scenarios/memory_to_debug_observer/memory_to_debug_observer.scx

 <?xml version="1.0" encoding="utf-8"?>
-<scenario name="memory_to_debug_observer" creation="1970-01-01.01:00:00" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
-	<application name="MemoryToDebugObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+<scenario name="memory_to_debug_observer" creation="1970-01-01.01:00:00" globalConfigName="./config/global.cfg" package="RobotAPI" nodeName="NodeMain">
+	<application name="MemoryToDebugObserver" instance="" package="RobotAPI" nodeName="" enabled="true"/>
 </scenario>
 

source/RobotAPI/components/ArViz/ArVizStorage.cpp

@@ -84,6 +84,10 @@ namespace armarx
                        "HistoryPath",
                        "Destination path where the history is serialized to");
 
+
+        defs->optional(properties_.componentWarnFrequency, "ComponentWarnFrequency", 
+            "Define a frequency in Hz above which the compnent raises a warning. As you should not send data at a too high rate.");
+
         return defs;
     }
 
@@ -165,9 +169,10 @@ namespace armarx
 
             if (history.size() > properties_.componentWarnFrequency)
             {
-                ARMARX_WARNING << "Component `" << componentName << "`"
+                ARMARX_WARNING << deactivateSpam(10) << "Component `" << componentName << "`"
                                << "sends data at a too high rate ("
-                               << history.size() / maxHistoryDur.toSecondsDouble() << ")";
+                               << history.size() / maxHistoryDur.toSecondsDouble() << ")" 
+                               << deactivateSpam(10, componentName);
             }
         }
 

source/RobotAPI/components/ArViz/ArVizStorage.h

@@ -109,7 +109,7 @@ namespace armarx
             int maxHistorySize = 1000;
             std::filesystem::path historyPath = "RobotAPI/ArVizStorage";
 
-            float componentWarnFrequency = 25;
+            float componentWarnFrequency = 30;
 
         } properties_;
 

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

@@ -60,6 +60,7 @@ namespace armarx
         statechartListenerProviderSegment.defineProperties(defs, prefix + "statechartlistener.");
         executableSkillCoreSegment.defineProperties(defs, prefix + "executableskill.");
         skillExecutionRequestCoreSegment.defineProperties(defs, prefix + "executionrequest.");
+        skillEventCoreSegment.defineProperties(defs, prefix + "event.");
 
         setMemoryName(MemoryName);
         return defs;

source/RobotAPI/components/units/RobotUnit/ControlModes.h

@@ -30,6 +30,7 @@ namespace armarx::ControlModes
     static const std::string Position1DoF = "ControlMode_Position1DoF";
     static const std::string Torque1DoF = "ControlMode_Torque1DoF";
     static const std::string ZeroTorque1DoF = "ControlMode_ZeroTorque1DoF";
+    static const std::string ZeroVelocity1DoF = "ControlMode_ZeroVelocity1DoF";
     static const std::string Velocity1DoF = "ControlMode_Velocity1DoF";
     static const std::string Current1DoF = "ControlMode_Current1DoF";
     static const std::string PWM1DoF = "ControlMode_PWM1DoF";

source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h

@@ -91,6 +91,11 @@ namespace armarx
                                    ControlTarget1DoFActuatorZeroTorque,
                                    torque,
                                    ControlModes::ZeroTorque1DoF);
+    make_ControlTarget1DoFActuator(float,
+                                   ControllerConstants::ValueNotSetNaN,
+                                   ControlTarget1DoFActuatorZeroVelocity,
+                                   velocity,
+                                   ControlModes::ZeroVelocity1DoF);
     make_ControlTarget1DoFActuator(float,
                                    ControllerConstants::ValueNotSetNaN,
                                    ControlTarget1DoFActuatorCurrent,

source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h

@@ -45,6 +45,8 @@ namespace armarx
         /// @return Whether the device has the given tag
         bool hasTag(const std::string& tag) const;
 
+        virtual bool hasError(){return false;}
+
     protected:
         /// @brief adds the given tag to the Device
         void addDeviceTag(const std::string& tag);

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp

@@ -81,7 +81,9 @@ namespace armarx
             Eigen::Vector3f result;
             if (activationTime > rtGetControlStruct().commandTimestamp)
             {
-                result = ramp.update(activationVelocity, timeSinceLastIteration.toSecondsDouble());
+                // No valid command has been specified. Sane default: come to rest.
+                const Eigen::Vector3f targetVelocity = Eigen::Vector3f::Zero();
+                result = ramp.update(targetVelocity, timeSinceLastIteration.toSecondsDouble());
             }
             else
             {

source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp

@@ -141,8 +141,6 @@ namespace armarx
     GraspTrajectoryPtr
     GraspTrajectory::ReadFromFile(const std::string& filename)
     {
-        ARMARX_IMPORTANT << filename;
-
         ARMARX_TRACE;
         const auto ext = std::filesystem::path(filename).extension();
         if (ext == ".xml")

