diff --git a/docs/armem/README.md b/docs/armem/README.md
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-* [Introduction](introduction)
-* [Existing Memories (Memory Servers)](existing_memory_servers_and_segments)
-* [How to create a new Core Segment or Memory Server](how_to_create_a_new_core_segment_or_memory_server)
diff --git a/docs/armem/existing_memory_servers_and_segments/README.md b/docs/armem/existing_memory_servers_and_segments/README.md
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-This is a list of existing memory servers, their core segments and their ARON data types.
-
-# `RobotState`
-
-* Memory Server: [`RobotStateMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/RobotStateMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|-------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------|-------------------------|
-| `Description` | [RobotDescription](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml) | Robot description (e.g. link to XML or URDF file) | |
-| `Proprioception` | ToDo | Robot configuration and internal sensor values. | tbd |
-| [`Localization`](RobotState/Localization) | [Transform](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml) | Transformations between frames {world,map,robot} to retrieve global robot pose. | armarx::aron::Transform |
-
-Missing:
-- Robot calibration: should be part of `Description` core segment
-
-# `Object`
-
-* Memory Server: [`ObjectMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/components/armem/server/ObjectMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|-----------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------|-----------------------------------------------------|
-| `Class` | [ObjectClass](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml) | Static description of a known object class. Entity names are (ArmarXObjects) object IDs. | `KIT/CoffeeFilters`, `YCB/001_chips_can` |
-| `Instance` | [ObjectInstance](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml) | Localized object instance. Entity names are (ArmarXObjects) object IDs. | `KIT/CoffeeFilters`, `YCB/001_chips_can/instance_1` |
-| `ArticulatedObjectClass` | [RobotDescription](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml) | Static description of a known object class. Entity names are (ArmarXObjects) object IDs. | |
-| `ArticulatedObjectInstance` | [Robot](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/Robot.xml) | Localized object instance. Entity names are (ArmarXObjects) object IDs. | |
-| `Attachments` | [ObjectAttachment and ArticulatedObjectAttachment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml) | | |
-
-
-# `Vision`
-
-* Memory Server: [`ArMemVisionMemory` (VisionX)](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/tree/master/source/VisionX/components/armem/ArMemVisionMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|-------------------|--------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------|------------------|
-| `ImageRGB` | [`ImageRGB`](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/blob/master/source/VisionX/libraries/ArMem/aron/ImageRGB.xml) | RGB images (mono and stereo) of a camera | image |
-| `ImageDepth` | [`ImageDepth`](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/blob/master/source/VisionX/libraries/ArMem/aron/ImageDepth.xml) | Depth images of an RGB-D or stereo camera | image |
-
-
-
-# `Speech`
-
-* Memory Server: [`SpeechMemory` (SpeechX)](https://git.h2t.iar.kit.edu/sw/armarx/speechx/-/tree/master/source/SpeechX/components/SpeechMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|-------------------------|-----------------|---------------------------------------------------------------------------|------------------|
-| `Command` | `SpeechCommand` | Language commands from speech (topic `Speech_Commands`). | `command` |
-| `TextListenerInterface` | `Text` | Data from `TextListenerInterface` topics. (`TextToSpeech`, `RobotAction`) | `text` |
-
-...
-
-
-# `Skills`
-
-* Memory Server: [`SkillsMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/SkillsMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|-------------------|--------------|-------------------------------------|------------------|
-| `Statechart` | `Transition` | Transitions in ArmarX state charts. | tbd |
-
-
-# `GeneralPurpose`
-
-This memory is meant to allow for a quick-and-dirty integration of your data type in the memory framework. When your development finishes a stable state, consider creating moving the core segment(s) to an existing memory server or creating a new dedicated memory server.
-
-* Memory Server: [`GeneralPurposeMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/GeneralPurposeMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|----------------------------------------|------|-------------|------------------|
-| None. You can add segments on the fly. | | | |
-
-# `Mapping`
-
-* Memory Server: `ToDo`
-* Core Segments:
-
-| Core Segment Name | <br/>Type | Description | Example Entities |
-|---------------------------------|-----------|--------------------------------------------------|------------------|
-| [`Mapping`](RobotState/Mapping) | `ToDo` | Mapping related sensor data (e.g. point clouds). | tbd |
-
-
-# `Example`
-
-An example memory server (alongside a matching client) showing how to implement a standard memory server and test the framework during development.
