diff --git a/scenarios/Armar3Simulation/config/AStarPathPlanner.cfg b/scenarios/Armar3Simulation/config/AStarPathPlanner.cfg
index 578371d8b59dc4826b8f974a58740536e59042b6..f6649cb02c5e322407b09ac6658b80592cd5be9f 100644
--- a/scenarios/Armar3Simulation/config/AStarPathPlanner.cfg
+++ b/scenarios/Armar3Simulation/config/AStarPathPlanner.cfg
@@ -52,6 +52,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ArVizStorage.cfg b/scenarios/Armar3Simulation/config/ArVizStorage.cfg
index 302ac28c37dd28de3e68fb4fe4c2174faa4ec3bf..a07db2940a4d3870521fe7d5f4faa74b95f8a788 100644
--- a/scenarios/Armar3Simulation/config/ArVizStorage.cfg
+++ b/scenarios/Armar3Simulation/config/ArVizStorage.cfg
@@ -68,6 +68,15 @@
 # ArmarX.ArVizStorage.TopicName = ArVizTopic
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/CommonStorage.cfg b/scenarios/Armar3Simulation/config/CommonStorage.cfg
index f46848f24fd034561ba9c181ec442f2d97ccd8de..914e2f31420455e50e0691456532a40b7f37dd62 100644
--- a/scenarios/Armar3Simulation/config/CommonStorage.cfg
+++ b/scenarios/Armar3Simulation/config/CommonStorage.cfg
@@ -18,6 +18,15 @@
 # MemoryX.ApplicationName = ""
 
 
+# MemoryX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.AutodiscoverPackages = true
+
+
 # MemoryX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ConditionHandler.cfg b/scenarios/Armar3Simulation/config/ConditionHandler.cfg
index a696a7cfc9caa0ff7881f5ba8965fae56791fa9c..329cdd6cf2c43a9338d5eaa207bbdce104cbf325 100644
--- a/scenarios/Armar3Simulation/config/ConditionHandler.cfg
+++ b/scenarios/Armar3Simulation/config/ConditionHandler.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/DebugDrawerToArVizApp.cfg b/scenarios/Armar3Simulation/config/DebugDrawerToArVizApp.cfg
index a48fde6612150ade9cb781bc205d89e643962f10..edc3ac458fbeaa457ca7ac7d7dd57beeb2fcc7b5 100644
--- a/scenarios/Armar3Simulation/config/DebugDrawerToArVizApp.cfg
+++ b/scenarios/Armar3Simulation/config/DebugDrawerToArVizApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/DebugObserver.cfg b/scenarios/Armar3Simulation/config/DebugObserver.cfg
index 8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d..4692d6eb22961724c00da6ea0655e14b529dc0b3 100644
--- a/scenarios/Armar3Simulation/config/DebugObserver.cfg
+++ b/scenarios/Armar3Simulation/config/DebugObserver.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/DepthImageProviderDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/DepthImageProviderDynamicSimulationApp.cfg
index 0175b79c73a54e46297f7a2f00bc9453708e2f65..ef2c807dc215d6b2a13b609c6f60425d5458e41e 100644
--- a/scenarios/Armar3Simulation/config/DepthImageProviderDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/DepthImageProviderDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
@@ -198,12 +207,12 @@
 # ArmarX.DynamicSimulationDepthImageProvider.EnableProfiling = false
 
 
-# ArmarX.DynamicSimulationDepthImageProvider.FOV:  Vertical FOV in rad.
+# ArmarX.DynamicSimulationDepthImageProvider.FieldOfView:  Vertical field of view (FOV) in degrees.
 #  Attributes:
-#  - Default:            0.785398185
+#  - Default:            90
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.DynamicSimulationDepthImageProvider.FOV = 0.785398185
+# ArmarX.DynamicSimulationDepthImageProvider.FieldOfView = 90
 
