diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 764c797c11c2bc7e48ad64ca0ee0173197613e92..186941026aeb48777acad71d3a3ef969b858dc98 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -21,6 +21,7 @@ add_subdirectory(aron_component_config)
 add_subdirectory(armem)
 add_subdirectory(armem_grasping)
 add_subdirectory(armem_gui)
+add_subdirectory(armem_locations)
 add_subdirectory(armem_motions)
 add_subdirectory(armem_mps)
 add_subdirectory(armem_objects)
diff --git a/source/RobotAPI/libraries/armem_locations/CMakeLists.txt b/source/RobotAPI/libraries/armem_locations/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22d418142d784080f8f4f99410a25a272d5c628f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/CMakeLists.txt
@@ -0,0 +1,30 @@
+set(LIB_NAME       armem_locations)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+    LIBS     
+        ArmarXCoreInterfaces
+        ArmarXCore
+        ArmarXCoreObservers
+
+        RobotAPI::Core
+        RobotAPI::armem
+        # aronjsonconverter
+    SOURCES  
+        ./aron_conversions.cpp
+
+    HEADERS  
+        ./aron_conversions.h
+)
+
+armarx_enable_aron_file_generation_for_target(
+    TARGET_NAME
+        "${LIB_NAME}"
+    ARON_FILES
+        aron/Location.xml
+)
+
+
+add_library(RobotAPI::armem_locations ALIAS armem_locations)
diff --git a/source/RobotAPI/libraries/armem_locations/aron/Location.xml b/source/RobotAPI/libraries/armem_locations/aron/Location.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9a0539d5d40a3b3b91dc32ad2034077a815437ff
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/aron/Location.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <CodeIncludes>
+    </CodeIncludes>
+    <AronIncludes>
+        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <!--
+        ToDo: Model regions. Ideas:
+        - Polygon (convex, non-convex)
+        -
+        -->
+
+
+        <Object name='armarx::navigation::location::arondto::ObjectRelativeLocation'>
+
+            <ObjectChild key='objectInstanceID'>
+                <armarx::armem::arondto::MemoryID />
+            </ObjectChild>
+
+            <ObjectChild key='relativeRobotPose'>
+                <Pose />
+            </ObjectChild>
+
+        </Object>
+
+
+        <Object name='armarx::navigation::location::arondto::Location'>
+
+            <ObjectChild key='globalRobotPose'>
+                <Pose />
+            </ObjectChild>
+
+            <ObjectChild key='relativeToObject'>
+                <armarx::navigation::location::arondto::ObjectRelativeLocation optional="true" />
+            </ObjectChild>
+
+        </Object>
+
+    </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_locations/aron_conversions.cpp b/source/RobotAPI/libraries/armem_locations/aron_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..50ef19ce29d8432970e47071ac3dc4358cef6745
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/aron_conversions.cpp
@@ -0,0 +1,6 @@
+#include "aron_conversions.h"
+
+namespace armarx::armem
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem_locations/aron_conversions.h b/source/RobotAPI/libraries/armem_locations/aron_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..93e57fbcecc4f1e8347559d300a7a9272b24555b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/aron_conversions.h
@@ -0,0 +1,7 @@
+#pragma once
+
+
+namespace armarx::armem
+{
+
+}