Feature/object memory connected to robot state memory

When I tested IVT on ARMAR-6, I noticed that the provided object poses were not really stable but moved similar to the platform motion. This PR should help to investigate whether using the new memory to retrieve the robot state eliminates these issues. Previously, the robot was just synchronized to the current timestamp but the object detections are from the past (eventually ~200ms) and therefore, the transformation robot->global or camera->global is incorrect.

The major change is thus l.194 in Segment.cpp: ARMARX_CHECK(virtualRobotReader->synchronizeRobot(*robot, timestamp)); Here, now the provided timestamp is used.

ToDo:

• as in most cases, the timestamps of all provided object poses in reportObjectPoses() might be similar, the robot state only needs to be updated once and not for each object pose individually.

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp

@@ -21,7 +21,9 @@
  */
 
 #include "ObjectMemory.h"
+#include <VirtualRobot/VirtualRobot.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
 
@@ -65,6 +67,8 @@ namespace armarx::armem::server::obj
                        "Duration of time window into the past to use for predictions"
                        " when requested via the PredictingMemoryInterface (in seconds).");
 
+        defs->optional(robotName, "robotName", "");
+
         return defs;
     }
 
@@ -74,6 +78,7 @@ namespace armarx::armem::server::obj
         classSegment(iceAdapter()),
         attachmentSegment(iceAdapter())
     {
+        addPlugin(virtualRobotReaderPlugin);
     }
 
 
@@ -130,20 +135,26 @@ namespace armarx::armem::server::obj
     {
         // onConnect can be called multiple times, but addRobot will fail if called more than once with the same ID
         // So we need to always make sure to guard a call to addRobot
-        const std::string robotKey = "robot";
-        VirtualRobot::RobotPtr robot = RobotState::hasRobot(robotKey)
-                                       ? RobotState::getRobot(robotKey)
-                                       : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
+        // const std::string robotKey = "robot";
+        // VirtualRobot::RobotPtr robot = RobotState::hasRobot(robotKey)
+        //                                ? RobotState::getRobot(robotKey)
+        //                                : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
 
-        robotStateComponent = RobotState::getRobotStateComponent();
+        // TODO: the instance segment should check the provided object poses and instantiate the needed robots by itself.
+        ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
+        
+        VirtualRobot::RobotPtr robot = virtualRobotReaderPlugin->get().getSynchronizedRobot(robotName, armarx::Clock::Now(), VirtualRobot::RobotIO::RobotDescription::eStructure, true);
+        ARMARX_CHECK_NOT_NULL(robot);
 
         getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
 
         // Create first to use the original values.
         createRemoteGuiTab();
 
+        // ARMARX_CHECK(virtualRobotReaderPlugin->isAvailable());
+
         instance::SegmentAdapter::connect(
-            robotStateComponent,
+            &virtualRobotReaderPlugin->get(),
             robot,
             kinematicUnitObserver,
             ArVizComponentPluginUser::getArvizClient(),