 
 # ArmarX.DynamicSimulationDepthImageProvider.FloatImageMode:  Whether to provide a CFloatImage or the standard CByteImage
@@ -220,7 +229,7 @@
 #  - Default:            640x480
 #  - Case sensitivity:   yes
 #  - Required:           no
-#  - Possible values: {1024x768, 1280x960, 1600x1200, 200x200, 320x240, 640x480, 768x576, 800x600, none}
+#  - Possible values: {1024x768, 1280x960, 1600x1200, 1920x1080, 200x200, 320x240, 640x480, 768x576, 800x600, none}
 # ArmarX.DynamicSimulationDepthImageProvider.ImageSize = 640x480
 
 
@@ -233,7 +242,7 @@
 # ArmarX.DynamicSimulationDepthImageProvider.MinimumLoggingLevel = Undefined
 
 
-# ArmarX.DynamicSimulationDepthImageProvider.NanValue:  Value of points that are farther away then DistanceZFar. Most cameras return here NaN.
+# ArmarX.DynamicSimulationDepthImageProvider.NanValue:  Value of points that are farther away than DistanceZFar. Most cameras return NaN here.
 #  Attributes:
 #  - Default:            nan
 #  - Case sensitivity:   yes
@@ -257,7 +266,7 @@
 # ArmarX.DynamicSimulationDepthImageProvider.ObjectName = ""
 
