diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 764c443a7cc595f7c1f32ca51d4bdde6ee9309a4..a364df3f70d1231c3f0ed8c1b2a1510e4d099679 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -149,14 +149,14 @@ namespace armarx::armem::robot_state
         const auto jointMap = queryJointState(description, timestamp);
         if (not jointMap)
         {
-            ARMARX_WARNING << "Failed to query joint state";
+            ARMARX_WARNING << "Failed to query joint state for robot " << description.name;
             return std::nullopt;
         }
 
         const auto globalPose = queryGlobalPose(description, timestamp);
         if (not globalPose)
         {
-            ARMARX_WARNING << "Failed to query global pose";
+            ARMARX_WARNING << "Failed to query global pose for robot " << description.name;
             return std::nullopt;
         }
 
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 10e13611f3fd8608a5d0b5027fd92b960c3a7754..1c0152a463d5c38abb3b1c81f1014e1f74ef4d77 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -42,7 +42,7 @@ namespace armarx::armem::robot_state
         const auto robotState = queryState(robotDescription, timestamp);
         if (not robotState)
         {
-            ARMARX_WARNING << "Querying robot state failed!";
+            ARMARX_WARNING << "Querying robot state failed for robot `" << robot.getName() << " / " << robot.getType() << "`!";
             return false;
         }
 
@@ -67,7 +67,9 @@ namespace armarx::armem::robot_state
         const std::string xmlFilename = ArmarXDataPath::resolvePath(description->xml.serialize().path);
         ARMARX_INFO << "Loading (virtual) robot '" << description->name << "' from XML file '" << xmlFilename << "'";
 
-        return VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+        auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+        robot->setName(name);
+        return robot;
     }