diff --git a/source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..75928719dc2441212bc15be52f1a364a7484fd8d
--- /dev/null
+++ b/source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.cpp
@@ -0,0 +1,136 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::ArmarXObjects::ArMemExampleClient
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "ArMemExampleClient.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/interface/aron.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+
+namespace armarx
+{
+ ArMemExampleClientPropertyDefinitions::ArMemExampleClientPropertyDefinitions(std::string prefix) :
+ armarx::ComponentPropertyDefinitions(prefix)
+ {
+ }
+
+ armarx::PropertyDefinitionsPtr ArMemExampleClient::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ArMemExampleClientPropertyDefinitions(getConfigIdentifier());
+
+ defs->topic(debugObserver);
+
+ defs->component(memory, "ArMemExampleMemory");
+
+ return defs;
+ }
+
+
+ std::string ArMemExampleClient::getDefaultName() const
+ {
+ return "ArMemExampleClient";
+ }
+
+
+ void ArMemExampleClient::onInitComponent()
+ {
+ }
+
+
+ void ArMemExampleClient::onConnectComponent()
+ {
+ ARMARX_CHECK_NOT_NULL(memory);
+
+ armem::MemoryID providerID;
+ if (true)
+ {
+ armem::data::AddSegmentInput input;
+ input.coreSegmentName = "ExampleCoreSegment";
+ input.providerSegmentName = "ExampleProvider";
+
+ ARMARX_INFO << "Adding segment:"
+ << "\n- core segment: \t'" << input.coreSegmentName << "'"
+ << "\n- provider segment: \t'" << input.providerSegmentName << "'"
+ ;
+
+ armem::data::AddSegmentOutput output = memory->addSegment(input);
+
+ ARMARX_INFO << "Output: "
+ << "\n- success: \t" << output.success
+ << "\n- segmentID: \t" << output.segmentID
+ << "\n- errorMessage: \t" << output.errorMessage
+ ;
+
+ providerID = armem::MemoryID::fromString(output.segmentID);
+ }
+
+ if (true)
+ {
+ armem::Commit commit;
+ armem::EntityUpdate& update = commit.updates.emplace_back();
+
+ update.entityID = providerID;
+ update.entityID.entityName = "example_entity";
+ update.timeCreated = armem::Time::now();
+ update.instancesData = { new aron::AronData(), new aron::AronData() };
+
+ ARMARX_INFO << "Committing:"
+ << "\n- entityID: \t'" << update.entityID.str() << "'"
+ ;
+
+ // Sending
+ update.timeSent = armem::Time::now();
+
+ armem::data::Commit commitIce;
+ armem::toIce(commitIce, commit);
+ armem::data::CommitResult commitResult = memory->commit(commitIce);
+
+ ARMARX_CHECK_EQUAL(commitResult.results.size(), 1);
+ armem::data::EntityUpdateResult& result = commitResult.results.at(0);
+
+ ARMARX_INFO << "Result: "
+ << "\n- snapshotID: \t" << result.snapshotID
+ << "\n- time arrived (us): \t" << result.timeArrivedMicroSeconds
+ ;
+ }
+ }
+
+
+ void ArMemExampleClient::onDisconnectComponent()
+ {
+ }
+
+
+ void ArMemExampleClient::onExitComponent()
+ {
+ }
+
+
+ void ArMemExampleClient::RemoteGui_update()
+ {
+
+ }
+
+}
diff --git a/source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.h
new file mode 100644
index 0000000000000000000000000000000000000000..a1c3189478b27582b45cc550351a0612449c8dfc
--- /dev/null
+++ b/source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.h
@@ -0,0 +1,104 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::ArmarXObjects::ArMemExampleClient
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+
+#include <ArmarXCore/core/Component.h>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+
+
+namespace armarx
+{
+ /**
+ * @class ArMemExampleClientPropertyDefinitions
+ * @brief Property definitions of `ArMemExampleClient`.
+ */
+ class ArMemExampleClientPropertyDefinitions :
+ public armarx::ComponentPropertyDefinitions
+ {
+ public:
+ ArMemExampleClientPropertyDefinitions(std::string prefix);
+ };
+
+
+
+ /**
+ * @defgroup Component-ArMemExampleClient ArMemExampleClient
+ * @ingroup RobotAPI-Components
+ * A description of the component ArMemExampleClient.
+ *
+ * @class ArMemExampleClient
+ * @ingroup Component-ArMemExampleClient
+ * @brief Brief description of class ArMemExampleClient.
+ *
+ * Detailed description of class ArMemExampleClient.
+ */
+ class ArMemExampleClient :
+ virtual public armarx::Component
+ , virtual public LightweightRemoteGuiComponentPluginUser
+ //, virtual public armarx::ArVizComponentPluginUser
+ {
+ public:
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+
+ // LightweightRemoteGuiComponentPluginUser interface
+ public:
+ void RemoteGui_update() override;
+
+
+ protected:
+
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+
+ private:
+
+ armarx::DebugObserverInterfacePrx debugObserver;
+
+ armem::MemoryInterfacePrx memory;
+
+ };
+}
diff --git a/source/RobotAPI/components/ArMemExampleClient/CMakeLists.txt b/source/RobotAPI/components/ArMemExampleClient/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bfa917947ced2e4d9a240de0952b08d93e1dce7c
--- /dev/null
+++ b/source/RobotAPI/components/ArMemExampleClient/CMakeLists.txt
@@ -0,0 +1,26 @@
+armarx_component_set_name("ArMemExampleClient")
+
+
+set(COMPONENT_LIBS
+ ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
+ ArmarXGuiComponentPlugins
+ RobotAPICore RobotAPIInterfaces armem
+ # RobotAPIComponentPlugins # for ArViz and other plugins
+)
+
+set(SOURCES
+ ArMemExampleClient.cpp
+)
+set(HEADERS
+ ArMemExampleClient.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+# add unit tests
+# add_subdirectory(test)
+
+#generate the application
+armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/ArMemExampleClient/test/ArMemExampleClientTest.cpp b/source/RobotAPI/components/ArMemExampleClient/test/ArMemExampleClientTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..67269fecc99271fcc1f88ffb7eed89e07ae2b7a8
--- /dev/null
+++ b/source/RobotAPI/components/ArMemExampleClient/test/ArMemExampleClientTest.cpp
@@ -0,0 +1,37 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::ArmarXObjects::ArMemExampleClient
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::ArMemExampleClient
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../ArMemExampleClient.h"
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::ArMemExampleClient instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}
diff --git a/source/RobotAPI/components/ArMemExampleClient/test/CMakeLists.txt b/source/RobotAPI/components/ArMemExampleClient/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..775fb5e2e01b19ab9996a6be1b7575fb53caade6
--- /dev/null
+++ b/source/RobotAPI/components/ArMemExampleClient/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore ArMemExampleClient)
+
+armarx_add_test(ArMemExampleClientTest ArMemExampleClientTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 524786f8810fcb31748cddb9728f1d8ca790b404..e7b83b1aa328589897294150faf376ff8ca0d3f6 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -3,6 +3,7 @@ add_subdirectory(units)
add_subdirectory(ArViz)
add_subdirectory(ArMemExampleMemory)
+add_subdirectory(ArMemExampleClient)
add_subdirectory(ArMemGlobalStorage)
add_subdirectory(ArMemLocalStorage)