source/RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h

@@ -47,7 +47,7 @@ namespace armarx::armem::client::plugins
         ReaderWriterPlugin(ManagedIceObject& parent, const std::string& pre) :
             ComponentPlugin(parent, pre)
         {
-            if (not armemPlugin)
+            if (armemPlugin == nullptr)
             {
                 addPlugin(armemPlugin);
             }

source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp

@@ -133,13 +133,17 @@ namespace armarx::armem::server::plugins
 
         statistics_saved = true;
         */
-        try{
-            if(longtermMemory.isRecording()){
+        try
+        {
+            if (longtermMemory.isRecording())
+            {
                 ARMARX_INFO << "Recording still in progress, stopping component anyways. "
                                "Saving statistics...";
                 longtermMemory.getAndSaveStatistics();
             }
-        } catch(...){
+        }
+        catch (...)
+        {
             ARMARX_WARNING << "Statistics could not be saved for recording that was interrupted by "
                               "disconnecting the component";
         }

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

@@ -3,6 +3,7 @@
 #include <mutex>
 #include <optional>
 
+#include <VirtualRobot/XML/BaseIO.h>
 #include <VirtualRobot/XML/RobotIO.h>
 
 #include <ArmarXCore/core/PackagePath.h>
@@ -28,7 +29,8 @@ namespace armarx::armem::articulated_object
     ArticulatedObjectReader::getArticulatedObject(const std::string& typeName,
                                                   const armem::Time& timestamp,
                                                   const std::optional<std::string>& providerName,
-                                                  const std::string& instanceName)
+                                                  const std::string& instanceName,
+                                                  VirtualRobot::RobotIO::RobotDescription loadMode)
     {
         const auto descriptions = queryDescriptions(timestamp, providerName);
 
@@ -50,8 +52,7 @@ namespace armarx::armem::articulated_object
         ARMARX_DEBUG << "Description for articulate object with type <" << typeName
                      << "> available!";
 
-        auto obj = VirtualRobot::RobotIO::loadRobot(it->xml.toSystemPath(),
-                                                    VirtualRobot::RobotIO::eStructure);
+        auto obj = VirtualRobot::RobotIO::loadRobot(it->xml.toSystemPath(), loadMode);
 
         if (not obj)
         {
@@ -77,8 +78,7 @@ namespace armarx::armem::articulated_object
         if (not objectState)
         {
             ARMARX_VERBOSE << deactivateSpam(5) << "Querying object state failed for object `"
-                           << object.getName() << "` "
-                           << "(type `" << object.getType() << "`)!";
+                           << object.getName() << "` " << "(type `" << object.getType() << "`)!";
             return false;
         }
 

source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h

 #pragma once
 
+#include <VirtualRobot/XML/RobotIO.h>
+
 #include "Reader.h"
 
 namespace armarx::armem::articulated_object
@@ -10,10 +12,12 @@ namespace armarx::armem::articulated_object
     public:
         using Reader::Reader;
 
-        VirtualRobot::RobotPtr getArticulatedObject(const std::string& typeName,
-                                                    const armem::Time& timestamp,
-                                                    const std::optional<std::string>& providerName,
-                                                    const std::string& instanceName = "");
+        VirtualRobot::RobotPtr getArticulatedObject(
+            const std::string& typeName,
+            const armem::Time& timestamp,
+            const std::optional<std::string>& providerName,
+            const std::string& instanceName = "",
+            VirtualRobot::RobotIO::RobotDescription loadMode = VirtualRobot::RobotIO::eStructure);
 
         [[nodiscard]] bool
         synchronizeArticulatedObject(VirtualRobot::Robot& object,

source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp

@@ -84,16 +84,35 @@ namespace armarx::armem::server::robot_state
     }
 
     void
-    Visu::visualizeRobots(viz::Layer& layer, const armem::robot_state::Robots& robots, bool useColModel)
+    Visu::visualizeRobots(viz::Layer& layer,
+                          const armem::robot_state::Robots& robots,
+                          bool useColModel)
     {
         for (const armem::robot_state::Robot& robot : robots)
         {
             const armarx::data::PackagePath xmlPath = robot.description.xml.serialize();
 
+            const auto* robotModel = getRobotModel(robot.description);
+            
+            std::map<std::string, float> jointMap = robot.config.jointMap;
+
+            // we override the jointMap with the joint values from the robot model if it has not been set explicitly
+            if(robotModel != nullptr)
+            {
+                for(const auto& [jointName, jointValue]: robotModel->model->getJointValues())
+                {
+                    if(jointMap.count(jointName) == 0)
+                    {
+                        jointMap[jointName] = jointValue;
+                    }
+                }
+
+            }
+
             // clang-format off
             viz::Robot robotVisu = viz::Robot(robot.description.name)
                                    .file(xmlPath.package, xmlPath.package + "/" + xmlPath.path)
-                                   .joints(robot.config.jointMap)
+                                   .joints(jointMap)
                                    .pose(robot.config.globalPose);
 
             if (not useColModel)
@@ -230,10 +249,9 @@ namespace armarx::armem::server::robot_state
         // - global pose
         // - joint positions
         // => this is nothing but an armem::Robot
-        ARMARX_DEBUG << "Combining robot ..."
-                     << "\n- " << robotDescriptions.size() << " descriptions"
-                     << "\n- " << globalPoses.size() << " global poses"
-                     << "\n- " << sensorValues.size() << " joint positions";
+        ARMARX_DEBUG << "Combining robot ..." << "\n- " << robotDescriptions.size()
+                     << " descriptions" << "\n- " << globalPoses.size() << " global poses" << "\n- "
+                     << sensorValues.size() << " joint positions";
 
         const armem::robot_state::Robots robots =
             combine(robotDescriptions, globalPoses, sensorValues, timestamp);
@@ -324,12 +342,10 @@ namespace armarx::armem::server::robot_state
         }
     }
 
