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similarity index 100%
rename from etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md
rename to etc/doxygen/pages/armem/RobotState/localization.md
diff --git a/etc/doxygen/pages/armem/existing_servers_segments.md b/etc/doxygen/pages/armem/existing_servers_segments.md
deleted file mode 100644
index dc16b943bf1c622644ba3c5fe93f64a555564dda..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/armem/existing_servers_segments.md
+++ /dev/null
@@ -1,89 +0,0 @@
-# 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. | | | |
-
diff --git a/etc/doxygen/pages/armem/introduction.md b/etc/doxygen/pages/armem/introduction.md
deleted file mode 100644
index f96b6b1139744b649075c53b8d690ebb4a8f95b6..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/armem/introduction.md
+++ /dev/null
@@ -1,53 +0,0 @@
-# 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
index 72da8b5187cf0dad4c2dab207f93f773c1c29c44..a275f5f4c351a632c2d30f00e82fe855ab8d75d4 100644
--- a/etc/doxygen/pages/armem/memory_system.md
+++ b/etc/doxygen/pages/armem/memory_system.md
@@ -1,5 +1,149 @@
# Memory System {#memory_system}
-- \subpage memory_system-introduction
-- \subpage memory_system-existing_servers_segments
+\tableofcontents
+
- \subpage memory_system-how_to_create_a_new_core_segment_or_memory_server
+
+## 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` |
+
+
+## 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. | | | |