diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
index d491662edda9ff00244178735c0c84c26a923688..2fcfbb4ae129edf59214cc8a398d535d95a2e86e 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
@@ -40,6 +40,7 @@ void armarx::armem::obj::to_json(nlohmann::json& j, const SceneSnapshot::Object&
     j["collection"] = rhs.collection;
     j["position"] = rhs.position;
     j["orientation"] = rhs.orientation;
+    j["jointValues"] = rhs.jointValues;
 }
 
 
@@ -50,6 +51,10 @@ void armarx::armem::obj::from_json(const nlohmann::json& j, SceneSnapshot::Objec
     j.at("collection").get_to(rhs.collection);
     j.at("position").get_to(rhs.position);
     j.at("orientation").get_to(rhs.orientation);
+    if (j.count("jointValues"))
+    {
+        j.at("jointValues").get_to(rhs.jointValues);
+    }
 }
 
 
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
index add5f1f183d15b6ec7c0588a5d4a9abc7e558d82..30e144b6300327b969904a662fd1bd3466dc467b 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
@@ -44,6 +44,8 @@ namespace armarx::armem::obj
             Eigen::Vector3f position = Eigen::Vector3f::Zero();
             Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
 
+            std::map<std::string, float> jointValues;
+
             ObjectID getClassID() const;
             ObjectID getClassID(ObjectFinder& finder) const;
         };
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 13c76d0e2700e73bdf788b39eb10696098801836..5c76dfb7289ba6f503dfd17eaa7bda26af0e9e2c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -870,6 +870,8 @@ namespace armarx::armem::server::obj::instance
             pose.objectPoseOriginal = pose.objectPoseGlobal;
             pose.objectPoseOriginalFrame = armarx::GlobalFrame;
 
+            pose.objectJointValues = object.jointValues;
+
             pose.robotConfig = {};
             pose.robotPose = Eigen::Matrix4f::Identity();
 
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index 6f337c8240be05af068c69b50c6703cbd63da576..a0c8812a6751f0612ffb254a2cb43bdd714e812d 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -28,6 +28,8 @@ namespace armarx::armem::server::obj::instance
                        "Enable showing object frames.");
         defs->optional(objectFramesScale, prefix + "objectFramesScale",
                        "Scaling of object frames.");
+        defs->optional(useArticulatedModels, prefix + "useArticulatedModels",
+                       "Prefer articulated object models if available.");
     }
 
 
@@ -111,25 +113,44 @@ namespace armarx::armem::server::obj::instance
 
         const Eigen::Matrix4f pose = inGlobalFrame ? objectPose.objectPoseGlobal : objectPose.objectPoseRobot;
         {
-            viz::Object object(key);
-            object.pose(pose);
-            if (std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id))
-            {
-                object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
-            }
-            else
-            {
-                object.fileByObjectFinder(id);
-            }
-            if (alphaByConfidence && objectPose.confidence < 1.0f)
+            std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id);
+
+            bool done = false;
+            if (useArticulatedModels && objectInfo)
             {
-                object.overrideColor(simox::Color::white().with_alpha(objectPose.confidence));
+                if (std::optional<PackageFileLocation> model = objectInfo->getArticulatedModel())
+                {
+                    viz::Robot robot(key);
+                    robot.pose(pose);
+                    robot.file(model->package, model->relativePath);
+                    robot.joints(objectPose.objectJointValues);
+
+                    layer.add(robot);
+                    done = true;
+                }
             }
-            else if (alpha < 1)
+            if (!done)
             {
-                object.overrideColor(simox::Color::white().with_alpha(alpha));
+                viz::Object object(key);
+                object.pose(pose);
+                if (objectInfo)
+                {
+                    object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
+                }
+                else
+                {
+                    object.fileByObjectFinder(id);
+                }
+                if (alphaByConfidence && objectPose.confidence < 1.0f)
+                {
+                    object.overrideColor(simox::Color::white().with_alpha(objectPose.confidence));
+                }
+                else if (alpha < 1)
+                {
+                    object.overrideColor(simox::Color::white().with_alpha(alpha));
+                }
+                layer.add(object);
             }
-            layer.add(object);
         }
 
         if (oobbs && objectPose.localOOBB)
@@ -164,6 +185,7 @@ namespace armarx::armem::server::obj::instance
             objectFramesScale.setSteps(int(10 * max));
             objectFramesScale.setValue(visu.objectFramesScale);
         }
+        useArticulatedModels.setValue(visu.useArticulatedModels);
 
         GridLayout grid;
         int row = 0;
@@ -180,6 +202,8 @@ namespace armarx::armem::server::obj::instance
         grid.add(Label("Object Frames"), {row, 0}).add(objectFrames, {row, 1});
         grid.add(Label("Scale:"), {row, 2}).add(objectFramesScale, {row, 3});
         row++;
+        grid.add(Label("Use Articulated Models"), {row, 0}).add(useArticulatedModels, {row, 1});
+        row++;
 
         group.setLabel("Visualization");
         group.addChild(grid);
@@ -194,6 +218,7 @@ namespace armarx::armem::server::obj::instance
         visu.oobbs = oobbs.getValue();
         visu.objectFrames = objectFrames.getValue();
         visu.objectFramesScale = objectFramesScale.getValue();
+        visu.useArticulatedModels = useArticulatedModels.getValue();
     }
 
 }
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
index 19dbeccd5addc942e4c417aa6505210ac6d82e92..01e7f059817d4050fc9728a4b09d95d22c9a572f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
@@ -76,6 +76,9 @@ namespace armarx::armem::server::obj::instance
         bool objectFrames = false;
         float objectFramesScale = 1.0;
 
+        /// Prefer articulated models if available.
+        bool useArticulatedModels = true;
+
         SimpleRunningTask<>::pointer_type updateTask;
 
 
@@ -92,6 +95,9 @@ namespace armarx::armem::server::obj::instance
             armarx::RemoteGui::Client::CheckBox objectFrames;
             armarx::RemoteGui::Client::FloatSpinBox objectFramesScale;
 
+            armarx::RemoteGui::Client::CheckBox useArticulatedModels;
+
+
             void setup(const Visu& visu);
             void update(Visu& visu);
         };