diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index fe2a7471594c303e21ed0638bb1fa6f5e1635fa5..f60377622987efff1d3fa780ff2e05932528931b 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -21,7 +21,9 @@
  */
 
 #include "ObjectMemory.h"
+#include <VirtualRobot/VirtualRobot.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
 
@@ -65,6 +67,8 @@ namespace armarx::armem::server::obj
                        "Duration of time window into the past to use for predictions"
                        " when requested via the PredictingMemoryInterface (in seconds).");
 
+        defs->optional(robotName, "robotName", "");
+
         return defs;
     }
 
@@ -74,6 +78,7 @@ namespace armarx::armem::server::obj
         classSegment(iceAdapter()),
         attachmentSegment(iceAdapter())
     {
+        addPlugin(virtualRobotReaderPlugin);
     }
 
 
@@ -130,20 +135,24 @@ namespace armarx::armem::server::obj
     {
         // onConnect can be called multiple times, but addRobot will fail if called more than once with the same ID
         // So we need to always make sure to guard a call to addRobot
-        const std::string robotKey = "robot";
-        VirtualRobot::RobotPtr robot = RobotState::hasRobot(robotKey)
-                                       ? RobotState::getRobot(robotKey)
-                                       : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
+        // const std::string robotKey = "robot";
+        // VirtualRobot::RobotPtr robot = RobotState::hasRobot(robotKey)
+        //                                ? RobotState::getRobot(robotKey)
+        //                                : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
 
-        robotStateComponent = RobotState::getRobotStateComponent();
+        // TODO: the instance segment should check the provided object poses and instantiate the needed robots by itself.
+        VirtualRobot::RobotPtr robot = virtualRobotReaderPlugin->get().getSynchronizedRobot(robotName, armarx::Clock::Now());
 
         getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
 
         // Create first to use the original values.
         createRemoteGuiTab();
 
+        ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
+        // ARMARX_CHECK(virtualRobotReaderPlugin->isAvailable());
+
         instance::SegmentAdapter::connect(
-            robotStateComponent,
+            &virtualRobotReaderPlugin->get(),
             robot,
             kinematicUnitObserver,
             ArVizComponentPluginUser::getArvizClient(),
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 1a939eebff7c94f887b4d68f5d363c5f986e5194..5cf03b6e31f15526cf6f99e0be43c0aacedabb11 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -22,6 +22,8 @@
 
 #pragma once
 
+#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
+#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
 #include <RobotAPI/libraries/armem_objects/server/class/Segment.h>
 #include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
 #include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
@@ -61,15 +63,11 @@ namespace armarx::armem::server::obj
         , virtual public armarx::armem::server::ObjectMemoryInterface
         , virtual public armarx::armem::server::ReadWritePluginUser
         , virtual public armarx::armem::server::obj::instance::SegmentAdapter
-
-        , virtual public armarx::RobotStateComponentPluginUser
         , virtual public armarx::LightweightRemoteGuiComponentPluginUser
         , virtual public armarx::ArVizComponentPluginUser
     {
     public:
 
-        using RobotState = armarx::RobotStateComponentPluginUser;
-
         static const std::string defaultMemoryName;
 
 
@@ -119,7 +117,6 @@ namespace armarx::armem::server::obj
     private:
 
         DebugObserverInterfacePrx debugObserver;
-        RobotStateComponentInterfacePrx robotStateComponent;
         KinematicUnitObserverInterfacePrx kinematicUnitObserver;
 
         double predictionTimeWindow = 2;
@@ -137,6 +134,8 @@ namespace armarx::armem::server::obj
         };
         std::unique_ptr<RemoteGuiTab> tab;
 
+        std::string robotName = "Armar6";
+        armem::client::plugins::ReaderWriterPlugin<robot_state::VirtualRobotReader>* virtualRobotReaderPlugin;
     };
 
 }