From 57067754213e1242e26a327a184b7ecb14acc7cb Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 2 Mar 2021 17:04:30 +0100
Subject: [PATCH] Update scenario config
---
.../ObjectPoseObserverExample.scx | 2 +
.../config/ObjectPoseObserver.cfg | 111 +++++++++++++++++-
2 files changed, 111 insertions(+), 2 deletions(-)
diff --git a/scenarios/ObjectPoseObserverExample/ObjectPoseObserverExample.scx b/scenarios/ObjectPoseObserverExample/ObjectPoseObserverExample.scx
index 197fe23ad..1aa5238bf 100644
--- a/scenarios/ObjectPoseObserverExample/ObjectPoseObserverExample.scx
+++ b/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>
diff --git a/scenarios/ObjectPoseObserverExample/config/ObjectPoseObserver.cfg b/scenarios/ObjectPoseObserverExample/config/ObjectPoseObserver.cfg
index d14b730f3..279193cc2 100644
--- a/scenarios/ObjectPoseObserverExample/config/ObjectPoseObserver.cfg
+++ b/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
--
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