diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
index 48baf4ecf018d470ff57d6bfc11ed9011882dbb4..8f7d00053ef37819464e9d1b7bc4171cf4caf72b 100644
--- a/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
@@ -4,7 +4,7 @@
 		<Proxy value="RobotAPIInterfaces.MemoryNameSystem"/>
 	</Proxies>
 	<Folder basename="test">
-		<State filename="RequestObjectsTest.xml"/>
+		<State filename="RequestObjectsTest.xml" visibility="public"/>
 	</Folder>
 	<State filename="RequestObjects.xml" visibility="public"/>
 </StatechartGroup>
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
index 2142038a7b9b501ceb397ac914e91e6fc52f4cbb..562ddabd56b6d07428f8ce2b386fa682ac95dd1f 100644
--- a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
@@ -28,6 +28,12 @@ namespace armarx::ObjectMemoryGroup
 
     void RequestObjects::run()
     {
+        if (not in.getEnable())
+        {
+            emitSuccess();
+            return;
+        }
+
         using Reader = armarx::armem::obj::instance::Reader;
 
         const std::string provider = in.isProviderSet() ? in.getProvider() : "";
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
index 12a5c8bf4360f3c743dfa411a1aee51a396426b9..8b32c20109a1bee77bcd3ee1203716d3abb02f0d 100644
--- a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
@@ -1,6 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
 <State version="1.2" name="RequestObjects" uuid="9F09FB2F-CC0C-4B8A-A716-F130E04A7230" width="800" height="600" type="Normal State">
 	<InputParameters>
+		<Parameter name="Enable" type="::armarx::BoolVariantData" docType="bool" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}' docValue="True"/>
+		</Parameter>
 		<Parameter name="ObjectIds" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no"/>
 		<Parameter name="Provider" type="::armarx::StringVariantData" docType="string" optional="yes"/>
 		<Parameter name="RelativeTimeoutMilliseconds" type="::armarx::IntVariantData" docType="int" optional="no"/>
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml b/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
index fa73294aa874b1dc997a182169fe48eb2cee4c3c..edb16e98297feb19d1769ca6c54ab28901da7ad1 100644
--- a/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
@@ -14,9 +14,9 @@
 	<OutputParameters/>
 	<LocalParameters/>
 	<Substates>
-		<EndState name="Failure" event="Failure" left="363.333" top="140.056" boundingSquareSize="99.6636"/>
+		<EndState name="Failure" event="Failure" left="363.167" 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"/>
+		<EndState name="Success" event="Success" left="363.167" top="250.278" boundingSquareSize="99.6636"/>
 	</Substates>
 	<Events>
 		<Event name="Failure">