scenarios/ArMemExample/config/ExampleMemory.cfg

@@ -145,19 +145,27 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
 
 # ArmarX.ExampleMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ExampleMemory.mem.ltm.configuration = {}
+# ArmarX.ExampleMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
-# ArmarX.ExampleMemory.mem.ltm.enabled:  
+# ArmarX.ExampleMemory.mem.ltm.enable_querying:  
 #  Attributes:
 #  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ExampleMemory.mem.ltm.enabled = false
+# ArmarX.ExampleMemory.mem.ltm.enable_querying = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.mode:  
+#  Attributes:
+#  - Default:            DISABLED
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ExampleMemory.mem.ltm.mode = DISABLED
 
 
 # ArmarX.ExampleMemory.mns.MemoryNameSystemEnabled:  Whether to use (and depend on) the Memory Name System (MNS).

scenarios/RobotSkillsMemory/RobotSkillsMemory.scx

@@ -3,5 +3,7 @@
 	<application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="SkillsMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>
 

scenarios/RobotSkillsMemory/config/ArVizStorage.cfg

+# ==================================================================
+# ArVizStorage properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.ArVizStorage.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ArVizStorage.EnableProfiling = false
+
+
+# ArmarX.ArVizStorage.HistoryPath:  Destination path where the history is serialized to
+#  Attributes:
+#  - Default:            RobotAPI/ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ArVizStorage.HistoryPath = RobotAPI/ArVizStorage
+
+
+# ArmarX.ArVizStorage.MaxHistorySize:  How many layer updates are saved in the history until they are compressed
+#  Attributes:
+#  - Default:            1000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ArVizStorage.MaxHistorySize = 1000
+
+
+# ArmarX.ArVizStorage.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ArVizStorage.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArVizStorage.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ArVizStorage.ObjectName = ""
+
+
+# ArmarX.ArVizStorage.TopicName:  Layer updates are sent over this topic.
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ArVizStorage.TopicName = ArVizTopic
+
+
+# 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
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries:  Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup:  The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout:  The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+#  Attributes:
+#  - Default:            3000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize:  Size of the ArmarX ThreadPool that is always running.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix:  Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer:  Enable using a global Timeserver (e.g. from ArmarXSimulator)
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity:  Global logging level for whole application
+#  Attributes:
+#  - Default:            Info
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+

scenarios/RobotSkillsMemory/config/DebugObserver.cfg

+# ==================================================================
+# DebugObserver properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# 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
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel:  If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.DebugObserver.DebugObserverTopicName:  Name of the topic the DebugObserver listens on
+#  Attributes:
+#  - Default:            DebugObserver
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.DebugObserver.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.EnableProfiling = false
+
+
+# ArmarX.DebugObserver.MaxHistoryRecordFrequency:  The Observer history is written with this maximum frequency. Everything faster is being skipped.
+#  Attributes:
+#  - Default:            50
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.DebugObserver.MaxHistorySize:  Maximum number of entries in the Observer history
+#  Attributes:
+#  - Default:            5000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.MaxHistorySize = 5000
+
+
+# ArmarX.DebugObserver.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.DebugObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugObserver.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.ObjectName = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries:  Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup:  The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout:  The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+#  Attributes:
+#  - Default:            3000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize:  Size of the ArmarX ThreadPool that is always running.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix:  Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer:  Enable using a global Timeserver (e.g. from ArmarXSimulator)
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity:  Global logging level for whole application
+#  Attributes:
+#  - Default:            Info
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+

scenarios/RobotSkillsMemory/config/MemoryNameSystem.cfg

@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes

scenarios/RobotSkillsMemory/config/RemoteGuiProviderApp.cfg

@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes

scenarios/RobotSkillsMemory/config/SkillsMemory.cfg

@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
@@ -117,88 +117,105 @@
 # ArmarX.SecondsStartupDelay = 0
 
 
-# ArmarX.SkillsMemory.:  
+# ArmarX.SkillMemory.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.EnableProfiling = false
+
+
+# ArmarX.SkillMemory.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.SkillMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SkillMemory.ObjectName:  Name of IceGrid well-known object
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory. = ""
+# ArmarX.SkillMemory.ObjectName = ""
 
 
-# ArmarX.SkillsMemory.EnableProfiling:  enable profiler which is used for logging performance events
+# ArmarX.SkillMemory.StatechartCoreSegmentName:  Name of the core segment for statecharts.
 #  Attributes:
-#  - Default:            false
+#  - Default:            Statechart
 #  - Case sensitivity:   yes
 #  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillsMemory.EnableProfiling = false
+# ArmarX.SkillMemory.StatechartCoreSegmentName = Statechart
 
 
-# ArmarX.SkillsMemory.MinimumLoggingLevel:  Local logging level only for this component
+# ArmarX.SkillMemory.TransitionsProviderSegmentName:  Name of the provider segment for statechart transitions.
 #  Attributes:
-#  - Default:            Undefined
+#  - Default:            Transitions
 #  - Case sensitivity:   yes
 #  - Required:           no
-#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.SkillsMemory.MinimumLoggingLevel = Undefined
+# ArmarX.SkillMemory.TransitionsProviderSegmentName = Transitions
 
