diff --git a/scenarios/ArmemGraspMemory/ArmemGraspMemory.scx b/scenarios/ArmemGraspMemory/ArmemGraspMemory.scx
index 7dee5334bc635e927fe9d020c16b0363dfb53a68..76e0430474a628b61d9146a146e44a0685588a77 100644
--- a/scenarios/ArmemGraspMemory/ArmemGraspMemory.scx
+++ b/scenarios/ArmemGraspMemory/ArmemGraspMemory.scx
@@ -5,5 +5,6 @@
 	<application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="GraspProviderExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>
 
diff --git a/scenarios/ArmemGraspMemory/config/DebugObserver.cfg b/scenarios/ArmemGraspMemory/config/DebugObserver.cfg
index 4a0b9dac036cd4d103efd7d1b718d508f285d85a..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d 100644
--- a/scenarios/ArmemGraspMemory/config/DebugObserver.cfg
+++ b/scenarios/ArmemGraspMemory/config/DebugObserver.cfg
@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
diff --git a/scenarios/ArmemGraspMemory/config/GraspMemory.cfg b/scenarios/ArmemGraspMemory/config/GraspMemory.cfg
index 7bd56e9fa827996e3c78f217b2421489af0a748d..1bd159565ea19854931d8e5e7709b9537b8b5353 100644
--- a/scenarios/ArmemGraspMemory/config/GraspMemory.cfg
+++ b/scenarios/ArmemGraspMemory/config/GraspMemory.cfg
@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
@@ -76,6 +76,14 @@
 # ArmarX.EnableProfiling = false
 
 
+# ArmarX.GraspMemory.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.ArVizStorageName = ArVizStorage
+
+
 # ArmarX.GraspMemory.ArVizTopicName:  Name of the ArViz topic
 #  Attributes:
 #  - Default:            ArVizTopic
@@ -118,13 +126,45 @@
 # ArmarX.GraspMemory.RemoteGuiName = RemoteGuiProvider
 
 
-# ArmarX.GraspMemory.mem.ltm.00_enabled:  
+# ArmarX.GraspMemory.mem.ltm..buffer.storeFreq:  Frequency to store the buffer to the LTM in Hz.
 #  Attributes:
-#  - Default:            true
+#  - Default:            10
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.GraspMemory.mem.ltm.enabled:  
+#  Attributes:
+#  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.GraspMemory.mem.ltm.00_enabled = true
+# ArmarX.GraspMemory.mem.ltm.enabled = false
+
+
+# ArmarX.GraspMemory.mem.ltm.memFreqFilter.WaitingTime:  Withdraw time in MS after each LTM update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.GraspMemory.mem.ltm.memSnapFilter.WaitingTime:  Withdraw time in MS after each Entity update.
+#  Attributes:
+#  - Default:            1000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.mem.ltm.memSnapFilter.WaitingTime = 1000
+
+
+# ArmarX.GraspMemory.mem.ltm.storagepath:  The path to the memory storage.
+#  Attributes:
+#  - Default:            /tmp/MemoryExport
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.mem.ltm.storagepath = /tmp/MemoryExport
 
 
 # ArmarX.GraspMemory.memory.Name:  Name of this memory server.
diff --git a/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg b/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg
index 9df508c17697c16e196f1194f847d1f532ee61b9..072641101e6a1afbe72d99f2009194d430e873a9 100644
--- a/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg
+++ b/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg
@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
diff --git a/scenarios/ArmemGraspMemory/config/MemoryNameSystem.cfg b/scenarios/ArmemGraspMemory/config/MemoryNameSystem.cfg
index 7dd22218243ca4f9e67e843da8b42916f3b8568a..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/ArmemGraspMemory/config/MemoryNameSystem.cfg
+++ b/scenarios/ArmemGraspMemory/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
diff --git a/scenarios/ArmemGraspMemory/config/RemoteGuiProviderApp.cfg b/scenarios/ArmemGraspMemory/config/RemoteGuiProviderApp.cfg
index 4fd690cefd94559b207493cf40e346a3e47f3b12..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/ArmemGraspMemory/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/ArmemGraspMemory/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
diff --git a/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp b/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
index 8f98b2383da3556f459ae6fa01a7f3ec190b29e2..2b899c6a91d2e90c4bb2a1305bc9f406d67c04a0 100644
--- a/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
+++ b/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
@@ -89,6 +89,7 @@ namespace armarx
             candidate.approachVector = Vector3BasePtr(toIce(Eigen::Vector3f()));
             candidate.graspPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
             candidate.providerName = "Example";
+            candidate.side = "Right";
             candidate.robotPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
             candidate.tcpPoseInHandRoot = PoseBasePtr(toIce(Eigen::Matrix4f()));
             // source Info is also not necessary, but reference object name is used as entity name
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateVisu.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateVisu.cpp
index 1c5e3bc4781d504f8f467ce2b8584d5358b09a06..f9a396845a6ff01e04ca32a9b85d6a1758058e10 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateVisu.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateVisu.cpp
@@ -33,9 +33,10 @@ namespace armarx::grasping
             alpha = it->second;
         }
 
+        ARMARX_CHECK(candidate.tcpPoseInHandRoot) << "Candidate needs to have tcpPoseInHandRoot to be visualized!";
         viz::Robot hand = visualize("Grasp_" + id, candidate, alpha);
 
-        if (candidate.reachabilityInfo->reachable)
+        if (candidate.reachabilityInfo && candidate.reachabilityInfo->reachable)
         {
             layerReachable.add(hand);
         }
@@ -70,7 +71,7 @@ namespace armarx::grasping
             const grasping::GraspCandidate& candidate,
             int alpha)
     {
-        bool isReachable = candidate.reachabilityInfo->reachable;
+        bool isReachable = candidate.reachabilityInfo && candidate.reachabilityInfo->reachable;
         viz::Color color = isReachable ? viz::Color::green() : viz::Color::red();
         color.a = alpha;