diff --git a/3rdParty/rbdl/include/rbdl/Body.h b/3rdParty/rbdl/include/rbdl/Body.h
index f39c7e1504705c8b0c80a0106c7568ceda71b48a..678de1b770a0ec870ec7872b5c4f1ee53ab5198e 100644
--- a/3rdParty/rbdl/include/rbdl/Body.h
+++ b/3rdParty/rbdl/include/rbdl/Body.h
@@ -8,11 +8,11 @@
 #ifndef RBDL_BODY_H
 #define RBDL_BODY_H
 
-#include "rbdl/rbdl_math.h"
-#include "rbdl/rbdl_mathutils.h"
+#include <rbdl/rbdl_math.h>
+#include <rbdl/rbdl_mathutils.h>
 #include <assert.h>
 #include <iostream>
-#include "rbdl/Logging.h"
+#include <rbdl/Logging.h>
 
 namespace RigidBodyDynamics {
 
diff --git a/3rdParty/rbdl/include/rbdl/Dynamics.h b/3rdParty/rbdl/include/rbdl/Dynamics.h
index e039bdbb0c54f32871aae13656fbcab2eead35e2..b8b31170356af3d0593f4742cd13ca0819c4dccc 100644
--- a/3rdParty/rbdl/include/rbdl/Dynamics.h
+++ b/3rdParty/rbdl/include/rbdl/Dynamics.h
@@ -11,10 +11,10 @@
 #include <assert.h>
 #include <iostream>
 
-#include "rbdl/rbdl_math.h"
-#include "rbdl/rbdl_mathutils.h"
+#include <rbdl/rbdl_math.h>
+#include <rbdl/rbdl_mathutils.h>
 
-#include "rbdl/Logging.h"
+#include <rbdl/Logging.h>
 
 namespace RigidBodyDynamics {
 
diff --git a/3rdParty/rbdl/include/rbdl/Joint.h b/3rdParty/rbdl/include/rbdl/Joint.h
index b8a750889aaf9bc8ea3ce9dcfbbb65400852bd23..79b7a974602e651cfa0e53eaa102655dad003d11 100644
--- a/3rdParty/rbdl/include/rbdl/Joint.h
+++ b/3rdParty/rbdl/include/rbdl/Joint.h
@@ -8,10 +8,10 @@
 #ifndef RBDL_JOINT_H
 #define RBDL_JOINT_H
 
-#include "rbdl/rbdl_math.h"
+#include <rbdl/rbdl_math.h>
 #include <assert.h>
 #include <iostream>
-#include "rbdl/Logging.h"
+#include <rbdl/Logging.h>
 
 namespace RigidBodyDynamics {
 
diff --git a/3rdParty/rbdl/include/rbdl/Kinematics.h b/3rdParty/rbdl/include/rbdl/Kinematics.h
index f283bbd67c29f9d224391cbcc1126d27652435e0..dd751b0dcd9bb1caeee627682a34d4498452e6a1 100644
--- a/3rdParty/rbdl/include/rbdl/Kinematics.h
+++ b/3rdParty/rbdl/include/rbdl/Kinematics.h
@@ -8,10 +8,10 @@
 #ifndef RBDL_KINEMATICS_H
 #define RBDL_KINEMATICS_H
 
-#include "rbdl/rbdl_math.h"
+#include <rbdl/rbdl_math.h>
 #include <assert.h>
 #include <iostream>
-#include "rbdl/Logging.h"
+#include <rbdl/Logging.h>
 
 namespace RigidBodyDynamics {
 
diff --git a/3rdParty/rbdl/include/rbdl/Model.h b/3rdParty/rbdl/include/rbdl/Model.h
index f479b97c8da0cde1866c771bf01ab95075f6599a..430de42e2348e15541f810429ac69e600c779405 100644
--- a/3rdParty/rbdl/include/rbdl/Model.h
+++ b/3rdParty/rbdl/include/rbdl/Model.h
@@ -8,7 +8,7 @@
 #ifndef RBDL_MODEL_H
 #define RBDL_MODEL_H
 
