diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index b8db6cf0fd86b09162ed5a97409c8908de49d3cc..c89a51ae47158d0c646a63f216f0a4ff397ba5d6 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -50,18 +50,6 @@ namespace armarx::plugins
     class RobotUnitComponentPlugin;
 }
 
-Reason: DictNavigator::getElement: Could not find key 'forceTorque'. But I found the following keys: [
-                                   EncoderGroupName, I2CUpdateRate, IterationId, JointStatusEmergencyStop,
-                                   JointStatusEnabled, JointStatusError, JointStatusOperation, acceleration,
-                                   angularVelocity.x, angularVelocity.y, angularVelocity.z, currentTarget,
-                                   dieTemperature, elmoTemperature, filteredvelocity, gearTemperature,
-                                   gravityCompensatedTorque, gravityTorque, inertiaTorque, inverseDynamicsTorque,
-                                   linearAcceleration.x, linearAcceleration.y, linearAcceleration.z, maxTargetCurrent,
-                                   motorCurrent, motorTemperature, name, orientation.qw, orientation.qx, orientation.qy,
-                                   orientation.qz, position, positionTarget, relativePosition, sensorBoardUpdateRate,
-                                   torque, torqueSensorTemperature, torqueTicks, velocity, velocityTarget, ].
-                                   The path was: \
-
 namespace armarx::armem::server::robot_state
 {
 
@@ -103,9 +91,9 @@ namespace armarx::armem::server::robot_state
     private:
 
         /// Reads from `robotUnitDataQueue` and commits into memory.
-        void convertRobotUnitStreamingDataToAronTask();
+        //void convertRobotUnitStreamingDataToAronTask();
         /// Reads from `robotUnitDataQueue` and commits into memory.
-        void storeConvertedRobotUnitDataInMemoryTask();
+        //void storeConvertedRobotUnitDataInMemoryTask();
 
         void startRobotUnitStream();
         void stopRobotUnitStream();
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
index f665ea6aff20f425aae285a308408b5ef1d557c8..38eb6bb439197032cac8968a0dbee131eec8efbc 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
@@ -54,22 +54,22 @@ Robot proprioception.
         
         <Object name="armarx::armem::prop::arondto::Platform">
             
-            <ObjectChild key="absolutePosition">
+            <ObjectChild key="velocity">
                 <EigenMatrix rows="3" cols="1" type="float" />
             </ObjectChild>
             
-            <ObjectChild key="relativePosition">
+            <ObjectChild key="acceleration">
                 <EigenMatrix rows="3" cols="1" type="float" />
             </ObjectChild>
             
-            <ObjectChild key="velocity">
+            <ObjectChild key="rot_velocity">
                 <EigenMatrix rows="3" cols="1" type="float" />
             </ObjectChild>
-            
-            <ObjectChild key="acceleration">
+
+            <ObjectChild key="rot_acceleration">
                 <EigenMatrix rows="3" cols="1" type="float" />
             </ObjectChild>
-            
+
         </Object>
         
         
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 046e7b85401e41743f1ccb9d3d6dc960029cecf0..de880c85df95dd8e0238defcce0a1831ddbbc0c9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -30,7 +30,7 @@ namespace armarx::armem::server::robot_state::proprioception
 {
 
     Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
-        Base(memoryToIceAdapter, "Proprioception", 1024)
+        Base(memoryToIceAdapter, "Proprioception", nullptr, 1024)
     {
     }
 
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
index 7ee14aabc60e393b5fa8824c576903ea0b505698..cca0b35a0e179a15880bc38a08a1f1f20ce9f42f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
@@ -43,9 +43,9 @@ namespace armarx
 }
 namespace armarx::armem::server::robot_state::proprioception
 {
-    class Segment : public segment::wm::AronTypedCoreSegmentBase<prop::arondto::Proprioception>
+    class Segment : public segment::wm::CoreSegmentBase
     {
-        using Base = segment::wm::AronTypedCoreSegmentBase<prop::arondto::Proprioception>;
+        using Base = segment::wm::CoreSegmentBase;
 
     public: