diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index 1c4ae2923cb0d24f57fd5fda32524d6b5100eefe..1f6fb1582f3af4a98ba739a9621bd6db7988e160 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -73,6 +73,7 @@ set(LIB_FILES
data/rw/Reader.cpp
data/rw/reader/variant/VariantReader.cpp
data/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
+ data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
type/rw/Writer.cpp
type/rw/writer/variant/VariantWriter.cpp
@@ -211,6 +212,7 @@ set(LIB_HEADERS
data/rw/Reader.h
data/rw/reader/variant/VariantReader.h
data/rw/reader/nlohmannJSON/NlohmannJSONReader.h
+ data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h
type/rw/json/Data.h
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e773c517d9ceee0c8c166f327b639a2c8f799f6b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
@@ -0,0 +1,107 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @author Fabian Peller (fabian dot peller at kit dot edu)
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+*/
+
+// STD/STL
+#include <memory>
+#include <numeric>
+
+// Header
+#include "NlohmannJSONReaderWithoutTypeCheck.h"
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h>
+
+#include "../../json/Data.h"
+
+
+namespace armarx::aron::data::reader
+{
+ data::Descriptor
+ NlohmannJSONReaderWithoutTypeCheck::getDescriptor(InputType& input)
+ {
+ return ConstNlohmannJSONVisitor::GetDescriptor(input);
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readList(const nlohmann::json& input,
+ std::vector<nlohmann::json>& elements,
+ Path& p)
+ {
+ elements = input.get<std::vector<nlohmann::json>>();
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readDict(const nlohmann::json& input,
+ std::map<std::string, nlohmann::json>& elements,
+ Path& p)
+ {
+ elements = input.get<std::map<std::string, nlohmann::json>>();
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readNDArray(const nlohmann::json& input,
+ std::vector<int>& shape,
+ std::string& typeAsString,
+ std::vector<unsigned char>& data,
+ Path& p)
+ {
+ shape = input.at("dims").get<std::vector<int>>();
+ data = input.at("data").get<std::vector<unsigned char>>();
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readInt(const nlohmann::json& input, int& i, Path& p)
+ {
+ i = input;
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readLong(const nlohmann::json& input, long& i, Path& p)
+ {
+ i = input;
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readFloat(const nlohmann::json& input, float& i, Path& p)
+ {
+ i = input;
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readDouble(const nlohmann::json& input, double& i, Path& p)
+ {
+ i = input;
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readString(const nlohmann::json& input,
+ std::string& i,
+ Path& p)
+ {
+ i = input;
+ }
+
+ void
+ NlohmannJSONReaderWithoutTypeCheck::readBool(const nlohmann::json& input, bool& i, Path& p)
+ {
+ i = input;
+ }
+} // namespace armarx::aron::data::reader
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h
new file mode 100644
index 0000000000000000000000000000000000000000..e0bed7b71869e2abc074484fe3fb9774e0ef6730
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h
@@ -0,0 +1,73 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @author Fabian Peller (fabian dot peller at kit dot edu)
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+*/
+
+#pragma once
+
+// STD/STL
+#include <memory>
+#include <stack>
+
+// Simox
+#include <SimoxUtility/json.h>
+
+// BaseClass
+#include <RobotAPI/libraries/aron/core/data/rw/Reader.h>
+
+namespace armarx::aron::data::reader
+{
+ class NlohmannJSONReaderWithoutTypeCheck : public ReaderInterface<const nlohmann::json>
+ {
+ using Base = ReaderInterface<const nlohmann::json>;
+
+ public:
+ // constructors
+ NlohmannJSONReaderWithoutTypeCheck() = default;
+
+ data::Descriptor getDescriptor(InputType& input) final;
+
+ using Base::readBool;
+ using Base::readDict;
+ using Base::readDouble;
+ using Base::readFloat;
+ using Base::readInt;
+ using Base::readList;
+ using Base::readLong;
+ using Base::readNDArray;
+ using Base::readString;
+
+ void readList(InputType& input, std::vector<InputTypeNonConst>& elements, Path& p) override;
+ void readDict(InputType& input,
+ std::map<std::string, InputTypeNonConst>& elements,
+ Path& p) override;
+
+ void readNDArray(InputType& input,
+ std::vector<int>& shape,
+ std::string& typeAsString,
+ std::vector<unsigned char>& data,
+ Path& p) override;
+
+ void readInt(InputType& input, int& i, Path& p) override;
+ void readLong(InputType& input, long& i, Path& p) override;
+ void readFloat(InputType& input, float& i, Path& p) override;
+ void readDouble(InputType& input, double& i, Path& p) override;
+ void readString(InputType& input, std::string& i, Path& p) override;
+ void readBool(InputType& input, bool& i, Path& p) override;
+ };
+} // namespace armarx::aron::data::reader