Update scenario config

scenarios/ObjectPoseObserverExample/ObjectPoseObserverExample.scx

@@ -5,5 +5,7 @@
 	<application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RobotToArVizApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>
 

scenarios/ObjectPoseObserverExample/config/ObjectPoseObserver.cfg

@@ -118,6 +118,14 @@
 # ArmarX.ObjectPoseObserver.EnableProfiling = false
 
 
+# ArmarX.ObjectPoseObserver.KinematicUnitObserverName:  Name of the kinematic unit observer.
+#  Attributes:
+#  - Default:            KinematicUnitObserver
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.KinematicUnitObserverName = KinematicUnitObserver
+
+
 # ArmarX.ObjectPoseObserver.MaxHistoryRecordFrequency:  The Observer history is written with this maximum frequency. Everything faster is being skipped.
 #  Attributes:
 #  - Default:            50
@@ -175,7 +183,7 @@
 # ArmarX.ObjectPoseObserver.RemoteStateComponentName = RobotStateComponent
 
 
-# ArmarX.ObjectPoseObserver.calibration.offset:  Offset for the node to be calibrated
+# ArmarX.ObjectPoseObserver.calibration.offset:  Offset for the node to be calibrated.
 #  Attributes:
 #  - Default:            0
 #  - Case sensitivity:   yes
@@ -183,7 +191,7 @@
 # ArmarX.ObjectPoseObserver.calibration.offset = 0
 
 
-# ArmarX.ObjectPoseObserver.calibration.robotNode:  Robot node which can be calibrated
+# ArmarX.ObjectPoseObserver.calibration.robotNode:  Robot node which can be calibrated.
 #  Attributes:
 #  - Default:            Neck_2_Pitch
 #  - Case sensitivity:   yes
@@ -191,6 +199,88 @@
 # ArmarX.ObjectPoseObserver.calibration.robotNode = Neck_2_Pitch
 
 
+# ArmarX.ObjectPoseObserver.decay.delaySeconds:  Duration after latest localization before decay starts.
+#  Attributes:
+#  - Default:            5
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.decay.delaySeconds = 5
+
+
+# ArmarX.ObjectPoseObserver.decay.durationSeconds:  How long to reach minimal confidence.
+#  Attributes:
+#  - Default:            20
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.decay.durationSeconds = 20
+
+
+# ArmarX.ObjectPoseObserver.decay.enabled:  If true, object poses decay over time when not localized anymore.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectPoseObserver.decay.enabled = false
+
+
+# ArmarX.ObjectPoseObserver.decay.maxConfidence:  Confidence when decay starts.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.decay.maxConfidence = 1
+
+
+# ArmarX.ObjectPoseObserver.decay.minConfidence:  Confidence after decay duration.
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.decay.minConfidence = 0
+
+
+# ArmarX.ObjectPoseObserver.decay.removeObjectsBelowConfidence:  Remove objects whose confidence is lower than this value.
+#  Attributes:
+#  - Default:            0.100000001
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.decay.removeObjectsBelowConfidence = 0.100000001
+
+
+# ArmarX.ObjectPoseObserver.head.checkHeadVelocity:  If true, check whether the head is moving and discard updates in the meantime.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectPoseObserver.head.checkHeadVelocity = true
+
+
+# ArmarX.ObjectPoseObserver.head.discardIntervalAfterMoveMS:  For how long new updates are ignored after moving the head.
+#  Attributes:
+#  - Default:            100
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.head.discardIntervalAfterMoveMS = 100
+
+
+# ArmarX.ObjectPoseObserver.head.maxJointVelocity:  If a head joint's velocity is higher, the head is considered moving.
+#  Attributes:
+#  - Default:            0.0500000007
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.head.maxJointVelocity = 0.0500000007
+
+
+# ArmarX.ObjectPoseObserver.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
+#  Attributes:
+#  - Default:            DebugObserver
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.tpc.pub.DebugObserver = DebugObserver
+
+
 # ArmarX.ObjectPoseObserver.visu.alpha:  Alpha of objects (1 = solid, 0 = transparent).
 #  Attributes:
 #  - Default:            1
@@ -199,6 +289,15 @@
 # ArmarX.ObjectPoseObserver.visu.alpha = 1
 
 
+# ArmarX.ObjectPoseObserver.visu.alphaByConfidence:  If true, use the pose confidence as alpha (if < 1.0).
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectPoseObserver.visu.alphaByConfidence = false
+
+
 # ArmarX.ObjectPoseObserver.visu.enabled:  Enable or disable visualization of objects.
 #  Attributes:
 #  - Default:            false
@@ -208,6 +307,14 @@
 ArmarX.ObjectPoseObserver.visu.enabled = true
 
 
+# ArmarX.ObjectPoseObserver.visu.frequenzyHz:  Frequency of visualization.
+#  Attributes:
+#  - Default:            25
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectPoseObserver.visu.frequenzyHz = 25
+
+
 # ArmarX.ObjectPoseObserver.visu.inGlobalFrame:  If true, show global poses. If false, show poses in robot frame.
 #  Attributes:
 #  - Default:            true