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
@@ -216,6 +225,22 @@
 # ArmarX.RobotStateMemory.mem.desc.seg.CoreSegmentName = Description
 
 
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize:  Maximal size of the Exteroception entity histories (-1 for infinite).
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize = -1
+
+
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreSegmentName:  Name of the Exteroception core segment.
+#  Attributes:
+#  - Default:            Exteroception
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreSegmentName = Exteroception
+
+
 # ArmarX.RobotStateMemory.mem.loc.seg.CoreMaxHistorySize:  Maximal size of the Localization entity histories (-1 for infinite).
 #  Attributes:
 #  - Default:            1024
@@ -234,10 +259,10 @@
 
 # ArmarX.RobotStateMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotStateMemory.mem.ltm.configuration = {}
+# ArmarX.RobotStateMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
 # ArmarX.RobotStateMemory.mem.ltm.enabled:  
@@ -274,6 +299,32 @@
 # ArmarX.RobotStateMemory.mem.visu.enabled = true
 
 
+# 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.framesEnabled = false
+
+
 # ArmarX.RobotStateMemory.mem.visu.frequenzyHz:  Frequency of visualization.
 #  Attributes:
 #  - Default:            25
@@ -300,6 +351,14 @@
 # ArmarX.RobotStateMemory.mns.MemoryNameSystemName = MemoryNameSystem
 
 
+# ArmarX.RobotStateMemory.prediction.TimeWindow:  Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
+#  Attributes:
+#  - Default:            2
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RobotStateMemory.prediction.TimeWindow = 2
+
+
 # ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
 #  Attributes:
 #  - Default:            0

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

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
@@ -167,14 +176,6 @@
 # ArmarX.SelfLocalizationDynamicSimulation.armem.update_frequency = 1000
 
 
-# ArmarX.SelfLocalizationDynamicSimulation.cmp.LocalizationUnit:  Ice object name of the `LocalizationUnit` component.
-#  Attributes:
-#  - Default:            LocalizationUnit
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SelfLocalizationDynamicSimulation.cmp.LocalizationUnit = LocalizationUnit
-
-
 # ArmarX.SelfLocalizationDynamicSimulation.cmp.Simulator:  Ice object name of the `Simulator` component.
 #  Attributes:
 #  - Default:            Simulator
@@ -199,6 +200,23 @@
 ArmarX.SelfLocalizationDynamicSimulation.inheritFrom = RobotConfig
 
 
+# ArmarX.SelfLocalizationDynamicSimulation.localizationUnit.proxyName:  If enabled, connects to the localization unit
+#  Attributes:
+#  - Default:            LocalizationUnit
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SelfLocalizationDynamicSimulation.localizationUnit.proxyName = LocalizationUnit
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.localizationUnit.use:  If enabled, connects to the localization unit
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+ArmarX.SelfLocalizationDynamicSimulation.localizationUnit.use = false
+
+
 # ArmarX.SelfLocalizationDynamicSimulation.longterm_memory:  Which legacy long-term memory to use if longterm_memory.updateor longterm_memory.retrieve_initial_pose are set
 #  Attributes:
 #  - Default:            LongtermMemory
@@ -315,14 +333,6 @@ ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.update = false
 # ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.LaserScannerSelfLocalisation = LaserScannerSelfLocalisation
 
 
-# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.PlatformUnit:  Name of the `PlatformUnit` topic to publish data to.
-#  Attributes:
-#  - Default:            PlatformUnit
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.PlatformUnit = PlatformUnit
-
-
 # ArmarX.SelfLocalizationDynamicSimulation.working_memory.update:  If enabled, updates the global pose in the working memory
 #  Attributes:
 #  - Default:            true

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
@@ -167,6 +176,23 @@
 # ArmarX.SimulationObjectPoseProvider.cmp.Simulator = Simulator
 
 
+# ArmarX.SimulationObjectPoseProvider.p.initiallyRequestedEntities:  All entities (comma separated) that should be requested from the beginning (e.g. 'Kitchen/multivitamin-juice/0'). If you want an entity to be localized for n seconds append ':n'. If you want to see all active entities, set the component to DEBUG.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+ArmarX.SimulationObjectPoseProvider.p.initiallyRequestedEntities = "Kitchen/green-cup/0"
+
+
+# ArmarX.SimulationObjectPoseProvider.p.requestAllEntities:  True if all entities should be requested all the time.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SimulationObjectPoseProvider.p.requestAllEntities = false
+
+
 # ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
 #  Attributes:
 #  - Default:            false

