diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index af2381c78d334e62ea39eb22978492ad66a32f1a..bda30a9c569af73701cb821308f6b1f9b9447abf 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -116,6 +116,16 @@ namespace armarx::armem::server::robot_state::description
             ARMARX_WARNING << "Robot unit '" << robotUnit->ice_getIdentity().name << "' does not have a kinematic unit."
                            << "\n Cannot commit robot description.";
         }
+
+        // FIXME: remove once kinematic unit is available
+        const robot::RobotDescription robotDescriptionArmar7
+        {
+            .name = "Armar7",
+            .xml  = {"armar7_models", "robotmodel/armar7/Armar7.xml"}
+        }; 
+
+        commitRobotDescription(robotDescriptionArmar7);
+
     }
 
 
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 99c330e7661d35c5b161c26e1d18b45af2d91ce9..8096630052e8458e3c244fc46b4e45dee6aa97d0 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -53,7 +53,7 @@ namespace armarx::armem::server::robot_state::proprioception
     {
         this->robotUnit = robotUnitPrx;
 
-        std::string providerSegmentName = "Robot";
+        std::string providerSegmentName = "Armar7";
         
         KinematicUnitInterfacePrx kinematicUnit = robotUnit->getKinematicUnit();
         if (kinematicUnit)