-
-* Memory Server: [`ExampleMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/ExampleMemory)
-* Core Segments:
-
-| Core Segment Name | Type | Description | Example Entities |
-|-------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------|------------------|
-| `ExampleData` | [ExampleData](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml) | Some example data. | example |
\ No newline at end of file
diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/README.md b/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/README.md
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-# The localization segment within the RobotState memory
-
-## Concept
-
-There exist various frames that are needed to obtain the robot's global pose (pose within in the global frame):
-
-* [global] the "world" frame.
-* [map] During mapping, the robot does not have knowledge about the world but creates a local map (with "map" as root frame). All map features (e.g. point clouds, occupancy grids, ...) are linked to this frame.
-* [odom] The odometry as an integration of the robot's velocity.
-* [robot] The robot's root frame
-
-
-
-For each transformation between frames, there exist individual components:
-
-* [global->map] **Map registration:** given a scene (objects with known poses, e.g. walls, ...), this component obtains a static transformation between a the scene and the map.
-* [map->odom] **Localization** The localization component computes the transformation [map->robot] and performs map corrections by updating [map->odom].
-* [odom->robot] **Odometry**
-
-
-### Memory design
-
-Within the core segment, each robot has its own provider segment (here: Armar6). Within the provider segment, entities describe the transformations between the frames ("Global,Map" -> [global->map]).
-
-
-
-### Using the localization memory
-
-See **RobotAPI/libraries/armem_robot_localization**
-
-There exist two classes:
-
-* TransformWriter to send transformations to memory
-* TransformReader to obtain transformations between any of the frames; can also be used to obtain the "robot's global pose"
-
-For an example, see RobotComponents/components/carographer_mapping_and_localization (currently branch feature/cartographer_integration)
diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/README.md b/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/README.md
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-# The mapping segment within the RobotState memory
-
-## Concept
-
-Within the memory segment, sensor data is stored that is relevant for
-* mapping
-* map registration
-
-
diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/res/transformations_frames-Page-2.png b/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/res/transformations_frames-Page-2.png
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diff --git a/docs/armem/introduction/README.md b/docs/armem/introduction/README.md
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-# Distributed Memory
-
-The ArMem memory system is distributed: It is comprised of several **memory servers** storing data in a hierarchical structure.
-A memory server can be defined in any ArmarX package and defines which kind of data it stores (e.g. robot state, object classes and instances, visual data, speech, ...).
-As a memory server knows which data it stores, it can provide special behaviour, such as custom visualization, aggregation, interpolation or prediction.
-As each server is a separate component describing its own structure, it is simple to add new memory servers containing special data types, which are defined in ArmarX packages further down in the dependency chain.
-
-All memory servers follow the same hierarchical data structure and self-describing data format.
-The data structure consists of several levels, storing histories/timelines of different entities stored in different segments (see "Memory Levels" below).
-The common data format is ARON (ArmarX Object Notation), which is a self-describing, hierarchical data format, allowing extensive introspection as well as general storage.
-Each item in the memory (i.e. entries in all levels) can be identified with a **Memory ID**, which contains the keys of each (specified) level. For example, a core segment ID specifies the memory name and core segment name, while an entity instance ID specifies the whole path to the leaf of the data structure.
-
-
-Technically, each memory server is one ArmarX component implementing the `armem::server::MemoryInterface` (comprising a `ReadingMemoryInterface` and a `WritingMemoryInterface`).
-Memory servers register themselves in the **Memory Name System (MNS)**, where they can be found by their (semantic) memory name (which is usually a short, human-readable name such as "Robot", "Object" or "Vision").
-Memory servers receive data via **commits** (via the `WritingMemoryInterface`), and return data according to **queries** (via the `ReadingMemoryInterface`).