 
-# ArmarX.DynamicSimulationDepthImageProvider.RobotName:  The robot
+# ArmarX.DynamicSimulationDepthImageProvider.RobotName:  The robot's name.
 #  Attributes:
 #  - Default:            Armar3
 #  - Case sensitivity:   yes
diff --git a/scenarios/Armar3Simulation/config/ForceTorqueObserver.cfg b/scenarios/Armar3Simulation/config/ForceTorqueObserver.cfg
index 16f0e4b182b64eeca5d489f0024f873c7afe19fc..05fd2807c845dd168fa7ef06a4580b90cf4459da 100644
--- a/scenarios/Armar3Simulation/config/ForceTorqueObserver.cfg
+++ b/scenarios/Armar3Simulation/config/ForceTorqueObserver.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ForceTorqueUnitDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/ForceTorqueUnitDynamicSimulationApp.cfg
index 4d50cdbec20821a8430c150a3d7a7c3389e22a0d..4869d3e2ea6f551211877250014528c26635cb1d 100644
--- a/scenarios/Armar3Simulation/config/ForceTorqueUnitDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/ForceTorqueUnitDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/GraphNodePoseResolverApp.cfg b/scenarios/Armar3Simulation/config/GraphNodePoseResolverApp.cfg
index 684463ee4381ca581864384db63c951ebf05e7a9..279168591d6370f8456cb99bec3d626ae54a25a5 100644
--- a/scenarios/Armar3Simulation/config/GraphNodePoseResolverApp.cfg
+++ b/scenarios/Armar3Simulation/config/GraphNodePoseResolverApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/GraspMemory.cfg b/scenarios/Armar3Simulation/config/GraspMemory.cfg
index d80225f2220240843dd67ee7e7971f517fb6c252..d057b932a582ae621afd0c9b84dfc2c7745277af 100644
--- a/scenarios/Armar3Simulation/config/GraspMemory.cfg
+++ b/scenarios/Armar3Simulation/config/GraspMemory.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg b/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
index 5aaaa77c82ddbdc10c2190f8e4ad4c87c87b42f4..724a10e06d2b1a607951c9a530291d94f9bb25fd 100644
--- a/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
+++ b/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
@@ -18,6 +18,15 @@
 ArmarX.ApplicationName = "LeftHandUnitApp"
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.RightHand.cfg b/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
index 20d04b7a83fc327a4397d71e7e0d37229cce7365..4f039f7b57a06a2555f5fde645b53828e4122e6f 100644
--- a/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
+++ b/scenarios/Armar3Simulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
@@ -18,6 +18,15 @@
 ArmarX.ApplicationName = "RightHandUnitApp"
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/HeadIKUnit.cfg b/scenarios/Armar3Simulation/config/HeadIKUnit.cfg
index 95f997914551eadeffa5d089d87b3011a91c4444..647841759f65bec361aae45e1020b599405f79bd 100644
--- a/scenarios/Armar3Simulation/config/HeadIKUnit.cfg
+++ b/scenarios/Armar3Simulation/config/HeadIKUnit.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/IMUSimulationApp.cfg b/scenarios/Armar3Simulation/config/IMUSimulationApp.cfg
index e30142df3525e5e3e2e55f6da80acaf91ab5b40e..7d3094710347284c2f58a99b395c9706c9d16b28 100644
--- a/scenarios/Armar3Simulation/config/IMUSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/IMUSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg b/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg
index 10bbad980b6069f229ff6990520191616b407434..88a1d3726304199b91e907a5fd09e46c4f41815a 100644
--- a/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg
+++ b/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg
@@ -18,6 +18,15 @@
 ArmarX.ApplicationName = FovealCameras
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.WideCameras.cfg b/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.WideCameras.cfg
index 946ee7c97a326a3c9c6b25911749e2ab19f6932e..b6bc91876dd4fde8402103d5b8ffbc53ef5b9278 100644
--- a/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.WideCameras.cfg
+++ b/scenarios/Armar3Simulation/config/ImageProviderDynamicSimulationApp.WideCameras.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ImageSourceSelectionApp.cfg b/scenarios/Armar3Simulation/config/ImageSourceSelectionApp.cfg
index 1ed8a2e866917ed6ef6d7c8beea0ac0bf5c7a68d..7fdac50c3b46f6487eeea4943f8d4c708f365c20 100644
--- a/scenarios/Armar3Simulation/config/ImageSourceSelectionApp.cfg
+++ b/scenarios/Armar3Simulation/config/ImageSourceSelectionApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ImageToArMem.cfg b/scenarios/Armar3Simulation/config/ImageToArMem.cfg
index 57255e948250fffeb0ec112e8659d7b9e4107993..a739f25a0da4dbac0f6481b129c28fb9d63a6233 100644
--- a/scenarios/Armar3Simulation/config/ImageToArMem.cfg
+++ b/scenarios/Armar3Simulation/config/ImageToArMem.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/InertialMeasurementUnitObserverApp.cfg b/scenarios/Armar3Simulation/config/InertialMeasurementUnitObserverApp.cfg
index ce4e40b0e975d94bf579b3c27ebf46f178d9d065..a4db0fcded15e967a0468110976f9e49bdbea12f 100644
--- a/scenarios/Armar3Simulation/config/InertialMeasurementUnitObserverApp.cfg
+++ b/scenarios/Armar3Simulation/config/InertialMeasurementUnitObserverApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/KinematicUnitDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/KinematicUnitDynamicSimulationApp.cfg
index 045ca1c116da17694379795854eedc1e466dc240..974edbd2b428f666bc6a0aa3e16f66d7790d5df6 100644
--- a/scenarios/Armar3Simulation/config/KinematicUnitDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/KinematicUnitDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/KinematicUnitObserver.cfg b/scenarios/Armar3Simulation/config/KinematicUnitObserver.cfg
index 28dd69b6c582659f4d0d77fab1fa55d58c868d34..c9309595993839d923002a5cb49169cb0ecf0aeb 100644
--- a/scenarios/Armar3Simulation/config/KinematicUnitObserver.cfg
+++ b/scenarios/Armar3Simulation/config/KinematicUnitObserver.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/LaserScannerSimulation.cfg b/scenarios/Armar3Simulation/config/LaserScannerSimulation.cfg
index 06358e7cf5411549057a7a11ad8fef72c7d4f10b..9b829b612102e2a9e4c8a3686b6ce19c8988a5ec 100644
--- a/scenarios/Armar3Simulation/config/LaserScannerSimulation.cfg
+++ b/scenarios/Armar3Simulation/config/LaserScannerSimulation.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/LegacyRobotStateMemoryAdapter.cfg b/scenarios/Armar3Simulation/config/LegacyRobotStateMemoryAdapter.cfg
index daab2c6ca39398699a02274c00b7454b63c0ccbb..3b5e18aa549ed300593925fc63a68ab8ca437c54 100644
--- a/scenarios/Armar3Simulation/config/LegacyRobotStateMemoryAdapter.cfg
+++ b/scenarios/Armar3Simulation/config/LegacyRobotStateMemoryAdapter.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/LongtermMemory.cfg b/scenarios/Armar3Simulation/config/LongtermMemory.cfg
index b4f9620fcda39d8ac38efb1e64038d670cec8e51..2401739bfd0cbc82c3320a38e11cbd79cd1d8fa9 100644
--- a/scenarios/Armar3Simulation/config/LongtermMemory.cfg
+++ b/scenarios/Armar3Simulation/config/LongtermMemory.cfg
@@ -18,6 +18,15 @@
 # MemoryX.ApplicationName = ""
 