 
-# ArmarX.SkillsMemory.ObjectName:  Name of IceGrid well-known object
+# ArmarX.SkillMemory.mem.MemoryName:  Name of this memory server.
 #  Attributes:
-#  - Default:            ""
+#  - Default:            Skill
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory.ObjectName = ""
+# ArmarX.SkillMemory.mem.MemoryName = Skill
 
 
-# ArmarX.SkillsMemory.mem.MemoryName:  Name of this memory server.
+# ArmarX.SkillMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            Skills
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory.mem.MemoryName = Skills
+# ArmarX.SkillMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
-# ArmarX.SkillsMemory.mns.MemoryNameSystemEnabled:  Whether to use (and depend on) the Memory Name System (MNS).
-# Set to false to use this memory as a stand-alone.
+# ArmarX.SkillMemory.mem.ltm.enable_querying:  
 #  Attributes:
-#  - Default:            true
+#  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillsMemory.mns.MemoryNameSystemEnabled = true
+# ArmarX.SkillMemory.mem.ltm.enable_querying = false
 
 
-# ArmarX.SkillsMemory.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
+# ArmarX.SkillMemory.mem.ltm.mode:  
 #  Attributes:
-#  - Default:            MemoryNameSystem
+#  - Default:            DISABLED
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.SkillMemory.mem.ltm.mode = DISABLED
 
 
-# ArmarX.SkillsMemory.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
+# 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:
-#  - Default:            DebugObserver
+#  - Default:            true
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory.tpc.pub.DebugObserver = DebugObserver
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled = true
 
 
-# ArmarX.SkillsMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
+# ArmarX.SkillMemory.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
 #  Attributes:
-#  - Default:            MemoryUpdates
+#  - Default:            MemoryNameSystem
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory.tpc.pub.MemoryListener = MemoryUpdates
+# ArmarX.SkillMemory.mns.MemoryNameSystemName = MemoryNameSystem
 
 
-# ArmarX.SkillsMemory.tpc.sub.ProfilerListener:  Name of the ProfilerListenerInterface topics to subscribe.
+# ArmarX.SkillMemory.tpc.sub.ProfilerListener:  Name of the ProfilerListenerInterface topics to subscribe.
 #  Attributes:
 #  - Default:            StateReportingTopic
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillsMemory.tpc.sub.ProfilerListener = StateReportingTopic
+# ArmarX.SkillMemory.tpc.sub.ProfilerListener = StateReportingTopic
 
 
 # ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.

scenarios/SkillProviderTest/config/SkillsMemory.cfg

@@ -169,19 +169,27 @@
 
 # ArmarX.SkillMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.SkillMemory.mem.ltm.configuration = {}
+# ArmarX.SkillMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
 
 
-# ArmarX.SkillMemory.mem.ltm.enabled:  
+# ArmarX.SkillMemory.mem.ltm.enable_querying:  
 #  Attributes:
 #  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.enabled = false
+# ArmarX.SkillMemory.mem.ltm.enable_querying = false
+
+
+# ArmarX.SkillMemory.mem.ltm.mode:  
+#  Attributes:
+#  - Default:            DISABLED
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SkillMemory.mem.ltm.mode = DISABLED
 
 
 # ArmarX.SkillMemory.mns.MemoryNameSystemEnabled:  Whether to use (and depend on) the Memory Name System (MNS).

source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp

@@ -32,6 +32,7 @@
 #include <VirtualRobot/VirtualRobot.h>
 #include <VirtualRobot/XML/RobotIO.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/PackagePath.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/logging/Logging.h>
@@ -135,7 +136,7 @@ namespace armarx::articulated_object
         }
 
         auto obj =
-            VirtualRobot::RobotIO::loadRobot(ArmarXDataPath::resolvePath(it->xml.serialize().path),
+            VirtualRobot::RobotIO::loadRobot(it->xml.toSystemPath(),
                                              VirtualRobot::RobotIO::eStructure);
 
         if (not obj)
@@ -163,6 +164,11 @@ namespace armarx::articulated_object
             }
         }
 
+        const auto state = articulatedObjectReaderPlugin->get().queryState(articulatedObject->getType() + "/" + articulatedObject->getName(), Clock::Now());
+        
+        ARMARX_CHECK(state.has_value());
+        articulatedObject->setGlobalPose(state->globalPose.matrix());
+
         ARMARX_DEBUG << "Reporting articulated objects";
 
         const armem::Time now = armem::Time::Now();
@@ -179,7 +185,7 @@ namespace armarx::articulated_object
             jointValue = node->unscaleJointValue(k, 0, 1);
         }
 
-        articulatedObject->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
+        // articulatedObject->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
         articulatedObject->setJointValues(jointValues);
 
         auto& articulatedObjectWriter = articulatedObjectWriterPlugin->get();

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp

@@ -76,7 +76,7 @@ namespace armarx::armem::server::obj
     ObjectMemory::ObjectMemory() :
         instance::SegmentAdapter(iceAdapter()),
         classSegment(iceAdapter()),
-        attachmentSegment(iceAdapter())
+        attachmentSegment(iceAdapter()), virtualRobotReaderPlugin(nullptr)
     {
         addPlugin(virtualRobotReaderPlugin);
     }

source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp

@@ -176,6 +176,24 @@ namespace armarx::skills::provider
                 fooDesc);
         }
 