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.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

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
@@ -159,12 +168,21 @@
 # ArmarX.SimulatorToArviz.ObjectName = ""
 
 
-# ArmarX.SimulatorToArviz.PriorKnowledgeName:  Prior knowledge name
+# ArmarX.SimulatorToArviz.p.oldPriorKnowledge.name:  
 #  Attributes:
 #  - Default:            PriorKnowledge
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SimulatorToArviz.PriorKnowledgeName = PriorKnowledge
+# ArmarX.SimulatorToArviz.p.oldPriorKnowledge.name = PriorKnowledge
+
+
+# ArmarX.SimulatorToArviz.p.oldPriorKnowledge.use:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SimulatorToArviz.p.oldPriorKnowledge.use = false
 
 
 # ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.

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

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
@@ -167,21 +176,12 @@
 # ArmarX.SkillMemory.mem.MemoryName = Skill
 
 
-# ArmarX.SkillMemory.mem.ltm..buffer.storeFreq:  Frequency to store the buffer to the LTM in Hz.
+# ArmarX.SkillMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            10
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.SkillMemory.mem.ltm.depthImageExtractor.Enabled:  
-#  Attributes:
-#  - Default:            true
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.depthImageExtractor.Enabled = true
+# ArmarX.SkillMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
 # ArmarX.SkillMemory.mem.ltm.enabled:  
@@ -193,100 +193,6 @@
 # ArmarX.SkillMemory.mem.ltm.enabled = false
 
 
-# ArmarX.SkillMemory.mem.ltm.exrConverter.Enabled:  
-#  Attributes:
-#  - Default:            true
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.SkillMemory.mem.ltm.imageExtractor.Enabled:  
-#  Attributes:
-#  - Default:            true
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.imageExtractor.Enabled = true
-
-
-# ArmarX.SkillMemory.mem.ltm.memFreqFilter.Enabled:  
-#  Attributes:
-#  - Default:            false
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.SkillMemory.mem.ltm.memFreqFilter.WaitingTime:  Waiting time in MS after each LTM update.
-#  Attributes:
-#  - Default:            -1
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.SkillMemory.mem.ltm.pngConverter.Enabled:  
-#  Attributes:
-#  - Default:            true
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.pngConverter.Enabled = true
-
-
-# ArmarX.SkillMemory.mem.ltm.sizeToCompressDataInMegaBytes:  The size in MB to compress away the current export. Exports are numbered (lower number means newer).
-#  Attributes:
-#  - Default:            1024
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-
-
-# ArmarX.SkillMemory.mem.ltm.snapEqFilter.Enabled:  
-#  Attributes:
-#  - Default:            false
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.SkillMemory.mem.ltm.snapEqFilter.MaxWaitingTime:  Max Waiting time in MS after each Entity update.
-#  Attributes:
-#  - Default:            -1
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.Enabled:  
-#  Attributes:
-#  - Default:            false
-#  - Case sensitivity:   yes
-#  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.WaitingTime:  Waiting time in MS after each Entity update.
-#  Attributes:
-#  - Default:            -1
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
-# ArmarX.SkillMemory.mem.ltm.storagepath:  The path to the memory storage (the memory will be stored in a seperate subfolder).
-#  Attributes:
-#  - Default:            Default value not mapped.
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SkillMemory.mem.ltm.storagepath = Default value not mapped.
-
-
 # ArmarX.SkillMemory.mns.MemoryNameSystemEnabled:  Whether to use (and depend on) the Memory Name System (MNS).
 # Set to false to use this memory as a stand-alone.
 #  Attributes:

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

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

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

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
@@ -212,10 +221,10 @@
 
 # ArmarX.VisionMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.VisionMemory.mem.ltm.configuration = {}
+# ArmarX.VisionMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
 # ArmarX.VisionMemory.mem.ltm.enabled:  
@@ -253,6 +262,70 @@
 # ArmarX.VisionMemory.occupancyGridMaxHistorySize = 20
 