-    void
-    Visu::visualizeForceTorque(viz::Layer& layer,
-                               const armem::robot_state::Robot& robot,
-                               const proprioception::SensorValues& sensorValues)
+    Visu::RobotModel*
+    Visu::getRobotModel(const armem::robot_state::description::RobotDescription& robotDescription)
     {
-        const std::string& robotName = robot.description.name;
+        const std::string& robotName = robotDescription.name;
 
         RobotModel* robotModel = nullptr;
         if (auto it = models.find(robotName); it != models.end())
@@ -338,12 +354,28 @@ namespace armarx::armem::server::robot_state
         }
         else
         {
-            const std::filesystem::path robotPath = robot.description.xml.toSystemPath();
+            const std::filesystem::path robotPath = robotDescription.xml.toSystemPath();
             ARMARX_INFO << "Loading robot model for '" << robotName << "' from " << robotPath
                         << " for visualization.";
             auto [it2, _] = models.emplace(robotName, robotPath);
             robotModel = &it2->second;
         }
+        return robotModel;
+    }
+
+    void
+    Visu::visualizeForceTorque(viz::Layer& layer,
+                               const armem::robot_state::Robot& robot,
+                               const proprioception::SensorValues& sensorValues)
+    {
+
+        Visu::RobotModel* robotModel = getRobotModel(robot.description);
+        
+        if(robotModel == nullptr)
+        {
+            // ARMARX_WARNING << "Robot model is null";
+            return;
+        }
 
         robotModel->model->setJointValues(robot.config.jointMap);
         robotModel->model->setGlobalPose(robot.config.globalPose.matrix());

source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h

@@ -23,9 +23,9 @@
 
 #include <optional>
 
-#include <ArmarXCore/core/time.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/core/time.h>
 #include <ArmarXCore/core/time/DateTime.h>
 #include <ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h>
 
@@ -60,7 +60,9 @@ namespace armarx::armem::server::robot_state
         void visualizeOnce(const core::time::DateTime& timestamp);
 
 
-        static void visualizeRobots(viz::Layer& layer, const armem::robot_state::Robots& robots, bool useColModel = false);
+        void visualizeRobots(viz::Layer& layer,
+                             const armem::robot_state::Robots& robots,
+                             bool useColModel = false);
 
         static void visualizeFrames(
             viz::Layer& layerFrames,
@@ -75,6 +77,11 @@ namespace armarx::armem::server::robot_state
                                   const armem::robot_state::Robot& robot,
                                   const proprioception::SensorValues& sensorValues);
 
+        struct RobotModel; // forward declaration
+
+        RobotModel* getRobotModel(const armem::robot_state::description::RobotDescription& robotDescription);
+
+
     private:
         viz::Client arviz;
         std::optional<DebugObserverHelper> debugObserver;

source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp

@@ -22,7 +22,8 @@ namespace armarx::skills::segment
     ExecutableSkillLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs,
                                                         const std::string& prefix)
     {
-        // No properties! (meaning no name and no max size)
+        this->setDefaultMaxHistorySize(10);
+        Base::defineProperties(defs, prefix);
     }
 
     void

source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp

@@ -20,7 +20,8 @@ namespace armarx::skills::segment
     void
     SkillEventCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
     {
-        // No properties! (meaning no name and no max size)
+        this->setDefaultMaxHistorySize(10);
+        Base::defineProperties(defs, prefix);
     }
 
     void

source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp

@@ -20,7 +20,8 @@ namespace armarx::skills::segment
     SkillExecutionRequestCoreSegment::defineProperties(PropertyDefinitionsPtr defs,
                                                        const std::string& prefix)
     {
-        // No properties! (meaning no name and no max size)
+        this->setDefaultMaxHistorySize(10);
+        Base::defineProperties(defs, prefix);
     }
 
     void

source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp

@@ -16,6 +16,10 @@ namespace armarx::skills::segment
         defs->optional(p.statechartCoreSegmentName, "StatechartCoreSegmentName", "Name of the core segment for statecharts.");
         defs->optional(p.statechartTransitionsProviderSegmentName, "TransitionsProviderSegmentName", "Name of the provider segment for statechart transitions.");
         defs->optional(p.statechartTransitionsTopicName, "tpc.sub.ProfilerListener", "Name of the ProfilerListenerInterface topics to subscribe.");
+
+        this->setDefaultMaxHistorySize(10);
+        coreSegment.setDefaultMaxHistorySize(10);
+        Base::defineProperties(defs, prefix);
     }
 
     void StatechartListenerProviderSegment::init()