+        // Add another lambda example skill
+        {
+            skills::SkillDescription fooDesc;
+            fooDesc.acceptedType = nullptr; // accept everything
+            fooDesc.description = "This skill dies hard.";
+            fooDesc.skillName = "Die";
+            fooDesc.timeout = armarx::core::time::Duration::MilliSeconds(1000);
+            addSkill(
+                [](const std::string& clientId, const aron::data::DictPtr&)
+                {
+                    std::cout << "bye bye... segfaulting on purpose now!" << std::endl;
+                    Skill* nullSkill = NULL;
+                    nullSkill->getSkillId(); // DEAD!
+                    return TerminatedSkillStatus::Succeeded;
+                },
+                fooDesc);
+        }
+
         // Add another example skill
         addSkill(std::make_unique<CallbackSkill>());
 

source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h

@@ -27,8 +27,8 @@
 #include <ArmarXCore/core/Component.h>
 
 // RobotAPI
-#include <RobotAPI/libraries/skills/provider/SkillProxy.h>
 #include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
+#include <RobotAPI/libraries/skills/provider/SkillProxy.h>
 
 namespace armarx::skills::provider
 {
@@ -55,7 +55,6 @@ namespace armarx::skills::provider
         Skill::MainResult main(const MainInput& in) final;
     };
 
-
     class TimeoutSkill : public PeriodicSkill
     {
     public:
@@ -67,7 +66,6 @@ namespace armarx::skills::provider
         PeriodicSkill::StepResult step(const MainInput& in) final;
     };
 
-
     class CallbackSkill : public Skill
     {
     public:
@@ -91,8 +89,8 @@ namespace armarx::skills::provider
      * Detailed description of class ExampleClient.
      */
     class SkillProviderExample :
-            virtual public armarx::Component,
-            virtual public SkillProviderComponentPluginUser
+        virtual public armarx::Component,
+        virtual public SkillProviderComponentPluginUser
     {
     public:
         SkillProviderExample();
@@ -101,7 +99,6 @@ namespace armarx::skills::provider
         std::string getDefaultName() const override;
 
     protected:
-
         armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
         void onInitComponent() override;
@@ -111,4 +108,4 @@ namespace armarx::skills::provider
 
     private:
     };
-}
+} // namespace armarx::skills::provider

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui

@@ -78,14 +78,17 @@
         <string>Manager</string>
        </property>
        <layout class="QGridLayout" name="gridLayout">
-        <item row="2" column="0">
+        <item row="3" column="1">
+         <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+        </item>
+        <item row="3" column="0">
          <widget class="QLabel" name="label">
           <property name="text">
            <string>Update Frequency:</string>
           </property>
          </widget>
         </item>
-        <item row="3" column="0" colspan="3">
+        <item row="4" column="0" colspan="3">
          <widget class="QTreeWidget" name="treeWidgetSkills">
           <column>
            <property name="text">
@@ -104,8 +107,19 @@
           </column>
          </widget>
         </item>
-        <item row="2" column="1">
-         <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+        <item row="2" column="0">
+         <widget class="QCheckBox" name="autoUpdateCheckBox">
+          <property name="text">
+           <string>Auto Update</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QPushButton" name="refreshNowPushButton">
+          <property name="text">
+           <string>Refresh Now</string>
+          </property>
+         </widget>
         </item>
        </layout>
       </widget>

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp

@@ -89,7 +89,7 @@ namespace armarx
         widget.doubleSpinBoxUpdateFreq->setSuffix(" Hz");
 
         refreshSkillsResultTimer = new QTimer(this);
-        refreshSkillsResultTimer->setInterval(1000 / 5); // Keep this stable.
+        refreshSkillsResultTimer->setInterval(1000 / 2); // Keep this stable.
         refreshSkillsResultTimer->start();
 
         connect(widget.doubleSpinBoxUpdateFreq,
@@ -99,7 +99,7 @@ namespace armarx
         connect(refreshSkillsResultTimer,
                 &QTimer::timeout,
                 this,
-                &SkillManagerMonitorWidgetController::refreshSkills);
+                &SkillManagerMonitorWidgetController::refreshSkillsPeriodically);
 
         connect(widget.pushButtonCopy,
                 &QPushButton::clicked,
@@ -123,19 +123,15 @@ namespace armarx
                 &QTreeWidget::currentItemChanged,
                 this,
                 &SkillManagerMonitorWidgetController::skillSelectionChanged);
-    }
 
-    SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
-    {
+        connect(widget.refreshNowPushButton,
+                &QPushButton::clicked,
+                this,
+                &SkillManagerMonitorWidgetController::refreshSkills);
     }
 
-    void
-    SkillManagerMonitorWidgetController::reconnectToSkillManager()
+    SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
     {
-        if (connected)
-        {
-            getProxy(manager, observerName, 1000);
-        }
     }
 
     void
@@ -152,6 +148,7 @@ namespace armarx
             QAbstractItemView::EditTrigger::NoEditTriggers);
         widget.treeWidgetSkillDetails->setColumnHidden(3, true);
 
+        getProxy(manager, observerName, 1000);
         connected = true;
     }
 
@@ -177,6 +174,15 @@ namespace armarx
         refreshSkillsResultTimer->setInterval(f);
     }
 
+    void
+    SkillManagerMonitorWidgetController::refreshSkillsPeriodically()
+    {
+        if (widget.autoUpdateCheckBox->isChecked())
+        {
+            refreshSkills();
+        }
+    }
+
     void
     SkillManagerMonitorWidgetController::refreshSkills()
     {
@@ -191,139 +197,162 @@ namespace armarx
 
         if (!manager)
         {
-            reconnectToSkillManager();
             return;
         }
 
