diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index f293741f9ba9baa56853717f1984389ce30ad1d1..0085fd3fade1e29d046b22b62887196584332508 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -51,7 +51,8 @@ namespace armarx::armem::articulated_object
 
     bool
     ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
-                                                    const armem::Time& timestamp)
+                                                    const armem::Time& timestamp,
+                                                    const bool isStatic)
     {
 
         ARMARX_CHECK_NOT_NULL(articulatedObject);
@@ -59,6 +60,6 @@ namespace armarx::armem::articulated_object
         armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
             convert(*articulatedObject, Time::Now());
 
-        return store(armemArticulatedObject);
+        return store(armemArticulatedObject, isStatic);
     }
 } // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
index ff39d70f049fa670e41157dbb79608b16d98b66c..edc401b6e0d55487f9446c1b5d0129cd623ea5c1 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
@@ -14,8 +14,8 @@ namespace armarx::armem::articulated_object
     public:
         using Writer::Writer;
 
-        bool
-        storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
-                               const armem::Time& timestamp);
+        bool storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
+                                    const armem::Time& timestamp,
+                                    bool isStatic = false);
     };
 } // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 6ec49b479ccccca948d46230e900efb02da5c6ff..f5ae8c13b383662411bc4d33399cc87ec3048a79 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -15,11 +15,11 @@
 #include <RobotAPI/libraries/armem/core/operations.h>
 #include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/client/articulated_object/aron_conversions.h>
 #include <RobotAPI/libraries/armem_robot_state/aron/Robot.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot_state/aron/RobotDescription.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
 #include <RobotAPI/libraries/armem_robot_state/robot_conversions.h>
-#include <RobotAPI/libraries/armem_objects/client/articulated_object/aron_conversions.h>
 
 #include "utils.h"
 
@@ -191,7 +191,7 @@ namespace armarx::armem::articulated_object
     }
 
     bool
-    Writer::storeInstance(const ArticulatedObject& obj) const
+    Writer::storeInstance(const ArticulatedObject& obj, const bool isStatic) const
     {
         std::lock_guard g{memoryWriterMutex};
 
@@ -238,7 +238,8 @@ namespace armarx::armem::articulated_object
         armarx::ObjectID objectId(id.entityName);
         ARMARX_INFO << "Object ID: " << objectId;
 
-        ARMARX_CHECK_NOT_EMPTY(objectId.instanceName()) << "An object instance name must be provided!";
+        ARMARX_CHECK_NOT_EMPTY(objectId.instanceName())
+            << "An object instance name must be provided!";
 
         armarx::arondto::ObjectID cs;
         cs.className = objectId.className();
@@ -249,6 +250,8 @@ namespace armarx::armem::articulated_object
         objectInstance.pose.providerName = properties.providerName;
         objectInstance.pose.attachmentValid = false;
 
+        objectInstance.pose.isStatic = isStatic;
+
         update.instancesData = {objectInstance.toAron()};
         update.referencedTime = timestamp;
 
@@ -266,7 +269,7 @@ namespace armarx::armem::articulated_object
     }
 
     bool
-    Writer::store(const ArticulatedObject& obj) const
+    Writer::store(const ArticulatedObject& obj, const bool isStatic) const
     {
         const std::optional<armem::MemoryID> classId = storeOrGetClass(obj);
 
@@ -277,7 +280,7 @@ namespace armarx::armem::articulated_object
             return false;
         }
 
-        return storeInstance(obj);
+        return storeInstance(obj, isStatic);
     }
 
     // TODO this is a duplicate
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index dcc49a2b2dc9e9e32a8edd06efa2026e0bb326c6..568bec35dad164f665cd41f9067d92b16693e380 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -45,9 +45,9 @@ namespace armarx::armem::articulated_object
         void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
 
-        bool store(const ArticulatedObject& obj) const override;
+        bool store(const ArticulatedObject& obj, bool isStatic) const override;
 
-        bool storeInstance(const ArticulatedObject& obj) const;
+        bool storeInstance(const ArticulatedObject& obj, bool isStatic) const;
         std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj) const;
 
         // const std::string& getPropertyPrefix() const override;
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
index 899cb1e79ac7ada7991e064b2a1ae1c20310749a..19043a9cc3d4c3409012d7111eee172edb4d579b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
@@ -30,7 +30,7 @@ namespace armarx::armem::articulated_object
     public:
         virtual ~WriterInterface() = default;
 
-        virtual bool store(const ArticulatedObject& obj) const = 0;
+        virtual bool store(const ArticulatedObject& obj, bool isStatic) const = 0;
     };
 
 } // namespace armarx::armem::articulated_object