navigation simulation scenario: update

3b7d4705 · Fabian Reister · 295fd3a0 · 3b7d4705 · 3b7d4705 · 3b7d4705
Commit 3b7d4705 authored 2 years ago by Fabian Reister
--- a/scenarios/NavigationSimulation/NavigationSimulation.scx
+++ b/scenarios/NavigationSimulation/NavigationSimulation.scx
@@ -8,7 +8,6 @@
 	<application name="LongtermMemory" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="WorkingMemory" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
-	<!-- <application name="RobotIK" instance="" package="RobotComponents" nodeName="" enabled="true" iceAutoRestart="false"/> -->
 	<application name="ViewSelectionApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="ObjectLocalizationSaliencyApp" instance="" package="RobotComponents" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="SimulatorApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
@@ -33,7 +32,7 @@
 	<application name="ImageSourceSelectionApp" instance="" package="VisionX" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="RobotUnitSimulationApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
-	<application name="ImageProviderDynamicSimulationApp" instance="Roboception" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+	<application name="ImageProviderDynamicSimulationApp" instance="Roboception" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="ArmarXFileLoggerApp" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RobotToArVizApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
@@ -48,5 +47,6 @@
 	<application name="MotionPlanningServerApp" instance="" package="RobotComponents" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="LaserScannerPointCloudProviderApp" instance="" package="VisionX" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="LaserScannerSimulation" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="VisionMemory" instance="" package="VisionX" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>

--- a/scenarios/NavigationSimulation/config/DebugDrawerToArVizApp.cfg
+++ b/scenarios/NavigationSimulation/config/DebugDrawerToArVizApp.cfg
@@ -42,6 +42,14 @@
 # ArmarX.DataPath = ""


+# ArmarX.DebugDrawerToArViz.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugDrawerToArViz.ArVizStorageName = ArVizStorage
+
+
 # ArmarX.DebugDrawerToArViz.ArVizTopicName:  Name of the ArViz topic
 #  Attributes:
 #  - Default:            ArVizTopic

--- a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
+++ b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
@@ -76,14 +76,6 @@ ArmarX.ApplicationName = LeftHandUnitApp
 # ArmarX.EnableProfiling = false


-# ArmarX.HandUnitDynamicSimulation.ArVizTopicName:  Name of the ArViz topic
-#  Attributes:
-#  - Default:            ArVizTopic
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.HandUnitDynamicSimulation.ArVizTopicName = ArVizTopic
-
-
 # ArmarX.HandUnitDynamicSimulation.EnableProfiling:  enable profiler which is used for logging performance events
 #  Attributes:
 #  - Default:            false
@@ -139,27 +131,29 @@ ArmarX.HandUnitDynamicSimulation.ObjectName = LeftHandUnit
 # ArmarX.HandUnitDynamicSimulation.RobotStateComponentName = RobotStateComponent


-# ArmarX.HandUnitDynamicSimulation.Side:  Name of the hand (left, right)
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName:  Name of the simulator proxy to use.
 #  Attributes:
+#  - Default:            Simulator
 #  - Case sensitivity:   yes
-#  - Required:           yes
-# ArmarX.HandUnitDynamicSimulation.Side = ::_NOT_SET_::
+#  - Required:           no
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator


-# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName:  Name of the simulator proxy to use.
+# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory:  Require the legacy MemoryX working memory to be available before starting.
 #  Attributes:
-#  - Default:            Simulator
+#  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory = false


-# ArmarX.HandUnitDynamicSimulation.WorkingMemoryName:  Name of the working memory that should be used
+# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName:  Name of the object pose storage (only used if necessary).
 #  Attributes:
-#  - Default:            WorkingMemory
+#  - Default:            ObjectMemory
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.HandUnitDynamicSimulation.WorkingMemoryName = WorkingMemory
+# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName = ObjectMemory


 # ArmarX.HandUnitDynamicSimulation.inheritFrom:  No Description

--- a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
+++ b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
@@ -76,14 +76,6 @@ ArmarX.ApplicationName = RightHandUnitApp
 # ArmarX.EnableProfiling = false


-# ArmarX.HandUnitDynamicSimulation.ArVizTopicName:  Name of the ArViz topic
-#  Attributes:
-#  - Default:            ArVizTopic
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.HandUnitDynamicSimulation.ArVizTopicName = ArVizTopic
-
-
 # ArmarX.HandUnitDynamicSimulation.EnableProfiling:  enable profiler which is used for logging performance events
 #  Attributes:
 #  - Default:            false
@@ -139,27 +131,29 @@ ArmarX.HandUnitDynamicSimulation.ObjectName = RightHandUnit
 # ArmarX.HandUnitDynamicSimulation.RobotStateComponentName = RobotStateComponent