         /* CHECK OWN SKILLS LIST */
         // remove non-existing ones
-        auto managerSkills = manager->getSkillDescriptions();
-        std::vector<std::string> removedProviders;
-        for (auto it = skills.begin(); it != skills.end();)
+        try
         {
-            // TODO: iterate over skills, not just over providers!
-            std::string providerName = it->first;
-            if (managerSkills.find(providerName) == managerSkills.end())
-            {
-                removedProviders.push_back(providerName);
-                it = skills.erase(it);
-            }
-            else
+            ARMARX_DEBUG << "GET REMOVED PROVIDERS AND REMOVE FROM MAP";
+            std::scoped_lock l(skillMutex);
+            auto managerSkills = manager->getSkillDescriptions();
+            std::vector<std::string> removedProviders;
+            for (auto it = skills.begin(); it != skills.end();)
             {
-                it++;
+                // TODO: iterate over skills, not just over providers!
+                std::string providerName = it->first;
+                if (managerSkills.find(providerName) == managerSkills.end())
+                {
+                    ARMARX_DEBUG << "REMOVE " << providerName;
+                    removedProviders.push_back(providerName);
+                    it = skills.erase(it);
+                }
+                else
+                {
+                    it++;
+                }
             }
-        }
 
-        // add new ones
-        std::vector<std::string> newProviders;
-        for (const auto& [providerName, providerSkills] : managerSkills)
-        {
-            if (skills.find(providerName) == skills.end())
+            // add new ones
+            ARMARX_DEBUG << "GET NEW PROVIDERS AND ADD THEM TO MAP";
+            std::vector<std::string> newProviders;
+            for (const auto& [providerName, providerSkills] : managerSkills)
             {
-                skills.insert(std::make_pair(providerName, providerSkills));
-                newProviders.push_back(providerName);
+                if (skills.find(providerName) == skills.end())
+                {
+                    ARMARX_DEBUG << "ADD " << providerName;
+                    skills.insert(std::make_pair(providerName, providerSkills));
+                    newProviders.push_back(providerName);
+                }
             }
-        }
 
-        /* CHECK TREE VIEW */
-        // remove providers from tree
-        int i = 0;
-        while (i < widget.treeWidgetSkills->topLevelItemCount())
-        {
-            QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
-            if (std::find(removedProviders.begin(),
-                          removedProviders.end(),
-                          item->text(0).toStdString()) != removedProviders.end())
-            {
-                delete widget.treeWidgetSkills->takeTopLevelItem(i);
-            }
-            else
+            /* CHECK TREE VIEW */
+            // remove providers from tree
+            ARMARX_DEBUG << "REMOVE PROVIDERS FROM TREE VIEW";
+            int i = 0;
+            while (i < widget.treeWidgetSkills->topLevelItemCount())
             {
-                ++i;
+                QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
+                if (auto it = std::find(removedProviders.begin(),
+                                        removedProviders.end(),
+                                        item->text(0).toStdString());
+                    it != removedProviders.end())
+                {
+                    ARMARX_DEBUG << "REMOVE PROVIDER " << *it;
+                    delete widget.treeWidgetSkills->takeTopLevelItem(i);
+                }
+                else
+                {
+                    ++i;
+                }
             }
-        }
 
-        // add new providers
-        for (const auto& [providerName, providerSkills] : skills)
-        {
-            if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName);
-                it != newProviders.end())
+            // add new providers
+            ARMARX_DEBUG << "ADD NEW PROVIDERS TO TREE VIEW";
+            for (const auto& [providerName, providerSkills] : skills)
             {
-                auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
-                item->setText(0, QString::fromStdString(providerName));
-                for (const auto& [name, sk] : providerSkills)
+                if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName);
+                    it != newProviders.end())
                 {
-                    auto itsk = new QTreeWidgetItem(item);
-                    item->addChild(itsk);
-                    itsk->setText(0, QString::fromStdString(name));
+                    auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
+                    item->setText(0, QString::fromStdString(providerName));
+                    for (const auto& [name, sk] : providerSkills)
+                    {
+                        ARMARX_DEBUG << "ADD PROVIDER " << *it;
+                        auto itsk = new QTreeWidgetItem(item);
+                        item->addChild(itsk);
+                        itsk->setText(0, QString::fromStdString(name));
+                    }
                 }
             }
-        }
 
-        // update status and active skills window
-        std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
-        auto managerStatuses = manager->getSkillExecutionStatuses();
-        for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
-        {
-            try
+            // update status and active skills window
+            ARMARX_DEBUG << "UPDATE STATI AND ACTIVE SKILL";
+            std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
+            auto managerStatuses = manager->getSkillExecutionStatuses();
+            for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
             {
-                QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
-                auto providerName = item->text(0).toStdString();
-
-                auto allStatusesForProvider = managerStatuses.at(providerName);
-
-                for (int j = 0; j < item->childCount(); ++j)
+                try
                 {
-                    QTreeWidgetItem* skillItem = item->child(j);
-                    skills::SkillID currentSkillId(providerName, skillItem->text(0).toStdString());
+                    QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
+                    auto providerName = item->text(0).toStdString();
 
-                    auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
-                    skillItem->setText(2,
-                                       QString::fromStdString(ExecutionStatus2String.at(
-                                           statusForSkill.header.status)));
+                    ARMARX_DEBUG << "UPDATE STATI FOR PROVIDER " << providerName;
+                    auto allStatusesForProvider = managerStatuses.at(providerName);
 
-                    if (not statusForSkill.header.executorName
-                                .empty()) // it means that the skill was called by someone
+                    for (int j = 0; j < item->childCount(); ++j)
                     {
-                        activeSkillsAndPrefixes.insert(
-                            {currentSkillId, statusForSkill.header.executorName});
+                        QTreeWidgetItem* skillItem = item->child(j);
+                        skills::SkillID currentSkillId(providerName,
+                                                       skillItem->text(0).toStdString());
+
+                        ARMARX_DEBUG << "UPDATE STATI FOR SKILL " << currentSkillId.skillName;
+                        auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
+                        skillItem->setText(2,
+                                           QString::fromStdString(ExecutionStatus2String.at(
+                                               statusForSkill.header.status)));
+
+                        if (not statusForSkill.header.executorName
+                                    .empty()) // it means that the skill was called by someone
+                        {
+                            ARMARX_DEBUG << "ADD SKILL TO ACTIVE " << currentSkillId.skillName;
+                            activeSkillsAndPrefixes.insert(
+                                {currentSkillId, statusForSkill.header.executorName});
+                        }
                     }
                 }
+                catch (...)
+                {
+                    // Perhaps the skill provider died after the check at the beginning of this method
+                    continue;
+                }
             }
-            catch (const std::exception& e)
-            {
-                // Perhaps the skill provider died after the check at the beginning of this method
-                continue;
-            }
-        }
 
-        // finally update the view of active skills
-        widget.listWidgetActiveSkills->clear();
-        for (const auto& [id, prefix] : activeSkillsAndPrefixes)
-        {
-            auto prefixedStr = id.toString(prefix);
-            bool longest = true;
-            for (const auto& [id2, prefix2] :
-                 activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
+            // finally update the view of active skills
+            ARMARX_DEBUG << "UPDATE ACTIVE SKILLS";
+            widget.listWidgetActiveSkills->clear();
+            for (const auto& [id, prefix] : activeSkillsAndPrefixes)
             {
-                auto prefixedStr2 = id.toString(prefix2);
-                if (prefixedStr == prefixedStr2)
+                auto prefixedStr = id.toString(prefix);
+                bool longest = true;
+                for (
+                    const auto& [id2, prefix2] :
+                    activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
                 {
-                    continue;
+                    auto prefixedStr2 = id.toString(prefix2);
+                    if (prefixedStr == prefixedStr2)
+                    {
+                        continue;
+                    }
+
+                    if (simox::alg::starts_with(prefixedStr2, prefixedStr))
+                    {
+                        longest = false;
+                        break;
+                    }
                 }
 
-                if (simox::alg::starts_with(prefixedStr2, prefixedStr))
+                if (longest)
                 {
-                    longest = false;
-                    break;
+                    widget.listWidgetActiveSkills->addItem(
+                        QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
                 }
             }
-
-            if (longest)
-            {
-                widget.listWidgetActiveSkills->addItem(
-                    QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
-            }
+        }
+        catch (...)
+        {
+            // perhaps the manager died during the method?
         }
     }
 
@@ -335,6 +364,7 @@ namespace armarx
             return;
         }
 
+        std::scoped_lock l(skillMutex);
         const auto& skillDescriptions = skills.at(selectedSkill.providerName);
         if (!skillDescriptions.count(selectedSkill.skillName))
         {
@@ -361,6 +391,7 @@ namespace armarx
     void
     SkillManagerMonitorWidgetController::stopSkill()
     {
+        std::scoped_lock l(skillMutex);
         if (selectedSkill.providerName.empty() or selectedSkill.skillName.empty())
         {
             return;
@@ -381,6 +412,7 @@ namespace armarx
     SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current,
                                                                QTreeWidgetItem*)
     {
+        std::scoped_lock l(skillMutex);
         widget.groupBoxSkillDetails->setEnabled(false);
 
         if (!current)

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h

@@ -43,14 +43,12 @@
 
 namespace armarx
 {
-    class ARMARXCOMPONENT_IMPORT_EXPORT
-        SkillManagerMonitorWidgetController:
-        public armarx::ArmarXComponentWidgetControllerTemplate < SkillManagerMonitorWidgetController >
+    class ARMARXCOMPONENT_IMPORT_EXPORT SkillManagerMonitorWidgetController :
+        public armarx::ArmarXComponentWidgetControllerTemplate<SkillManagerMonitorWidgetController>
     {
         Q_OBJECT
 
     public:
-
         /// Controller Constructor
         explicit SkillManagerMonitorWidgetController();
         /// Controller destructor
@@ -65,13 +63,12 @@ namespace armarx
          * Returns the Widget name displayed in the ArmarXGui to create an
          * instance of this class.
          */
-        static QString GetWidgetName()
+        static QString
+        GetWidgetName()
         {
             return "Skills.Manager";
         }
 