 
+# MemoryX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.AutodiscoverPackages = true
+
+
 # MemoryX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/MemoryNameSystem.cfg b/scenarios/Armar3Simulation/config/MemoryNameSystem.cfg
index b8bc70a66ca7f32a628886ad1bf13e373f9750d3..f3557b670ab65b2a6fbb924466be6539440df5a3 100644
--- a/scenarios/Armar3Simulation/config/MemoryNameSystem.cfg
+++ b/scenarios/Armar3Simulation/config/MemoryNameSystem.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg b/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg
index 2154568e99af846081900ea613dbe762cf2a09a9..82f90d2b2c443ef87d3ca3ecf40dcd309a080f55 100644
--- a/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg
+++ b/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg
@@ -18,6 +18,15 @@
 ArmarX.ApplicationName = SegmentableObjectRecognition
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.cfg
index 75ac983fdc69531dea95b96f24c9ba0afe34158a..69c549d5edeebd40b6b0bbb3d05455670ea2ce7a 100644
--- a/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/ObjectLocalizationDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 ArmarX.ApplicationName = TexturedObjectRecognition
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ObjectLocalizationSaliencyApp.cfg b/scenarios/Armar3Simulation/config/ObjectLocalizationSaliencyApp.cfg
index d70b5b3679313dcb7efaeb19ee1f5d7504f6f030..5147ba5fd09580482b65ad6bfc9f6bb6d27e92b9 100644
--- a/scenarios/Armar3Simulation/config/ObjectLocalizationSaliencyApp.cfg
+++ b/scenarios/Armar3Simulation/config/ObjectLocalizationSaliencyApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ObjectMemory.cfg b/scenarios/Armar3Simulation/config/ObjectMemory.cfg
index 597a6707f8abffac6b95aedb0df96a0c421f3c4e..b23c7af8d579241e69750ccd6a39c9e4b963a534 100644
--- a/scenarios/Armar3Simulation/config/ObjectMemory.cfg
+++ b/scenarios/Armar3Simulation/config/ObjectMemory.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
@@ -401,7 +410,7 @@ ArmarX.ObjectMemory.mem.inst.robots.FallbackName = Armar3
 #  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = "ARMAR-III-kitchen-empty.json"
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
 
 
 # ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize:  Maximal size of the Instance entity histories (-1 for infinite).
diff --git a/scenarios/Armar3Simulation/config/ObjectMemoryObserver.cfg b/scenarios/Armar3Simulation/config/ObjectMemoryObserver.cfg
index 66cd204c8600653dfc719af6858489ee87b90071..78d085c5754907dc5422aac6d492c6803a83c915 100644
--- a/scenarios/Armar3Simulation/config/ObjectMemoryObserver.cfg
+++ b/scenarios/Armar3Simulation/config/ObjectMemoryObserver.cfg
@@ -18,6 +18,15 @@
 # MemoryX.ApplicationName = ""
 
