diff --git a/source/RobotAPI/interface/hardware/HardwareInterface.ice b/source/RobotAPI/interface/hardware/HardwareInterface.ice
index 063eb09cb12b2842f284d1067264d50ca2edc2da..dd9a88af770d45b14053ee06fadbf34cd89021a7 100644
--- a/source/RobotAPI/interface/hardware/HardwareInterface.ice
+++ b/source/RobotAPI/interface/hardware/HardwareInterface.ice
@@ -25,9 +25,10 @@
 #ifndef _ARMARX_CORE_HARDWAREINTERFACE_SLICE_
 #define _ARMARX_CORE_HARDWAREINTERFACE_SLICE_
 
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
index 5e87abadd2bb2b97ee979d98bdbd0ba6b1a28e87..681dfbac68f7b8bee247c5887b56febd8ebb605d 100644
--- a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
@@ -24,8 +24,9 @@
 #ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_SLICE_
 #define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_SLICE_
 
-#include <observers/ObserverInterface.ice>
-#include <units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index c2d0f73872f38f99ce527793ddae9468676589dd..ee1e69ba9bc7dd2190fbae7fde938b6961fcb6b4 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -24,8 +24,9 @@
 #ifndef _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_SLICE_
 #define _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_SLICE_
 
-#include <observers/ObserverInterface.ice>
-#include <units/PlatformUnitInterface.ice>
+#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
+
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/robotstate/LinkedPoseBase.ice b/source/RobotAPI/interface/robotstate/LinkedPoseBase.ice
index c1415a6b3721b9a74e4d060a2b6665e82338458d..cb729701b6dd30da842373e11fa5b1ed6b0d3e0f 100644
--- a/source/RobotAPI/interface/robotstate/LinkedPoseBase.ice
+++ b/source/RobotAPI/interface/robotstate/LinkedPoseBase.ice
@@ -24,8 +24,8 @@
 #ifndef _ARMARX_CORE_ROBOTSTATE_LINKEDPOSE_SLICE_
 #define _ARMARX_CORE_ROBOTSTATE_LINKEDPOSE_SLICE_
 
-#include <robotstate/PoseBase.ice>
-#include <robotstate/RobotState.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
+#include <RobotAPI/interface/robotstate/RobotState.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/robotstate/PoseBase.ice b/source/RobotAPI/interface/robotstate/PoseBase.ice
index a8a57a485abbec42eef55c6f8d29f2099888bb39..343f1f6b66ab4d1e09e3d7ef246a4d5060efcf74 100644
--- a/source/RobotAPI/interface/robotstate/PoseBase.ice
+++ b/source/RobotAPI/interface/robotstate/PoseBase.ice
@@ -24,9 +24,7 @@
 #ifndef _ARMARX_CORE_ROBOTSTATE_ARMAR_POSE_SLICE_
 #define _ARMARX_CORE_ROBOTSTATE_ARMAR_POSE_SLICE_
 
-#include <observers/VariantBase.ice>
-
-
+#include <Core/interface/observers/VariantBase.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/robotstate/RobotState.ice b/source/RobotAPI/interface/robotstate/RobotState.ice
index a881463fb14bf45f3b0f17c2988ec87da75cb244..e254732b9d7d01d50683b8184e34421c0f99c137 100644
--- a/source/RobotAPI/interface/robotstate/RobotState.ice
+++ b/source/RobotAPI/interface/robotstate/RobotState.ice
@@ -1,9 +1,9 @@
 #ifndef ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
 #define ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
 
-#include <units/KinematicUnitInterface.ice>
-#include <units/PlatformUnitInterface.ice>
-#include <robotstate/PoseBase.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/robotstate/RobotStateObserverInterface.ice b/source/RobotAPI/interface/robotstate/RobotStateObserverInterface.ice
index 58b9554b834327e04d984ed768f9f7dcded74cf5..b9b442a00293446d6c3c085ea3e426a0c73d9566 100644
--- a/source/RobotAPI/interface/robotstate/RobotStateObserverInterface.ice
+++ b/source/RobotAPI/interface/robotstate/RobotStateObserverInterface.ice
@@ -25,8 +25,9 @@
 #ifndef _ARMARX_CORE_ROBOTSTATE_OBSERVER_SLICE_
 #define _ARMARX_CORE_ROBOTSTATE_OBSERVER_SLICE_
 
-#include <observers/ObserverInterface.ice>
-#include <units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index ae0426a8d164824eed6faaceeb96b7088f2ca08a..cc09be4eb25f8bf7d0f8ede7cef48f8e49700040 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -24,12 +24,13 @@
 #ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
 #define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
 
-#include <units/UnitInterface.ice>
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <observers/VariantBase.ice>
-#include <observers/ObserverInterface.ice>
-#include <robotstate/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <RobotAPI/interface/robotstate/RobotState.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <Core/interface/observers/VariantBase.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index acd22363daf3b15cdf94421aec36986822891496..524aa2dea69c0ef58387530b7b91421248fd6f27 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -24,11 +24,12 @@
 #ifndef _ARMARX_CORE_UNITS_HANDUNIT_SLICE_
 #define _ARMARX_CORE_UNITS_HANDUNIT_SLICE_
 
