Feature/kitchen open articulated objects

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

@@ -170,7 +170,6 @@ namespace armarx::armem::articulated_object
         // Query all entities from provider.
         armem::client::query::Builder qb;
 
-        
 
         if (providerName.has_value()) // query single provider
         {
@@ -262,7 +261,7 @@ namespace armarx::armem::articulated_object
         ARMARX_TRACE;
 
         // Query all entities from provider.
-        armem::client::query::Builder qb;      
+        armem::client::query::Builder qb;
 
         if (not providerName.has_value())
         {
@@ -340,17 +339,16 @@ namespace armarx::armem::articulated_object
                 .getCoreSegment(objects::constants::CoreInstanceSegmentName);
         // clang-format on
 
-        std::optional<wm::EntityInstance> instance;
-        coreSegment.forEachInstance([&instance](const wm::EntityInstance& i) { instance = i; });
-
-        if (instance.has_value())
+        try
         {
-            return convertToRobotState(instance.value());
-            // return robot::convertRobotState(instance.value());
+            const wm::EntityInstance& instance = coreSegment.getLatestInstance();
+            return convertToRobotState(instance);
+        }
+        catch (...)
+        {
+            ARMARX_FATAL << "Failed to obtain robot state";
+            return std::nullopt;
         }
-
-        ARMARX_FATAL << "Failed to obtain robot state";
-        return std::nullopt;
     }
 
     std::optional<robot::RobotDescription>