diff --git a/robot.py b/robot.py
index dbdec7adb1c5f99f9abe53b6e9188f9d6d76039b..24c6863ea2c6f165d18bf7dd1eea3a12fdb10c06 100644
--- a/robot.py
+++ b/robot.py
@@ -1,6 +1,7 @@
 import logging
 import asyncio
 import numpy
+import jsonparse
 
 from asyncua import ua, Server
 from asyncua.common.methods import uamethod
@@ -10,6 +11,11 @@ from asyncua.common import node
 logging.basicConfig(level=logging.INFO)
 _logger = logging.getLogger('asyncua')
 
+def getobj(name):
+    for i in jsonparse.measurementobj:
+        if i.name == name:
+            return i
+
 
 class Measurement:
     def __init__(self, name, description, datatype, dimension, rangevar=None, unit=None):
@@ -71,10 +77,18 @@ async def main():
     rangeid = await server.nodes.base_data_type.get_child(["0:Structure" , "0:Range"])
 
     #measurementobjekte für dynamischer
-    tcpobject = Measurement("Tool Center Point", "Tool center point of a six-arm robot.", float, 3 , (-0.5, 0.5), "metre")
-    positionobject = Measurement("Position", "Position in Cartesian coordinates given in metre.", float, 3, (-50, 50) , "metre")
-    batteryobject = Measurement("Battery level", "Battery level", int , 0 ,(0, 100), "percent")
-    measureobjectlist = [tcpobject , positionobject, batteryobject]
+    # tcpobject = Measurement("Tool Center Point", "Tool center point of a six-arm robot.", float, 3 , (-0.5, 0.5), "metre")
+    # positionobject = Measurement("Position", "Position in Cartesian coordinates given in metre.", float, 3, (-50, 50) , "metre")
+    # batteryobject = Measurement("Battery level", "Battery level", int , 0 ,(0, 100), "percent")
+    # measureobjectlist = [tcpobject , positionobject, batteryobject]
+
+    tcpobject = getobj(
+        "Tool Center Point")  # Measurement("Tool Center Point", "Tool center point of a six-arm robot.", float, 3 , (-0.5, 0.5), "metre")
+    positionobject = getobj(
+        "Position")  # Measurement("Position", "Position in Cartesian coordinates given in metre.", float, 3, (-50, 50) , "metre")
+    batteryobject = getobj(
+        "Battery level")  # Measurement("Battery level", "Battery level", int , 0 ,(0, 100), "percent")
+    measureobjectlist = jsonparse.measurementobj
 
     #parameterobjekte
     openobject = Parameter("Open", "Flag to specify if something is open.", bool, 0, default = True)
@@ -159,11 +173,11 @@ async def main():
     #batterylow warning event
     batterywarning = await server.create_custom_event_type(idx, "BatteryLowWarning", ua.ObjectIds.SystemEventType)
     batterywarninggen = await server.get_event_generator(batterywarning, )
+    batterywarninggen.event.Severity = 800
 
     #batterylow error event
     batteryerror = await server.create_custom_event_type(idx, "BatteryLowError", ua.ObjectIds.SystemEventType)
     batteryerrorgen = await server.get_event_generator(batteryerror, mobilerobot)
-    batterywarninggen.event.Severity = 800
     batteryerrorgen.event.Severity = 1000
 
     #streamevents
@@ -185,9 +199,10 @@ async def main():
         while True:
             tcppos = await tcpvarmeas.get_value()
             if time % 10 == 0:
-                await tcpstreamgenrob.trigger(message = "Robot updatet value [" + str(tcppos[0]) + "," + str(tcppos[1]) + "," + str(tcppos[2]) + "]")
                 await tcpstreamgenmobrob.trigger(
                     message="MobileRobot updatet value [" + str(tcppos[0]) + "," + str(tcppos[1]) + "," + str(tcppos[2]) + "]")
+                await tcpstreamgenrob.trigger(message = "Robot updatet value [" + str(tcppos[0]) + "," + str(tcppos[1]) + "," + str(tcppos[2]) + "]")
+
             # await positionrobot.set_value([1.0, 0.0, 0.0])
             batteryload = await batterymeas.get_value()
             #await batterymeas.set_value(19)