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Commit 9f9e9f0b authored by armar-user's avatar armar-user
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navigation scenario update

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scenarios/PlatformNavigation/config/MemoryNameSystem.cfg
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......
scenarios/PlatformNavigation/config/ObjectMemory.cfg
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− 82
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......@@ -92,14 +92,6 @@
# 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
......@@ -233,20 +225,20 @@
# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize: Maximal size of the Class entity histories (-1 for infinite).
# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName: Name of the Class core segment.
# Attributes:
# - Default: -1
# - Default: Class
# - Case sensitivity: yes
# - Required: no
# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize = -1
# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class
# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName: Name of the Class core segment.
# ArmarX.ObjectMemory.mem.cls.seg.MaxHistorySize: Maximal size of the Class entity histories (-1 for infinite).
# Attributes:
# - Default: Class
# - Default: -1
# - Case sensitivity: yes
# - Required: no
# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class
# ArmarX.ObjectMemory.mem.cls.seg.MaxHistorySize = -1
# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached: If true, no new snapshots are stored while an object is attached to a robot node.
......@@ -376,20 +368,20 @@
# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName: Name of the Instance core segment.
# Attributes:
# - Default: 64
# - Default: Instance
# - Case sensitivity: yes
# - Required: no
# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize = 64
# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName = Instance
# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName: Name of the Instance core segment.
# ArmarX.ObjectMemory.mem.inst.seg.MaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
# Attributes:
# - Default: Instance
# - Default: 64
# - Case sensitivity: yes
# - Required: no
# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName = Instance
# ArmarX.ObjectMemory.mem.inst.seg.MaxHistorySize = 64
# ArmarX.ObjectMemory.mem.inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
......@@ -426,32 +418,6 @@
# 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
......@@ -496,45 +462,13 @@
# 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.enabled:
# ArmarX.ObjectMemory.mem.ltm.00_enabled:
# Attributes:
# - Default: false
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ObjectMemory.mem.ltm.enabled = false
# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime: Withdraw 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.memSnapFilter.WaitingTime: Withdraw time in MS after each Entity update.
# Attributes:
# - Default: 1000
# - Case sensitivity: yes
# - Required: no
# ArmarX.ObjectMemory.mem.ltm.memSnapFilter.WaitingTime = 1000
# ArmarX.ObjectMemory.mem.ltm.storagepath: The path to the memory storage.
# Attributes:
# - Default: /tmp/MemoryExport
# - Case sensitivity: yes
# - Required: no
# ArmarX.ObjectMemory.mem.ltm.storagepath = /tmp/MemoryExport
# ArmarX.ObjectMemory.mem.ltm.00_enabled = true
# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
......
scenarios/PlatformNavigation/config/RemoteGuiProviderApp.cfg
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......
scenarios/PlatformNavigation/config/RobotStateComponent.cfg
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......
scenarios/PlatformNavigation/config/VisionMemory.cfg
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− 18
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......@@ -186,53 +186,105 @@
# ArmarX.VisionMemory.ObjectName = ""
# ArmarX.VisionMemory.mem.MemoryName: Name of this memory server.
# ArmarX.VisionMemory.RemoteGuiName: Name of the remote gui provider
# Attributes:
# - Default: Vision
# - Default: RemoteGuiProvider
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.mem.MemoryName = Vision
# ArmarX.VisionMemory.RemoteGuiName = RemoteGuiProvider
# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
# ArmarX.VisionMemory.memory.Name: Name of this memory.
# Attributes:
# - Default: 10
# - Default: Vision
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq = 10
# ArmarX.VisionMemory.memory.Name = Vision
# ArmarX.VisionMemory.mem.ltm.enabled:
# ArmarX.VisionMemory.memory.allowAddingNewCoreSegments: If true, clients can add new core segments.
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.VisionMemory.mem.ltm.enabled = false
# ArmarX.VisionMemory.memory.allowAddingNewCoreSegments = false
# ArmarX.VisionMemory.memory.ltm.00_enabled:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.VisionMemory.memory.ltm.00_enabled = true
# ArmarX.VisionMemory.memory.ltm.10_host:
# Attributes:
# - Default: localhost
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.memory.ltm.10_host = localhost
# ArmarX.VisionMemory.memoryltm.11_port:
# Attributes:
# - Default: 25270
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.memoryltm.11_port = 25270
# ArmarX.VisionMemory.memoryltm.20_user:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.memoryltm.20_user = ""
# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime: Withdraw time in MS after each LTM update.
