diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
index ba706483d794fe354d875367db1be3a02e49dea2..b34cfebc5c889bcc0f1df72954727a0b0f93f827 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
@@ -428,6 +428,11 @@ namespace armarx
         _robot->setGlobalPose(PosePtr::dynamicCast(pose)->toEigen(), true);
     }
 
+    float SharedRobotServant::getScaling(const Current&)
+    {
+        return _robot->getScaling();
+    }
+
     RobotPtr SharedRobotServant::getRobot() const
     {
         return this->_robot;
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index 178ca105a2dcb4e176c56ce2378e16d6c96a0b02..b79d1eb757d2816481818abb2cef831cea4768b3 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -49,7 +49,7 @@ namespace armarx
      */
     class SharedRobotNodeServant :
         virtual public SharedRobotNodeInterface,
-    public SharedObjectBase
+        public SharedObjectBase
     {
     public:
         SharedRobotNodeServant(VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::Current()*/);
@@ -113,6 +113,8 @@ namespace armarx
         NameValueMap getConfig(const Ice::Current& current = Ice::Current());
         virtual void setGlobalPose(const PoseBasePtr& pose, const Ice::Current& current = Ice::Current());
 
+        virtual float getScaling(const Ice::Current& = Ice::Current());
+
         VirtualRobot::RobotPtr getRobot() const;
 
         void setTimestamp(const IceUtil::Time& updateTime);
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index ecf90dbafba3bc373f84939c11d5f31a1f38d519..0106cb5e8cd595c454dc1fbebe2252563710ae52 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -120,6 +120,8 @@ module armarx
         void setGlobalPose(PoseBase globalPose);
         PoseBase getGlobalPose();
         NameValueMap getConfig();
+
+        float getScaling();
     };
 
 
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index fa4636b56f9b5c0c83e38678e5b274c9b64226a7..56fc9149f6da6dd904a35faf7d608f2748abe4c7 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -157,6 +157,11 @@ namespace armarx
         return p->toEigen(); // convert to eigen first
     }
 
+    float RemoteRobot::getScaling()
+    {
+        return _robot->getScaling();
+    }
+
     SharedRobotInterfacePrx RemoteRobot::getSharedRobot() const
     {
         return this->_robot;
@@ -360,7 +365,7 @@ namespace armarx
         else
         {
             StringList includePaths;
-            for (const std::string & projectName : packages)
+            for (const std::string& projectName : packages)
             {
                 if (projectName.empty())
                 {
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index 6d9b69c8a491b4d18acadc744935e26c4c1e8816..984e1ec1a5e91856bdc0ea03e89f1ea8ff9519a6 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -171,6 +171,8 @@ namespace armarx
          */
         Eigen::Matrix4f getGlobalPose() const;
 
+        float getScaling();
+
 
 
         /// Use this method to share the robot instance over Ice.