diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 7debb7e6f4aa280c4e28cc1a40bbc59af0bf25c3..43e38a886433e9ec8cc35bf23e02cb7a19a17c1c 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -32,3 +32,5 @@ add_subdirectory(RobotToArViz)
add_subdirectory(StatechartExecutorExample)
add_subdirectory(TopicTimingTest)
add_subdirectory(ViewSelection)
+
+add_subdirectory(InteractiveMemoryEditor)
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/CMakeLists.txt b/source/RobotAPI/components/InteractiveMemoryEditor/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b52a46ecbfc8ce2f5ab554c33e3a9380894f1e7a
--- /dev/null
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/CMakeLists.txt
@@ -0,0 +1,27 @@
+armarx_component_set_name("InteractiveMemoryEditor")
+
+
+set(COMPONENT_LIBS
+ # ArmarXCore
+ ArmarXCoreComponentPlugins
+ # RobotAPI
+ RobotAPI::ArmarXObjects
+ RobotAPI::ArViz
+ RobotAPI::ComponentPlugins
+)
+
+set(SOURCES
+ InteractiveMemoryEditor.cpp
+ InteractionObserver.cpp
+)
+set(HEADERS
+ InteractiveMemoryEditor.h
+ InteractionObserver.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+#generate the application
+armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.cpp b/source/RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..806125859b963d1d7a4d550144f4e18fe25b4d88
--- /dev/null
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.cpp
@@ -0,0 +1,58 @@
+#include "InteractionObserver.h"
+
+#include <utility>
+
+armarx::InteractionObserver::Observation &armarx::InteractionObserver::Observation::onContextMenu(size_t index, std::function<void()> action)
+{
+ contextMenuActions[index] = std::move(action);
+ return *this;
+}
+
+void armarx::InteractionObserver::Observation::process(viz::InteractionFeedback const& interaction)
+{
+ if (interaction.type() == viz::InteractionFeedbackType::ContextMenuChosen)
+ {
+ auto iterator = contextMenuActions.find(interaction.chosenContextMenuEntry());
+
+ if (iterator != contextMenuActions.end())
+ {
+ auto [index, action] = *iterator;
+ action();
+ }
+ }
+}
+
+void armarx::InteractionObserver::clearObservedLayer(armarx::viz::Layer & layer)
+{
+ layer.clear();
+ observedLayers.erase(layer.data_.name);
+}
+
+void armarx::InteractionObserver::requestInteractions(armarx::viz::StagedCommit& stage)
+{
+ for (auto& [name, observedLayer] : observedLayers)
+ {
+ stage.requestInteraction(observedLayer.layer);
+ }
+}
+
+void armarx::InteractionObserver::process(viz::InteractionFeedbackRange const& interactions)
+{
+ for (viz::InteractionFeedback const& interaction: interactions)
+ {
+ auto layerIterator = observedLayers.find(interaction.layer());
+
+ if (layerIterator != observedLayers.end())
+ {
+ auto& [name, layer] = *layerIterator;
+
+ auto observationIterator = layer.observations.find(interaction.element());
+
+ if (observationIterator != layer.observations.end())
+ {
+ auto& [element, observation] = *observationIterator;
+ observation.process(interaction);
+ }
+ }
+ }
+}
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.h b/source/RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..9230d1ede86f92a1fa84ac2f9e3a131dd4c143f6
--- /dev/null
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+namespace armarx
+{
+ class InteractionObserver
+ {
+ public:
+ class Observation
+ {
+ public:
+ Observation& onContextMenu(size_t index, std::function<void()> action);
+
+ void process(viz::InteractionFeedback const& interaction);
+
+ private:
+ std::map<size_t, std::function<void()>> contextMenuActions;
+ };
+
+ template <typename ElementT>
+ Observation& addObserved(viz::Layer & layer, ElementT const& element)
+ {
+ layer.add(element);
+
+ auto iterator = observedLayers.find(layer.data_.name);
+
+ if (iterator == observedLayers.end())
+ {
+ std::tie(iterator, std::ignore) = observedLayers.emplace(layer.data_.name, layer);
+ }
+
+ auto& [name, observedLayer] = *iterator;
+ return observedLayer.observations[element.data_->id];