-        void reconnectToSkillManager();
-
         void onInitComponent() override;
         void onConnectComponent() override;
         void onDisconnectComponent() override;
@@ -84,6 +81,7 @@ namespace armarx
 
         void updateTimerFrequency();
         void refreshSkills();
+        void refreshSkillsPeriodically();
 
         void copyCurrentConfig();
         void pasteCurrentConfig();
@@ -97,8 +95,8 @@ namespace armarx
         /**
          * Widget Form
          */
-        Ui::SkillManagerMonitorWidget  widget;
-        QPointer<SimpleConfigDialog>   dialog;
+        Ui::SkillManagerMonitorWidget widget;
+        QPointer<SimpleConfigDialog> dialog;
 
         std::string observerName = "SkillManager";
         skills::manager::dti::SkillManagerInterfacePrx manager = nullptr;
@@ -110,6 +108,7 @@ namespace armarx
         };
 
         // Data taken from observer (snapshot of it)
+        mutable std::mutex skillMutex;
         skills::manager::dto::SkillDescriptionMapMap skills = {};
 
         // User Input
@@ -128,6 +127,4 @@ namespace armarx
         // connected flag
         std::atomic_bool connected = false;
     };
-}
-
-
+} // namespace armarx

source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp

@@ -231,6 +231,8 @@ namespace armarx::armem::articulated_object
         cs.dataset = objectId.dataset();
 
         objectInstance.pose.objectID = cs;
+        objectInstance.pose.providerName = properties.providerName;
+        objectInstance.pose.attachmentValid = false;
 
         update.instancesData = {objectInstance.toAron()};
         update.referencedTime   = timestamp;

source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp

@@ -70,6 +70,11 @@ namespace armarx::armem::server::obj::instance
         std::vector<viz::Layer> layers;
         for (const auto& [name, poses] : objectPoses)
         {
+            if(name.empty())
+            {
+                continue;
+            }
+
             auto poseHistoryMap = poseHistories.find(name);
             if (poseHistoryMap != poseHistories.end())
             {
@@ -92,6 +97,12 @@ namespace armarx::armem::server::obj::instance
         std::map<std::string, viz::Layer> stage;
         for (size_t i = 0; i < objectPoses.size(); ++i)
         {
+            if(objectPoses.at(i).providerName.empty())
+            {
+                ARMARX_INFO << "Object pose provider not set!";
+                continue;
+            }
+
             visualizeObjectPose(getLayer(objectPoses.at(i).providerName, stage),
                                 objectPoses.at(i),
                                 poseHistories.at(i),

source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h

@@ -111,7 +111,7 @@ namespace armarx::aron::data::converter
             using MatrixT = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
 
             const auto dims = nav.getShape();
-            ARMARX_CHECK_EQUAL(dims.size(), 2); // for now ...
+            ARMARX_CHECK(dims.size() == 2 or dims.size() == 3); // for now ...
 
             Eigen::Map<MatrixT> map(reinterpret_cast<T*>(nav.getData()), dims.at(0), dims.at(1));
             return map;
@@ -197,7 +197,7 @@ namespace armarx::aron::data::converter
                 return ConvertToDynamicArray<T>(nav);
             }
 
-            checkDimensions(nav, {Rows, Cols, sizeof(T)}, "ConvertToMatrix");
+            checkDimensions(nav, {Rows, Cols, sizeof(T)}, "ConvertToArray");
             auto dims = nav.getShape();
 
             Eigen::Map<Eigen::Array<T, Rows, Cols>> ret(

source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp

@@ -26,6 +26,7 @@
 #include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 #include <ArmarXCore/core/application/properties/PropertyUser.h>
 
+#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
 #include <RobotAPI/libraries/aron/core/data/variant/All.h>
 #include <RobotAPI/libraries/aron_component_config/VariantHelperFactory.h>
 
@@ -50,7 +51,7 @@ namespace armarx::aron::component_config
 {
 
     void
-    PropertyDefinitionGetterVisitor::visitInt(DataInput& i, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitInt(DataInput& i, TypeInput& /*elementType*/)
     {
         INPUT_GUARD(i);
         auto value = data::Int::DynamicCastAndCheck(i);
@@ -59,7 +60,7 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitFloat(DataInput& f, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitFloat(DataInput& f, TypeInput& /*elementType*/)
     {
         INPUT_GUARD(f);
         auto value = data::Float::DynamicCastAndCheck(f);
@@ -68,7 +69,7 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitDouble(DataInput& d, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitDouble(DataInput& d, TypeInput& /*elementType*/)
     {
         INPUT_GUARD(d);
         auto value = data::Double::DynamicCastAndCheck(d);
@@ -77,7 +78,7 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitBool(DataInput& b, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitBool(DataInput& b, TypeInput& /*elementType*/)
     {
         INPUT_GUARD(b);
         auto value = data::Bool::DynamicCastAndCheck(b);
@@ -86,7 +87,7 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitString(DataInput& string, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitString(DataInput& string, TypeInput& /*elementType*/)
     {
         INPUT_GUARD(string);
         auto value = data::String::DynamicCastAndCheck(string);
@@ -135,13 +136,13 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitListOnExit(DataInput& o, TypeInput& t)
+    PropertyDefinitionGetterVisitor::visitListOnExit(DataInput& /*o*/, TypeInput& /*t*/)
     {
         in_list_ = false;
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitIntEnum(DataInput& enumData, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitIntEnum(DataInput& enumData, TypeInput& /*elementType*/)
     {
         ARMARX_TRACE;
         auto data = data::Int::DynamicCastAndCheck(enumData);
@@ -150,21 +151,23 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitUnknown(DataInput& unknown, TypeInput& elementType)
+    PropertyDefinitionGetterVisitor::visitUnknown(DataInput& unknown, TypeInput& /*elementType*/)
     {
         ARMARX_WARNING << "Unknown data encountered: "
                        << (unknown ? unknown->getFullName() : "nullptr");
     }
 