-
-
-# Memory Levels
-
-A memory server stores data in a hierarchical structure consisting of several levels:
-```
-- Grasping (Memory)
- - Grasps (Core Segment)
- - KnownObjectGraspPlanner (Provider Segment)
- - my_object (Entity)
- - t = 2021-03-09 14:24:20.064524 (Entity Snapshot)
- - 00 (Entity Instance)
- - 01 (Entity Instance)
- - 02 (Entity Instance)
-```
-
-| Level | Key | Description | Examples | Implementation |
-| ----- | --- | ----------- | -------- | -------------- |
-| Memory | Name (String) | Semantic grouping of one or more core segments. Corresponds to one memory server. | Robot, Object, Vision | [Memory](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/Memory.h) |
-| Core Segment | Name (String) | Building block of a memory containing homogeneous data of a specific (ARON) type. Specifies a _Core Segment Type_ which all provided data must comply to. | (Robot) Configuration, (Object) Classes, Known (Object) Instances, ImageRGB | [CoreSegment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/CoreSegment.h) |
-| Provider Segment | Name (String) | Sub-segment of a core segment which contains the data from a single source (e.g. a camera, a method, a component). Can define a _Provider Segment Type_ which extends the _Core Segment Type_. | Primsense, SimTrack, MyGraspPlanner | [ProviderSegment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/ProviderSegment.h) |
-| Entity | Name (String) | A single thing or concept whose properties change over time. An entity has a history / timeline, i.e. a sequence of snapshots storing the entity's properties at a specific point in time. | `image`, `some_object`, `some_object_grasps` | [Entity](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/Entity.h) |
-| Entity Snapshot | Timestamp (`armem::Time` aka `IceUtil::Time`) | An entry of an entity's history, i.e. the state of an entity at a specific point in time. Can contain multiple (entitiy) instances. | Image, object instance, grasp hypotheses at a time *t* | [EntitySnapshot](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/EntitySnapshot.h) |
-| Entity Instance | Index (int) | One instance of the segment's ARON type. | left/right stereo image (at time t), object (at time t), grasp hypothesis (one of many at time t) | [EntityInstance](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/EntityInstance.h) |
-| Entity Instance Metadata | -- | Metadata stored alongside the instance's data. | Further timesteps, confidence | [EntityInstanceMetadata](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/EntityInstance.h) |
-
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diff --git a/etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md b/etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md
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+# Localization Segment (RobotState Memory) {#memory_system-localization}
+
+## Concept
+
+There exist various frames that are needed to obtain the robot's global pose (pose within in the global frame):
+
+| Name | Description |
+|----------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| `global` | The "world" frame |
+| `map` | During mapping, the robot does not have knowledge about the world but creates a local map (with `map` as root frame). All map features (e.g. point clouds, occupancy grids, ...) are linked to this frame. |
+| `odom` | The odometry as an integration of the robot's velocity. |
+| `robot` | The robot's root frame |
+
+
+
+For each transformation between frames, there exist individual components:
+
+| Involved Frames | Description |
+|-----------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| `global->map` | **Map registration:** given a scene (objects with known poses, e.g. walls, ...), this component obtains a static transformation between a the scene and the map. |
+| `map->odom` | **Localization** The localization component computes the transformation `map->robot` and performs map corrections by updating `map->odom`. |
+| `odom->robot` | **Odometry** |
+
+
+### Memory design
+
+Within the core segment, each robot has its own provider segment (here: Armar6). Within the provider segment, entities describe the transformations between the frames ("Global,Map" -> [global->map]).
+
+
+
+### Using the localization memory
+
+See **RobotAPI/libraries/armem_robot_localization**
+
+There exist two classes:
+
+* armarx::armem::client::robot_state::localization::TransformWriter to send transformations to memory
+* armarx::armem::client::robot_state::localization::TransformReader to obtain transformations between any of the frames; can also be used to obtain the "robot's global pose"
+
+For an example, see RobotComponents/components/carographer_mapping_and_localization (currently branch feature/cartographer_integration)
diff --git a/etc/doxygen/pages/armem/existing_servers_segments.md b/etc/doxygen/pages/armem/existing_servers_segments.md
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+# Existing Memory Servers and Segments {#memory_system-existing_servers_segments}
+
+This is a list of existing memory servers, their core segments and their \ref ARON "ARON" data types.
