properly setting memory id in class segment

source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp

 #include "Segment.h"
 
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
 #include <sstream>
 
 #include <ArmarXCore/core/time/TimeUtil.h>
@@ -66,7 +67,7 @@ namespace armarx::armem::server::obj::articulated_object_class
         ObjectFinder finder(package);
 
         const auto knownArticulatedObjectDescriptions = finder.findAllArticulatedObjectsByDataset(true);
-        ARMARX_INFO << "Found " << knownArticulatedObjectDescriptions.size() << " articulated objects";
+        ARMARX_DEBUG << "Found " << knownArticulatedObjectDescriptions.size() << " articulated objects";
 
         loadObjectsIntoMemory(knownArticulatedObjectDescriptions, package);
     }
@@ -114,18 +115,21 @@ namespace armarx::armem::server::obj::articulated_object_class
         {
             for (const auto& [name, entity] :  provSeg.entities())
             {
-                const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-                const auto description = robot::convertRobotDescription(entityInstance);
-
-                if (not description)
+                for (const auto& snapshot : simox::alg::get_values(entity.history()))
                 {
-                    ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
-                    continue;
-                }
+                    const auto& entityInstance = snapshot.getInstance(0);
+                    const auto description = robot::convertRobotDescription(entityInstance);
 
-                ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+                    if (not description)
+                    {
+                        ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
+                        continue;
+                    }
 
-                objects.emplace(armem::MemoryID(entity.id()), *description);
+                    ARMARX_DEBUG << "Key is " << armem::MemoryID(snapshot.id());
+
+                    objects.emplace(armem::MemoryID(snapshot.id()), *description);
+                }
             }
         }
 

source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp

@@ -70,11 +70,20 @@ namespace armarx::armem::server::obj::articulated_object_instance
         ARMARX_CHECK_NOT_NULL(classSegment);
         const auto knownObjectClasses = classSegment->getKnownObjectClasses();
 
+        ARMARX_DEBUG << "Class segment has " << knownObjectClasses.size() << " known articulated objects";
+
+        const auto escape = [](std::string & v)
+        {
+            v = simox::alg::replace_all(v, "/", "\\/");
+        };
+
         const auto resolveDescriptionLink = [&](auto & articulatedObject, const auto & aronDescriptionLink) -> bool
         {
             armem::MemoryID descriptionLink;
             fromAron(aronDescriptionLink, descriptionLink);
 
+            escape(descriptionLink.providerSegmentName);
+
             ARMARX_DEBUG << "Lookup key is " << descriptionLink;
 
             // const auto keys = simox::alg::get_keys(knownObjectClasses);
@@ -83,7 +92,8 @@ namespace armarx::armem::server::obj::articulated_object_instance
             const auto it = knownObjectClasses.find(descriptionLink);
             if (it == knownObjectClasses.end())
             {
-                ARMARX_WARNING << "Unknown object class " ; //<< aronArticulatedObject.description;
+                ARMARX_WARNING << "Unknown object class " << descriptionLink
+                               << "Known classes are " << simox::alg::get_keys(knownObjectClasses);
                 return false;
             }