diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9e053c6301acd4d10d684ed494f091172f7d6a1..7290a6ef52352cd1dbf49a41649cf50d43969b36 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,16 +122,16 @@ include_directories(
 #add_library(${robot_models}
  # src/${robot_models}/robot_models.cpp
 #)
-add_library(abstractobject src/grasping/environment_util.cpp src/datalink/abstractobject.h)
-add_library(graspobject src/grasping/grasp_util.cpp src/datalink/graspobject.h)
-add_library(hand src/grasping/grasp_util.cpp src/datalink/hand.h)
-add_library(humanspace src/grasping/grasp_util.cpp src/datalink/humanspace.h)
-add_library(joint src/grasping/grasp_util.cpp src/datalink/joint.h)
-add_library(obstacle src/grasping/grasp_util.cpp src/datalink/obstacle.h)
-add_library(robot src/grasping/grasp_util.cpp src/datalink/robot.h)
-add_library(robotfpe src/grasping/grasp_util.cpp src/datalink/robotfpe.h)
-add_library(world src/grasping/grasp_util.cpp src/datalink/world.h)
-add_library(worldobject src/grasping/grasp_util.cpp src/datalink/worldobject.h)
+add_library(abstractobject src/datalink/robot_models_node.cpp src/datalink/abstractobject.h)
+add_library(graspobject src/datalink/robot_models_node.cpp src/datalink/graspobject.h)
+add_library(hand src/datalink/robot_models_node.cpp src/datalink/hand.h)
+add_library(humanspace src/datalink/robot_models_node.cpp src/datalink/humanspace.h)
+add_library(joint src/datalink/robot_models_node.cpp src/datalink/joint.h)
+add_library(obstacle src/datalink/robot_models_node.cpp src/datalink/obstacle.h)
+add_library(robot src/datalink/robot_models_node.cpp src/datalink/robot.h)
+add_library(robotfpe src/datalink/robot_models_node.cpp src/datalink/robotfpe.h)
+add_library(world src/datalink/robot_models_node.cpp src/datalink/world.h)
+add_library(worldobject src/datalink/robot_models_node.cpp src/datalink/worldobject.h)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries