diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 62dec875ea7ccb106b762edec6ae79e2341e27b0..1bf0200459eb987e6ad842c38d9138c40401dcb3 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -251,10 +251,10 @@ namespace armarx::armem::server::obj::instance
                 synchronized = robots.reader->synchronizeRobot(*robot, timestamp);
                 if (not synchronized)
                 {
-                    ARMARX_VERBOSE << "Failed to synchronize robot to timestamp " << timestamp
-                                   << " of provided object pose (" << provided.objectID
-                                   << "). This is " << (Clock::Now() - timestamp).toSecondsDouble()
-                                   << " seconds in the past.";
+                    ARMARX_INFO << deactivateSpam(5) << "Failed to synchronize robot to timestamp "
+                                << timestamp << " of provided object pose (" << provided.objectID
+                                << "). This is " << (Clock::Now() - timestamp).toSecondsDouble()
+                                << " seconds in the past.";
                 }
 
                 robotSyncTimestamp = timestamp;
@@ -296,6 +296,10 @@ namespace armarx::armem::server::obj::instance
                     }
                 }
             }
+            else if (robot and timestamp == robotSyncTimestamp)
+            {
+                synchronized = true;
+            }
 
             if (not synchronized)
             {
@@ -303,6 +307,8 @@ namespace armarx::armem::server::obj::instance
                  * We know nothing about the current robot configuration. So the behvaiour of the
                  * following code is the same as if we have no robot model at all.
                  */
+                ARMARX_INFO << deactivateSpam(5)
+                            << "Robot could not be synchronized; discarding robot";
                 robot = nullptr;
             }
 
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index b3ea262d12dad291a55733bfa7914104fd30a739..3eb3e1bf3bb51703214dbb107a60ac46c96486dd 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -117,7 +117,7 @@ namespace armarx::armem::server::obj::instance
     void SegmentAdapter::reportObjectPoses(
         const std::string& providerName, const objpose::data::ProvidedObjectPoseSeq& providedPoses, const Ice::Current&)
     {
-        ARMARX_VERBOSE << "Received object " << providedPoses.size() << " poses from provider '" << providerName << "'.";
+        ARMARX_VERBOSE << "Received " << providedPoses.size() << " object poses from provider '" << providerName << "'.";
         updateObjectPoses(providerName, providedPoses);
     }