diff --git a/source/RobotAPI/components/armem/client/CMakeLists.txt b/source/RobotAPI/components/armem/client/CMakeLists.txt
index a7594d23e1668080fc0006afc44b1a09abfa8587..16f823e37de7efd21d6ac9f9633976a989ca0294 100644
--- a/source/RobotAPI/components/armem/client/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/CMakeLists.txt
@@ -1,2 +1,3 @@
add_subdirectory(ExampleMemoryClient)
add_subdirectory(ArticulatedObjectExampleMemoryWriterClient)
+add_subdirectory(VirtualRobotReaderExampleClient)
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/CMakeLists.txt b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd132bb87336bf793e86e79b7e048ea044921491
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/CMakeLists.txt
@@ -0,0 +1,29 @@
+armarx_component_set_name("VirtualRobotReaderExampleClient")
+
+find_package(IVT QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+
+set(COMPONENT_LIBS
+ ArmarXCore
+ ArmarXCoreInterfaces # for DebugObserverInterface
+ ArmarXGuiComponentPlugins
+ RobotAPICore
+ RobotAPIInterfaces
+ armem_robot_state
+)
+
+set(SOURCES
+ VirtualRobotReaderExampleClient.cpp
+)
+
+set(HEADERS
+ VirtualRobotReaderExampleClient.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+# add_subdirectory(test)
+
+#generate the application
+armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx::robot_state")
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1391e372accc073e3a15eaff4d951384ba6bdd34
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -0,0 +1,111 @@
+
+
+#include "VirtualRobotReaderExampleClient.h"
+
+
+#include <memory>
+
+#include <Eigen/Geometry>
+
+#include <IceUtil/Time.h>
+
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/XML/RobotIO.h>
+#include <VirtualRobot/VirtualRobot.h>
+
+#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
+
+
+namespace armarx::robot_state
+{
+ VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() :
+ virtualRobotReader(*this) {}
+
+ armarx::PropertyDefinitionsPtr VirtualRobotReaderExampleClient::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs =
+ new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ defs->topic(debugObserver);
+
+ virtualRobotReader.registerPropertyDefinitions(defs);
+
+ return defs;
+ }
+
+ std::string VirtualRobotReaderExampleClient::getDefaultName() const
+ {
+ return "VirtualRobotReaderExampleClient";
+ }
+
+ void VirtualRobotReaderExampleClient::onInitComponent() {}
+
+ void VirtualRobotReaderExampleClient::onConnectComponent()
+ {
+ virtualRobotReader.connect();
+
+ task = new RunningTask<VirtualRobotReaderExampleClient>(this, &VirtualRobotReaderExampleClient::run);
+ task->start();
+ }
+
+ void VirtualRobotReaderExampleClient::onDisconnectComponent()
+ {
+ task->stop();
+ }
+
+ void VirtualRobotReaderExampleClient::onExitComponent() {}
+
+ void VirtualRobotReaderExampleClient::run()
+ {
+ ARMARX_IMPORTANT << "Running virtual robot synchronization example.";
+
+ std::shared_ptr<VirtualRobot::Robot> virtualRobot{nullptr};
+
+ CycleUtil cycle(IceUtil::Time::milliSeconds(100));
+ IceUtil::Time start = TimeUtil::GetTime();
+
+ CycleUtil c(100);
+
+ while (not task->isStopped())
+ {
+ // initialize
+ if(virtualRobot == nullptr)
+ {
+ TIMING_START(getRobot);
+
+ virtualRobot = virtualRobotReader.getRobot("Armar6", IceUtil::Time::now());
+
+ if(virtualRobot == nullptr)
+ {
+ ARMARX_WARNING << "Could not create virtual robot.";
+ c.waitForCycleDuration();
+ continue;
+ }
+ // only print timing once the robot is loadable & loaded
+ TIMING_END_STREAM(getRobot, ARMARX_INFO);
+ }
+
+ ARMARX_INFO << "Synchronizing robot";
+
+ const IceUtil::Time now = TimeUtil::GetTime();
+
+ TIMING_START(synchronizeRobot);
+ virtualRobotReader.synchronizeRobot(*virtualRobot, now);
+ TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
+
+ c.waitForCycleDuration();
+ }
+ }
+
+} // namespace armarx::robot_state
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
new file mode 100644
index 0000000000000000000000000000000000000000..aeb985c2edadcfac0cc2854c7789ec0004bb9cfa
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
@@ -0,0 +1,88 @@
+
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/util/tasks.h>
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
+namespace armarx::robot_state
+{
+
+ /**
+ * @defgroup Component-ExampleClient ExampleClient
+ * @ingroup RobotAPI-Components
+ * A description of the component ExampleClient.
+ *
+ * @class ExampleClient
+ * @ingroup Component-ExampleClient
+ * @brief Brief description of class ExampleClient.
+ *
+ * Detailed description of class ExampleClient.
+ */
+ class VirtualRobotReaderExampleClient :
+ virtual public armarx::Component,
+ virtual public armarx::armem::client::ComponentPluginUser
+ {
+ public:
+ VirtualRobotReaderExampleClient();
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+ protected:
+
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ void onInitComponent() override;
+ void onConnectComponent() override;
+ void onDisconnectComponent() override;
+ void onExitComponent() override;
+
+ void run();
+
+
+ private:
+
+ armarx::RunningTask<VirtualRobotReaderExampleClient>::pointer_type task;
+
+ armarx::DebugObserverInterfacePrx debugObserver;
+
+ // std::unique_ptr<::armarx::armem::articulated_object::Writer> articulatedObjectWriter;
+
+ armem::robot_state::VirtualRobotReader virtualRobotReader;
+
+ };
+
+} // namespace armarx::robot_state