diff --git a/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml b/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml
index 7475c63a5e3cedd6197457a2674e7dffb83db86a..21bcc2e7a9f1a34c1fb0cd9fce5f306c94145d4a 100644
--- a/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml
+++ b/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml
@@ -3,19 +3,13 @@
 <AronTypeDefinition>
     <CodeIncludes>
         <Include include="<Eigen/Core>" />
-
+        <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectType.aron.generated.h>" />
     </CodeIncludes>
     <AronIncludes>
-
+        <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectType.xml>" />
     </AronIncludes>
     <GenerateTypes>
 
-        <IntEnum name="armarx::grasping::arondto::ObjectType">
-            <EnumValue key="AnyObject" value="0" />
-            <EnumValue key="KnownObject" value="1" />
-            <EnumValue key="UnknownObject" value="2" />
-        </IntEnum>
-
         <IntEnum name="armarx::grasping::arondto::ApproachType">
             <EnumValue key="AnyApproach" value="0" />
             <EnumValue key="TopApproach" value="1" />
@@ -31,22 +25,22 @@
 
         <Object name="armarx::grasping::arondto::BoundingBox">
             <ObjectChild key='center'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
             <ObjectChild key='ha1'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
             <ObjectChild key='ha2'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
             <ObjectChild key='ha3'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
         </Object>
 
         <Object name="armarx::grasping::arondto::GraspCandidateSourceInfo">
             <ObjectChild key='referenceObjectPose'>
-                <EigenMatrix rows="4" cols="4" type="float" />
+                <Pose />
             </ObjectChild>
             <ObjectChild key='referenceObjectName'>
                 <string />
@@ -94,15 +88,15 @@
         <Object name='armarx::grasping::arondto::GraspCandidate'>
 
             <ObjectChild key='graspPose'>
-                <EigenMatrix rows="4" cols="4" type="float" />
+                <Pose />
             </ObjectChild>
 
             <ObjectChild key='robotPose'>
-                <EigenMatrix rows="4" cols="4" type="float" />
+                <Pose />
             </ObjectChild>
 
             <ObjectChild key='approachVector'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Pose />
             </ObjectChild>
 
             <ObjectChild key='sourceFrame'>
@@ -122,7 +116,7 @@
             </ObjectChild>
 
             <ObjectChild key='objectType'>
-               <armarx::grasping::arondto::ObjectType />
+               <armarx::objpose::arondto::ObjectType />
             </ObjectChild>
 
             <ObjectChild key='groupNr'>
@@ -159,31 +153,31 @@
         <Object name='armarx::grasping::arondto::BimanualGraspCandidate'>
 
             <ObjectChild key='graspPoseRight'>
-                <EigenMatrix rows="4" cols="4" type="float" />
+                <Pose />
             </ObjectChild>
 
             <ObjectChild key='graspPoseLeft'>
-                <EigenMatrix rows="4" cols="4" type="float" />
+                <Pose />
             </ObjectChild>
 
             <ObjectChild key='robotPose'>
-                <EigenMatrix rows="4" cols="4" type="float" />
+                <Pose />
             </ObjectChild>
 
             <ObjectChild key='approachVectorRight'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
 
             <ObjectChild key='approachVectorLeft'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
 
             <ObjectChild key='inwardsVectorRight'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
 
             <ObjectChild key='inwardsVectorLeft'>
-                <EigenMatrix rows="3" cols="1" type="float" />
+                <Position />
             </ObjectChild>
 
             <ObjectChild key='sourceFrame'>
@@ -195,7 +189,7 @@
             </ObjectChild>
 
             <ObjectChild key='objectType'>
-               <armarx::grasping::arondto::ObjectType />
+               <armarx::objpose::arondto::ObjectType />
             </ObjectChild>
 
             <ObjectChild key='groupNr'>
@@ -247,17 +241,6 @@
 
         </Object>
 
-        <Object name="armarx::grasping::arondto::ProviderInfo">
-            <ObjectChild key='objectType'>
-                <armarx::grasping::arondto::ObjectType />
-            </ObjectChild>
-            <ObjectChild key='currentConfig'>
-                <Dict>
-                    <string />
-                </Dict>
-            </ObjectChild>
-        </Object>
-
 
     </GenerateTypes>
 </AronTypeDefinition>