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

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

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

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

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

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

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

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

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

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

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
@@ -150,6 +159,22 @@
 # ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
 
 
+# ArmarX.ObjectMemory.mem..marker.Name:  Marker Memory Name
+#  Attributes:
+#  - Default:            Marker
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem..marker.Name = Marker
+
+
+# ArmarX.ObjectMemory.mem..marker.maxHistorySize:  Maximum marker memory history size
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem..marker.maxHistorySize = -1
+
+
 # ArmarX.ObjectMemory.mem.MemoryName:  Name of this memory server.
 #  Attributes:
 #  - Default:            Object
@@ -375,14 +400,17 @@ ArmarX.ObjectMemory.mem.inst.robots.FallbackName = Armar3
 # ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
 
 
-# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad:  Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
-# You can also specify paths relative to 'Package/scenes/'. 
-# You can also specify a ; separated list of scenes.
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad:  Scene(s) to load on startup. 
+# Specify multiple scenes in a ; separated list. 
+# Each entry must be one of the following: 
+# (1) A scene file in 'Package/scenes/' (with or without '.json' extension), e.g. 'MyScene', 'MyScene.json' 
+# (2) A path to a scene file relative to 'Package/scenes/' (with or without '.json' extension), e.g. 'path/to/MyScene', 'path/to/MyScene.json' 
+# (3) An ArmarX data path to a scene file, e.g. 'Package/scenes/path/to/MyScene.json'
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = "ARMAR-III-kitchen.json"
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
 
 
 # ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize:  Maximal size of the Instance entity histories (-1 for infinite).
@@ -496,13 +524,39 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = "ARMAR-III-kitchen.json"
 # ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
 
 
-# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show:  Show arrows linearly predicting object positions.
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.ghostAlpha:  Alpha of linear prediction ghosts.
+#  Attributes:
+#  - Default:            0.699999988
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.ghostAlpha = 0.699999988
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showArrow:  Show arrows from current object poses to the linearly predicted ones.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showArrow = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showFrame:  Show frames at linearly predicted object poses.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showFrame = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showGhost:  Show ghosts at linearly predicted object poses.
 #  Attributes:
 #  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show = false
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showGhost = false
 
 
 # ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset:  The offset (in seconds) to the current time to make predictions for.
@@ -532,10 +586,10 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = "ARMAR-III-kitchen.json"
 
 # ArmarX.ObjectMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ObjectMemory.mem.ltm.configuration = {}
+# ArmarX.ObjectMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
 # ArmarX.ObjectMemory.mem.ltm.enabled:  

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

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
@@ -232,10 +241,10 @@ ArmarX.PlatformUnit.inheritFrom = RobotConfig
 
 # ArmarX.PlatformUnit.tpc.pub.PlatformUnit:  Name of the `PlatformUnit` topic to publish data to.
 #  Attributes:
-#  - Default:            PlatformUnit
+#  - Default:            PlatformState
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.PlatformUnit.tpc.pub.PlatformUnit = PlatformUnit
+# ArmarX.PlatformUnit.tpc.pub.PlatformUnit = PlatformState
 
 
 # ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog

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

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

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

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

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

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

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
@@ -182,14 +191,6 @@ ArmarX.RobotStateComponent.HeadIKUnitName = "HeadIKUnit"
 ArmarX.RobotStateComponent.ObjectName = RobotStateComponent
 
 
-# ArmarX.RobotStateComponent.PlatformTopicName:  Topic where platform state is published.
-#  Attributes:
-#  - Default:            PlatformState
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.RobotStateComponent.PlatformTopicName = PlatformState
-
-
 # ArmarX.RobotStateComponent.RobotFileName:  Filename of VirtualRobot robot model (e.g. robot_model.xml)
 #  Attributes:
 #  - Case sensitivity:   yes