Changed the installation paths.

Finddarwin_arm_kinematics.cmake

 #edit the following line to add the librarie's header files
-FIND_PATH(darwin_arm_kinematics_INCLUDE_DIR darwin_arm_kinematics.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(darwin_arm_kinematics_INCLUDE_DIR darwin_arm_kinematics.h /usr/include/iri/darwin_robot_driver /usr/local/include/iri/darwin_robot_driver)
 
 FIND_LIBRARY(darwin_arm_kinematics_LIBRARY
     NAMES darwin_arm_kinematics
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib/iri/darwin_robot_driver /usr/local/lib/iri/darwin_robot_driver) 
 
 IF (darwin_arm_kinematics_INCLUDE_DIR AND darwin_arm_kinematics_LIBRARY)
    SET(darwin_arm_kinematics_FOUND TRUE)

Finddarwin_leg_kinematics.cmake

 #edit the following line to add the librarie's header files
-FIND_PATH(darwin_leg_kinematics_INCLUDE_DIR darwin_leg_kinematics.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(darwin_leg_kinematics_INCLUDE_DIR darwin_leg_kinematics.h /usr/include/iri/darwin_robot_driver /usr/local/include/iri/darwin_robot_driver)
 
 FIND_LIBRARY(darwin_leg_kinematics_LIBRARY
     NAMES darwin_leg_kinematics
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib/iri/darwin_robot_driver /usr/local/lib/iri/darwin_robot_driver) 
 
 IF (darwin_leg_kinematics_INCLUDE_DIR AND darwin_leg_kinematics_LIBRARY)
    SET(darwin_leg_kinematics_FOUND TRUE)

Finddarwin_robot.cmake

 #edit the following line to add the librarie's header files
-FIND_PATH(darwin_robot_INCLUDE_DIR darwin_robot_base.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(darwin_robot_INCLUDE_DIR darwin_robot_base.h /usr/include/iri/darwin_robot_driver /usr/local/include/iri/darwin_robot_driver)
 
 FIND_LIBRARY(darwin_robot_LIBRARY
     NAMES darwin_robot
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib/iri/darwin_robot_driver /usr/local/lib/iri/darwin_robot_driver) 
 
 IF (darwin_robot_INCLUDE_DIR AND darwin_robot_LIBRARY)
    SET(darwin_robot_FOUND TRUE)

src/CMakeLists.txt

@@ -73,24 +73,24 @@ SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
 
 INSTALL(TARGETS darwin_robot 
         RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib/iridrivers
-        ARCHIVE DESTINATION lib/iridrivers)
-INSTALL(FILES ${robot_headers} DESTINATION include/iridrivers)
-INSTALL(FILES ../include/darwin_registers.h DESTINATION include/iridrivers)
+	LIBRARY DESTINATION lib/iri/darwin_robot_driver
+	ARCHIVE DESTINATION lib/iri/darwin_robot_driver)
+INSTALL(FILES ${robot_headers} DESTINATION include/iri/darwin_robot_driver)
+INSTALL(FILES ../include/darwin_registers.h DESTINATION include/iri/darwin_robot_driver)
 IF(KDL_FOUND)
-  INSTALL(FILES ${kin_arm_headers} DESTINATION include/iridrivers)
+	INSTALL(FILES ${kin_arm_headers} DESTINATION include/iri/darwin_robot_driver)
   INSTALL(TARGETS darwin_arm_kinematics
           RUNTIME DESTINATION bin
-          LIBRARY DESTINATION lib/iridrivers
-          ARCHIVE DESTINATION lib/iridrivers)
+	  LIBRARY DESTINATION lib/iri/darwin_robot_driver
+	  ARCHIVE DESTINATION lib/iri/darwin_robot_driver)
   INSTALL(FILES ../Finddarwin_arm_kinematics.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 ENDIF(KDL_FOUND)
 IF(EIGEN3_FOUND)
-  INSTALL(FILES ${kin_leg_headers} DESTINATION include/iridrivers)
+	INSTALL(FILES ${kin_leg_headers} DESTINATION include/iri/darwin_robot_driver)
   INSTALL(TARGETS darwin_leg_kinematics
           RUNTIME DESTINATION bin
-          LIBRARY DESTINATION lib/iridrivers
-          ARCHIVE DESTINATION lib/iridrivers)
+	  LIBRARY DESTINATION lib/iri/darwin_robot_driver
+	  ARCHIVE DESTINATION lib/iri/darwin_robot_driver)
   INSTALL(FILES ../Finddarwin_leg_kinematics.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 ENDIF(EIGEN3_FOUND)
 INSTALL(FILES ../Finddarwin_robot.cmake DESTINATION ${CMAKE_ROOT}/Modules/)