 
+# ArmarX.VisionMemory.pcxyz.seg.CoreMaxHistorySize:  Maximal size of the PointCloudXYZ entity histories (-1 for infinite).
+#  Attributes:
+#  - Default:            20
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyz.seg.CoreMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.pcxyz.seg.CoreSegmentName:  Name of the PointCloudXYZ core segment.
+#  Attributes:
+#  - Default:            PointCloudXYZ
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyz.seg.CoreSegmentName = PointCloudXYZ
+
+
+# ArmarX.VisionMemory.pcxyzl.seg.CoreMaxHistorySize:  Maximal size of the PointCloudXYZL entity histories (-1 for infinite).
+#  Attributes:
+#  - Default:            20
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyzl.seg.CoreMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.pcxyzl.seg.CoreSegmentName:  Name of the PointCloudXYZL core segment.
+#  Attributes:
+#  - Default:            PointCloudXYZL
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyzl.seg.CoreSegmentName = PointCloudXYZL
+
+
+# ArmarX.VisionMemory.pcxyzrgba.seg.CoreMaxHistorySize:  Maximal size of the PointCloudXYZRGBA entity histories (-1 for infinite).
+#  Attributes:
+#  - Default:            20
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyzrgba.seg.CoreMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.pcxyzrgba.seg.CoreSegmentName:  Name of the PointCloudXYZRGBA core segment.
+#  Attributes:
+#  - Default:            PointCloudXYZRGBA
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyzrgba.seg.CoreSegmentName = PointCloudXYZRGBA
+
+
+# ArmarX.VisionMemory.pcxyzrgbl.seg.CoreMaxHistorySize:  Maximal size of the PointCloudXYZRGBL entity histories (-1 for infinite).
+#  Attributes:
+#  - Default:            20
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyzrgbl.seg.CoreMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.pcxyzrgbl.seg.CoreSegmentName:  Name of the PointCloudXYZRGBL core segment.
+#  Attributes:
+#  - Default:            PointCloudXYZRGBL
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.VisionMemory.pcxyzrgbl.seg.CoreSegmentName = PointCloudXYZRGBL
+
+
 # ArmarX.VisionMemory.pointCloudMaxHistorySize:  
 #  Attributes:
 #  - Default:            20

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

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

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

source/ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.cpp

@@ -240,7 +240,7 @@ namespace armarx
         auto l = getScopedLock();
         floorVisu->removeAllChildren();
         SoNode* n = (SoNode*)CoinVisualizationFactory::CreatePlaneVisualization(
-            floorPos, floorUp, floorExtendMM, 0.0f, true, 0.5f, 0.5f, 0.5f, floorTexture);
+            floorPos, floorUp, floorExtendMM, true, CoinVisualizationFactory::Color::Gray(), floorTexture);
         if (n)
         {
             ARMARX_TRACE;
@@ -644,6 +644,10 @@ namespace armarx
             }
             ARMARX_TRACE;
 
+            // Run forward kinematics, including propagating joint values.
+            const bool updateChildren = true;
+            currentObjVisu->updatePose(updateChildren);
+
             // never use this data again
             robotDef.updated = false;
         }
@@ -924,6 +928,7 @@ namespace armarx
         // ensure consistent names
         ARMARX_DEBUG << "Setting up newly loaded robot";
         result->setName(robotName);
+        result->setPropagatingJointValuesEnabled(true);
         ARMARX_DEBUG << "adding newly loaded robot to visualization";
         VirtualRobot::SceneObject::VisualizationType visuMode = modelType;
         if (colModel)

source/ArmarXSimulation/components/ArticulatedObjectLocalizerDynamicSimulation/ArticulatedObjectLocalizerDynamicSimulation.cpp

@@ -35,8 +35,8 @@
 
 #include <ArmarXCore/core/PackagePath.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
-#include <RobotAPI/libraries/core/Pose.h>
 
+#include <RobotAPI/libraries/core/Pose.h>
 
 namespace armarx
 {
@@ -47,9 +47,6 @@ namespace armarx
         armarx::PropertyDefinitionsPtr defs =
             new ComponentPropertyDefinitions(getConfigIdentifier());
 
-        articulatedObjectWriter->registerPropertyDefinitions(defs);
-        articulatedObjectReader->registerPropertyDefinitions(defs);
-
         defs->component(simulator);
 
         defs->optional(p.cycleTime, "cycleTime");
@@ -59,27 +56,20 @@ namespace armarx
         return defs;
     }
 
