diff --git a/source/RobotAPI/GraspingWithTorques/CMakeLists.txt b/source/RobotAPI/GraspingWithTorques/CMakeLists.txt
index 6745f8d8344e497bcbf318d8354cdad654e4e7c4..3f4d1563f2e9ad7ff3fa6cf95ad8183c69ca3fc0 100644
--- a/source/RobotAPI/GraspingWithTorques/CMakeLists.txt
+++ b/source/RobotAPI/GraspingWithTorques/CMakeLists.txt
@@ -7,8 +7,11 @@ find_package(Simox QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
 set(LIB_NAME       GraspingWithTorques)
 set(LIB_VERSION    0.1.0)
diff --git a/source/RobotAPI/OpenHand/CMakeLists.txt b/source/RobotAPI/OpenHand/CMakeLists.txt
index 3a9d3d37a4ddd5fffa0c3b520328a28042fc5be1..b049ee78d1a4eb4483ae1a1de14eee4f3f15c930 100644
--- a/source/RobotAPI/OpenHand/CMakeLists.txt
+++ b/source/RobotAPI/OpenHand/CMakeLists.txt
@@ -6,8 +6,11 @@ find_package(Simox QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
 set(LIB_NAME       OpenHand)
 set(LIB_VERSION    0.1.0)
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
index 8398b7002153e168e9871c32fc8e2cd28463b323..449734e08065f0bade441eb2d435caf1eb2de911 100755
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
@@ -7,14 +7,6 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
 
 set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces  ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot)
 
diff --git a/source/RobotAPI/applications/MotionControl/CMakeLists.txt b/source/RobotAPI/applications/MotionControl/CMakeLists.txt
index b7bf1b6dfc8bbbb24122f7d75ad70e740f97d19e..65c7ee082dbf861f5c0a489e1999ead63da481cd 100755
--- a/source/RobotAPI/applications/MotionControl/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControl/CMakeLists.txt
@@ -7,14 +7,6 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
 
 set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
 
diff --git a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
index ce739244967839a6934a49cbbf09b32b7524415f..1d9334a529d21a2724aa4fbf24895c81d5efe76d 100644
--- a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
@@ -7,17 +7,12 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
-
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
 set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
 
 set(SOURCES main.cpp MotionControlTestApp.h)
diff --git a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
index 492c1aded131dd65263876b81a3ff19c8d8bd234..c914803ce89b716f6ce7e82e844f599a6b205023 100755
--- a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
@@ -7,17 +7,12 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
-
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
 set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces  ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
 
 set(SOURCES main.cpp TCPControlUnitApp.h)
diff --git a/source/RobotAPI/core/CMakeLists.txt b/source/RobotAPI/core/CMakeLists.txt
index e403fbf60d8d6d331efdd292a0f9690e567b01ae..fbd863514af886be08e9d78a68cc0430ceae759d 100644
--- a/source/RobotAPI/core/CMakeLists.txt
+++ b/source/RobotAPI/core/CMakeLists.txt
@@ -7,8 +7,11 @@ find_package(Simox QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
 set(LIB_NAME       RobotAPICore)
 set(LIB_VERSION    0.1.0)
diff --git a/source/RobotAPI/motioncontrol/CMakeLists.txt b/source/RobotAPI/motioncontrol/CMakeLists.txt
index c1f0921409989e20aa65abcfbe401034397efd11..9abf0ef3d4b0880fd0430b8ff887bd93d8c3f386 100644
--- a/source/RobotAPI/motioncontrol/CMakeLists.txt
+++ b/source/RobotAPI/motioncontrol/CMakeLists.txt
@@ -7,8 +7,11 @@ find_package(Simox QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
 set(LIB_NAME       MotionControl)
 set(LIB_VERSION    0.1.0)
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 3cb8f9450b1d266393d9f78f620cbbb9a9066a4c..48752665d33d997dcd51d11b2bd19c7a0222638f 100755
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -7,8 +7,11 @@ find_package(Simox QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND AND Simox_FOUND)
+    include_directories(
+        ${Eigen3_INCLUDE_DIR}
+        ${Simox_INCLUDE_DIRS})
+endif()
 
 set(LIB_NAME       RobotAPIUnits)
 set(LIB_VERSION    0.1.0)