     PropertyDefinitionGetterVisitor::PropertyDefinitionGetterVisitor(
-        const armarx::PropertyUser& defs, const std::string& global_namespace):
-        property_user_(std::experimental::make_observer(&defs)), global_namespace_(global_namespace), in_list_(false)
+        const armarx::PropertyUser& defs,
+        const std::string& globalNamespace) :
+        property_user_(std::experimental::make_observer(&defs)),
+        global_namespace_(globalNamespace),
+        in_list_(false)
     {
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o,
-                                                      const std::shared_ptr<type::Variant>& t)
+    PropertyDefinitionGetterVisitor::visitDictOnEnter(DataInput& o, TypeInput& t)
     {
         ARMARX_TRACE;
         in_list_ = true;
@@ -198,9 +201,8 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitDictOnExit(
-        std::shared_ptr<data::Variant>& elementData,
-        const std::shared_ptr<type::Variant>& elementType)
+    PropertyDefinitionGetterVisitor::visitDictOnExit(DataInput& /*elementData*/,
+                                                     TypeInput& /*elementType*/)
     {
         in_list_ = false;
     }
@@ -242,8 +244,34 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionGetterVisitor::visitObjectOnEnter(std::shared_ptr<data::Variant>& i,
-                                                        const std::shared_ptr<type::Variant>& j)
+    PropertyDefinitionGetterVisitor::visitMatrix(DataInput& matrix, TypeInput& /*type*/)
+    {
+        INPUT_GUARD(matrix);
+        auto data = data::NDArray::DynamicCastAndCheck(matrix);
+        const auto name = global_namespace_ + pathToName(matrix);
+        const std::string property = property_user_->getProperty<std::string>(name).getValue();
+        const auto vec = simox::alg::to_eigen_vec(property, ", ");
+        ARMARX_CHECK_EQUAL(sizeof(float) * vec.size(), data->getDataAsVector().size())
+            << "Matrix recovered from properties does not match the aron type";
+
+        data->setData(data->getDataAsVector().size(),
+                      reinterpret_cast<const unsigned char*>(vec.data()));
+    }
+
+    void
+    PropertyDefinitionGetterVisitor::visitQuaternion(DataInput& quaternion, TypeInput& /*type*/)
+    {
+        INPUT_GUARD(quaternion);
+        auto value = data::NDArray::DynamicCastAndCheck(quaternion);
+        auto name = global_namespace_ + pathToName(quaternion);
+        const std::string property = property_user_->getProperty<std::string>(name).getValue();
+        const Eigen::Quaternion quat(simox::alg::to_eigen_vec(property, ", ").data());
+        const auto& newQuat = data::converter::AronEigenConverter::ConvertFromQuaternion(quat);
+        value->setData(newQuat->getDataAsVector().size(), newQuat->getData());
+    }
+
+    void
+    PropertyDefinitionGetterVisitor::visitObjectOnEnter(DataInput& i, TypeInput& j)
     {
         INPUT_GUARD(i);
         if (global_namespace_.empty())
@@ -254,13 +282,16 @@ namespace armarx::aron::component_config
     }
 
     PropertyDefinitionSetterVisitor::PropertyDefinitionSetterVisitor(
-        const PropertyDefinitionsPtr& defs, const std::string& global_namespace) :
-        property_definitions_(std::experimental::make_observer(defs.get())), global_namespace_(global_namespace)
+        const PropertyDefinitionsPtr& defs,
+        const std::string& globalNamespace) :
+        property_definitions_(std::experimental::make_observer(defs.get())),
+        global_namespace_(globalNamespace)
     {
     }
 
     void
-    PropertyDefinitionSetterVisitor::visitAronVariant(const data::IntPtr& i, const type::IntPtr&)
+    PropertyDefinitionSetterVisitor::visitAronVariant(const data::IntPtr& i,
+                                                      const type::IntPtr& /*unused*/)
     {
         INPUT_GUARD(i);
         auto name = global_namespace_ + pathToName(i);
@@ -269,7 +300,7 @@ namespace armarx::aron::component_config
 
     void
     PropertyDefinitionSetterVisitor::visitAronVariant(const data::FloatPtr& f,
-                                                      const type::FloatPtr&)
+                                                      const type::FloatPtr& /*unused*/)
     {
         INPUT_GUARD(f);
         auto name = global_namespace_ + pathToName(f);
@@ -278,7 +309,7 @@ namespace armarx::aron::component_config
 
     void
     PropertyDefinitionSetterVisitor::visitAronVariant(const data::DoublePtr& d,
-                                                      const type::DoublePtr&)
+                                                      const type::DoublePtr& /*unused*/)
     {
         INPUT_GUARD(d);
         auto name = global_namespace_ + pathToName(d);
@@ -286,7 +317,8 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionSetterVisitor::visitAronVariant(const data::BoolPtr& b, const type::BoolPtr&)
+    PropertyDefinitionSetterVisitor::visitAronVariant(const data::BoolPtr& b,
+                                                      const type::BoolPtr& /*unused*/)
     {
         INPUT_GUARD(b);
         auto name = global_namespace_ + pathToName(b);
@@ -295,7 +327,7 @@ namespace armarx::aron::component_config
 