-    ArticulatedObjectLocalizerDynamicSimulation::ArticulatedObjectLocalizerDynamicSimulation() :
-        articulatedObjectWriter(
-            new ::armarx::armem::articulated_object::Writer(memoryNameSystem())),
-        articulatedObjectReader(new ::armarx::armem::articulated_object::Reader(memoryNameSystem()))
+    ArticulatedObjectLocalizerDynamicSimulation::ArticulatedObjectLocalizerDynamicSimulation()
     {
+      addPlugin(articulatedObjectWriterPlugin);
+      addPlugin(articulatedObjectReaderPlugin);
     }
 
-
     void
     ArticulatedObjectLocalizerDynamicSimulation::onInitComponent()
     {
     }
 
-
     void
     ArticulatedObjectLocalizerDynamicSimulation::onConnectComponent()
     {
-        articulatedObjectWriter->connect();
-        articulatedObjectReader->connect();
-
-
         setupObjects();
 
         ARMARX_INFO << "Starting `localizeArticulatedObjects` task";
@@ -103,20 +93,17 @@ namespace armarx
         taskUpdateObjects->setDelayWarningTolerance(100);
     }
 
-
     void
     ArticulatedObjectLocalizerDynamicSimulation::onDisconnectComponent()
     {
         task->stop();
     }
 
-
     void
     ArticulatedObjectLocalizerDynamicSimulation::onExitComponent()
     {
     }
 
-
     std::string
     ArticulatedObjectLocalizerDynamicSimulation::getDefaultName() const
     {
@@ -126,13 +113,15 @@ namespace armarx
     void
     ArticulatedObjectLocalizerDynamicSimulation::setupObjects()
     {
-        const auto descriptions = articulatedObjectReader->queryDescriptions(IceUtil::Time::now());
+        const auto descriptions =
+            articulatedObjectReaderPlugin->get().queryDescriptions(armarx::DateTime::Now(), std::nullopt);
 
         std::unordered_map<std::string, std::shared_ptr<VirtualRobot::Robot>> newKnownObjects;
 
         // read access to shared variable "knownObjects"
         std::unique_lock lck{knownObjectsMtx};
-        std::unordered_map<std::string, std::shared_ptr<VirtualRobot::Robot>> oldKnownObjects = knownObjects;
+        std::unordered_map<std::string, std::shared_ptr<VirtualRobot::Robot>> oldKnownObjects =
+            knownObjects;
         lck.unlock();
 
         const auto tryRegister = [&](const std::string& name)
@@ -152,7 +141,7 @@ namespace armarx
                     if (splits.back() == name)
                     {
                         ARMARX_DEBUG << "Relaxed filter successful: Object description '"
-                                    << description.name << "' matches '" << name;
+                                     << description.name << "' matches '" << name;
                         return true;
                     }
                 }
@@ -170,7 +159,7 @@ namespace armarx
             ARMARX_DEBUG << "Found articulated object '" << name << "'";
 
             // Avoid loading of already existing robots as it takes some time ...
-            if(oldKnownObjects.count(name) > 0)
+            if (oldKnownObjects.count(name) > 0)
             {
                 newKnownObjects[name] = oldKnownObjects.at(name);
                 return;
@@ -212,10 +201,15 @@ namespace armarx
                                                    {"PriorKnowledgeData"}, obj.getFilename()),
                                                obj.getFilename())},
             .instance = "", // TODO(fabian.reister):
-            .config = {.timestamp = timestamp,
-                       .globalPose = Eigen::Affine3f(obj.getRootNode()->getGlobalPose()),
-                       .jointMap = obj.getJointValues()},
-            .timestamp = timestamp};
+            .config =
+                {
+                    .timestamp = timestamp,
+                    .globalPose = Eigen::Affine3f(obj.getRootNode()->getGlobalPose()),
+                    .jointMap = obj.getJointValues(),
+                    .proprioception = std::nullopt,
+                },
+            .timestamp = timestamp,
+        };
     }
 
     void
@@ -254,7 +248,8 @@ namespace armarx
             if (not poseBase)
             {
                 ARMARX_WARNING << deactivateSpam(10)
-                               << "No articulatd object pose from simulator for object " << name << " ...";
+                               << "No articulatd object pose from simulator for object " << name
+                               << " ...";
                 continue;
             }
 
@@ -264,12 +259,13 @@ namespace armarx
             robot->setJointValues(jointMap);
 
             armarx::armem::articulated_object::ArticulatedObject obj =
-                convert(*robot, IceUtil::Time::now());
+                convert(*robot, armarx::DateTime::Now());
             obj.instance = "0"; // we assume that there is only one object of a type
 