+
+
+## RobotState {#memory_system-robot_state}
+
+* Memory Server: [`RobotStateMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/RobotStateMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|----------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------|----------------------------------------------|
+| Description | [RobotDescription](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml) | Robot description (e.g. link to XML or URDF file) | Description of ARMAR-6 |
+| Proprioception | [Proprioception](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml) | Robot configuration and internal sensor values. | Proprioception of ARMAR-6 |
+| \subpage memory_system-localization "Localization" | [Transform](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml) | Transformations between frames {world,map,robot} to retrieve global robot pose. | Transfrom from robot root frame to map frame |
+
+Missing:
+- Robot calibration: should be part of `Description` core segment
+
+
+## Object
+
+* Memory Server: [`ObjectMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/components/armem/server/ObjectMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------|-----------------------------------------------------|
+| Class | [ObjectClass](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml) | Static description of a known object class. Entity names are (ArmarXObjects) object IDs. | `KIT/CoffeeFilters`, `YCB/001_chips_can` |
+| Instance | [ObjectInstance](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml) | Localized object instance. Entity names are (ArmarXObjects) object IDs. | `KIT/CoffeeFilters`, `YCB/001_chips_can/instance_1` |
+| Attachments | [ObjectAttachment and ArticulatedObjectAttachment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml) | | |
+
+
+## Vision
+
+* Memory Server: [`ArMemVisionMemory` (VisionX)](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/tree/master/source/VisionX/components/armem/ArMemVisionMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------|--------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------|------------------|
+| ImageRGB | [`ImageRGB`](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/blob/master/source/VisionX/libraries/ArMem/aron/ImageRGB.xml) | RGB images (mono and stereo) of a camera | image |
+| ImageDepth | [`ImageDepth`](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/blob/master/source/VisionX/libraries/ArMem/aron/ImageDepth.xml) | Depth images of an RGB-D or stereo camera | image |
+
+
+## Speech
+
+* Memory Server: [`SpeechMemory` (SpeechX)](https://git.h2t.iar.kit.edu/sw/armarx/speechx/-/tree/master/source/SpeechX/components/SpeechMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-----------------------|-----------------|---------------------------------------------------------------------------|------------------|
+| Command | `SpeechCommand` | Language commands from speech (topic `Speech_Commands`). | `command` |
+| TextListenerInterface | `Text` | Data from `TextListenerInterface` topics. (`TextToSpeech`, `RobotAction`) | `text` |
+
+...
+
+
+## Skills
+
+* Memory Server: [`SkillsMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/SkillsMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------|--------------|-------------------------------------|------------------|
+| Statechart | `Transition` | Transitions in ArmarX state charts. | tbd |
+
+
+## Example
+
+An example memory server (alongside a matching client) showing how to implement a standard memory server and test the framework during development.
+
+* Memory Server: [`ExampleMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/ExampleMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------|------------------|
+| ExampleData | [ExampleData](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml) | Some example data. | example |
+
+
+## GeneralPurpose
+
+This memory is meant to allow for a quick-and-dirty integration of your data type in the memory framework. When your development finishes a stable state, consider creating moving the core segment(s) to an existing memory server or creating a new dedicated memory server.
+
+* Memory Server: [`GeneralPurposeMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/GeneralPurposeMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|----------------------------------------|------|-------------|------------------|
+| None. You can add segments on the fly. | | | |
+
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@@ -1,3 +1,5 @@
+# How to Create a New Core segment or Memory Server {#memory_system-how_to_create_a_new_core_segment_or_memory_server}
+
In order to make a new type of data available in the memory system, you first need to create an ARON XML file. Please refer to [Aron/CodeGeneration](Aron/CodeGeneration) if you want to know how to do so.
[[_TOC_]]
@@ -390,4 +392,4 @@ When you now start your new memory server and the MemoryNameSystem (MNS) (e.g. u
That's it! You now have a memory server providing a place where your nice and interesting data can feel welcome, and where interested listeners would look to find it.
-[Next, we learn how to commit data to the memory, and query data from the memory.](ArMem/How-to-read-from-and-write-to-a-Memory-Server)
\ No newline at end of file
+[Next, we learn how to commit data to the memory, and query data from the memory.](ArMem/How-to-read-from-and-write-to-a-Memory-Server)
diff --git a/etc/doxygen/pages/armem/introduction.md b/etc/doxygen/pages/armem/introduction.md
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@@ -0,0 +1,53 @@
+# Introduction to the Memory System {#memory_system-introduction}
+
+## Distributed Memory
+
+The ArMem memory system is distributed: It consists of several **memory servers** storing data in a hierarchical
+structure.
+A memory server can be defined in any ArmarX package and defines which kind of data it stores
+(e.g. robot state, object classes and instances, visual data, speech, ...).
+As a memory server knows which data it stores, it can provide special behaviour, such as custom visualization,
+aggregation, interpolation or prediction.