-# ArmarX.HandUnitDynamicSimulation.Side:  Name of the hand (left, right)
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName:  Name of the simulator proxy to use.
 #  Attributes:
+#  - Default:            Simulator
 #  - Case sensitivity:   yes
-#  - Required:           yes
-# ArmarX.HandUnitDynamicSimulation.Side = ::_NOT_SET_::
+#  - Required:           no
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator


-# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName:  Name of the simulator proxy to use.
+# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory:  Require the legacy MemoryX working memory to be available before starting.
 #  Attributes:
-#  - Default:            Simulator
+#  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory = false


-# ArmarX.HandUnitDynamicSimulation.WorkingMemoryName:  Name of the working memory that should be used
+# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName:  Name of the object pose storage (only used if necessary).
 #  Attributes:
-#  - Default:            WorkingMemory
+#  - Default:            ObjectMemory
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.HandUnitDynamicSimulation.WorkingMemoryName = WorkingMemory
+# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName = ObjectMemory


 # ArmarX.HandUnitDynamicSimulation.inheritFrom:  No Description

--- a/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.Roboception.cfg
+++ b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.Roboception.cfg
@@ -123,7 +123,7 @@ ArmarX.DynamicSimulationImageProvider.ObjectName = RCImageProvider
 #  - Default:            EyeLeftCameraSim
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.DynamicSimulationImageProvider.ReferenceFrame = EyeLeftCameraSim
+ArmarX.DynamicSimulationImageProvider.ReferenceFrame = Roboception


 # ArmarX.DynamicSimulationImageProvider.RobotName:  The robot
@@ -139,7 +139,7 @@ ArmarX.DynamicSimulationImageProvider.RobotName = Armar6
 #  - Default:            EyeLeftCameraSim
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera = FleaCamerasLeftSim
+ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera = Roboception_LeftCameraSim


 # ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera:  The coordinate system of the right camera
@@ -147,7 +147,7 @@ ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera = FleaCamerasLeftSim
 #  - Default:            EyeRightCameraSim
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera = FleaCamerasRightSim
+ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera = Roboception_RightCameraSim


 # ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application

--- a/scenarios/NavigationSimulation/config/LaserScannerSimulation.cfg
+++ b/scenarios/NavigationSimulation/config/LaserScannerSimulation.cfg
@@ -76,6 +76,14 @@
 # ArmarX.EnableProfiling = false


+# ArmarX.LaserScannerSimulation.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LaserScannerSimulation.ArVizStorageName = ArVizStorage
+
+
 # ArmarX.LaserScannerSimulation.ArVizTopicName:  Name of the ArViz topic
 #  Attributes:
 #  - Default:            ArVizTopic

--- a/scenarios/NavigationSimulation/config/ObjectMemory.cfg
+++ b/scenarios/NavigationSimulation/config/ObjectMemory.cfg
@@ -373,7 +373,7 @@ ArmarX.ObjectMemory.MinimumLoggingLevel = Debug
 #  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_robot_placement
+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).

--- a/scenarios/NavigationSimulation/config/SimulatorApp.cfg
+++ b/scenarios/NavigationSimulation/config/SimulatorApp.cfg
@@ -892,7 +892,7 @@ ArmarX.Simulator.InitialRobotPose.yaw = 1.57
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {bullet, kinematics, mujoco}
-ArmarX.Simulator.SimulationType = bullet
+ArmarX.Simulator.SimulationType = kinematics


 # ArmarX.Simulator.StepTimeMS:  The simulation's time progress per step. 

--- a/scenarios/NavigationSimulation/config/WorkingMemoryToArVizApp.cfg
+++ b/scenarios/NavigationSimulation/config/WorkingMemoryToArVizApp.cfg
@@ -160,6 +160,14 @@
 # ArmarX.Verbosity = Info


+# ArmarX.WorkingMemoryToArViz.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.WorkingMemoryToArViz.ArVizStorageName = ArVizStorage
+
+
 # ArmarX.WorkingMemoryToArViz.ArVizTopicName:  Name of the ArViz topic
 #  Attributes:
 #  - Default:            ArVizTopic
@@ -270,3 +278,11 @@
 # ArmarX.WorkingMemoryToArViz.p.floor.Show = true


+# ArmarX.WorkingMemoryToArViz.p.loadDatasets:  Only load the files for the following datasets, separated by ;. Load all if input is empty.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.WorkingMemoryToArViz.p.loadDatasets = ""
+
+