ObjectMemory.cfg

# ==================================================================
# ObjectMemory 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.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.ObjectMemory.ArVizStorageName:  Name of the ArViz storage
#  Attributes:
#  - Default:            ArVizStorage
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.ArVizStorageName = ArVizStorage


# ArmarX.ObjectMemory.ArVizTopicName:  Name of the ArViz topic
#  Attributes:
#  - Default:            ArVizTopic
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.ArVizTopicName = ArVizTopic


# ArmarX.ObjectMemory.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.ObjectMemory.EnableProfiling = false


# ArmarX.ObjectMemory.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.ObjectMemory.MinimumLoggingLevel = Debug


# ArmarX.ObjectMemory.ObjectName:  Name of IceGrid well-known object
#  Attributes:
#  - Default:            ""
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.ObjectName = ""


# ArmarX.ObjectMemory.RemoteGuiName:  Name of the remote gui provider
#  Attributes:
#  - Default:            RemoteGuiProvider
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.RemoteGuiName = RemoteGuiProvider


# ArmarX.ObjectMemory.RemoteStateComponentName:  Name of the robot state component
#  Attributes:
#  - Default:            RobotStateComponent
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.RemoteStateComponentName = RobotStateComponent


# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName:  Name of the kinematic unit observer.
#  Attributes:
#  - Default:            KinematicUnitObserver
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver


# ArmarX.ObjectMemory.mem.MemoryName:  Name of this memory server.
#  Attributes:
#  - Default:            Object
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.MemoryName = Object


# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName:  Name of the object instance core segment.
#  Attributes:
#  - Default:            Attachments
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName = Attachments


# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize:  Maximal size of object poses history (-1 for infinite).
#  Attributes:
#  - Default:            -1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1


# ArmarX.ObjectMemory.mem.cls.Floor.EntityName:  Object class entity of the floor.
#  Attributes:
#  - Default:            Building/floor-20x20
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.cls.Floor.EntityName = Building/floor-20x20


# ArmarX.ObjectMemory.mem.cls.Floor.Height:  Height (z) of the floor plane. 
# Set slightly below 0 to avoid z-fighting when drawing planes on the ground.
#  Attributes:
#  - Default:            -1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.cls.Floor.Height = -1


# ArmarX.ObjectMemory.mem.cls.Floor.LayerName:  Layer to draw the floor on.
#  Attributes:
#  - Default:            Floor
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.cls.Floor.LayerName = Floor


# ArmarX.ObjectMemory.mem.cls.Floor.Show:  Whether to show the floor.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.cls.Floor.Show = true


# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage:  If true, load the objects from the objects package on startup.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage = true


# ArmarX.ObjectMemory.mem.cls.ObjectsPackage:  Name of the objects package to load from.
#  Attributes:
#  - Default:            PriorKnowledgeData
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData


# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize:  Maximal size of the Class entity histories (-1 for infinite).
#  Attributes:
#  - Default:            -1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize = -1


# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName:  Name of the Class core segment.
#  Attributes:
#  - Default:            Class
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class


# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached:  If true, no new snapshots are stored while an object is attached to a robot node.
# If false, new snapshots are stored, but the attachment is kept in the new snapshots.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached = true


# ArmarX.ObjectMemory.mem.inst.calibration.offset:  Offset for the node to be calibrated.
#  Attributes:
#  - Default:            0
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.calibration.offset = 0


# ArmarX.ObjectMemory.mem.inst.calibration.robotNode:  Robot node which can be calibrated.
#  Attributes:
#  - Default:            Neck_2_Pitch
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.calibration.robotNode = Neck_2_Pitch


# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds:  Duration after latest localization before decay starts.
#  Attributes:
#  - Default:            5
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds = 5


# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds:  How long to reach minimal confidence.
#  Attributes:
#  - Default:            20
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds = 20


# ArmarX.ObjectMemory.mem.inst.decay.enabled:  If true, object poses decay over time when not localized anymore.
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.decay.enabled = false


# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence:  Confidence when decay starts.
#  Attributes:
#  - Default:            1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence = 1


# ArmarX.ObjectMemory.mem.inst.decay.minConfidence:  Confidence after decay duration.
#  Attributes:
#  - Default:            0
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.decay.minConfidence = 0


# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence:  Remove objects whose confidence is lower than this value.
#  Attributes:
#  - Default:            0.100000001
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence = 0.100000001


# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity:  If true, check whether the head is moving and discard updates in the meantime.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity = true


# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS:  For how long new updates are ignored after moving the head.
#  Attributes:
#  - Default:            100
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS = 100


# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity:  If a head joint's velocity is higher, the head is considered moving.
#  Attributes:
#  - Default:            0.0500000007
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity = 0.0500000007


# ArmarX.ObjectMemory.mem.inst.scene.10_Package:  ArmarX package containing the scene snapshots.
# Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.
#  Attributes:
#  - Default:            PriorKnowledgeData
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.scene.10_Package = PriorKnowledgeData


# ArmarX.ObjectMemory.mem.inst.scene.11_Directory:  Directory in Package/data/Package/ containing the scene snapshots.
#  Attributes:
#  - Default:            scenes
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes


# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad:  Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
# You can also specify paths relative to 'Package/scenes/'. 
# You can also specify a ; separated list of scenes.
#  Attributes:
#  - Default:            ""
#  - Case sensitivity:   yes
#  - Required:           no
ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_robot_placement_with_ivt_obstacles


# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize:  Maximal size of the Instance entity histories (-1 for infinite).
#  Attributes:
#  - Default:            64
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize = 64


# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName:  Name of the Instance core segment.
#  Attributes:
#  - Default:            Instance
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName = Instance


# ArmarX.ObjectMemory.mem.inst.visu.alpha:  Alpha of objects (1 = solid, 0 = transparent).
#  Attributes:
#  - Default:            1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.visu.alpha = 1


# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence:  If true, use the pose confidence as alpha (if < 1.0).
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence = false


# ArmarX.ObjectMemory.mem.inst.visu.enabled:  Enable or disable visualization of objects.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.enabled = true


# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz:  Frequency of visualization.
#  Attributes:
#  - Default:            25
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz = 25


# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position:  Enable showing pose gaussians (orientation part).
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position = false


# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced:  Displace center orientation (co)variance circle arrows along their rotation axis.
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced = false


# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale:  Scaling of pose gaussians (orientation part).
#  Attributes:
#  - Default:            100
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale = 100


# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame:  If true, show global poses. If false, show poses in robot frame.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame = true


# ArmarX.ObjectMemory.mem.inst.visu.objectFrames:  Enable showing object frames.
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.objectFrames = false


# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale:  Scaling of object frames.
#  Attributes:
#  - Default:            1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale = 1


# ArmarX.ObjectMemory.mem.inst.visu.oobbs:  Enable showing oriented bounding boxes.
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.oobbs = false


# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels:  Prefer articulated object models if available.
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true


# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq:  Frequency to store the buffer to the LTM in Hz.
#  Attributes:
#  - Default:            10
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq = 10


# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled:  
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled = true


# ArmarX.ObjectMemory.mem.ltm.enabled:  
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.enabled = false


# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled:  
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled = true


# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled:  
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled = true


# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled:  
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled = false


# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime:  Waiting time in MS after each LTM update.
#  Attributes:
#  - Default:            -1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime = -1


# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled:  
#  Attributes:
#  - Default:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled = true


# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes:  The size in MB to compress away the current export. Exports are numbered (lower number means newer).
#  Attributes:
#  - Default:            1024
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024


# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled:  
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled = false


# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime:  Max Waiting time in MS after each Entity update.
#  Attributes:
#  - Default:            -1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1


# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled:  
#  Attributes:
#  - Default:            false
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled = false


# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime:  Waiting time in MS after each Entity update.
#  Attributes:
#  - Default:            -1
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime = -1


# ArmarX.ObjectMemory.mem.ltm.storagepath:  The path to the memory storage (the memory will be stored in a seperate subfolder).
#  Attributes:
#  - Default:            Default value not mapped.
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mem.ltm.storagepath = Default value not mapped.


# ArmarX.ObjectMemory.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:            true
#  - Case sensitivity:   yes
#  - Required:           no
#  - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled = true


# ArmarX.ObjectMemory.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
#  Attributes:
#  - Default:            MemoryNameSystem
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.mns.MemoryNameSystemName = MemoryNameSystem


# ArmarX.ObjectMemory.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
#  Attributes:
#  - Default:            DebugObserver
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver


# ArmarX.ObjectMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
#  Attributes:
#  - Default:            MemoryUpdates
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.tpc.pub.MemoryListener = MemoryUpdates


# ArmarX.ObjectMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
#  Attributes:
#  - Default:            MemoryUpdates
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.tpc.sub.MemoryListener = MemoryUpdates


# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic:  Name of the `ObjectPoseTopic` topic to subscribe to.
#  Attributes:
#  - Default:            ObjectPoseTopic
#  - Case sensitivity:   yes
#  - Required:           no
# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic = ObjectPoseTopic


# 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