include <RobotAPI/interface/ArViz/Elements.h>
 
 namespace armarx::viz
@@ -42,8 +42,3 @@ namespace armarx::viz
         Path& addPoint(Eigen::Vector3f p);
     };
 } // namespace armarx::viz
-
-
-
-
-
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index 70b399165ad3c229d96289676e0da6f2280e91a4..d5c7d69917c8cbba5fafee284b18229f351ea9de 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -32,7 +32,7 @@
 #include <VirtualRobot/VirtualRobot.h>
 #include <VirtualRobot/XML/RobotIO.h>
 
-#include "ArmarXCore/core/services/tasks/PeriodicTask.h"
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <ArmarXCore/core/PackagePath.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
index e3747fb3f23fb4429ab7a9d028d85efd3f2befaa..d401eed5e741d3d797dfaa8a47f347f4616a53db 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
@@ -3,14 +3,14 @@
 
 #include <VirtualRobot/VirtualRobot.h>
 
-#include "ArmarXCore/core/services/tasks/PeriodicTask.h"
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/interface/observers/ObserverInterface.h>
 #include <ArmarXCore/util/tasks.h>
 
 #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
-#include "RobotAPI/libraries/armem/core/Time.h"
+#include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
 #include <RobotAPI/interface/armem/server/MemoryInterface.h>
 #include <RobotAPI/libraries/armem/client/plugins.h>
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index 30dcf8952b25685214accbd78eb108954a2378a8..d61360637f06d1d1d33ecc2d8c0fe283b7ed0b34 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -28,7 +28,7 @@
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/application/properties/Properties.h>
 #include <ArmarXCore/core/system/ImportExportComponent.h>
-#include "RobotAPI/components/units/SensorActorUnit.h"
+#include <RobotAPI/components/units/SensorActorUnit.h>
 
 #include <RobotAPI/interface/units/ForceTorqueUnit.h>
 
@@ -94,4 +94,3 @@ namespace armarx
         std::string listenerName;
     };
 }
-
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index df548dc31d42f481da979f56968d25ae89988fa9..26050b48062569e7d154ee2d82e6683e90a67589 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -27,7 +27,7 @@
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/application/properties/Properties.h>
 #include <ArmarXCore/core/system/ImportExportComponent.h>
-#include "RobotAPI/components/units/SensorActorUnit.h"
+#include <RobotAPI/components/units/SensorActorUnit.h>
 
 #include <RobotAPI/interface/units/HapticUnit.h>
 
@@ -83,4 +83,3 @@ namespace armarx
         HapticUnitListenerPrx hapticTopicPrx;
     };
 }
-
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 6f5c6b07454e2ad831d48ba327b33c7cd768ddde..b60e943849edd0720eb9b523ee6518e0fced18df 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/source/RobotAPI/components/units/PlatformUnit.cpp
@@ -25,7 +25,7 @@
 
 #include "PlatformUnit.h"
 
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
 #include <SimoxUtility/math/convert/mat4f_to_rpy.h>
 
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
index 0f4d58b0fbc2be757117a70aac3a213bea3f8da9..15e2f998f3a78716bbe0c6da08187a047f6b5ee9 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
@@ -24,7 +24,7 @@
 
 
 #include "PlatformUnitSimulation.h"
-#include "RobotAPI/components/units/PlatformUnit.h"
+#include <RobotAPI/components/units/PlatformUnit.h>
 
 #include <RobotAPI/interface/core/GeometryBase.h>
 #include <cmath>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
index 23ae6d2299c3874e9f7501ef7e81c124bc4882d6..c67b41d1985b7bcfc2f9404a09878424302da9a3 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
@@ -229,7 +229,3 @@ namespace armarx
         }
     }
 } // namespace armarx
-
-
-
-
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
index 743d8a9bc2904a707f42633567f9b59ef184c3af..d0c7371051effc8f00a007687723ece0e2fa5cb9 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
@@ -1,7 +1,7 @@
 #include "HeartbeatComponentPlugin.h"
 
-#include "ArmarXCore/core/Component.h"
-#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
 #include <RobotAPI/interface/components/RobotHealthInterface.h>
 
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index ecd3f8c5f4a1b3ed0a7dde04c8dc1ac8a06b5265..0ea7000b229edce38d8a797d3b542d180c2de17a 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,5 +1,5 @@
 #include "selectors.h"
-#include "RobotAPI/libraries/armem/core/ice_conversions.h"
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
 
 #include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
 
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
index c4e703531a9508757a00e6c1dbf5429c7436b470..f26a62736999d28a55001dbaee56d515c6cdd16c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
@@ -9,9 +9,9 @@
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
 
-#include "RobotAPI/libraries/ArmarXObjects/ObjectInfo.h"
-#include "RobotAPI/libraries/ArmarXObjects/ObjectPose.h"
-#include "RobotAPI/libraries/armem_objects/aron_conversions.h"
+#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
 #include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
 #include <RobotAPI/libraries/armem/client/query/Builder.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index 64dfbc7f546bfc887fd408e444ad2332b8a8aaa0..9a4417080bb027e4ee8d4a9cf0c2dc080fca3890 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -5,11 +5,11 @@
 
 #include <Eigen/Geometry>
 
-#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
-#include "RobotAPI/libraries/ArmarXObjects/ObjectInfo.h"
-#include "RobotAPI/libraries/ArmarXObjects/ObjectPose.h"
-#include "RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h"
-#include "RobotAPI/libraries/armem_objects/aron_conversions.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
 #include <ArmarXCore/core/PackagePath.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
index 9c5b48f39864b16637739b022c0d1908de69c9a5..5bb773c96354b108185811137602bdc443c0f9a7 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
@@ -3,7 +3,7 @@
 #include <optional>
 