     void
     PropertyDefinitionSetterVisitor::visitAronVariant(const data::StringPtr& string,
-                                                      const type::StringPtr& type)
+                                                      const type::StringPtr& /*type*/)
     {
         INPUT_GUARD(string);
         auto name = global_namespace_ + pathToName(string);
@@ -339,8 +371,8 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionSetterVisitor::visitAronVariantOnExit(const data::ListPtr&,
-                                                            const type::ListPtr&)
+    PropertyDefinitionSetterVisitor::visitAronVariantOnExit(const data::ListPtr& /*unused*/,
+                                                            const type::ListPtr& /*unused*/)
     {
         in_list_ = false;
     }
@@ -375,8 +407,8 @@ namespace armarx::aron::component_config
     }
 
     void
-    PropertyDefinitionSetterVisitor::visitAronVariantOnExit(const data::DictPtr&,
-                                                            const type::DictPtr&)
+    PropertyDefinitionSetterVisitor::visitAronVariantOnExit(const data::DictPtr& /*unused*/,
+                                                            const type::DictPtr& /*unused*/)
     {
         in_list_ = false;
     }
@@ -391,6 +423,48 @@ namespace armarx::aron::component_config
             global_namespace_ = type->getObjectNameWithoutNamespace() + ".";
         }
     }
+
+    void
+    PropertyDefinitionSetterVisitor::visitAronVariant(const data::NDArrayPtr& quaternion,
+                                                      const type::QuaternionPtr& /*type*/)
+    {
+        INPUT_GUARD(quaternion);
+        auto name = global_namespace_ + pathToName(quaternion);
+        const auto quat =
+            data::converter::AronEigenConverter::ConvertToQuaternion<float>(quaternion);
+        property_definitions_->defineOptionalProperty<std::string>(
+            name, simox::alg::to_string(quat.coeffs(), ", "));
+    }
+
+    void
+    PropertyDefinitionSetterVisitor::visitAronVariant(const data::NDArrayPtr& matrix,
+                                                      const type::MatrixPtr& /*type*/)
+    {
+        INPUT_GUARD(matrix);
+        auto name = global_namespace_ + pathToName(matrix);
+        auto shape = matrix->getShape();
+        // TODO: why is shape 3 for a matrix?
+        if (shape.size() != 3 or (shape[0] != 1 and shape[1] != 1))
+        {
+            ARMARX_WARNING << "Matrix is not a vector, ignoring";
+            return;
+        }
+        const auto mat = data::converter::AronEigenConverter::ConvertToMatrix<float>(*matrix);
+        std::string value = "";
+        for (int i = 0; i < shape[0]; i++)
+        {
+            for (int j = 0; j < shape[1]; j++)
+            {
+                value += std::to_string(mat(i, j)) + ", ";
+            }
+        }
+        if (not value.empty())
+        {
+            value.pop_back();
+            value.pop_back();
+        }
+        property_definitions_->defineOptionalProperty<std::string>(name, value);
+    }
 } // namespace armarx::aron::component_config
 
 #undef INPUT_GUARD
\ No newline at end of file

source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h

@@ -34,7 +34,8 @@ namespace armarx::aron::component_config
     class PropertyDefinitionSetterVisitor : public aron::data::RecursiveConstTypedVariantVisitor
     {
     public:
-        explicit PropertyDefinitionSetterVisitor(const armarx::PropertyDefinitionsPtr& defs, const std::string& global_namespace = "");
+        explicit PropertyDefinitionSetterVisitor(const armarx::PropertyDefinitionsPtr& defs,
+                                                 const std::string& global_namespace = "");
 
         void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) override;
 
@@ -48,6 +49,10 @@ namespace armarx::aron::component_config
 
         void visitAronVariant(const data::StringPtr&, const type::StringPtr&) override;
 
+        void visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&) override;
+
+        void visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&) override;
+
         void visitAronVariantOnEnter(const data::ListPtr&, const type::ListPtr&) override;
 
         void visitAronVariantOnExit(const data::ListPtr&, const type::ListPtr&) override;
@@ -69,7 +74,8 @@ namespace armarx::aron::component_config
         public aron::data::RecursiveTypedVisitor<data::VariantPtr, const type::VariantPtr>
     {
     public:
-        explicit PropertyDefinitionGetterVisitor(const armarx::PropertyUser& defs, const std::string& global_namespace = "");
+        explicit PropertyDefinitionGetterVisitor(const armarx::PropertyUser& defs,
+                                                 const std::string& global_namespace = "");
 
         type::Descriptor getDescriptor(DataInput& o, TypeInput& t) override;
 
@@ -95,6 +101,10 @@ namespace armarx::aron::component_config
 
         void visitUnknown(DataInput& elementData, TypeInput& elementType) override;
 
+        void visitQuaternion(DataInput& elementData, TypeInput& elementType) override;
+
+        void visitMatrix(DataInput& elementData, TypeInput& elementType) override;
+
         void visitListOnEnter(DataInput& elementData, TypeInput& elementType) override;
 
         void visitListOnExit(DataInput& elementData, TypeInput& elementType) override;