source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp

@@ -12,7 +12,7 @@
 
 namespace armarx::armem::server::ltm::disk
 {
-    EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
+    EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const MemoryID& id /* UNESCAPED */, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
         EntitySnapshotBase(id, filters),
         DiskMemoryItem(p, EscapeSegmentName(id.memoryName),
                        std::filesystem::path(EscapeSegmentName(id.coreSegmentName))
@@ -29,6 +29,7 @@ namespace armarx::armem::server::ltm::disk
     {
         auto mPath = getMemoryBasePathForMode(currentMode, currentExport);
         auto relPath = getRelativePathForMode(currentMode);
+
         if (!util::checkIfBasePathExists(mPath) || !util::checkIfFolderExists(mPath, relPath))
         {
             return;
@@ -82,10 +83,10 @@ namespace armarx::armem::server::ltm::disk
                 {
                     //ARMARX_INFO << "Convert data for entity " << id();
                     auto datafilecontent = util::readDataFromFile(mPath, relDataPath);
-                    auto dataaron = dictConverter.convert(datafilecontent, "");
+                    auto dataaron = dictConverter.convert(datafilecontent, {}, "");
                     datadict = aron::data::Dict::DynamicCastAndCheck(dataaron);
 
-                    // check for special members
+                    // check for special members TODO: only allowed for direct children?
                     for (const auto& [key, m] : datadict->getElements())
                     {
                         for (auto& [t, f] : processors->converters)
@@ -98,7 +99,7 @@ namespace armarx::armem::server::ltm::disk
                                     std::string mode = simox::alg::remove_suffix(simox::alg::remove_prefix(filename, key), f->suffix);
 
                                     auto memberfilecontent = util::readDataFromFile(mPath, relMemberPath);
-                                    auto memberaron = f->convert(memberfilecontent, mode);
+                                    auto memberaron = f->convert(memberfilecontent, armarx::aron::Path(datadict->getPath(), std::vector<std::string>{key}), mode);
                                     datadict->setElement(key, memberaron);
                                     break;
                                 }
@@ -115,7 +116,7 @@ namespace armarx::armem::server::ltm::disk
                 if (std::find(allFilesInIndexFolder.begin(), allFilesInIndexFolder.end(), metadataFilename) != allFilesInIndexFolder.end())
                 {
                     auto metadatafilecontent = util::readDataFromFile(mPath, relMetadataPath);
-                    auto metadataaron = dictConverter.convert(metadatafilecontent, "");
+                    auto metadataaron = dictConverter.convert(metadatafilecontent, {}, "");
                     metadatadict = aron::data::Dict::DynamicCastAndCheck(metadataaron);
                 }
                 else

source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp

@@ -71,6 +71,7 @@ namespace armarx::armem::server::ltm::disk
         {
             MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : defaultExportEncodingMode;
             auto mPath = getMemoryBasePathForMode(mode, i);
+
             if (util::checkIfBasePathExists(mPath))
             {
                 for (const auto& subdirName : util::getAllDirectories(mPath, getRelativePathForMode(mode)))

source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp

@@ -10,7 +10,7 @@
 
 namespace armarx::armem::server::ltm::disk
 {
-    ProviderSegment::ProviderSegment(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
+    ProviderSegment::ProviderSegment(const std::filesystem::path& p, const MemoryID& id /* UNESCAPED */, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
         ProviderSegmentBase(id, filters),
         DiskMemoryItem(p, EscapeSegmentName(id.memoryName), std::filesystem::path(EscapeSegmentName(id.coreSegmentName)) / EscapeSegmentName(id.providerSegmentName)),
         currentMode(mode),
@@ -22,6 +22,7 @@ namespace armarx::armem::server::ltm::disk
     {
         auto mPath = getMemoryBasePathForMode(currentMode, currentExport);
         auto relPath = getRelativePathForMode(currentMode);
+
         if (!util::checkIfBasePathExists(mPath) || !util::checkIfFolderExists(mPath, relPath))
         {
             return false;
@@ -30,7 +31,7 @@ namespace armarx::armem::server::ltm::disk
         for (const auto& subdirName : util::getAllDirectories(mPath, relPath))
         {
             std::string segmentName = UnescapeSegmentName(subdirName);
-            Entity c(memoryParentPath, id().withEntityName(subdirName), processors, currentMode, currentExport);
+            Entity c(memoryParentPath, id().withEntityName(segmentName), processors, currentMode, currentExport);
             func(c);
         }
         return true;

source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h

@@ -2,6 +2,8 @@
 
 #include "../../base/EntityQueryProcessorBase.h"
 