-#include <units/UnitInterface.ice>
-#include <units/KinematicUnitInterface.ice>
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <observers/VariantContainers.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <Core/interface/observers/VariantContainers.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/HapticUnit.ice b/source/RobotAPI/interface/units/HapticUnit.ice
index adcba86504049b042850b8b419368cfbe33f03ca..b8a85881029dee00b310a57a8c604035bd6518f2 100644
--- a/source/RobotAPI/interface/units/HapticUnit.ice
+++ b/source/RobotAPI/interface/units/HapticUnit.ice
@@ -24,14 +24,15 @@
 #ifndef _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
 #define _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
 
-#include <units/UnitInterface.ice>
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <observers/VariantBase.ice>
-#include <observers/Matrix.ice>
-#include <observers/Timestamp.ice>
-#include <observers/ObserverInterface.ice>
-#include <robotstate/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <RobotAPI/interface/robotstate/RobotState.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <Core/interface/observers/VariantBase.ice>
+#include <Core/interface/observers/Matrix.ice>
+#include <Core/interface/observers/Timestamp.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index 5e04d4ec15f252c650c964e0b279100e370ed375..d424f9d1affa6f1aed84133c626a18df8166058c 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -24,13 +24,14 @@
 #ifndef _ARMARX_ROBOTAPI_UNITS_HEADIK_SLICE_
 #define _ARMARX_ROBOTAPI_UNITS_HEADIK_SLICE_
 
-#include <units/UnitInterface.ice>
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <observers/VariantBase.ice>
-#include <observers/ObserverInterface.ice>
-#include <robotstate/RobotState.ice>
-#include <robotstate/PoseBase.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <RobotAPI/interface/robotstate/RobotState.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <Core/interface/observers/VariantBase.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 71cb7e6609f54e590ab126a56e4d371008341eed..4c4057da4907c48ec77c86cd7352ad236cb7ce1e 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -24,9 +24,10 @@
 #ifndef _ARMARX_CORE_KINEMATICUNIT_SLICE_
 #define _ARMARX_CORE_KINEMATICUNIT_SLICE_
 
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <units/UnitInterface.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index 9c207acc415e3f1b74d165b6df921e73f7f3caf5..944a4fcac75c26cc39d4cd48a41658903d7588bd 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -24,9 +24,10 @@
 #ifndef _ARMARX_CORE_UNITS_PLATFORMUNIT_SLICE_
 #define _ARMARX_CORE_UNITS_PLATFORMUNIT_SLICE_
 
-#include <units/UnitInterface.ice>
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index f3db320fbcbc540829d7a3a983762d17bbf5e6a0..24599cd05718d380163602ae91ca729360813d14 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -24,13 +24,14 @@
 #ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
 #define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
 
-#include <units/UnitInterface.ice>
-#include <core/UserException.ice>
-#include <core/BasicTypes.ice>
-#include <observers/VariantBase.ice>
-#include <observers/ObserverInterface.ice>
-#include <robotstate/RobotState.ice>
-#include <robotstate/PoseBase.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <RobotAPI/interface/robotstate/RobotState.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <Core/interface/observers/VariantBase.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
 
 module armarx
 {
@@ -38,7 +39,6 @@ module armarx
     interface TCPControlUnitInterface extends armarx::SensorActorUnitInterface, armarx::KinematicUnitListener
     {
         void setCycleTime(int milliseconds);
-//        void setTCPVelocity(string robotNodeSetName, FramedVector3Base translationVelocity, FramedVector3Base orientationVelocityRPY);
         void setTCPVelocity(string robotNodeSetName, string tcpNodeName, FramedVector3Base translationVelocity, FramedVector3Base orientationVelocityRPY);
 
     };
@@ -57,7 +57,6 @@ module armarx
 
     };
 
-
 };
 
 #endif
diff --git a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
index dbe8e4d230d48ed453745e426750a2c3552de24b..727676476cfebe1e1bb980cb2611b0a6cf9fb3e0 100644
--- a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
+++ b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
@@ -24,8 +24,9 @@
 #ifndef _ARMARX_CORE_TCPMOVERUNIT_SLICE_
 #define _ARMARX_CORE_TCPMOVERUNIT_SLICE_
 
-#include <core/UserException.ice>
-#include <units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
+#include <Core/interface/core/UserException.ice>
 
 module armarx
 {
diff --git a/source/RobotAPI/interface/units/UnitInterface.ice b/source/RobotAPI/interface/units/UnitInterface.ice
index f46941fa09fd0da76636a7682a9c6857e145ff84..4ef54fc1cca5fe71e588beb7026efb227bdef341 100644
--- a/source/RobotAPI/interface/units/UnitInterface.ice
+++ b/source/RobotAPI/interface/units/UnitInterface.ice
@@ -24,7 +24,7 @@
 #ifndef _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
 #define _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
 
-#include <core/UserException.ice>
+#include <Core/interface/core/UserException.ice>
 
 module armarx
 {