-            ARMARX_DEBUG << "Publishing new state for object `" << name << "`, instance id: `" << obj.instance << "`";
+            ARMARX_DEBUG << "Publishing new state for object `" << name << "`, instance id: `"
+                         << obj.instance << "`";
 
-            articulatedObjectWriter->store(obj);
+            articulatedObjectWriterPlugin->get().store(obj);
         }
     }
 

source/ArmarXSimulation/components/ArticulatedObjectLocalizerDynamicSimulation/ArticulatedObjectLocalizerDynamicSimulation.h

@@ -35,6 +35,7 @@
 #include <RobotAPI/libraries/armem_objects/types.h>
 #include <RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h>
 #include <RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h>
+#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
 
 #include <ArmarXSimulation/interface/simulator/SimulatorInterface.h>
 
@@ -91,8 +92,15 @@ namespace armarx
         // Private member variables go here.
         SimulatorInterfacePrx simulator;
 
-        std::unique_ptr<::armarx::armem::articulated_object::Writer> articulatedObjectWriter;
-        std::unique_ptr<::armarx::armem::articulated_object::Reader> articulatedObjectReader;
+
+        template <typename T>
+        using ReaderWriterPlugin = armem::client::plugins::ReaderWriterPlugin<T>;
+
+        ReaderWriterPlugin<::armarx::armem::articulated_object::Writer>* articulatedObjectWriterPlugin =
+            nullptr;
+
+        ReaderWriterPlugin<::armarx::armem::articulated_object::Reader>* articulatedObjectReaderPlugin =
+            nullptr;
 
         PeriodicTask<ArticulatedObjectLocalizerDynamicSimulation>::pointer_type task;
         PeriodicTask<ArticulatedObjectLocalizerDynamicSimulation>::pointer_type taskUpdateObjects;

source/ArmarXSimulation/components/DepthImageProviderDynamicSimulation/DepthImageProviderDynamicSimulation.h

@@ -24,79 +24,32 @@
 
 #pragma once
 
-#include <memory>
 #include <chrono>
-#include <random>
+#include <memory>
 #include <mutex>
+#include <random>
 
 #include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
 
 #include <ArmarXCore/core/Component.h>
 
-#include <VisionX/interface/components/RGBDImageProvider.h>
-#include <VisionX/core/ImageProvider.h>
 #include <VisionX/components/pointcloud_core/CapturingPointCloudProvider.h>
-#include <MemoryX/core/entity/ProbabilityMeasures.h>
+#include <VisionX/core/ImageProvider.h>
+#include <VisionX/interface/components/RGBDImageProvider.h>
 
 #include <ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.h>
 
+#include <Inventor/SoOffscreenRenderer.h>
 
-
-#include <VisionX/tools/TypeMapping.h>
-#include <VisionX/tools/ImageUtil.h>
+class SoOffscreenRenderer;
 
