diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
index d0057afc8d23a30da6e5c6335143d58c638d0557..8d40f1077f46119e0ad7638c3cfc2ef157ed47db 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
@@ -56,7 +56,6 @@ namespace armarx::armem::grasping::known_grasps
         const std::string propertyPrefix = "mem.grasping.knowngrasps.";
 
         armem::client::Reader memoryReader;
-        mutable std::mutex memoryWriterMutex;
     };
 
 
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
index d449502849b09de61e3abc65ab0364928502a083..da5744c594780644808d3f75b003cdb2d04d0465 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
@@ -57,7 +57,6 @@ namespace armarx::armem::obj::instance
         const std::string propertyPrefix = "mem.obj.instance.";
 
         armem::client::Writer memoryWriter;
-        mutable std::mutex memoryWriterMutex;
     };
 
 
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
index d69f390dadcb7eb0daed57f8f7a82148c055fb52..abcfeb2d285a93254dfe1c029d7e7f1763709070 100644
--- a/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
+++ b/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
@@ -10,8 +10,10 @@ namespace armarx::skills::mixin
     {
         armem::grasping::known_grasps::Reader graspReader;
 
-        GraspReadingSkillMixin(armem::client::MemoryNameSystem& mns) : graspReader(mns)
-        {}
+        GraspReadingSkillMixin(const armem::grasping::known_grasps::Reader& r) : graspReader(r)
+        {
+
+        }
     };
 
     struct SpecificGraspReadingSkillMixin
@@ -19,7 +21,7 @@ namespace armarx::skills::mixin
         std::string objectEntityId;
         armem::grasping::known_grasps::Reader graspReader;
 
-        SpecificGraspReadingSkillMixin(const std::string& n, armem::client::MemoryNameSystem& mns) : objectEntityId(n), graspReader(mns)
+        SpecificGraspReadingSkillMixin(const std::string& n, const armem::grasping::known_grasps::Reader& r) : objectEntityId(n), graspReader(r)
         {}
     };
 }
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
index 214fbac445e675d2bde67ae38372fa271a30b504..be453b9283d3db61b46df79fba50a3e2fb13be80 100644
--- a/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
+++ b/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
@@ -10,7 +10,8 @@ namespace armarx::skills::mixin
     {
         armem::client::Reader memoryReader;
 
-        //MemoryReadingSkillMixin(armem::client::MemoryNameSystem& mns) : memoryReader(mns)
-        //{}
+        MemoryReadingSkillMixin(const armem::client::Reader& r) : memoryReader(r)
+        {
+        }
     };
-}
+} // namespace armarx::skills::mixin
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
index ecf3d2a64ef0a5d3f01b5b9b23839b1db14cb921..84a7746a74177df50eff3f15c768885f77b6e446 100644
--- a/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
@@ -10,8 +10,9 @@ namespace armarx::skills::mixin
     {
         armem::obj::instance::Reader objectReader;
 
-        ObjectReadingSkillMixin(armem::client::MemoryNameSystem& mns) : objectReader(mns)
-        {}
+        ObjectReadingSkillMixin(const armem::obj::instance::Reader& r) : objectReader(r)
+        {
+        }
     };
 
     struct SpecificObjectReadingSkillMixin
@@ -19,7 +20,10 @@ namespace armarx::skills::mixin
         std::string objectEntityId;
         armem::obj::instance::Reader objectReader;
 
-        SpecificObjectReadingSkillMixin(const std::string& n, armem::client::MemoryNameSystem& mns) : objectEntityId(n), objectReader(mns)
-        {}
+        SpecificObjectReadingSkillMixin(const std::string& n,
+                                        const armem::obj::instance::Reader& r) :
+            objectEntityId(n), objectReader(r)
+        {
+        }
     };
-}
+} // namespace armarx::skills::mixin
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
index edf8e6a2ef7360417f2e951ed36e0b24c62f4cef..2bf09e174f06717a79a00d503d325e9ed6be090d 100644
--- a/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
@@ -10,7 +10,8 @@ namespace armarx::skills::mixin
     {
         armem::obj::instance::Writer objectWriter;
 
-        ObjectWritingSkillMixin(armem::client::MemoryNameSystem& mns) : objectWriter(mns)
-        {}
+        ObjectWritingSkillMixin(const armem::obj::instance::Writer& r) : objectWriter(r)
+        {
+        }
     };
-}
+} // namespace armarx::skills::mixin
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
index 631491ddcfb70a7fc1c6930317d30bbb3c969dca..9394445a59534482aee91a15a6e5e16429483564 100644
--- a/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
+++ b/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
@@ -10,9 +10,9 @@ namespace armarx::skills::mixin
     {
         armem::robot_state::VirtualRobotReader robotReader;
 
-        RobotReadingSkillMixin(armem::client::MemoryNameSystem& mns) :
-            robotReader(mns)
-        {}
+        RobotReadingSkillMixin(const armem::robot_state::VirtualRobotReader& r) : robotReader(r)
+        {
+        }
     };
 
     struct SpecificRobotReadingSkillMixin
@@ -20,9 +20,10 @@ namespace armarx::skills::mixin
         std::string robotName;
         armem::robot_state::VirtualRobotReader robotReader;
 
-        SpecificRobotReadingSkillMixin(const std::string& rn, armem::client::MemoryNameSystem& mns) :
-            robotName(rn),
-            robotReader(mns)
-        {}
+        SpecificRobotReadingSkillMixin(const std::string& rn,
+                                       const armem::robot_state::VirtualRobotReader& r) :
+            robotName(rn), robotReader(r)
+        {
+        }
     };
-}
+} // namespace armarx::skills::mixin