diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index 029a07aed0bb493a3447a8f2b4780a3f5b3a464d..e8e21735dde6ccba6a1979dd10a676fe5801d8f3 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -270,14 +270,15 @@ namespace armarx::armem::articulated_object
         {
             instance = i;
         });
+
         if (instance.has_value())
         {
             return convertRobotDescription(instance.value());
         }
-        else
-        {
-            return std::nullopt;
-        }
+
+        ARMARX_DEBUG << "No robot description";
+        return std::nullopt;
+       
     }
 
 
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index ddb02658508a5917212f9bcffa3570dd6c978afa..dcd44d6739bfaa3e211a79721a330cc10b4751fc 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -187,6 +187,8 @@ namespace armarx::armem::articulated_object
 
         const auto& timestamp = obj.timestamp;
 
+        ARMARX_DEBUG << "Storing articulated object instance '" << obj.description.name << "' (provider '" << properties.providerName << "')";
+
         const auto providerId = armem::MemoryID()
                                 .withMemoryName(properties.memoryName)
                                 .withCoreSegmentName(properties.coreInstanceSegmentName)