 
+# MemoryX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.AutodiscoverPackages = true
+
+
 # MemoryX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/PlatformUnitDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/PlatformUnitDynamicSimulationApp.cfg
index 1aa2b796269a858aaabdc1bb37a5edf442bfebf0..5e04f9ca84a69c6224ee3ee6fb6b0a9e23c3a6bc 100644
--- a/scenarios/Armar3Simulation/config/PlatformUnitDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/PlatformUnitDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/PlatformUnitObserver.cfg b/scenarios/Armar3Simulation/config/PlatformUnitObserver.cfg
index 032f1e207b31d351cda3780ebe727efc183810a7..50e4471a3d83eab98d38c8a33491a04f483bab12 100644
--- a/scenarios/Armar3Simulation/config/PlatformUnitObserver.cfg
+++ b/scenarios/Armar3Simulation/config/PlatformUnitObserver.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/PriorKnowledge.cfg b/scenarios/Armar3Simulation/config/PriorKnowledge.cfg
index c6ca9bbc3b66a8bc46a8640e76bcc232931b3afe..137ba54c7eac91257758821c405c924af3c4a1ee 100644
--- a/scenarios/Armar3Simulation/config/PriorKnowledge.cfg
+++ b/scenarios/Armar3Simulation/config/PriorKnowledge.cfg
@@ -18,6 +18,15 @@
 # MemoryX.ApplicationName = ""
 
 
+# MemoryX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.AutodiscoverPackages = true
+
+
 # MemoryX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ProfilerObserverApp.cfg b/scenarios/Armar3Simulation/config/ProfilerObserverApp.cfg
index 9dad4369b686c9b5d844c1f7e7317f6ab67beb95..9a24051752a836c675fa107d9bbf15fdd658ecee 100644
--- a/scenarios/Armar3Simulation/config/ProfilerObserverApp.cfg
+++ b/scenarios/Armar3Simulation/config/ProfilerObserverApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/RemoteGuiProviderApp.cfg b/scenarios/Armar3Simulation/config/RemoteGuiProviderApp.cfg
index 4b6abea40d72afd7d313ee47a9b191f3b26de30d..1a338e3828f75121a596368c0dd067ad5e105487 100644
--- a/scenarios/Armar3Simulation/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/Armar3Simulation/config/RemoteGuiProviderApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/RobotHandLocalizationDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/RobotHandLocalizationDynamicSimulationApp.cfg
index 126f045361f4c1f944541ab86c5d13d51b79fc73..53c68394bc9025a13a073892453367849302dcb6 100644
--- a/scenarios/Armar3Simulation/config/RobotHandLocalizationDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/RobotHandLocalizationDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/RobotIK.cfg b/scenarios/Armar3Simulation/config/RobotIK.cfg
index 503e1ba7bfaa05dc685015f5fefe296ba1f14cf8..27918a4049777cfcb5e84ccb05ce13fc9cf778af 100644
--- a/scenarios/Armar3Simulation/config/RobotIK.cfg
+++ b/scenarios/Armar3Simulation/config/RobotIK.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/RobotStateComponent.cfg b/scenarios/Armar3Simulation/config/RobotStateComponent.cfg
index 4348622c904058f4d6dc9da022f759dfd0296678..ad8350bc1863580e527becb90a1e7ac14807c0a4 100644
--- a/scenarios/Armar3Simulation/config/RobotStateComponent.cfg
+++ b/scenarios/Armar3Simulation/config/RobotStateComponent.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/RobotStateMemory.cfg b/scenarios/Armar3Simulation/config/RobotStateMemory.cfg
index fd3b8a1217bb4f5732e7a1dbf78a25db133a7223..3dd19177ea002522bf61a63b826a17ea00d5ee97 100644
--- a/scenarios/Armar3Simulation/config/RobotStateMemory.cfg
+++ b/scenarios/Armar3Simulation/config/RobotStateMemory.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
@@ -290,13 +299,30 @@
 # ArmarX.RobotStateMemory.mem.visu.enabled = true
 
