From 064ea4a69c9cc696c8a0a366f8589e127c523841 Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Wed, 19 Aug 2015 14:39:20 +0200
Subject: [PATCH] Moved MMMScenario from RobotAPI
---
scenarios/CMakeLists.txt | 2 +-
scenarios/MMMScenario/CMakeLists.txt | 6 +
scenarios/MMMScenario/config/MMMPlayerApp.cfg | 175 ++++++++++++++++++
scenarios/MMMScenario/config/global.cfg | 12 ++
4 files changed, 194 insertions(+), 1 deletion(-)
create mode 100644 scenarios/MMMScenario/CMakeLists.txt
create mode 100644 scenarios/MMMScenario/config/MMMPlayerApp.cfg
create mode 100644 scenarios/MMMScenario/config/global.cfg
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 6f8b51c3..6e8fbc63 100755
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,2 +1,2 @@
add_subdirectory(test)
-
+add_subdirectory(MMMScenario)
diff --git a/scenarios/MMMScenario/CMakeLists.txt b/scenarios/MMMScenario/CMakeLists.txt
new file mode 100644
index 00000000..14a51ca6
--- /dev/null
+++ b/scenarios/MMMScenario/CMakeLists.txt
@@ -0,0 +1,6 @@
+set(SCENARIO_CONFIG_COMPONENTS
+ config/MMMPlayerApp.cfg
+ )
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario_from_configs("MMMScenario" "${SCENARIO_CONFIG_COMPONENTS}" "config/global.cfg")
diff --git a/scenarios/MMMScenario/config/MMMPlayerApp.cfg b/scenarios/MMMScenario/config/MMMPlayerApp.cfg
new file mode 100644
index 00000000..49a06df9
--- /dev/null
+++ b/scenarios/MMMScenario/config/MMMPlayerApp.cfg
@@ -0,0 +1,175 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# 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: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.MMMPlayer properties
+# ==================================================================
+
+# ArmarX.MMMPlayer.Kp: Proportional gain value of PID Controller
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+ArmarX.MMMPlayer.Kp = 1
+
+
+# ArmarX.MMMPlayer.Kd: Differential gain value of PID Controller
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+ArmarX.MMMPlayer.Kd = 0
+
+
+# ArmarX.MMMPlayer.UsePIDController: Specify whether the PID Controller should be used
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.MMMPlayer.UsePIDController = 1
+
+
+# ArmarX.MMMPlayer.LoopPlayback: Specify whether should be repeated after execution
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MMMPlayer.LoopPlayback = 1
+
+
+# ArmarX.MMMPlayer.KinematicTopicName: Name of the KinematicUnit reporting topic
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.MMMPlayer.KinematicTopicName = AllState
+
+
+# ArmarX.MMMPlayer.KinematicUnitName: Name of the KinematicUnit to which the joint values should be sent
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.MMMPlayer.KinematicUnitName = KinematicUnitArmar4
+
+
+# ArmarX.MMMPlayer.FPS: FPS with which the recording should be executed. Velocities will be adapted.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: no
+# - Required: no
+ArmarX.MMMPlayer.FPS = 100
+
+
+# ArmarX.MMMPlayer.MMMFile: Path to MMM XML File
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.MMMPlayer.MMMFile = /home/SMBAD/marek/Dokumente/Daten/point_at_left03_armar4.xml
+
+
+# ArmarX.MMMPlayer.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MMMPlayer.EnableProfiling = 0
+
+
+# ArmarX.MMMPlayer.Ki: Integral gain value of PID Controller
+# Attributes:
+# - Default: 9.99999975e-06
+# - Case sensitivity: no
+# - Required: no
+ArmarX.MMMPlayer.Ki = 9.99999975e-06
+ArmarX.MMMPlayer.absMaximumVelocity = 1000000
+ArmarX.MMMPlayer.RobotNodeSetName = AllState
+
+
+# ArmarX.MMMPlayer.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.MMMPlayer.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MMMPlayer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.MMMPlayer.ObjectName = ""
+
+
+
diff --git a/scenarios/MMMScenario/config/global.cfg b/scenarios/MMMScenario/config/global.cfg
new file mode 100644
index 00000000..ac68157e
--- /dev/null
+++ b/scenarios/MMMScenario/config/global.cfg
@@ -0,0 +1,12 @@
+ArmarX.DisableLogging = no
+VisionX.DisableLogging = no
+
+ArmarX.GlobalMinimumLoggingLevel = Verbose
+#MemoryX.Verbosity = Debug
+VisionX.Verbosity = Verbose
+
+RobotConfig.RobotFileName=Armar4/robotmodel/Armar4.xml
+#RobotConfig.RobotName=Armar4
+RobotConfig.AgentName=Armar4
+RobotConfig.RobotNodeSetName=All
+#RobotConfig.PlatformName=Platform
--
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