diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index fb9c2ce38f5a3f5710dc48c5aad7a851fad4de41..4dea491c8e0a2eec9b8c04677433977263ffdda9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -69,6 +69,9 @@ namespace armarx::armem::robot_state
 
         auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
         robot->setName(name);
+
+        synchronizeRobot(*robot, timestamp);
+
         return robot;
     }