diff --git a/data/RobotAPI/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
index 0e6ea498e694f75c9541f9c5e18334ec1f27ba3f..c90d353054348fc5de64387f5f1ee238d382b05c 100644
--- a/data/RobotAPI/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -190,7 +190,11 @@
             <onConnect>remoteRobot.reset(new RemoteRobot(robotStateComponent-&gt;getSynchronizedRobot()));</onConnect>
             <stateMethod header="const VirtualRobot::RobotPtr getRobot() const">return %getContext%-&gt;getRobot();</stateMethod>
 
-            <method header="const VirtualRobot::RobotPtr getLocalRobot() const">return robotPoolStructure->getRobot();</method>
+            <method header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">VirtualRobot::RobotPtr robot = robotPoolStructure->getRobot();
+                if(performInitialRobotSync) {
+                    ::armarx::RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+                }
+                return robot;</method>
             <method header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return robotPoolCollision->getRobot();</method>
             <method header="const RobotNameHelperPtr getRobotNameHelper() const">return robotNameHelper;</method>
             <member>VirtualRobot::RobotPtr localRobot;</member>
@@ -204,7 +208,7 @@
             <onConnect>localCollisionRobot = RemoteRobot::createLocalCloneFromFile(robotStateComponent, VirtualRobot::RobotIO::eCollisionModel);</onConnect>
             <onConnect>robotPoolCollision.reset(new RobotPool(localCollisionRobot,2));</onConnect>
             <onConnect>robotNameHelper = RobotNameHelper::Create(robotStateComponent->getRobotInfo(), getSelectedStatechartProfile());</onConnect>
-            <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot() const">return %getContext%-&gt;getLocalRobot();</stateMethod>
+            <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">return %getContext%-&gt;getLocalRobot(performInitialRobotSync);</stateMethod>
             <stateMethod header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return %getContext%-&gt;getLocalCollisionRobot();</stateMethod>
             <stateMethod header="const RobotNameHelperPtr getRobotNameHelper() const">return %getContext%-&gt;getRobotNameHelper();</stateMethod>
 
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.cpp b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
index e37f3ffea314dcfbcad950e147dbfd445dad61b6..f22b1dfde85d6a6b94a729face9ed4ccc272171d 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.cpp
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
@@ -139,7 +139,7 @@ void GraspCandidateObserver::reportProviderInfo(const std::string& providerName,
     {
         offerChannel(providerName, "Channel of " + providerName);
     }
-    offerOrUpdateDataField(providerName, "", ObjectTypeToString(info->objectType), "");
+    offerOrUpdateDataField(providerName, "objectType", ObjectTypeToString(info->objectType), "");
 }
 
 InfoMap GraspCandidateObserver::getAvailableProvidersWithInfo(const Ice::Current&)