# ArmarX.VisionMemory.memoryltm.21_password:
# Attributes:
# - Default: -1
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime = -1
# ArmarX.VisionMemory.memoryltm.21_password = ""
# ArmarX.VisionMemory.mem.ltm.memSnapFilter.WaitingTime: Withdraw time in MS after each Entity update.
# ArmarX.VisionMemory.memoryltm.22_database:
# Attributes:
# - Default: 1000
# - Default: Test
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.mem.ltm.memSnapFilter.WaitingTime = 1000
# ArmarX.VisionMemory.memoryltm.22_database = Test
# ArmarX.VisionMemory.mem.ltm.storagepath: The path to the memory storage.
# ArmarX.VisionMemory.memoryltm.30_enableAlwaysTransfer: Enable transfer whenever new data is committed (This disables the other transfer modes!).
# Attributes:
# - Default: /tmp/MemoryExport
# - Default: false
# - Case sensitivity: yes
# - Required: no
# ArmarX.VisionMemory.mem.ltm.storagepath = /tmp/MemoryExport
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.VisionMemory.memoryltm.30_enableAlwaysTransfer = false
# ArmarX.VisionMemory.memoryltm.31_enablePeriodicTransfer: Enable transfer based on periodic interval.
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.VisionMemory.memoryltm.31_enablePeriodicTransfer = false
# ArmarX.VisionMemory.memoryltm.32_enableOnFullTransfer: Enable transfer whenever the wm is full (see maxHistorySize).
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.VisionMemory.memoryltm.32_enableOnFullTransfer = false
# ArmarX.VisionMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
......
scenarios/PlatformNavigation/config/example_client.cfg
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......
scenarios/PlatformNavigation/config/navigation_memory.cfg
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......
scenarios/PlatformNavigation/config/navigator.cfg
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− 50
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......@@ -18,7 +18,7 @@
# 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 (${ARMARX_WORKSPACE}/armarx_config)
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
......@@ -92,14 +92,6 @@
# ArmarX.LoggingGroup = ""
# ArmarX.Navigator.ArVizStorageName: Name of the ArViz storage
# Attributes:
# - Default: ArVizStorage
# - Case sensitivity: yes
# - Required: no
# ArmarX.Navigator.ArVizStorageName = ArVizStorage
# ArmarX.Navigator.ArVizTopicName: Name of the ArViz topic
# Attributes:
# - Default: ArVizTopic
......@@ -254,50 +246,18 @@ ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
# ArmarX.Navigator.mem.nav.stack_result.Provider = ""
# ArmarX.Navigator.mem.robot_state.Memory:
# Attributes:
# - Default: RobotState
# - Case sensitivity: yes
# - Required: no
# ArmarX.Navigator.mem.robot_state.Memory = RobotState
# ArmarX.Navigator.mem.robot_state.descriptionSegment:
# Attributes:
# - Default: Description
# - Case sensitivity: yes
# - Required: no
# ArmarX.Navigator.mem.robot_state.descriptionSegment = Description
# ArmarX.Navigator.mem.robot_state.localizationSegment:
# ArmarX.Navigator.mem.vision.occupancy_grid.CoreSegment: No Description
# Attributes:
# - Default: Localization
# - Case sensitivity: yes
# - Required: no
# ArmarX.Navigator.mem.robot_state.localizationSegment = Localization
# ArmarX.Navigator.mem.robot_state.proprioceptionSegment:
# Attributes:
# - Default: Proprioception
# - Case sensitivity: yes
# - Required: no
# ArmarX.Navigator.mem.robot_state.proprioceptionSegment = Proprioception
# ArmarX.Navigator.mem.vision.occupancy_grid.CoreSegment:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Default: OccupancyGrid
# - Case sensitivity: no
# - Required: no
ArmarX.Navigator.mem.vision.occupancy_grid.CoreSegment = OccupancyGrid
# ArmarX.Navigator.mem.vision.occupancy_grid.Memory:
# ArmarX.Navigator.mem.vision.occupancy_grid.Memory: No Description
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Default: Vision
# - Case sensitivity: no
# - Required: no
ArmarX.Navigator.mem.vision.occupancy_grid.Memory = Vision
......@@ -320,10 +280,10 @@ ArmarX.Navigator.mem.vision.occupancy_grid.Memory = Vision
# ArmarX.Navigator.mns.MemoryNameSystemName = MemoryNameSystem
# ArmarX.Navigator.p.occupancy_grid.occopied_threshold: Threshold for each cell to be considered occupied. Increase this value to reduce noise.
# ArmarX.Navigator.p.occupancy_grid.occopied_threshold: No Description
# Attributes:
# - Default: 0.550000012
# - Case sensitivity: yes
# - Default: 0.8
# - Case sensitivity: no
# - Required: no
ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
......
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