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 ef0e8242551b742113e0b4d54de2d145ee05ea73..99592121e53dcf277d34772cae474727bcb594f9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -47,12 +47,9 @@ namespace armarx::armem::server::robot_state::proprioception
 
     void RobotStateWriter::connect(armarx::plugins::DebugObserverComponentPlugin& debugObserver)
     {
-        {
-            // Thread-local copy of debug observer helper.
-            this->debugObserver = DebugObserverHelper(
-                                      Logging::tag.tagName, debugObserver.getDebugObserver(), true
-                                  );
-        }
+        // Thread-local copy of debug observer helper.
+        this->debugObserver =
+            DebugObserverHelper(Logging::tag.tagName, debugObserver.getDebugObserver(), true);
     }
 
 
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 b26ec93b6ede6338aeadb5ac604e10ed13d0ca57..c0856f4da874865c60428cc0e90ba9f0e7045dd1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
@@ -63,7 +63,7 @@ namespace armarx::armem::server::robot_state::proprioception
 
 
     RobotUnitReader::RobotUnitReader() :
-        converter(new Armar6RobotUnitConverter())
+        converter(new Armar6RobotUnitDataConverter())
     {
     }
 
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 97574b00b0b9627110cb3dc449b18592fd31df24..6301db171e2714941254616550f40a57f46e4bcf 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
@@ -77,7 +77,7 @@ namespace armarx::armem::server::robot_state::proprioception
 
         /// RobotUnit name -> group name.
         std::map<std::string, std::string> configSensorMapping;
-        std::unique_ptr<RobotUnitConverterInterface> converter;
+        std::unique_ptr<RobotUnitDataConverterInterface> converter;
 
         armarx::SimpleRunningTask<>::pointer_type task = nullptr;
 
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 6054259a5cae0080c825edda22591709796cdcc8..292bd120fe2c4e1ab45032da255aef5f31177c65 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
@@ -9,7 +9,7 @@
 namespace armarx::armem::server::robot_state::proprioception
 {
 
-    Armar6RobotUnitConverter::Armar6RobotUnitConverter()
+    Armar6RobotUnitDataConverter::Armar6RobotUnitDataConverter()
     {
         {
             vector3fSetters["X"] = [](Eigen::Vector3f & v, float f)
@@ -159,12 +159,12 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    Armar6RobotUnitConverter::~Armar6RobotUnitConverter()
+    Armar6RobotUnitDataConverter::~Armar6RobotUnitDataConverter()
     {
     }
 
 
-    arondto::Proprioception Armar6RobotUnitConverter::convert(
+    arondto::Proprioception Armar6RobotUnitDataConverter::convert(
         const RobotUnitDataStreaming::TimeStep& data,
         const RobotUnitDataStreaming::DataStreamingDescription& description)
     {
@@ -179,10 +179,10 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    void Armar6RobotUnitConverter::process(
+    void Armar6RobotUnitDataConverter::process(
         arondto::Proprioception dto,
         const std::string& entryName,
-        const Armar6RobotUnitConverter::Value& value)
+        const Armar6RobotUnitDataConverter::Value& value)
     {
         const std::vector<std::string> split = simox::alg::split(entryName, ".", false, false);
         ARMARX_CHECK_GREATER_EQUAL(split.size(), 3);
@@ -273,7 +273,7 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    void Armar6RobotUnitConverter::processPlatformEntry(
+    void Armar6RobotUnitDataConverter::processPlatformEntry(
         prop::arondto::Platform& dto,
         const std::string& fieldName,
         const Value& value)
@@ -300,7 +300,7 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    void Armar6RobotUnitConverter::processForceTorqueEntry(
+    void Armar6RobotUnitDataConverter::processForceTorqueEntry(
         std::map<std::string, prop::arondto::ForceTorque>& fts,
         const std::vector<std::string>& split,
         const Value& value)
@@ -318,7 +318,7 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    void Armar6RobotUnitConverter::processForceTorqueEntry(
+    void Armar6RobotUnitDataConverter::processForceTorqueEntry(
         prop::arondto::ForceTorque& dto,
         const std::vector<std::string>& split,
         const Value& value)
@@ -345,7 +345,7 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    bool Armar6RobotUnitConverter::processJointEntry(
+    bool Armar6RobotUnitDataConverter::processJointEntry(
         prop::arondto::Joints& dto,
         const std::vector<std::string>& split,
         const Value& value)
@@ -387,7 +387,7 @@ namespace armarx::armem::server::robot_state::proprioception
 
 
     template<class T>
-    T Armar6RobotUnitConverter::getValueAs(const Value& value)
+    T Armar6RobotUnitDataConverter::getValueAs(const Value& value)
     {
         return RobotUnitDataStreamingReceiver::GetAs<T>(value.data, value.entry);
     }
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 4f987564908deba680289affca47fb2793449219..71d06cfb2ea90b31725dbff23000d4adc0c6183e 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
@@ -13,14 +13,14 @@
 namespace armarx::armem::server::robot_state::proprioception
 {
 
-    class Armar6RobotUnitConverter : public RobotUnitConverterInterface
+    class Armar6RobotUnitDataConverter : public RobotUnitDataConverterInterface
     {
         struct Value;
 
     public:
 
-        Armar6RobotUnitConverter();
-        virtual ~Armar6RobotUnitConverter() override;
+        Armar6RobotUnitDataConverter();
+        virtual ~Armar6RobotUnitDataConverter() override;
 
 
         arondto::Proprioception convert(
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 f4f1fb9149b872ec38eb95a0500079958a2c1608..740f37b3bbc4a8d7225a9e4888cd66cbc1972a16 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
@@ -4,7 +4,7 @@
 namespace armarx::armem::server::robot_state
 {
 
-    RobotUnitConverterInterface::~RobotUnitConverterInterface()
+    RobotUnitDataConverterInterface::~RobotUnitDataConverterInterface()
     {
 
     }
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h
index f7ba3fcbfe2aa94ac02e37d45d1dda7c1e5f645e..7ff34a1dc0379621607d0223c8c7aca44240bdc1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h
@@ -14,11 +14,11 @@ namespace armarx::armem::arondto
 
 namespace armarx::armem::server::robot_state
 {
-    class RobotUnitConverterInterface
+    class RobotUnitDataConverterInterface
     {
     public:
 
-        virtual ~RobotUnitConverterInterface();
+        virtual ~RobotUnitDataConverterInterface();
 
         virtual arondto::Proprioception convert(
             const RobotUnitDataStreaming::TimeStep& data,