 
-# ArmarX.RobotStateMemory.mem.visu.famesEnabled:  Enable or disable visualization of frames.
+# ArmarX.RobotStateMemory.mem.visu.forceTorque.enabled:  Enable or disable visualization of force torque sensors.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.visu.forceTorque.enabled = true
+
+
+# ArmarX.RobotStateMemory.mem.visu.forceTorque.forceScale:  Scaling of force arrows.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RobotStateMemory.mem.visu.forceTorque.forceScale = 1
+
+
+# ArmarX.RobotStateMemory.mem.visu.framesEnabled:  Enable or disable visualization of frames.
 #  Attributes:
 #  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RobotStateMemory.mem.visu.famesEnabled = false
+# ArmarX.RobotStateMemory.mem.visu.framesEnabled = false
 
 
 # ArmarX.RobotStateMemory.mem.visu.frequenzyHz:  Frequency of visualization.
diff --git a/scenarios/Armar3Simulation/config/RobotToArVizApp.cfg b/scenarios/Armar3Simulation/config/RobotToArVizApp.cfg
index 55d034d9c687c16ad2f34f458f85ca66da54cdff..4505d41b4a995a8e12bd3072530e464d815c87e0 100644
--- a/scenarios/Armar3Simulation/config/RobotToArVizApp.cfg
+++ b/scenarios/Armar3Simulation/config/RobotToArVizApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/SelfLocalizationDynamicSimulationApp.cfg b/scenarios/Armar3Simulation/config/SelfLocalizationDynamicSimulationApp.cfg
index 958adc2baa60c2c9498b455a5eef18047371a957..498e04403de921a5a1eef1af94bf6593e52e6c5e 100644
--- a/scenarios/Armar3Simulation/config/SelfLocalizationDynamicSimulationApp.cfg
+++ b/scenarios/Armar3Simulation/config/SelfLocalizationDynamicSimulationApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/SimulationObjectPoseProviderApp.cfg b/scenarios/Armar3Simulation/config/SimulationObjectPoseProviderApp.cfg
index b6dfcde0230b0186ee1b66c9b43f0aa587bd8763..dfe45977e889df3dc15d668b51a6b2b991cbe0b1 100644
--- a/scenarios/Armar3Simulation/config/SimulationObjectPoseProviderApp.cfg
+++ b/scenarios/Armar3Simulation/config/SimulationObjectPoseProviderApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/SimulatorApp.cfg b/scenarios/Armar3Simulation/config/SimulatorApp.cfg
index ce5ab5dcc11ca447b8b31e788e47bff3c896fa52..e3753edf346d522fb2cad90dabfbb9d98b93caed 100644
--- a/scenarios/Armar3Simulation/config/SimulatorApp.cfg
+++ b/scenarios/Armar3Simulation/config/SimulatorApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
@@ -289,7 +298,7 @@ ArmarX.Simulator.InitialRobotPose.roll = 0
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.Simulator.InitialRobotPose.x = 3600
+ArmarX.Simulator.InitialRobotPose.x = 1600
 
 
 # ArmarX.Simulator.InitialRobotPose.x_0:  x component of initial robot position (mm)
@@ -297,7 +306,7 @@ ArmarX.Simulator.InitialRobotPose.x = 3600
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.Simulator.InitialRobotPose.x_0 = 3500
+ArmarX.Simulator.InitialRobotPose.x_0 = 1900
 
