HumanPoseReader: query with optional provider name

source/VisionX/libraries/armem_human/client/HumanPoseReader.cpp

@@ -2,8 +2,8 @@
 
 #include <RobotAPI/libraries/armem/util/util.h>
 
-#include <VisionX/libraries/armem_human/aron_conversions.h>
 #include <VisionX/libraries/armem_human/aron/BODY_25Pose.aron.generated.h>
+#include <VisionX/libraries/armem_human/aron_conversions.h>
 
 
 namespace armarx::armem::human::client
@@ -15,13 +15,23 @@ namespace armarx::armem::human::client
     {
         armarx::armem::client::query::Builder qb;
 
-        // clang-format off
-        qb
-        .coreSegments().withName(properties().coreSegmentName)
-        .providerSegments().withName(query.providerName)
-        .entities().withName("3DDetections")
-        .snapshots().beforeOrAtTime(query.timestamp);
-        // clang-format on
+        armarx::armem::client::query::CoreSegmentSelector& coreSegmentQuery =
+            qb.coreSegments().withName(properties().coreSegmentName);
+
+        armarx::armem::client::query::ProviderSegmentSelector& providerQuery =
+            [&]() -> armem::client::query::ProviderSegmentSelector&
+        {
+            if (query.providerName.empty())
+            {
+                return coreSegmentQuery.providerSegments().withName(query.providerName);
+            }
+            return coreSegmentQuery.providerSegments().all();
+        }();
+
+        providerQuery.entities()
+            .withName("3DDetections")
+            .snapshots()
+            .beforeOrAtTime(query.timestamp);
 
         return qb;
     }

source/VisionX/libraries/armem_human/client/HumanPoseReader.h

@@ -38,6 +38,7 @@ namespace armarx::armem::human::client
 
         struct Query
         {
+            // if empty, will query all providers
             std::string providerName;
             armem::Time timestamp;
         };