-#include "rbdl/rbdl_math.h"
+#include <rbdl/rbdl_math.h>
 #include <map>
 #include <list>
 #include <assert.h>
@@ -16,9 +16,9 @@
 #include <limits>
 #include <cstring>
 
-#include "rbdl/Logging.h"
-#include "rbdl/Joint.h"
-#include "rbdl/Body.h"
+#include <rbdl/Logging.h>
+#include <rbdl/Joint.h>
+#include <rbdl/Body.h>
 
 // std::vectors containing any objects that have Eigen matrices or vectors
 // as members need to have a special allocater. This can be achieved with
diff --git a/3rdParty/rbdl/include/rbdl/rbdl.h b/3rdParty/rbdl/include/rbdl/rbdl.h
index baccd7703f5c616c39da8e7641c356412b123a59..fa04955c3e5d4c553063dd0d48fee306ca0c3050 100644
--- a/3rdParty/rbdl/include/rbdl/rbdl.h
+++ b/3rdParty/rbdl/include/rbdl/rbdl.h
@@ -8,19 +8,19 @@
 #ifndef RBDL_H
 #define RBDL_H
 
-#include "rbdl/rbdl_math.h"
-#include "rbdl/rbdl_mathutils.h"
+#include <rbdl/rbdl_math.h>
+#include <rbdl/rbdl_mathutils.h>
 
-#include "rbdl/Logging.h"
+#include <rbdl/Logging.h>
 
-#include "rbdl/Body.h"
-#include "rbdl/Model.h"
-#include "rbdl/Dynamics.h"
-#include "rbdl/Joint.h"
-#include "rbdl/Kinematics.h"
-#include "rbdl/Constraints.h"
+#include <rbdl/Body.h>
+#include <rbdl/Model.h>
+#include <rbdl/Dynamics.h>
+#include <rbdl/Joint.h>
+#include <rbdl/Kinematics.h>
+#include <rbdl/Constraints.h>
 
-#include "rbdl/rbdl_utils.h"
+#include <rbdl/rbdl_utils.h>
 
 /** \page api_version_checking_page API Changes
  * @{
diff --git a/3rdParty/rbdl/include/rbdl/rbdl_math.h b/3rdParty/rbdl/include/rbdl/rbdl_math.h
index adf628f2e98a24886d32ef0fc60219b2be8998ab..418bec1ebfd3638d1b00f67c88abbbe2d18bf82b 100644
--- a/3rdParty/rbdl/include/rbdl/rbdl_math.h
+++ b/3rdParty/rbdl/include/rbdl/rbdl_math.h
@@ -8,16 +8,16 @@
 #ifndef RBDL_MATH_H
 #define RBDL_MATH_H
 
-#include "rbdl/rbdl_config.h"
+#include <rbdl/rbdl_config.h>
 
 #ifdef RBDL_USE_SIMPLE_MATH
-#include "rbdl/SimpleMath/SimpleMathFixed.h"
-#include "rbdl/SimpleMath/SimpleMathDynamic.h"
-#include "rbdl/SimpleMath/SimpleMathMixed.h"
-#include "rbdl/SimpleMath/SimpleMathQR.h"
-#include "rbdl/SimpleMath/SimpleMathCholesky.h"
-#include "rbdl/SimpleMath/SimpleMathCommaInitializer.h"
-#include "rbdl/SimpleMath/SimpleMathMap.h"
+#include <rbdl/SimpleMath/SimpleMathFixed.h>
+#include <rbdl/SimpleMath/SimpleMathDynamic.h>
+#include <rbdl/SimpleMath/SimpleMathMixed.h>
+#include <rbdl/SimpleMath/SimpleMathQR.h>
+#include <rbdl/SimpleMath/SimpleMathCholesky.h>
+#include <rbdl/SimpleMath/SimpleMathCommaInitializer.h>
+#include <rbdl/SimpleMath/SimpleMathMap.h>
 #include <vector>
 
 typedef SimpleMath::Fixed::Matrix<double, 2,1> Vector2_t;
@@ -39,7 +39,7 @@ typedef SimpleMath::Dynamic::Matrix<double> VectorN_t;
 #include <Eigen/StdVector>
 #include <Eigen/QR>
 
