You should be able to perform an
AdGroupCriterionService.get() or
CampaignCriterionService.get() to get the criterion Ids associated with ad group and campaign respectively. Please note that the criterion Id is not globally unique. The pair of AdGroupId and CriterionId will be globally unique and the pair of CampaignId and CriterionId will be globally unique. Please check
this guide for more details.
Could you share more details of where you are getting this error? If you are getting this while performing an API operation, could you please share the SOAP logs along with your client customer id? Please use reply privately to the author while sharing the logs.
Thanks,
Sreelakshmi, AdWords API Team