+ }
+
+ void clearObservedLayer(viz::Layer & layer);
+
+ void requestInteractions(viz::StagedCommit & stage);
+ void process(viz::InteractionFeedbackRange const& interactions);
+
+ private:
+ struct ObservedLayer
+ {
+ explicit ObservedLayer(viz::Layer & layer) : layer(layer) {}
+
+ std::reference_wrapper<viz::Layer> layer;
+ std::map<std::string, Observation> observations;
+ };
+
+ std::map<std::string, ObservedLayer> observedLayers;
+ };
+} // namespace armarx
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.cpp b/source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..acfbe4e595acef54ebf7b43280d318b36685618e
--- /dev/null
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.cpp
@@ -0,0 +1,99 @@
+#include "InteractiveMemoryEditor.h"
+
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/components/InteractiveMemoryEditor/InteractionObserver.h>
+
+namespace armarx
+{
+ armarx::PropertyDefinitionsPtr InteractiveMemoryEditor::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ return defs;
+ }
+
+ std::string InteractiveMemoryEditor::getDefaultName() const
+ {
+ return "InteractiveMemoryEditor";
+ }
+
+ void InteractiveMemoryEditor::onInitComponent()
+ {
+ }
+
+ void InteractiveMemoryEditor::onConnectComponent()
+ {
+ setDebugObserverBatchModeEnabled(true);
+
+ isPushRequired = false;
+ isPullRequired = true;
+
+ objectVizTask = new SimpleRunningTask<>([this]()
+ {
+ this->objectVizTaskRun();
+ });
+ objectVizTask->start();
+ }
+
+ void InteractiveMemoryEditor::onDisconnectComponent()
+ {
+ }
+
+ void InteractiveMemoryEditor::onExitComponent()
+ {
+ }
+
+
+ void InteractiveMemoryEditor::objectVizTaskRun()
+ {
+ CycleUtil cycle(50);
+
+ objpose::ObjectPoseClient client = getClient();
+
+ viz::Layer memoryLayer = arviz.layer(MEMORY_LAYER_NAME);
+
+ InteractionObserver observer;
+
+ while (objectVizTask && !objectVizTask->isStopped())
+ {
+ viz::StagedCommit stage = arviz.stage();
+
+ if (isPullRequired)
+ {
+ observer.clearObservedLayer(memoryLayer);
+
+ const objpose::ObjectPoseSeq objectPoses = client.fetchObjectPoses();
+
+ for (const objpose::ObjectPose &objectPose: objectPoses)
+ {
+ observer.addObserved(
+ memoryLayer,
+ viz::Object(objectPose.objectID.str())
+ .pose(objectPose.objectPoseGlobal)
+ .fileByObjectFinder(objectPose.objectID)
+ .alpha(objectPose.confidence)
+ .enable(viz::interaction()
+ .selection()
+ .transform()
+ .hideDuringTransform()
+ .contextMenu({"Push", "Pull"})))
+ .onContextMenu(0, [this] { this->isPushRequired = true; })
+ .onContextMenu(1, [this] { this->isPullRequired = true; });
+ }
+
+ stage.add(memoryLayer);
+ isPullRequired = false;
+ }
+
+ observer.requestInteractions(stage);
+
+ viz::CommitResult result = arviz.commit(stage);
+
+ observer.process(result.interactions());
+
+ cycle.waitForCycleDuration();
+ }
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.h b/source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.h
new file mode 100644
index 0000000000000000000000000000000000000000..fda378e384451d3cd08611dc2fd6a28450277f22
--- /dev/null
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
+
+namespace armarx
+{
+ class InteractiveMemoryEditor :
+ virtual public armarx::Component,
+ virtual public armarx::DebugObserverComponentPluginUser,
+ virtual public armarx::ArVizComponentPluginUser,
+ virtual public armarx::ObjectPoseClientPluginUser
+ {
+ public:
+ std::string getDefaultName() const override;
+
+
+ protected:
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ void onInitComponent() override;
+
+ void onConnectComponent() override;
+
+ void onDisconnectComponent() override;
+
+ void onExitComponent() override;
+
+
+ private:
+ void objectVizTaskRun();
+
+ armarx::SimpleRunningTask<>::pointer_type objectVizTask;
+
+ bool isPushRequired;
+ bool isPullRequired;
+
+ static constexpr const char* MEMORY_LAYER_NAME = "Memory";
+ };
+} // namespace armarx