 
 # ArmarX.Simulator.InitialRobotPose.x_1:  x component of initial robot position (mm)
@@ -321,7 +330,7 @@ ArmarX.Simulator.InitialRobotPose.x_0 = 3500
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.Simulator.InitialRobotPose.y = 7100
+ArmarX.Simulator.InitialRobotPose.y = 500
 
 
 # ArmarX.Simulator.InitialRobotPose.y_0:  y component of initial robot position (mm)
@@ -353,7 +362,7 @@ ArmarX.Simulator.InitialRobotPose.y_0 = 6000
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.Simulator.InitialRobotPose.yaw = -1.57
+ArmarX.Simulator.InitialRobotPose.yaw = 0.7
 
 
 # ArmarX.Simulator.InitialRobotPose.yaw_0:  Initial robot pose: yaw component of RPY angles (radian)
@@ -875,7 +884,7 @@ ArmarX.Simulator.RobotSelfCollisions_0 = 1
 #  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.Simulator.Scene.Path = PriorKnowledgeData/scenes/ARMAR-III-kitchen-empty.json; PriorKnowledgeData/scenes/ARMAR-III-kitchen-objects1.json
+ArmarX.Simulator.Scene.Path = PriorKnowledgeData/scenes/kitchen/kitchen-empty.json; PriorKnowledgeData/scenes/kitchen/objects.json
 
 
 # ArmarX.Simulator.SimoxSceneFileName:  Simox/VirtualRobot scene file name, e.g. myScene.xml
diff --git a/scenarios/Armar3Simulation/config/SimulatorToArvizApp.cfg b/scenarios/Armar3Simulation/config/SimulatorToArvizApp.cfg
index 4ab691f932a486448afc040f12b8d90da4719253..d742a10dbb1addf5ea1f8fd42811f7d1cece9712 100644
--- a/scenarios/Armar3Simulation/config/SimulatorToArvizApp.cfg
+++ b/scenarios/Armar3Simulation/config/SimulatorToArvizApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/SimulatorViewerApp.cfg b/scenarios/Armar3Simulation/config/SimulatorViewerApp.cfg
index 62c7db3fa22a18f27ed05801bac48596bbf4941a..c5e5db4084f3af102a8df6071ad5cea7434ef4a5 100644
--- a/scenarios/Armar3Simulation/config/SimulatorViewerApp.cfg
+++ b/scenarios/Armar3Simulation/config/SimulatorViewerApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
@@ -220,7 +229,7 @@ ArmarX.SimulatorViewer_SimulationWindow.Camera.roll = 1.19
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.SimulatorViewer_SimulationWindow.Camera.x = 7190
+ArmarX.SimulatorViewer_SimulationWindow.Camera.x = 0
 
 
 # ArmarX.SimulatorViewer_SimulationWindow.Camera.y:  y component of initial camera position (mm)
@@ -228,7 +237,7 @@ ArmarX.SimulatorViewer_SimulationWindow.Camera.x = 7190
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.SimulatorViewer_SimulationWindow.Camera.y = 4450
+ArmarX.SimulatorViewer_SimulationWindow.Camera.y = 3000
 
 
 # ArmarX.SimulatorViewer_SimulationWindow.Camera.yaw:  Initial camera pose: yaw component of RPY angles (radian)
@@ -236,7 +245,7 @@ ArmarX.SimulatorViewer_SimulationWindow.Camera.y = 4450
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.SimulatorViewer_SimulationWindow.Camera.yaw = 0.87
+ArmarX.SimulatorViewer_SimulationWindow.Camera.yaw = -2.5
 
 
 # ArmarX.SimulatorViewer_SimulationWindow.Camera.z:  z component of initial camera position (mm)
@@ -244,7 +253,7 @@ ArmarX.SimulatorViewer_SimulationWindow.Camera.yaw = 0.87
 #  - Default:            0
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.SimulatorViewer_SimulationWindow.Camera.z = 2380
+ArmarX.SimulatorViewer_SimulationWindow.Camera.z = 2000
 