 namespace armarx
 {
-    class DepthImageProviderDynamicSimulationPropertyDefinitions:
+    class DepthImageProviderDynamicSimulationPropertyDefinitions :
         public visionx::CapturingPointCloudProviderPropertyDefinitions
     {
     public:
-        DepthImageProviderDynamicSimulationPropertyDefinitions(std::string prefix):
-            visionx::CapturingPointCloudProviderPropertyDefinitions(prefix)
-        {
-            defineOptionalProperty<bool>("FloatImageMode", false, "Whether to provide a CFloatImage or the standard CByteImage");
-            defineOptionalProperty<float>("Noise", 0.0f, "Noise of the point cloud position results as standard deviation of the normal distribution (in mm)")
-            .setMin(0);
-            defineOptionalProperty<float>("DistanceZNear", 20.0f, "Distance of the near clipping plain. (If set too small the agent's model's inside may be visible")
-            .setMin(1e-8);
-            defineOptionalProperty<float>("DistanceZFar", 5000.0f, "Distance of the far clipping plain. (DistanceZFar-DistanceZNear should be minimal, DistanceZFar > DistanceZNear)")
-            .setMin(1e-8);
-            defineOptionalProperty<float>("FOV", M_PI / 4, "Vertical FOV in rad.");
-            defineOptionalProperty<float>("BaseLine", 0.075, "The value returned from getBaseline(). It has no other effect.");
-            defineOptionalProperty<float>("NanValue", std::nan(""), "Value of points that are farther away then DistanceZFar. Most cameras return here NaN.");
-
-            defineOptionalProperty<visionx::ImageDimension>("ImageSize", visionx::ImageDimension(640,  480), "Target resolution of the images. Captured images will be converted to this size.")
-            .setCaseInsensitive(true)
-            .map("200x200",    visionx::ImageDimension(200, 200))
-            .map("320x240",     visionx::ImageDimension(320,  240))
-            .map("640x480",     visionx::ImageDimension(640,  480))
-            .map("800x600",     visionx::ImageDimension(800,  600))
-            .map("768x576",     visionx::ImageDimension(768,  576))
-            .map("1024x768",    visionx::ImageDimension(1024, 768))
-            .map("1280x960",    visionx::ImageDimension(1280, 960))
-            .map("1600x1200",   visionx::ImageDimension(1600, 1200))
-            .map("none",        visionx::ImageDimension(0, 0));
-            defineOptionalProperty<std::string>("RobotName", "Armar3", "The robot");
-            defineOptionalProperty<std::string>("RobotNodeCamera", "DepthCameraSim", "The coordinate system of the used camera");
-
-            //used to draw the cloud to the simulator
-            defineOptionalProperty<bool>("DrawPointCloud", false, "Whether the point cloud is drawn to the given DebugDrawerTopic");
-            defineOptionalProperty<std::string>("DrawPointCloud_DebugDrawerTopic", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");
-            defineOptionalProperty<unsigned int>("DrawPointCloud_DrawDelay", 1000, "The time between updates of the drawn point cloud (in ms)");
-            defineOptionalProperty<float>("DrawPointCloud_PointSize", 4, "The size of a point.");
-            defineOptionalProperty<std::size_t>("DrawPointCloud_PointSkip", 3, "Only draw every n'th point in x and y direction (n=DrawPointCloud_PointSkip). Increase this whenever the ice buffer size is to small to transmitt the cloud size. (>0)");
-
-            defineOptionalProperty<bool>("DrawPointCloud_ClipPoints", true, "Whether to clip the point cloud drawn to the given DebugDrawerTopic");
-
-            defineOptionalProperty<float>("DrawPointCloud_ClipXHi", 25000, "Skip points with x higher than this limit.");
-            defineOptionalProperty<float>("DrawPointCloud_ClipYHi", 25000, "Skip points with y higher than this limit.");
-            defineOptionalProperty<float>("DrawPointCloud_ClipZHi", 25000, "Skip points with z higher than this limit.");
-
-            defineOptionalProperty<float>("DrawPointCloud_ClipXLo", -25000, "Skip points with x lower than this limit.");
-            defineOptionalProperty<float>("DrawPointCloud_ClipYLo", -25000, "Skip points with y lower than this limit.");
-            defineOptionalProperty<float>("DrawPointCloud_ClipZLo", -25000, "Skip points with z lower than this limit.");
-        }
+        DepthImageProviderDynamicSimulationPropertyDefinitions(std::string prefix);
     };
 