-#include "rbdl/rbdl_eigenmath.h"
+#include <rbdl/rbdl_eigenmath.h>
 
 typedef Eigen::Matrix<double, 6, 3> Matrix63_t;
 typedef Eigen::Matrix<double, 4, 3> Matrix43_t;
@@ -66,8 +66,8 @@ typedef MatrixN_t MatrixNd;
 
 } /* RigidBodyDynamics */
 
-#include "rbdl/Quaternion.h"
-#include "rbdl/SpatialAlgebraOperators.h"
+#include <rbdl/Quaternion.h>
+#include <rbdl/SpatialAlgebraOperators.h>
 
 // If we use Eigen3 we have to create specializations of the STL
 // std::vector such that the alignment is done properly.
diff --git a/3rdParty/rbdl/include/rbdl/rbdl_mathutils.h b/3rdParty/rbdl/include/rbdl/rbdl_mathutils.h
index 8a791784aa9df09f4aa366b51ca2e4c5747a9968..80d3fc38396d399989174c899a95272e76766109 100644
--- a/3rdParty/rbdl/include/rbdl/rbdl_mathutils.h
+++ b/3rdParty/rbdl/include/rbdl/rbdl_mathutils.h
@@ -11,7 +11,7 @@
 #include <assert.h>
 #include <cmath>
 
-#include "rbdl/rbdl_math.h"
+#include <rbdl/rbdl_math.h>
 
 namespace RigidBodyDynamics {
 struct Model;
diff --git a/3rdParty/rbdl/tests/Fixtures.h b/3rdParty/rbdl/tests/Fixtures.h
index 2487d7999fb7c5d560b4fa77f8cd4d5b3a3fbc60..1e81b749a00a115132106607d4659fdf836966ba 100644
--- a/3rdParty/rbdl/tests/Fixtures.h
+++ b/3rdParty/rbdl/tests/Fixtures.h
@@ -1,4 +1,4 @@
-#include "rbdl/rbdl.h"
+#include <rbdl/rbdl.h>
 
 struct FixedBase3DoF {
   FixedBase3DoF () {
diff --git a/3rdParty/rbdl/tests/Human36Fixture.h b/3rdParty/rbdl/tests/Human36Fixture.h
index 088cb7f3d4dc4631a10d63c2c9a409b29205f5cf..cc1ced9f7555d74e0dda6104daa67b476b1e02aa 100644
--- a/3rdParty/rbdl/tests/Human36Fixture.h
+++ b/3rdParty/rbdl/tests/Human36Fixture.h
@@ -1,7 +1,7 @@
 #ifndef RBDL_HUMAN36_FIXTURE
 #define RBDL_HUMAN36_FIXTURE
 
-#include "rbdl/rbdl.h"
+#include <rbdl/rbdl.h>
 
 struct Human36 {
   RigidBodyDynamics::Model *model;
diff --git a/3rdParty/rbdl/tests/PendulumModels.h b/3rdParty/rbdl/tests/PendulumModels.h
index a3071a2be15f41c996609e54ca4e05a8796d8388..3cd7614bba6af55a3e40d11afab762a578f58486 100644
--- a/3rdParty/rbdl/tests/PendulumModels.h
+++ b/3rdParty/rbdl/tests/PendulumModels.h
@@ -1,4 +1,4 @@
-#include "rbdl/rbdl.h"
+#include <rbdl/rbdl.h>
 
 struct DoublePerpendicularPendulumJointCoordinates {
   DoublePerpendicularPendulumJointCoordinates()