Moved MMMScenario from RobotAPI

scenarios/CMakeLists.txt

 add_subdirectory(test)
-
+add_subdirectory(MMMScenario)

scenarios/MMMScenario/CMakeLists.txt

+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")

scenarios/MMMScenario/config/MMMPlayerApp.cfg

+# ==================================================================
+# 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 = ""
+
+
+

scenarios/MMMScenario/config/global.cfg

+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