diff --git a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
index d53a8dd6a89f0cd37f609c9a4742d97d86f4deba..0f1f8047f3f47976a7ce52a928bac858d665b053 100644
--- a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
+++ b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
@@ -62,6 +62,7 @@ namespace armarx::obstacle_avoidance
             if (auto obstacle = finder.loadManipulationObject(objectPose))
             {
                 obstacle->setGlobalPose(objectPose.objectPoseGlobal);
+                obstacle->setName(objectPose.objectID.instanceName());
                 sceneObjects->addSceneObject(obstacle);
             }
         }