+#include <ArmarXCore/core/logging/Logging.h>
+
 
 namespace armarx::armem::server::query_proc::ltm::detail
 {
@@ -27,6 +29,7 @@ namespace armarx::armem::server::query_proc::ltm::detail
 
 
     protected:
+        // default addResultSnapshot method. Always copies the data
         void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
         {
             ResultSnapshotT s;

source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h

@@ -2,6 +2,7 @@
 
 #include "../../base/EntityQueryProcessorBase.h"
 
+#include <ArmarXCore/core/logging/Logging.h>
 
 namespace armarx::armem::server::query_proc::wm::detail
 {
@@ -32,7 +33,12 @@ namespace armarx::armem::server::query_proc::wm::detail
     protected:
         void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
         {
-            result.addSnapshot(snapshot);
+            snapshot.forEachInstance([](const typename EntitySnapshotT::EntityInstanceT& instance)
+            {
+                instance.metadata().access();
+            });
+            EntitySnapshotT copy = snapshot;
+            result.addSnapshot(std::move(copy));
         }
     };
 }

source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h

@@ -53,15 +53,21 @@ namespace armarx::armem::server::query_proc::wm::detail
             bool withData = (dataMode == armem::query::DataMode::WithData);
             if (withData)
             {
-                result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
+                Base::addResultSnapshot(result, snapshot);
             }
             else
             {
+                // 1. access real data
+                snapshot.forEachInstance([](const server::wm::EntityInstance& i)
+                {
+                    i.metadata().access();
+                });
+
+                // 2. create copy and remove data from copy
                 server::wm::EntitySnapshot copy = snapshot;
                 copy.forEachInstance([](server::wm::EntityInstance & i)
                 {
                     i.data() = nullptr;
-                    return true;
                 });
                 result.addSnapshot(std::move(copy));
             }

source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp

@@ -123,7 +123,7 @@ namespace ArMemLTMTest
                 }
                 update.entityID = armem::MemoryID::fromString(memoryName + "/TestCoreSegment/TestProvider/TestEntity");
                 update.instancesData = q;
-                update.timeCreated = armem::Time::Now();
+                update.referencedTime = armem::Time::Now();
                 BOOST_CHECK_NO_THROW(providerSegment.update(update));
                 BOOST_CHECK_EQUAL(providerSegment.size(), 1);
             }

source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp

@@ -653,7 +653,7 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
         {
             armem::EntityUpdate update;
             update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time(armem::Duration::MicroSeconds(123000)), 0);
-            update.timeCreated = update.entityID.timestamp;
+            update.referencedTime = update.entityID.timestamp;
             update.instancesData.emplace_back();
             in.update(update);
         }
@@ -814,7 +814,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
         std::make_shared<aron::data::Dict>(),
         std::make_shared<aron::data::Dict>()
     };
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
     BOOST_CHECK_NO_THROW(providerSegment.update(update));
 
     BOOST_CHECK_EQUAL(providerSegment.size(), 1);
@@ -824,25 +824,25 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
     wm::Entity& entity = providerSegment.getEntity("image");
     BOOST_CHECK_EQUAL(entity.name(), "image");
     BOOST_CHECK_EQUAL(entity.size(), 1);
-    BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
+    BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
 
-    wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
+    wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.referencedTime);
     BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
 
 
     // Another update (on memory).
 
     update.instancesData = { std::make_shared<aron::data::Dict>() };
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
     memory.update(update);
     BOOST_CHECK_EQUAL(entity.size(), 2);
-    BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
-    BOOST_CHECK_EQUAL(entity.getSnapshot(update.timeCreated).size(), update.instancesData.size());
+    BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
+    BOOST_CHECK_EQUAL(entity.getSnapshot(update.referencedTime).size(), update.instancesData.size());
 
 
     // A third update (on entity).
     update.instancesData = { std::make_shared<aron::data::Dict>() };
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
     entity.update(update);
     BOOST_CHECK_EQUAL(entity.size(), 3);
 
@@ -858,11 +858,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
     update.entityID.entityName = entity.name();
 
     // With unlimited history.
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
     entity.update(update);
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
     entity.update(update);
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
     entity.update(update);
     BOOST_CHECK_EQUAL(entity.size(), 3);
 
@@ -874,7 +874,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
     BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
 
 
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
     entity.update(update);
     BOOST_CHECK_EQUAL(entity.size(), 2);
     BOOST_CHECK(not entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(2000))));
@@ -884,7 +884,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
     // Disable maximum history size.
     entity.setMaxHistorySize(-1);
 
