Try to resolve object IDs without dataset

source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp

@@ -3,6 +3,7 @@
 #include <SimoxUtility/json.h>
 
 #include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
 
 // #include <RobotAPI/libraries/armem/core/json_conversions.h>
 
@@ -15,6 +16,20 @@ namespace armarx::armem::obj
         return ObjectID(className);
     }
 
+
+    ObjectID SceneSnapshot::Object::getClassID(ObjectFinder& finder) const
+    {
+        ObjectID id = getClassID();
+        if (id.dataset().empty())
+        {
+            if (std::optional<ObjectInfo> info = finder.findObject(id.className()))
+            {
+                return info->id();
+            }
+        }
+        return id;
+    }
+
 }
 
 

source/RobotAPI/libraries/armem_objects/SceneSnapshot.h

@@ -29,6 +29,7 @@
 namespace armarx
 {
     class ObjectID;
+    class ObjectFinder;
 }
 namespace armarx::armem::obj
 {
@@ -44,6 +45,7 @@ namespace armarx::armem::obj
             Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
 
             ObjectID getClassID() const;
+            ObjectID getClassID(ObjectFinder& finder) const;
         };
         std::vector<Object> objects;
     };

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

@@ -843,7 +843,7 @@ namespace armarx::armem::server::obj::instance
 
         for (const auto& object : scene.objects)
         {
-            const ObjectID classID = object.getClassID();
+            const ObjectID classID = object.getClassID(objectFinder);
 
             objpose::ObjectPose& pose = objectPoses.emplace_back();