     class DepthImageProviderDynamicSimulation :
@@ -105,117 +58,34 @@ namespace armarx
         virtual public visionx::RGBDPointCloudProviderInterface
     {
     public:
-
         DepthImageProviderDynamicSimulation() = default;
-        ~DepthImageProviderDynamicSimulation() override {}
-
-        std::string getDefaultName() const override
-        {
-            return "DynamicSimulationDepthImageProvider";
-        }
-
-        bool hasSharedMemorySupport(const Ice::Current& c = Ice::emptyCurrent) override
-        {
-            return true;
-        }
-
-        visionx::StereoCalibration getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override
-        {
-            visionx::StereoCalibration stereoCalibration;
-
-
-            float r = static_cast<float>(width) / static_cast<float>(height);
-
-            visionx::CameraParameters RGBCameraIntrinsics;
-            RGBCameraIntrinsics.distortion = {0, 0, 0, 0};
-            RGBCameraIntrinsics.focalLength = {static_cast<float>(width) / (2 * std::tan((vertFov * r) / 2)),
-                                               static_cast<float>(height) / (2 * std::tan(vertFov / 2))
-                                              };
-            RGBCameraIntrinsics.height = height;
-            RGBCameraIntrinsics.principalPoint = {width / 2.0f, height / 2.0f};
-            RGBCameraIntrinsics.rotation = visionx::tools::convertEigenMatToVisionX(Eigen::Matrix3f::Identity());
-            RGBCameraIntrinsics.translation = visionx::tools::convertEigenVecToVisionX(Eigen::Vector3f::Zero());
-            RGBCameraIntrinsics.width = width;
-
-            visionx::CameraParameters DepthCameraIntrinsics;
-            DepthCameraIntrinsics.distortion = {0, 0, 0, 0};
-            DepthCameraIntrinsics.focalLength = {static_cast<float>(width) / (2 * std::tan((vertFov * r) / 2)),
-                                                 static_cast<float>(height) / (2 * std::tan(vertFov / 2))
-                                                };
-            DepthCameraIntrinsics.height = height;
-            DepthCameraIntrinsics.principalPoint = {width / 2.0f, height / 2.0f};
-            DepthCameraIntrinsics.rotation =  visionx::tools::convertEigenMatToVisionX(Eigen::Matrix3f::Identity());
-            DepthCameraIntrinsics.translation = {0.075, 0, 0};
-            DepthCameraIntrinsics.width = width;
-
-
-            stereoCalibration.calibrationLeft = visionx::tools::createDefaultMonocularCalibration();
-            stereoCalibration.calibrationRight = visionx::tools::createDefaultMonocularCalibration();
-            stereoCalibration.calibrationLeft.cameraParam = RGBCameraIntrinsics;
-            stereoCalibration.calibrationRight.cameraParam = DepthCameraIntrinsics;
-            stereoCalibration.rectificationHomographyLeft = visionx::tools::convertEigenMatToVisionX(Eigen::Matrix3f::Zero());
-            stereoCalibration.rectificationHomographyRight = visionx::tools::convertEigenMatToVisionX(Eigen::Matrix3f::Zero());
-
-
-            return stereoCalibration;
-        }
-
-        bool getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override
-        {
-            return true;
-        }
-
-        std::string getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
-        {
-            return getProperty<std::string>("RobotNodeCamera");
-        }
+        ~DepthImageProviderDynamicSimulation() override;
+
+        std::string getDefaultName() const override;
+
+        bool hasSharedMemorySupport(const Ice::Current& c = Ice::emptyCurrent) override;
+
+        visionx::StereoCalibration
+        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override;
+
+        bool getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override;
+
+        std::string getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override;
 
     protected:
-        /**
-         * @see visionx::PointCloudProviderBase::onInitPointCloudProvider()
-         */
-        void onInitCapturingPointCloudProvider() override {}
-
-        /**
-         * @see visionx::PointCloudProviderBase::onExitPointCloudProvider()
-         */
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+        void onInitCapturingPointCloudProvider() override;
         void onExitCapturingPointCloudProvider() override;
 
-        /**
-         * @see visionx::PointCloudProviderBase::onStartCapture()
-         */
         void onStartCapture(float frameRate) override;
-
-        /**
-         * @see visionx::PointCloudProviderBase::onStopCapture()
-         */
-        void onStopCapture() override {}
-
-        /**
-         * @see visionx::PointCloudProviderBase::doCapture()
-        */
+        void onStopCapture() override;
         bool doCapture() override;
 
-        /**
-             * @see visionx::CapturingImageProvider::onInitImageProvider()
-             */
         void onInitImageProvider() override;
-
         void onDisconnectComponent() override;
 
-        /**
-             * @see visionx::CapturingImageProvider::onExitImageProvider()
-             */
-        void onExitImageProvider() override {}
-
-
-        /**
-         * @see PropertyUser::createPropertyDefinitions()
-         */
-        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
-        {
-            return new DepthImageProviderDynamicSimulationPropertyDefinitions(getConfigIdentifier());
-        }
+        void onExitImageProvider() override;
 
         // mixed inherited stuff
         void onInitComponent() override;
@@ -223,13 +93,12 @@ namespace armarx
         void onExitComponent() override;
 
         bool render();
-
         void syncVisu();
 
         std::mutex captureMutex;
 
         short width; //coin uses short here
-        short height;//coin uses short here
+        short height; //coin uses short here
 
         float baseline;
 
@@ -290,6 +159,4 @@ namespace armarx
         std::int64_t sumRenderTimesSquared;
         std::int32_t renderTimesCount;
     };
-}
-
-
+} // namespace armarx