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
     entity.update(update);
     BOOST_CHECK_EQUAL(entity.size(), 3);
     BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
@@ -907,15 +907,15 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
     {
         update.entityID.entityName = name;
 
-        update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+        update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
         providerSegment.update(update);
-        update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+        update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
         providerSegment.update(update);
-        update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+        update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
         providerSegment.update(update);
     }
     update.entityID.entityName = entityNames.back();
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
     providerSegment.update(update);
 
     BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
@@ -939,11 +939,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
     providerSegment.setMaxHistorySize(2);
 
     update.entityID.entityName = "C";
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
     providerSegment.update(update);
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
     providerSegment.update(update);
-    update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+    update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
     providerSegment.update(update);
 
     // Check correctly inherited history size.
@@ -958,7 +958,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
     for (const std::string& name : entityNames)
     {
         update.entityID.entityName = name;
-        update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+        update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
         providerSegment.update(update);
         BOOST_CHECK_EQUAL(providerSegment.getEntity(name).getMaxHistorySize(), -1);
         BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);

source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp

@@ -75,7 +75,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
 
                     EntityUpdate update;
                     update.entityID = eid;
-                    update.timeCreated = sid.timestamp;
+                    update.referencedTime = sid.timestamp;
                     for (size_t i = 0; i <= s; ++i)
                     {
                         const MemoryID iid = sid.withInstanceIndex(int(i));

source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp

@@ -127,7 +127,7 @@ namespace armarx::armem::grasping::segment
             {
                 EntityUpdate& update = commit.add();
                 update.entityID = providerID.withEntityName(info.id().str());
-                update.entityID.timestamp = update.timeArrived = update.timeCreated = update.timeSent = now;
+                update.entityID.timestamp = update.arrivedTime = update.referencedTime = update.sentTime = now;
 
                 update.instancesData =
                 {

source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp

@@ -391,7 +391,7 @@ namespace armarx::armem::gui
                 entityUpdate.entityID = memId;
                 entityUpdate.confidence = 1.0;
                 entityUpdate.instancesData = {aron};
-                entityUpdate.timeCreated = now;
+                entityUpdate.referencedTime = now;
                 it->second.commit(comm);
             }
         }

source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp

@@ -50,6 +50,7 @@ namespace armarx::armem::gui::instance
         treeItemMetadata->addChild(new QTreeWidgetItem({"Time Created"}));
         treeItemMetadata->addChild(new QTreeWidgetItem({"Time Sent"}));
         treeItemMetadata->addChild(new QTreeWidgetItem({"Time Arrived"}));
+        treeItemMetadata->addChild(new QTreeWidgetItem({"Time Last Accessed"}));
 
         QList<QTreeWidgetItem*> items = {treeItemInstanceID, treeItemMetadata};
         tree->insertTopLevelItems(0, items);
@@ -110,9 +111,10 @@ namespace armarx::armem::gui::instance
         std::vector<std::string> items =
         {
             std::to_string(metadata.confidence),
-            armem::toDateTimeMilliSeconds(metadata.timeCreated),
-            armem::toDateTimeMilliSeconds(metadata.timeSent),
-            armem::toDateTimeMilliSeconds(metadata.timeArrived)
+            armem::toDateTimeMilliSeconds(metadata.referencedTime),
+            armem::toDateTimeMilliSeconds(metadata.sentTime),
+            armem::toDateTimeMilliSeconds(metadata.arrivedTime),
+            armem::toDateTimeMilliSeconds(metadata.lastAccessedTime) + " (" + std::to_string(metadata.numAccessed) + " times total)"
         };
         ARMARX_CHECK_EQUAL(static_cast<size_t>(treeItemMetadata->childCount()), items.size());
         int i = 0;

source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp

@@ -83,7 +83,7 @@ namespace armarx::armem::laser_scans::client
         dict->addElement("scan", toAron(laserScan));
 
         update.instancesData = {dict};
-        update.timeCreated = timestamp;
+        update.referencedTime = timestamp;
 
         ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
         armem::EntityUpdateResult updateResult = memoryWriter.commit(update);

source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp

@@ -76,9 +76,9 @@ namespace armarx::armem::server::motions::mdb::segment
                     auto& snapshot = entity.addSnapshot(op->createdDate);
 
                     armem::wm::EntityInstance& instance = snapshot.addInstance();
-                    instance.metadata().timeCreated = op->createdDate;
-                    instance.metadata().timeSent = Time::Now();
-                    instance.metadata().timeArrived = Time::Now();
+                    instance.metadata().referencedTime = op->createdDate;
+                    instance.metadata().sentTime = Time::Now();
+                    instance.metadata().arrivedTime = Time::Now();
                     instance.metadata().confidence = 1.0;
                     instance.data() = op->toAron();
                 }

source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp

@@ -87,9 +87,9 @@ namespace armarx::armem::server::motions::mps::segment
             ss << "Found valid instance at: " << pathToInfoJson << ". The motionID is: ";
 
             armem::wm::EntityInstance instance;
-            instance.metadata().timeCreated = armem::Time::Now();  //op->createdDate;
-            instance.metadata().timeSent = armem::Time::Now();
-            instance.metadata().timeArrived = armem::Time::Now();
+            instance.metadata().referencedTime = armem::Time::Now();  //op->createdDate;
+            instance.metadata().sentTime = armem::Time::Now();
+            instance.metadata().arrivedTime = armem::Time::Now();
             instance.metadata().confidence = 1.0;
 
             if(taskspace)

source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp

@@ -154,7 +154,7 @@ namespace armarx::armem::articulated_object
         toAron(aronArticulatedObjectDescription, obj.description);
 
         update.instancesData = {aronArticulatedObjectDescription.toAron()};
-        update.timeCreated   = timestamp;
+        update.referencedTime   = timestamp;
 
         ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
         armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -233,7 +233,7 @@ namespace armarx::armem::articulated_object
         objectInstance.pose.objectID = cs;
 
         update.instancesData = {objectInstance.toAron()};
-        update.timeCreated   = timestamp;
+        update.referencedTime   = timestamp;
 
         ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
         armem::EntityUpdateResult updateResult = memoryWriter.commit(update);

source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp

@@ -82,7 +82,7 @@ namespace armarx::armem::attachment
         toAron(aronAttachment, attachment);
 
         update.instancesData = {aronAttachment.toAron()};
-        update.timeCreated   = timestamp;
+        update.referencedTime   = timestamp;
 
         ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
         armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -126,7 +126,7 @@ namespace armarx::armem::attachment
         toAron(aronAttachment, attachment);
 
         update.instancesData = {aronAttachment.toAron()};
-        update.timeCreated   = timestamp;
+        update.referencedTime   = timestamp;
 
         ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
         armem::EntityUpdateResult updateResult = memoryWriter.commit(update);

source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp

@@ -64,8 +64,8 @@ namespace armarx::armem::obj::instance
         e.entityID.coreSegmentName = properties.coreSegmentName;
         e.entityID.providerSegmentName = provider;
         e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
-        e.timeCreated = t;
-        e.timeSent = armem::Time::Now();
+        e.referencedTime = t;
+        e.sentTime = armem::Time::Now();
         e.instancesData = { inst.toAron() };
 
         auto res = memoryWriter.commit(c);

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

@@ -95,7 +95,7 @@ namespace armarx::armem::server::obj::clazz
 
             EntityUpdate& update = commit.add();
             update.entityID = providerID.withEntityName(info.id().str());
-            update.timeArrived = update.timeCreated = update.timeSent = now;
+            update.arrivedTime = update.referencedTime = update.sentTime = now;
 
             arondto::ObjectClass objectClass = objectClassFromInfo(info);
             update.instancesData =

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

@@ -335,8 +335,8 @@ namespace armarx::armem::server::obj::instance
                                             providerName.empty() ? pose.providerName : providerName);
 
             update.entityID = providerID.withEntityName(pose.objectID.str());
-            update.timeArrived = now;
-            update.timeCreated = pose.timestamp;
+            update.arrivedTime = now;
+            update.referencedTime = pose.timestamp;
             update.confidence = pose.confidence;
 
             arondto::ObjectInstance dto;
@@ -781,7 +781,7 @@ namespace armarx::armem::server::obj::instance
             armem::Commit commit;
             armem::EntityUpdate & update = commit.add();
             update.entityID = objectEntity->id();
-            update.timeCreated = now;
+            update.referencedTime = now;
             {
                 arondto::ObjectInstance updated = data;
                 toAron(updated.pose.attachment, info);
@@ -889,7 +889,7 @@ namespace armarx::armem::server::obj::instance
         armem::Commit commit;
         armem::EntityUpdate & update = commit.add();
         update.entityID = entity.id();
-        update.timeCreated = now;
+        update.referencedTime = now;
         {
             arondto::ObjectInstance updated;
             if (commitAttachedPose and data.pose.attachmentValid)