diff --git a/cpp/CMakeLists.txt b/cpp/CMakeLists.txt
index 1a220cc..ada9ac4 100644
--- a/cpp/CMakeLists.txt
+++ b/cpp/CMakeLists.txt
@@ -1,6 +1,19 @@
-
-
-set(ICUB_MODELS_MODELS_PATH ${CMAKE_INSTALL_PREFIX}/share/iCub/robots)
+# Handle relocatability via reloc-cpp
+option(ICUB_MODELS_USE_SYSTEM_RELOC_CPP "Use system reloc-cpp" OFF)
+mark_as_advanced(ICUB_MODELS_USE_SYSTEM_RELOC_CPP)
+if(ICUB_MODELS_USE_SYSTEM_RELOC_CPP)
+  find_package(reloc-cpp REQUIRED)
+else()
+  include(FetchContent)
+  FetchContent_Declare(
+    reloc-cpp
+    GIT_REPOSITORY https://github.com/ami-iit/reloc-cpp.git
+    GIT_TAG        v0.1.0
+  )
+  FetchContent_MakeAvailable(reloc-cpp)
+endif()
+
+set(ICUB_MODELS_MODELS_RELATIVE_PATH share/iCub/robots)
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/src/iCubModels.cpp.in
                ${CMAKE_CURRENT_BINARY_DIR}/autogenerated/iCubModels.cpp
                @ONLY)
@@ -30,6 +43,11 @@ target_include_directories(${LIBRARY_TARGET_NAME} PUBLIC "$<BUILD_INTERFACE:${CM
                                                          
 target_compile_features(${LIBRARY_TARGET_NAME} PUBLIC cxx_std_11)
 
+reloc_cpp_generate(${LIBRARY_TARGET_NAME}
+                   GENERATED_HEADER ${CMAKE_CURRENT_BINARY_DIR}/iCubModelsGetInstallPrefix.h
+                   GENERATED_FUNCTION iCubModels::getInstallPrefix)
+target_include_directories(${LIBRARY_TARGET_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
 install(TARGETS ${LIBRARY_TARGET_NAME}
         EXPORT  ${PROJECT_NAME}
         LIBRARY       DESTINATION "${CMAKE_INSTALL_LIBDIR}"                            COMPONENT shlib
diff --git a/cpp/src/iCubModels.cpp.in b/cpp/src/iCubModels.cpp.in
index 4e6d5b4..8e9237e 100644
--- a/cpp/src/iCubModels.cpp.in
+++ b/cpp/src/iCubModels.cpp.in
@@ -7,19 +7,17 @@
 
 #include <iCubModels/iCubModels.h>
 
+#include <iCubModelsGetInstallPrefix.h>
+#include <filesystem>
+
 #include <algorithm>
 
 namespace iCubModels
 {
 std::string getModelsPath()
 {
-    std::string retstr = "@ICUB_MODELS_MODELS_PATH@";
-    // Sometimes the relocation of the C++ library in conda or similar systems is not working correctly
-    // and is leaving at the end of the retstr many \0 characters. To be sure not to return a faulty
-    // string, we remove all the trailing \0
-    // See https://github.com/ami-iit/bipedal-locomotion-framework/pull/526
-    retstr.erase(std::find(retstr.begin(), retstr.end(), '\0'), retstr.end());
-    return retstr;
+    std::filesystem::path ret = std::filesystem::path(iCubModels::getInstallPrefix().value()) / std::filesystem::path("@ICUB_MODELS_MODELS_RELATIVE_PATH@");
+    return ret.string();
 }
 
 std::unordered_set<std::string> getRobotNames()