diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
index 714a8edc0cca48ed70f37dd100950b76be92c4f7..21b71d9a2300a859275cfa57d581c99123efcb10 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
@@ -4,12 +4,12 @@ ARON DTO of armarx::objpose::ObjectPose.
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
 
-    <Includes>
-        <Include package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
-        <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
-        <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectType.xml" />
-        <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/PoseManifoldGaussian.xml" />
-    </Includes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
+        <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
+        <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectType.xml" />
+        <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/PoseManifoldGaussian.xml" />
+    </AronIncludes>
 
     <GenerateTypes>
 
diff --git a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
index d38cd43a32aef5e1db68e1ae8a35860c9349a97f..11060aebdcb96e2283b1f9c3adc54946c03bb3d1 100644
--- a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
+++ b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <Includes>
-        <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
-    </Includes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+    </AronIncludes>
 
     <GenerateTypes>
         <Object name="armarx::armem::arondto::MemoryLink" template="T">
diff --git a/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml b/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml
index dc4428a4d31b76035bbd40304dae9f6eb3f5253a..a03dc5b5d0ce7cb25e1b7a94feb41a3f04bff6d3 100644
--- a/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml
+++ b/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml
@@ -3,11 +3,11 @@
 <AronTypeDefinition>
 
   <CodeIncludes>
-    <Include include="<Eigen/Core>" />
+    <SystemInclude include="Eigen/Core" />
   </CodeIncludes>
 
   <AronIncludes>
-    <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+    <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml"/>
   </AronIncludes>
 
   <GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
index 43c864165e99a8b0a400a45cf790ec4310a5483c..928df4b4e0215ad4a5c6dfc5365fe6cc89088288 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
@@ -1,9 +1,9 @@
 <!--This class contains the data structure for ObjectPose -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-     <Includes>
-        <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
-    </Includes>
+     <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+    </AronIncludes>
     <GenerateTypes>
 
         <Object name="armarx::armem::arondto::attachment::AgentDescription">
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index cb3c418e68b53cb24b781b22ff057386f995d2dc..a90821817037a2deb733474743f33221048ab24b 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -3,21 +3,13 @@ Core segment type of Object/Class.
 -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <CodeIncludes>
-        <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>" />
-        <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>" />
-        <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
-        <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>" />
-        <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.aron.generated.h>" />
-        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
-    </CodeIncludes>
     <AronIncludes>
-        <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml>" />
-        <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" />
-        <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
-        <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" />
-        <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml>" />
-        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+        <PackagePath package="RobotAPI" path="libraries/aron/common/aron/AxisAlignedBoundingBox.xml" />
+        <PackagePath package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
+        <PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
+        <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
+        <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectNames.xml" />
+        <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
     </AronIncludes>
     <GenerateTypes>
 
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
index 27acad2fa236d09663b1f1f605ae915b0b34d7d8..03c63a12f9fb091bc266133fecf4fd2b87edbf67 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
@@ -3,10 +3,10 @@ Core segment type of Object/Instance.
 -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <Includes>
-        <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectPose.xml" />
-        <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
-    </Includes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectPose.xml" />
+        <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+    </AronIncludes>
 
     <GenerateTypes>
 
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 6ba35fd2042b04540721c95c1b48d566ad9d3d5a..46fe311e31ce6a9f80650d2178a2a425f08e17c5 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -153,7 +153,7 @@ namespace armarx::armem::server::obj::instance
         stats.numUpdated = 0;
 
         // timestamp used to reduce the rpc calls for robot sync 
-        Time robotSyncTimestamp = -1;
+        Time robotSyncTimestamp = Time::Invalid();
 
         for (const objpose::data::ProvidedObjectPose& provided : providedPoses)
         {
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
index 1767413e76d00aaeaf076da7cdae8236d4f7ee5e..ababa79c7176bb2b8fed68c00d34a59d2b353d36 100644
--- a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
+++ b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
 
-    <Includes>
-        <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
-    </Includes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+    </AronIncludes>
 
     <GenerateTypes>
         <Object name='armarx::reasoning::arondto::Anticipation'>
diff --git a/source/RobotAPI/libraries/armem_robot/aron/Robot.xml b/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
index 95227b98ba9a66db9552c5de413651de6a5ee8a9..7303d707d40e0f742a7faa2c9d1b8e4a9b561714 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
@@ -1,11 +1,11 @@
 <!--This class contains the data structure for ObjectPose -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <Includes>
-        <Include package="RobotAPI" path="libraries/armem_robot/aron/RobotDescription.xml" />
-        <Include package="RobotAPI" path="libraries/armem_robot/aron/RobotState.xml" />
-        <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
-    </Includes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/armem_robot/aron/RobotDescription.xml" />
+        <PackagePath package="RobotAPI" path="libraries/armem_robot/aron/RobotState.xml" />
+        <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+    </AronIncludes>
 
     <GenerateTypes>
 
diff --git a/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml b/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
index 727a9b831a998c7b16dc25a27df94f48549fa51b..f3326b90e514c9a802a79d19851d158d93e2b845 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
@@ -1,9 +1,10 @@
 <!--This class cotains information on how to create a VirtualRobot::Robot -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <Includes>
-        <Include package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
-    </Includes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
+    </AronIncludes>
+
     <GenerateTypes>
 
         <Object name='armarx::armem::arondto::RobotDescription'>
diff --git a/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml b/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml
index eaf9b41a75f58cfe9b5a9cedbbdfcb5bd6774499..d5db402107325d0bdf788006bc1846a45d369b86 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml
@@ -2,7 +2,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
     <CodeIncludes>
-        <Include include="<Eigen/Core>" />
+        <SystemInclude include="<Eigen/Core>" />
     </CodeIncludes>
     <GenerateTypes>
 
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
index da176a1f9224e986b510abd5f73286f84d3e3802..c7ac7670d399329bb6674dad3243a048153534f8 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
@@ -4,8 +4,8 @@
 -->
 <AronTypeDefinition>
     <CodeIncludes>
-        <Include include="<Eigen/Core>" />
-        <Include include="<Eigen/Geometry>" />
+        <SystemInclude include="Eigen/Core" />
+        <SystemInclude include="Eigen/Geometry" />
     </CodeIncludes>
 
     <GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
index 6408b9a11e353bc6c50e2893f285f99b9b613989..2fdbe01dd297a7f450c669f843be982b67761d0b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
@@ -1,10 +1,12 @@
 <!--This class contains the data structure for ObjectPose -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <Includes>
+    <CodeIncludes>
         <SystemInclude include="Eigen/Core" />
-        <Include package="RobotAPI" path="libraries/armem_robot_state/aron/TransformHeader.xml" />
-    </Includes>
+    </CodeIncludes>
+    <AronIncludes>
+        <PackagePath package="RobotAPI" path="libraries/armem_robot_state/aron/TransformHeader.xml" />
+    </AronIncludes>
 
     <GenerateTypes>
         <Object name="armarx::armem::arondto::Transform">