diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
index e4cfc53a9378f1b7ddfa998df9d91be9b485c1d3..f49cb33c231a20857aa30458b4f7f5f14c05acdc 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
@@ -15,24 +15,10 @@ set(COMPONENT_LIBS
 )
 
 set(SOURCES
-    aron_conversions.cpp
     RobotStateMemory.cpp
-    RobotStateWriter.cpp
-    RobotUnitData.cpp
-    RobotUnitReader.cpp
-
-    RobotUnitConverterInterface.cpp
-    Armar6RobotUnitConverter.cpp
 )
 set(HEADERS
-    aron_conversions.h
     RobotStateMemory.h
-    RobotStateWriter.h
-    RobotUnitData.h
-    RobotUnitReader.h
-
-    RobotUnitConverterInterface.h
-    Armar6RobotUnitConverter.h
 )
 
 armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
index f2f96fdd19c1a7d57d4710b0db7f5afa4b73dc96..ccdf435e9ebe82d13c518a8df89907560961c9bd 100644
--- a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
@@ -41,6 +41,13 @@ armarx_add_library(
         server/localization/Segment.h
 
         server/proprioception/Segment.h
+        server/proprioception/aron_conversions.h
+        server/proprioception/RobotStateWriter.h
+        server/proprioception/RobotUnitData.h
+        server/proprioception/RobotUnitReader.h
+
+        server/proprioception/converters/RobotUnitDataConverterInterface.h
+        server/proprioception/converters/Armar6RobotUnitDataConverter.h
 
         server/description/Segment.h
 
@@ -61,6 +68,13 @@ armarx_add_library(
         server/localization/Segment.cpp
 
         server/proprioception/Segment.cpp
+        server/proprioception/aron_conversions.cpp
+        server/proprioception/RobotStateWriter.cpp
+        server/proprioception/RobotUnitData.cpp
+        server/proprioception/RobotUnitReader.cpp
+
+        server/proprioception/converters/RobotUnitDataConverterInterface.cpp
+        server/proprioception/converters/Armar6RobotUnitDataConverter.cpp
 
         server/description/Segment.cpp
 
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.cpp
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.h
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.h
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitData.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitData.cpp
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.cpp
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitData.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitData.h
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitReader.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitReader.cpp
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitReader.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitReader.h
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/aron_conversions.cpp
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.cpp
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/aron_conversions.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/aron_conversions.h
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/Armar6RobotUnitConverter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/Armar6RobotUnitConverter.cpp
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/Armar6RobotUnitConverter.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/Armar6RobotUnitConverter.h
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitConverterInterface.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitConverterInterface.cpp
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitConverterInterface.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/RobotStateMemory/RobotUnitConverterInterface.h
rename to source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h