+As each server is a separate component describing its own structure, it is simple to add new memory servers containing
+special data types, which are defined in ArmarX packages further down in the dependency chain.
+
+All memory servers follow the same hierarchical data structure and self-describing data format.
+The data structure consists of several levels, storing histories/timelines of different entities stored in different
+segments (see "Memory Levels" below).
+The common data format is \ref Aron, which is a self-describing, hierarchical data format,
+allowing extensive introspection as well as general storage.
+Each item in the memory (i.e. entries in all levels) can be identified with a **Memory ID**, which contains the keys
+of each (specified) level. For example, a core segment ID specifies the memory name and core segment name, while an
+entity instance ID specifies the whole path to the leaf of the data structure.
+
+Technically, each memory server is one ArmarX component implementing the `armarx::armem::server::MemoryInterface`
+(comprising a `armarx::armem::server::ReadingMemoryInterface` and a `armarx::armem::server::WritingMemoryInterface`).
+Memory servers register themselves in the **Memory Name System (MNS)**, where they can be found by their (semantic)
+memory name (which is usually a short, human-readable name such as "Robot", "Object" or "Vision").
+Memory servers receive data via **commits** (via the `armarx::armem::server::WritingMemoryInterface`),
+and return data according to **queries** (via the `armarx::armem::server::ReadingMemoryInterface`).
+
+
+## Memory Levels
+
+A memory server stores data in a hierarchical structure consisting of several levels:
+```
+- Grasping (Memory)
+ - Grasps (Core Segment)
+ - KnownObjectGraspPlanner (Provider Segment)
+ - my_object (Entity)
+ - t = 2021-03-09 14:24:20.064524 (Entity Snapshot)
+ - 00 (Entity Instance)
+ - 01 (Entity Instance)
+ - 02 (Entity Instance)
+```
+
+| Level | Key | Description | Examples | Implementation |
+|--------------------------|----------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------|---------------------------------------------|
+| Memory | Name (String) | Semantic grouping of one or more core segments. Corresponds to one memory server. | Robot, Object, Vision | `armarx::armem::wm::Memory` |
+| Core Segment | Name (String) | Building block of a memory containing homogeneous data of a specific (ARON) type. Specifies a _Core Segment Type_ which all provided data must comply to. | (Robot) Proprioception, (Object) Classes, Known (Object) Instances, ImageRGB | `armarx::armem::wm::CoreSegment` |
+| Provider Segment | Name (String) | Sub-segment of a core segment which contains the data from a single source (e.g. a camera, a method, a component). Can define a _Provider Segment Type_ which extends the _Core Segment Type_. | Primesense, MyObjectLocalizer, MyGraspPlanner | `armarx::armem::wm::ProviderSegment` |
+| Entity | Name (String) | A single thing or concept whose properties change over time. An entity has a history / timeline, i.e. a sequence of snapshots storing the entity's properties at a specific point in time. | `image`, `some_object`, `some_object_grasps` | `armarx::armem::wm::Entity` |
+| Entity Snapshot | Timestamp (`armarx::armem::Time` aka `armarx::DateTime`) | An entry of an entity's history, i.e. the state of an entity at a specific point in time. Can contain multiple (entitiy) instances. | Image, object instance, grasp hypotheses at a time *t* | `armarx::armem::wm::EntitySnapshot` |
+| Entity Instance | Index (int) | One instance of the segment's ARON type. | left/right stereo image (at time t), object (at time t), grasp hypothesis (one of many at time t) | `armarx::armem::wm::EntityInstance` |
+| Entity Instance Metadata | -- | Metadata stored alongside the instance's data. | Further timesteps, confidence | `armarx::armem::wm::EntityInstanceMetadata` |
diff --git a/etc/doxygen/pages/armem/memory_system.md b/etc/doxygen/pages/armem/memory_system.md
new file mode 100644
index 0000000000000000000000000000000000000000..9abbee0639a076771fc2cfe49da7b45a42a941cd
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+++ b/etc/doxygen/pages/armem/memory_system.md
@@ -0,0 +1,8 @@
+# Memory System {#memory_system}
+
+- \subpage memory_system-introduction
+- \subpage memory_system-existing_servers_segments
+- \subpage memory_system-how_to_create_a_new_core_segment_or_memory_server
+
+
+