diff --git a/data/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
similarity index 100%
rename from data/VariantInfo-RobotAPI.xml
rename to data/RobotAPI/VariantInfo-RobotAPI.xml
diff --git a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
index ff20d3f9f5d3510f0ed52a198f1bde249e6b423d..c65656adb4480da37c3c1a7e90ca3656c1fd2e93 100644
--- a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
+++ b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
@@ -60,7 +60,7 @@
 #  Attributes:
 #  - Case sensitivity:   no
 #  - Required:           yes
-ArmarX.KinematicUnitObserver.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitObserver.RobotFileName = Armar4/robotmodel/ArmarIV.xml
 
 
 # ArmarX.KinematicUnitObserver.RobotNodeSetName:  Robot node name
diff --git a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
index 6ade9a04de8653467979ae6146852bb04f888c4d..f60ff6fe4b6f116913e7d295350ceb58c9eaf3ea 100644
--- a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
+++ b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
@@ -68,7 +68,7 @@
 #  Attributes:
 #  - Case sensitivity:   no
 #  - Required:           yes
-ArmarX.KinematicUnitSimulation.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName = Armar4/robotmodel/ArmarIV.xml
 
 
 # ArmarX.KinematicUnitSimulation.RobotNodeSetName:  Robot node name
diff --git a/scenarios/MotionControlTest/config/RobotStateComponent.cfg b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
index ab75dab24fe5f81bf8fc3698de37537c7c75009c..2ef0e94eb03f9228ee75236df3245518d6424822 100644
--- a/scenarios/MotionControlTest/config/RobotStateComponent.cfg
+++ b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
@@ -1,4 +1,4 @@
-ArmarX.RobotStateComponent.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml       	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar4/robotmodel/ArmarIV.xml       	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.RobotStateComponent.RobotNodeSetName=Robot					# node set name
 ArmarX.RobotStateComponent.ObjectName=RobotStateComponent      			# name of the ICE adapter
 
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg b/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
index 4d5461f65d9b3b5c262485c291c219e0684c0987..bb8a9072dac5632642fb8a4c5d2ec124873ecbc9 100644
--- a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
+++ b/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
@@ -1,5 +1,5 @@
 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.KinematicUnitSimulation.RobotNodeSetName=Head          # node set name
 ArmarX.KinematicUnitSimulation.AdapterName=HeadKinematicUnit  # name of the Ice adapter
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg b/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
index 39353728c0e190eb24f1e6733daef3c35002c45e..4e6024cdfde8e85b37b66a1c2ecc48719b7b1004 100644
--- a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
+++ b/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
@@ -1,5 +1,5 @@
 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.KinematicUnitObserver.RobotNodeSetName=Head                  # node set name
 ArmarX.KinematicUnitObserver.AdapterName=HeadKinematicUnitObserver  # name of the Ice adapter
diff --git a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg b/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
index 46260981c2de37a0dc21938875fdcf57797d5778..d1c56fea054978b252a0ea27a92e63fa4f20ba9d 100644
--- a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
+++ b/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
@@ -1,5 +1,5 @@
 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.RobotStateComponent.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-LeftArm.xml   # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar3/data/robotmodel/ArmarIII-LeftArm.xml   # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.RobotStateComponent.RobotNodeSetName=LeftArm         # node set name
 ArmarX.RobotStateComponent.AdapterName=RobotStateComponent  # name of the Ice adapter
diff --git a/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg b/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
index 510feb9a8f61aa560bfa61d31a2e34f9f8e72303..5b3fa85c73ebf0fa00552b6579cdc64e0702838b 100644
--- a/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
+++ b/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
@@ -5,7 +5,7 @@ ArmarX.DisableLogging=False
 
 
 ArmarX.KinematicUnitGuiPlugin.MinimumLoggingLevel=Info
-ArmarX.KinematicUnitGuiPlugin.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitGuiPlugin.RobotFileName=Armar4/robotmodel/ArmarIV.xml
 ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot
 ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=RobotKinematicUnit
 #ArmarX.MdiPlugin.Profile=TCPMover
diff --git a/scenarios/TCPMoverScenario/configs/HeadUnit.cfg b/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
index fdc0834859cb4c1bab784ecd3d10eef2cf80d89e..950a3fc0ddbcccc3569676bcf020a4be0ee8e01f 100644
--- a/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
+++ b/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
@@ -1,6 +1,6 @@
 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml
 
 ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot          # node set name vorher Head
 ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit  # name of the Ice adapter vorher HeadKinematicUnit
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg b/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
index 570dc025f13903ade94afc6aa47addc3742e65e6..d77b04851b1909223d8cf41d24ba024285a994ba 100644
--- a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
+++ b/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
@@ -1,6 +1,6 @@
 # A test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 
 ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot          # node set name vorher Head
 ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit  # name of the Ice adapter vorher HeadKinematicUnit
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg b/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
index 9b84969c59bb31c3c3026f641a655e42e7a52896..88747008734c236aa778d61456da4c5ca9402e8c 100644
--- a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
+++ b/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
@@ -1,5 +1,5 @@
 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar4/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.KinematicUnitObserver.RobotNodeSetName=Robot                  # node set name
 ArmarX.KinematicUnitObserver.AdapterName=RobotKinematicUnitObserver  # name of the Ice adapter
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 8be25d158f340b27dcc197705950d3a7690d1792..3cb080ad5226ebb85f0d1c57844ad80c2345bb5e 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -44,7 +44,7 @@ namespace armarx
 
 
         //std::string robotModelFile;
-        //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+        //ArmarXDataPath::getAbsolutePath("data/Armar3/robotmodel/ArmarIII.xml", robotModelFile);
         //localRobot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
         //VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
         //localRobot->setConfig(robotSnapshot->getConfig());
diff --git a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
index 2a7e0d7715bdfb4fce8f3ec2c9a381f252ea2d18..eae6c79d0e2bee22f768bb753a8c2c7f0ea48cac 100644
--- a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
@@ -500,8 +500,8 @@ void CalculateJointAngleConfiguration::run()
     // TODO: with the following line, the IK doesn't find a solution, so this terrible hack must be used. Fix it!!!
     //VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
     //std::string robotModelFile;
-    //ArmarXDataPath::getAbsolutePath("Armar4/data/Armar4/ArmarIV.xml", robotModelFile);
-    //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+    //ArmarXDataPath::getAbsolutePath("Armar4/robotmodel/ArmarIV.xml", robotModelFile);
+    //ArmarXDataPath::getAbsolutePath("data/Armar3/robotmodel/ArmarIII.xml", robotModelFile);
     //VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str());
 
     std::string kinChainName = getInput<std::string>("kinematicChainName");
@@ -1043,7 +1043,7 @@ void CalculateHeadIK::run()
     //VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
     VirtualRobot::RobotConfigPtr robotSnapshotConfig = robotSnapshot->getConfig();
     std::string robotModelFile;
-    ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+    ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
     VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
     robot->setConfig(robotSnapshotConfig);