diff --git a/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt b/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt
index e88102be2b34c52d63b73ff876ab6ba8e778f1f5..4c787e073b767fa97936d21bac1be9960e8371ad 100644
--- a/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt
+++ b/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt
@@ -16,5 +16,12 @@ armarx_add_library(
              GraspCandidateHelper.h
              BimanualGraspCandidateHelper.h
 )
+armarx_enable_aron_file_generation_for_target(
+    TARGET_NAME
+        "${LIB_NAME}"
+    ARON_FILES
+        aron/GraspAffordance.xml
+)
+
 
 
diff --git a/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml b/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml
new file mode 100644
index 0000000000000000000000000000000000000000..96d0f8f479dfad2dcd4345bf80c1e2979d4cafee
--- /dev/null
+++ b/source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml
@@ -0,0 +1,263 @@
+<!-- ARON DTO of armarx::objpose::ObjectPose. -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <CodeIncludes>
+        <Include include="<Eigen/Core>" />
+
+    </CodeIncludes>
+    <AronIncludes>
+
+    </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" />
+            <EnumValue key="SideApproach" value="2" />
+        </IntEnum>
+
+        <IntEnum name="armarx::grasping::arondto::ApertureType">
+            <EnumValue key="AnyAperture" value="0" />
+            <EnumValue key="OpenAperture" value="1" />
+            <EnumValue key="PreshapedAperture" value="2" />
+        </IntEnum>
+
+
+        <Object name="armarx::grasping::arondto::BoundingBox">
+            <ObjectChild key='center'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            <ObjectChild key='ha1'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            <ObjectChild key='ha2'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            <ObjectChild key='ha3'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+        </Object>
+
+        <Object name="armarx::grasping::arondto::GraspCandidateSourceInfo">
+            <ObjectChild key='referenceObjectPose'>
+                <EigenMatrix rows="4" cols="4" type="float" />
+            </ObjectChild>
+            <ObjectChild key='referenceObjectName'>
+                <string />
+            </ObjectChild>
+            <ObjectChild key='segmentationLabelID'>
+                <int />
+            </ObjectChild>
+            <ObjectChild key='bbox'>
+                <armarx::grasping::arondto::BoundingBox />
+            </ObjectChild>
+        </Object>
+
+        <Object name="armarx::grasping::arondto::GraspCandidateExecutionHints">
+            <ObjectChild key='preshape'>
+                <armarx::grasping::arondto::ApertureType />
+            </ObjectChild>
+            <ObjectChild key='approach'>
+                <armarx::grasping::arondto::ApproachType />
+            </ObjectChild>
+            <ObjectChild key='graspTrajectoryName'>
+                <string />
+            </ObjectChild>
+        </Object>
+
+        <Object name="armarx::grasping::arondto::GraspCandidateReachabilityInfo">
+            <ObjectChild key='reachable'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='minimumJointLimitMargin'>
+                <float />
+            </ObjectChild>
+            <ObjectChild key='jointLimitMargins'>
+                <List>
+                    <Float />
+                </List>
+            </ObjectChild>
+            <ObjectChild key='maxPosError'>
+                <float />
+            </ObjectChild>
+            <ObjectChild key='maxOriError'>
+                <float />
+            </ObjectChild>
+        </Object>
+
+        <Object name='armarx::objpose::arondto::GraspCandidate'>
+
+            <ObjectChild key='graspPose'>
+                <EigenMatrix rows="4" cols="4" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='robotPose'>
+                <EigenMatrix rows="4" cols="4" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='approachVector'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='sourceFrame'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='targetFrame'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='side'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='graspSuccessProbability'>
+                <float />
+            </ObjectChild>
+
+            <ObjectChild key='objectType'>
+               <armarx::grasping::arondto::ObjectType />
+            </ObjectChild>
+
+            <ObjectChild key='groupNr'>
+                <int />
+            </ObjectChild>
+
+            <ObjectChild key='providerName'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='sourceInfoValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='sourceInfo'>
+                <armarx::grasping::arondto::GraspCandidateSourceInfo />
+            </ObjectChild>
+
+            <ObjectChild key='executionHintsValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='executionHints'>
+                <armarx::grasping::arondto::GraspCandidateExecutionHints />
+            </ObjectChild>
+
+            <ObjectChild key='reachabilityInfoValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='reachabilityInfo'>
+                <armarx::grasping::arondto::GraspCandidateReachabilityInfo />
+            </ObjectChild>
+
+        </Object>
+
+        <Object name='armarx::objpose::arondto::BimanualGraspCandidate'>
+
+            <ObjectChild key='graspPoseRight'>
+                <EigenMatrix rows="4" cols="4" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='graspPoseLeft'>
+                <EigenMatrix rows="4" cols="4" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='robotPose'>
+                <EigenMatrix rows="4" cols="4" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='approachVectorRight'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='approachVectorLeft'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='inwardsVectorRight'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='inwardsVectorLeft'>
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+
+            <ObjectChild key='sourceFrame'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='targetFrame'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='objectType'>
+               <armarx::grasping::arondto::ObjectType />
+            </ObjectChild>
+
+            <ObjectChild key='groupNr'>
+                <int />
+            </ObjectChild>
+
+            <ObjectChild key='providerName'>
+                <string />
+            </ObjectChild>
+
+            <ObjectChild key='sourceInfoValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='sourceInfo'>
+                <armarx::grasping::arondto::GraspCandidateSourceInfo />
+            </ObjectChild>
+
+            <ObjectChild key='executionHintsRightValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='executionHintsRight'>
+                <armarx::grasping::arondto::GraspCandidateExecutionHints />
+            </ObjectChild>
+
+            <ObjectChild key='executionHintsLeftValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='executionHintsLeft'>
+                <armarx::grasping::arondto::GraspCandidateExecutionHints />
+            </ObjectChild>
+
+            <ObjectChild key='reachabilityInfoRightValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='reachabilityInfoRight'>
+                <armarx::grasping::arondto::GraspCandidateReachabilityInfo />
+            </ObjectChild>
+
+            <ObjectChild key='reachabilityInfoLeftValid'>
+                <bool />
+            </ObjectChild>
+            <ObjectChild key='reachabilityInfoLeft'>
+                <armarx::grasping::arondto::GraspCandidateReachabilityInfo />
+            </ObjectChild>
+
+            <ObjectChild key='graspName'>
+                <string />
+            </ObjectChild>
+
+        </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>