diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 28f93084c13d29eb2dd363dbaa03719efaa63e76..9e03b50c03ad434319bfbddf41e680c46f6b6f7d 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -14,13 +14,14 @@
 
 namespace armarx::armem::articulated_object
 {
-   
 
-    armem::articulated_object::ArticulatedObject
+    // Slow version with filesystem access. It runs CMake for each project / environment variable.
+    static armem::articulated_object::ArticulatedObject
     convert(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
     {
         ARMARX_DEBUG << "Filename is " << obj.getFilename();
 
+        // this is very inefficient. It runs CMake for each project
         const std::vector<std::string> packages =
             armarx::CMakePackageFinder::FindAllArmarXSourcePackages();
         const std::string package = armarx::ArmarXDataPath::getProject(packages, obj.getFilename());
@@ -53,8 +54,9 @@ namespace armarx::armem::articulated_object
             .timestamp = timestamp};
     }
 
-    armem::articulated_object::ArticulatedObject
-    convert2(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
+    // fast version without filesystem (CMake) access
+    static armem::articulated_object::ArticulatedObject
+    convertWithoutPackagePath(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
     {
         ARMARX_DEBUG << "Filename is " << obj.getFilename();
 
@@ -69,30 +71,30 @@ namespace armarx::armem::articulated_object
     }
 
     bool
-    ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
-                                                    const armem::Time& timestamp,
-                                                    const bool isStatic)
+    ArticulatedObjectWriter::storeArticulatedObjectWithObjectClass(
+        const VirtualRobot::RobotPtr& articulatedObject,
+        const armem::Time& timestamp,
+        const bool isStatic)
     {
 
         ARMARX_CHECK_NOT_NULL(articulatedObject);
 
         armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
-            convert(*articulatedObject, Time::Now());
+            convert(*articulatedObject, timestamp);
 
         return store(armemArticulatedObject, isStatic);
     }
 
     bool
-    ArticulatedObjectWriter::storeArticulatedObject2(
-        const VirtualRobot::RobotPtr& articulatedObject,
-        const armem::Time& timestamp,
-        const bool isStatic)
+    ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
+                                                    const armem::Time& timestamp,
+                                                    const bool isStatic)
     {
 
         ARMARX_CHECK_NOT_NULL(articulatedObject);
 
         armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
-            convert2(*articulatedObject, Time::Now());
+            convertWithoutPackagePath(*articulatedObject, timestamp);
 
         return storeInstance(armemArticulatedObject, isStatic);
     }
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
index 4171529f5733c1294fe94b414b1fcd48492aca1c..4d6fca627cc7a6c234c7f75b4688d0b56a145708 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
@@ -14,15 +14,22 @@ namespace armarx::armem::articulated_object
     public:
         using Writer::Writer;
 
+        /**
+         * @brief Stores the articulated object in the memory.
+         * 
+         */
         bool storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
                                     const armem::Time& timestamp,
                                     bool isStatic = false);
 
-        bool storeArticulatedObject2(const VirtualRobot::RobotPtr& articulatedObject,
-                                    const armem::Time& timestamp,
-                                    bool isStatic = false);
+        /**
+         * @brief Stores the articulated object. If the object class in unknown, 
+         *        it will also be stored in the corresponding class core segment.
+         */
+        bool storeArticulatedObjectWithObjectClass(const VirtualRobot::RobotPtr& articulatedObject,
+                                                   const armem::Time& timestamp,
+                                                   bool isStatic = false);
 
     private:
-
     };
 } // namespace armarx::armem::articulated_object