 
 # ArmarX.SimulatorViewer_SimulationWindow.EnableProfiling:  enable profiler which is used for logging performance events
diff --git a/scenarios/Armar3Simulation/config/SkillsMemory.cfg b/scenarios/Armar3Simulation/config/SkillsMemory.cfg
index 0313b7383dba582e02388309e9cbd927f57de1c7..fc086fbe56a016013571883b41f8f8fb721f55b6 100644
--- a/scenarios/Armar3Simulation/config/SkillsMemory.cfg
+++ b/scenarios/Armar3Simulation/config/SkillsMemory.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/SystemObserver.cfg b/scenarios/Armar3Simulation/config/SystemObserver.cfg
index b64df9b7575ac7b9b104a0754d86088932626628..6898509d2c37243167bb52bc62a52326ce1b7740 100644
--- a/scenarios/Armar3Simulation/config/SystemObserver.cfg
+++ b/scenarios/Armar3Simulation/config/SystemObserver.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/TCPControlUnit.cfg b/scenarios/Armar3Simulation/config/TCPControlUnit.cfg
index 2b2dcadb6881f51a9b87276076d887c2f0244ab8..878ed8d9863e20b674d4a0d3f8609b8f3974f0bd 100644
--- a/scenarios/Armar3Simulation/config/TCPControlUnit.cfg
+++ b/scenarios/Armar3Simulation/config/TCPControlUnit.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/ViewSelectionApp.cfg b/scenarios/Armar3Simulation/config/ViewSelectionApp.cfg
index 532a83741e1cda524b7d471ff24fb0b66f3cb5e3..10165ae1e84e9a629aa8cb3566d0dc70e2473f4c 100644
--- a/scenarios/Armar3Simulation/config/ViewSelectionApp.cfg
+++ b/scenarios/Armar3Simulation/config/ViewSelectionApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/VisionMemory.cfg b/scenarios/Armar3Simulation/config/VisionMemory.cfg
index 293013da2618e5e2e79257306109592a7cf1d02d..c785cda5949e6e4f10b572afdf4cb4348e50cfb3 100644
--- a/scenarios/Armar3Simulation/config/VisionMemory.cfg
+++ b/scenarios/Armar3Simulation/config/VisionMemory.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/WorkingMemory.cfg b/scenarios/Armar3Simulation/config/WorkingMemory.cfg
index d5dde7780a03f6d9886e142f1916ef383d01ee2b..2ecb149e577620e0d75be809a4cb70a22d474381 100644
--- a/scenarios/Armar3Simulation/config/WorkingMemory.cfg
+++ b/scenarios/Armar3Simulation/config/WorkingMemory.cfg
@@ -18,6 +18,15 @@
 # MemoryX.ApplicationName = ""
 
 
+# MemoryX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.AutodiscoverPackages = true
+
+
 # MemoryX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/WorkingMemoryObjectPoseProviderApp.cfg b/scenarios/Armar3Simulation/config/WorkingMemoryObjectPoseProviderApp.cfg
index 9250619d597eabf25f9ff4ed3b4d10d4614fff73..a742a2c3fb9374574f9b5b412a09170b2bffb162 100644
--- a/scenarios/Armar3Simulation/config/WorkingMemoryObjectPoseProviderApp.cfg
+++ b/scenarios/Armar3Simulation/config/WorkingMemoryObjectPoseProviderApp.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
diff --git a/scenarios/Armar3Simulation/config/object_memory_to_simulation.cfg b/scenarios/Armar3Simulation/config/object_memory_to_simulation.cfg
index f3deca0864b51f08b251d95ea5b30cc89c27513d..18a79c20f70553ad45f97fd2db4d47e41ca4e32e 100644
--- a/scenarios/Armar3Simulation/config/object_memory_to_simulation.cfg
+++ b/scenarios/Armar3Simulation/config/object_memory_to_simulation.cfg
@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache