diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml b/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa73294aa874b1dc997a182169fe48eb2cee4c3c
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="RequestObjectsTest" uuid="E74E1D8D-2E97-4846-9282-73AC4F49FAEE" width="493.167" height="355.278" type="Normal State">
+	<InputParameters>
+		<Parameter name="ObjectIds" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
+			<DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/spraybottle"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/handwash-paste"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/mounting-adhesive"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/multipurpose-grease"}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="Maintenance/spraybottle\nMaintenance/handwash-paste\nMaintenance/mounting-adhesive\nMaintenance/multipurpose-grease"/>
+		</Parameter>
+		<Parameter name="Provider" type="::armarx::StringVariantData" docType="string" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"sim_track"}}' docValue="sim_track"/>
+		</Parameter>
+		<Parameter name="RelativeTimeoutMilliseconds" type="::armarx::IntVariantData" docType="int" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":10000}}' docValue="10000"/>
+		</Parameter>
+	</InputParameters>
+	<OutputParameters/>
+	<LocalParameters/>
+	<Substates>
+		<EndState name="Failure" event="Failure" left="363.333" top="140.056" boundingSquareSize="99.6636"/>
+		<LocalState name="RequestObjects" refuuid="9F09FB2F-CC0C-4B8A-A716-F130E04A7230" left="114.167" top="196.278" boundingSquareSize="99.6636"/>
+		<EndState name="Success" event="Success" left="363.333" top="250.53" boundingSquareSize="99.6636"/>
+	</Substates>
+	<Events>
+		<Event name="Failure">
+			<Description>Event for statechart-internal failures or optionally user-code failures</Description>
+		</Event>
+	</Events>
+	<StartState substateName="RequestObjects">
+		<ParameterMappings>
+			<ParameterMapping sourceType="Parent" from="ObjectIds" to="ObjectIds"/>
+			<ParameterMapping sourceType="Parent" from="Provider" to="Provider"/>
+			<ParameterMapping sourceType="Parent" from="RelativeTimeoutMilliseconds" to="RelativeTimeoutMilliseconds"/>
+		</ParameterMappings>
+		<SupportPoints>
+			<SupportPoint posX="67.1067" posY="233.278"/>
+			<SupportPoint posX="76.5839" posY="233.278"/>
+			<SupportPoint posX="88.7241" posY="233.278"/>
+			<SupportPoint posX="101.186" posY="233.278"/>
+		</SupportPoints>
+	</StartState>
+	<Transitions>
+		<Transition from="RequestObjects" to="Failure" eventName="Failure">
+			<ParameterMappings/>
+			<ParameterMappingsToParentsLocal/>
+			<ParameterMappingsToParentsOutput/>
+			<SupportPoints>
+				<SupportPoint posX="214.588" posY="221.9"/>
+				<SupportPoint posX="253.892" posY="213.031"/>
+				<SupportPoint posX="308.683" posY="200.669"/>
+				<SupportPoint posX="350.786" posY="191.175"/>
+			</SupportPoints>
+		</Transition>
+		<Transition from="RequestObjects" to="Success" eventName="Success">
+			<ParameterMappings/>
+			<ParameterMappingsToParentsLocal/>
+			<ParameterMappingsToParentsOutput/>
+			<SupportPoints>
+				<SupportPoint posX="214.358" posY="252.153"/>
+				<SupportPoint posX="221.884" posY="254.613"/>
+				<SupportPoint posX="229.602" posY="256.935"/>
+				<SupportPoint posX="237" posY="258.833"/>
+				<SupportPoint posX="274.158" posY="268.372"/>
+				<SupportPoint posX="316.529" posY="275.551"/>
+				<SupportPoint posX="350.428" posY="280.424"/>
+			</SupportPoints>
+		</Transition>
+	</Transitions>
+</State>
+