diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index c269bd56e747159919ce7358739e6964f20d6355..bb49ff3106b5f682cf510802c96401397ac58a46 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -38,7 +38,7 @@
 #include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
 #include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
 
-#include "aron_conversions.h"
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
 
 
 namespace armarx::armem::server::robot_state
@@ -215,7 +215,7 @@ namespace armarx::armem::server::robot_state
         {
             ARMARX_INFO << "Found a configuration file at: " << robotUnit.configPath;
             // A simple self-made parser for the config file. Extend it if you need to.
-            robotUnit.reader.configSensorMapping = RobotUnitReader::readConfig(robotUnit.configPath);
+            robotUnit.reader.configSensorMapping = proprioception::RobotUnitReader::readConfig(robotUnit.configPath);
         }
         else
         {
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index 5a9f0e2e32e3f12ba9cf5ee9ba49c1b496fb09eb..bde3c50aa1e1843365ad04b6c9e78ea47f07ee2f 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -35,13 +35,12 @@
 #include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
 
 #include <RobotAPI/libraries/armem_robot_state/server/description/Segment.h>
-#include <RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h>
 #include <RobotAPI/libraries/armem_robot_state/server/localization/Segment.h>
 #include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
-
-#include "RobotUnitData.h"
-#include "RobotUnitReader.h"
-#include "RobotStateWriter.h"
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h>
 
 
 namespace armarx::plugins
@@ -49,7 +48,6 @@ namespace armarx::plugins
     class DebugObserverComponentPlugin;
     class RobotUnitComponentPlugin;
 }
-
 namespace armarx::armem::server::robot_state
 {
 
@@ -121,11 +119,11 @@ namespace armarx::armem::server::robot_state
             std::string configPath = "NO CONFIG SET";
 
             armarx::plugins::RobotUnitComponentPlugin* plugin = nullptr;
-            RobotUnitReader reader;
-            RobotStateWriter writer;
+            proprioception::RobotUnitReader reader;
+            proprioception::RobotStateWriter writer;
 
             // queue
-            std::queue<RobotUnitData> dataQueue;
+            std::queue<proprioception::RobotUnitData> dataQueue;
             mutable std::mutex dataMutex;
         };
         RobotUnit robotUnit;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
index 39f9bc05bbab144befe114dc9944630cfda76a03..ef0e8242551b742113e0b4d54de2d145ee05ea73 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -42,7 +42,7 @@
 #include <RobotAPI/libraries/armem_robot_state/server/localization/Segment.h>
 
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
 
     void RobotStateWriter::connect(armarx::plugins::DebugObserverComponentPlugin& debugObserver)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h
index 319a76893aeb7747e906c41f6ea2ea291799c692..3f8d33ef8b0c2b18f5515ad130579ec973722877 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h
@@ -48,9 +48,8 @@ namespace armarx::armem::server::robot_state::localization
 {
     class Segment;
 }
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
-
     class RobotStateWriter : public armarx::Logging
     {
     public:
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.cpp
index 9a9b72e2a74203cb9f44dd54796b397770257ecd..4262bf76e634ff03445a7460cd4fd55a4df861d9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.cpp
@@ -3,7 +3,7 @@
 #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
 
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
 
 }
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h
index 5e5f810feb8e2ea63ce1deb563cd09494c481db0..a066754e8ec6b0b45aecdf7a778c41cf01705f78 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h
@@ -4,7 +4,7 @@
 #include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
 
     struct RobotUnitData
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
index b3c7b49baa8ff207034f8b51f054c0f6f0d50610..b26ec93b6ede6338aeadb5ac604e10ed13d0ca57 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
@@ -1,14 +1,13 @@
 #include "RobotUnitReader.h"
 
-#include "aron_conversions.h"
-#include "Armar6RobotUnitConverter.h"
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
 #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
 #include <RobotAPI/libraries/aron/core/navigator/data/primitive/Long.h>
 #include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
 
-#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
-
 #include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
 
 #include <ArmarXCore/core/time/CycleUtil.h>
@@ -21,7 +20,7 @@
 #include <fstream>
 
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
 
     std::map<std::string, std::string> RobotUnitReader::readConfig(const std::string& configPath)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
index 30bb083bcdb701c5aa73223cb73e03488733e6b8..97574b00b0b9627110cb3dc449b18592fd31df24 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
@@ -14,7 +14,7 @@
 #include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
 
 #include "RobotUnitData.h"
-#include "RobotUnitConverterInterface.h"
+#include "converters/RobotUnitDataConverterInterface.h"
 
 
 namespace armarx::plugins
@@ -27,10 +27,8 @@ namespace armarx
     using RobotUnitDataStreamingReceiverPtr = std::shared_ptr<class RobotUnitDataStreamingReceiver>;
 }
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
-    class Armar6RobotUnitConverter;
-
     class RobotUnitReader : public armarx::Logging
     {
     public:
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp
index 0a56703f5f71820f625a8d30c0aaec065fef0b46..6054259a5cae0080c825edda22591709796cdcc8 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp
@@ -1,4 +1,4 @@
-#include "Armar6RobotUnitConverter.h"
+#include "Armar6RobotUnitDataConverter.h"
 
 #include <SimoxUtility/algorithm/get_map_keys_values.h>
 #include <SimoxUtility/algorithm/advanced.h>
@@ -6,7 +6,7 @@
 #include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
 
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
 
     Armar6RobotUnitConverter::Armar6RobotUnitConverter()
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h
index 0e4b1c0c7b12fe67305d5b7b4636a00407f836a1..4f987564908deba680289affca47fb2793449219 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h
@@ -7,23 +7,12 @@
 
 #include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
-#include "RobotUnitConverterInterface.h"
+#include "RobotUnitDataConverterInterface.h"
 
 
-namespace armarx::armem::server::robot_state
+namespace armarx::armem::server::robot_state::proprioception
 {
 
-    class Setter
-    {
-
-    };
-
-    class Vector3Setter
-    {
-
-    };
-
-
     class Armar6RobotUnitConverter : public RobotUnitConverterInterface
     {
         struct Value;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp
index b72742bbcf54c42cd1c804aaf2134a7962829425..f4f1fb9149b872ec38eb95a0500079958a2c1608 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp
@@ -1,4 +1,4 @@
-#include "RobotUnitConverterInterface.h"
+#include "RobotUnitDataConverterInterface.h"
 
 
 namespace armarx::armem::server::robot_state