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include "RobotAPI/libraries/armem_robot/types.h"
+#include <RobotAPI/libraries/armem_robot/types.h>
 #include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
 
 
@@ -13,4 +13,4 @@ namespace armarx::armem::articulated_object
     std::optional<robot::RobotDescription>
     convertRobotDescription(const armem::wm::EntityInstance& instance);
 
-} // namespace armarx::armem::articulated_object
\ No newline at end of file
+} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/ArticulatedObjectVisu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/ArticulatedObjectVisu.cpp
index f1b90e5daec4edf42590ce0d8aad7a4aa9d83838..a8060557502fa895f8d632288e32a1c3e0abd5f0 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/ArticulatedObjectVisu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/ArticulatedObjectVisu.cpp
@@ -4,7 +4,7 @@
 
 #include <SimoxUtility/math/pose.h>
 
-#include "ArmarXCore/core/services/tasks/PeriodicTask.h"
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/time/CycleUtil.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 1bf28496f697da38e2172a41836ecaccceaa5561..0ab9ff1a46f9e756471ccf8d257e966dcfb7f2ef 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -1,6 +1,6 @@
 #include "aron_conversions.h"
 
-#include "ArmarXCore/core/logging/Logging.h"
+#include <ArmarXCore/core/logging/Logging.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions.h>
 
 #include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
diff --git a/source/RobotAPI/libraries/armem_robot/types.h b/source/RobotAPI/libraries/armem_robot/types.h
index 0a8473073f5b30dce3cb9f2d96682b4184a6a9b3..10ca7475f0d119aeb8f40e2f0d674bb3a6450691 100644
--- a/source/RobotAPI/libraries/armem_robot/types.h
+++ b/source/RobotAPI/libraries/armem_robot/types.h
@@ -8,8 +8,8 @@
 
 #include <IceUtil/Time.h>
 
-#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
-#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
 #include <ArmarXCore/core/PackagePath.h>
 
 
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 0907cb70b01220686d2b6b30a2d5577c1e6838c3..fb9c2ce38f5a3f5710dc48c5aad7a851fad4de41 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -5,10 +5,10 @@
 #include <VirtualRobot/Robot.h>
 #include <VirtualRobot/XML/RobotIO.h>
 
-#include "ArmarXCore/core/PackagePath.h"
-#include "ArmarXCore/core/logging/Logging.h"
-#include "ArmarXCore/core/system/ArmarXDataPath.h"
-#include "ArmarXCore/core/system/cmake/CMakePackageFinder.h"
+#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 
 
 namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/types.h b/source/RobotAPI/libraries/armem_robot_state/common/localization/types.h
index e16d599ba8fdd21f653a951ea16fdda6571bf243..26311961772c03b70519de0cde245b44e17bf0db 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/types.h
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/types.h
@@ -26,7 +26,7 @@
 
 #include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
-#include <Eigen/src/Geometry/Transform.h>
+
 #include <RobotAPI/libraries/armem_robot_state/types.h>
 
 namespace armarx::armem::common::robot_state::localization
@@ -79,4 +79,4 @@ namespace armarx::armem::common::robot_state::localization
         // bool exact;
     };
 
-}  // namespace armarx::armem::common::robot_state::localization
\ No newline at end of file
+}  // namespace armarx::armem::common::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/utils.h b/source/RobotAPI/libraries/armem_robot_state/utils.h
index 239e0ddb2d1b99a513ed97a3e1b8fb63122a4c70..9b495f91f30544fbdb2cfc2f68ee10bb111e1903 100644
--- a/source/RobotAPI/libraries/armem_robot_state/utils.h
+++ b/source/RobotAPI/libraries/armem_robot_state/utils.h
@@ -1,10 +1,9 @@
 #pragma once
 
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem_robot/types.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem_robot/types.h>
 
 namespace armarx::armem::robot_state
 {
     armarx::armem::MemoryID makeMemoryID(const robot::RobotDescription& desc);
 }
-
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.h b/source/RobotAPI/libraries/armem_vision/aron_conversions.h
index 53527f2b5ad9357c8f9bd627b2c3d83793e7c9a8..681049dac2250e30ad6a3ccee5f25cc6412b074e 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.h
@@ -21,7 +21,7 @@
 
 #pragma once
 
-#include "RobotAPI/libraries/armem_vision/types.h"
+#include <RobotAPI/libraries/armem_vision/types.h>
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
@@ -79,4 +79,4 @@ namespace armarx::armem
         return aron::converter::AronEigenConverter::ConvertFromArray(grid);
     }
 
-} // namespace armarx::armem
\ No newline at end of file
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
index 2cd6b7eb906d4b85cf6527979eb9573f4d9568ea..d408f45ef12fe9ac8624469e6a25326e96498295 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -1,6 +1,6 @@
 #include "armarx.h"
 
-#include <Eigen/src/Core/Matrix.h>
+
 #include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
 
diff --git a/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h b/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
index 56f6690c41d8eef765a0788312d8dff220d92695..e1213b86b1f2f6386fb22d318f4ed798a72eb040 100644
--- a/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
@@ -28,7 +28,7 @@
 // Eigen
 #include <Eigen/Geometry>
 #include <Eigen/Core>
-#include <Eigen/src/Core/util/Constants.h>
+
 
 // ArmarX
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>