diff --git a/scenarios/NavigationSimulation/CeBITSimulation.scx b/scenarios/NavigationSimulation/CeBITSimulation.scx
new file mode 100644
index 0000000000000000000000000000000000000000..84448b84d433dfbe62e6f4eef54b857346f48425
--- /dev/null
+++ b/scenarios/NavigationSimulation/CeBITSimulation.scx
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="CeBITSimulation" creation="2017-05-25.09:56:25" globalConfigName="./config/global.cfg" package="Armar6Skills" deploymentType="local" nodeName="NodeMain">
+ <application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="CommonStorage" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="PriorKnowledge" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <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="true" iceAutoRestart="false"/>
+ <application name="SimulatorApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SimulatorViewerApp" instance="" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="InertialMeasurementUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="KinematicUnitObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="PlatformUnitObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ImageProviderDynamicSimulationApp" instance="FleaCameras" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="DepthImageProviderDynamicSimulationApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ObjectLocalizationDynamicSimulationApp" instance="TexturedRecognition" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="ObjectLocalizationDynamicSimulationApp" instance="SegmentableRecognition" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ObjectMemoryObserver" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="HandUnitDynamicSimulationApp" instance="LeftHand" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="HandUnitDynamicSimulationApp" instance="RightHand" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ForceTorqueObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SelfLocalizationDynamicSimulationApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotHandLocalizationDynamicSimulationApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="HeadIKUnit" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="TCPControlUnit" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="ProfilerObserverApp" instance="" package="ArmarXCore" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="GraphNodePoseResolverApp" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ImageSourceSelectionApp" instance="" package="VisionX" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="RobotUnitSimulationApp" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="LaserScannerSimulationApp" instance="" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" 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"/>
+ <application name="WorkingMemoryToArVizApp" instance="" package="MemoryX" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="ObstacleAvoidingPlatformUnit" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DSObstacleAvoidance" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DebugDrawerToArVizApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ArticulatedObjectLocalizerDynamicSimulation" instance="" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="MotionPlanningServerApp" instance="" package="RobotComponents" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="LaserScannerPointCloudProviderApp" instance="" package="VisionX" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="LaserScannerSimulation" instance="" package="ArmarXSimulation" nodeName="" enabled="false" iceAutoRestart="false"/>
+</scenario>
diff --git a/scenarios/NavigationSimulation/config/ArMemVisionMemory.cfg b/scenarios/NavigationSimulation/config/ArMemVisionMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..653bc69352a0b7f725275ac015d4d42f2ba9b2a4
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ArMemVisionMemory.cfg
@@ -0,0 +1,245 @@
+# ==================================================================
+# ArMemVisionMemory 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.ArMemVisionMemory.:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArMemVisionMemory. = ""
+
+
+# ArmarX.ArMemVisionMemory.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.ArMemVisionMemory.EnableProfiling = false
+
+
+# ArmarX.ArMemVisionMemory.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.ArMemVisionMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArMemVisionMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArMemVisionMemory.ObjectName = ""
+
+
+# ArmarX.ArMemVisionMemory.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArMemVisionMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ArMemVisionMemory.memory.Name: Name of this memory.
+# Attributes:
+# - Default: Vision
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArMemVisionMemory.memory.Name = Vision
+
+
+# ArmarX.ArMemVisionMemory.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.ArMemVisionMemory.memory.allowAddingNewCoreSegments = false
+
+
+# ArmarX.ArMemVisionMemory.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.ArMemVisionMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ArMemVisionMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArMemVisionMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ArMemVisionMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArMemVisionMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
+# 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
+# - 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.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
diff --git a/scenarios/NavigationSimulation/config/ArVizStorage.cfg b/scenarios/NavigationSimulation/config/ArVizStorage.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..15626b409945928597eebfa2bfc786c62e07ffda
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ArVizStorage.cfg
@@ -0,0 +1,210 @@
+# ==================================================================
+# ArVizStorage 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.ArVizStorage.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.ArVizStorage.EnableProfiling = false
+
+
+# ArmarX.ArVizStorage.HistoryPath: Destination path where the history are serialized to
+# Attributes:
+# - Default: RobotAPI/ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.HistoryPath = RobotAPI/ArVizStorage
+
+
+# ArmarX.ArVizStorage.MaxHistorySize: How many layer updates are saved in the history until they are compressed
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.MaxHistorySize = 1000
+
+
+# ArmarX.ArVizStorage.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.ArVizStorage.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArVizStorage.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.ObjectName = ""
+
+
+# ArmarX.ArVizStorage.TopicName: Layer updates are sent over this topic.
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.TopicName = ArVizTopic
+
+
+# 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
+# - 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.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
diff --git a/scenarios/NavigationSimulation/config/ArmarXFileLoggerApp.cfg b/scenarios/NavigationSimulation/config/ArmarXFileLoggerApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..6c2790503d388565c09a0ffb18e7cbdb4f7f4e8e
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ArmarXFileLoggerApp.cfg
@@ -0,0 +1,235 @@
+# ==================================================================
+# ArmarXFileLoggerApp 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.ArmarXFileLogger.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.ArmarXFileLogger.EnableProfiling = false
+
+
+# ArmarX.ArmarXFileLogger.LogDir: If set, log will be stored in this path. If not set, log will be stored in $HOME/.armarx/log/
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArmarXFileLogger.LogDir = ""
+
+
+# ArmarX.ArmarXFileLogger.LogFileEnding: Logfilename ending
+# Attributes:
+# - Default: log
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArmarXFileLogger.LogFileEnding = log
+
+
+# ArmarX.ArmarXFileLogger.LogFileName: Logfilename without ending
+# Attributes:
+# - Default: ArmarXLog
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArmarXFileLogger.LogFileName = CeBITSimulation
+
+
+# ArmarX.ArmarXFileLogger.LogTopicName: Name of the topic to be used
+# Attributes:
+# - Default: Log
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArmarXFileLogger.LogTopicName = Log
+
+
+# ArmarX.ArmarXFileLogger.MaxLogFileCount: Number of log files to keep before starting to delete old files. If zero, no file will be deleted.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArmarXFileLogger.MaxLogFileCount = 10
+
+
+# ArmarX.ArmarXFileLogger.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.ArmarXFileLogger.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArmarXFileLogger.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArmarXFileLogger.ObjectName = ""
+
+
+# ArmarX.ArmarXFileLogger.SplitByApplication: Create additional log files for each application
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ArmarXFileLogger.SplitByApplication = true
+
+
+# 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
+# - 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.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
diff --git a/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg b/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..fada83a5b2752b8c90d764ee0d77e9b4edaaf8ca
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg
@@ -0,0 +1,260 @@
+# ==================================================================
+# ArticulatedObjectLocalizerDynamicSimulation 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.ArticulatedObjectLocalizerDynamicSimulation.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.ArticulatedObjectLocalizerDynamicSimulation.EnableProfiling = false
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.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.ArticulatedObjectLocalizerDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.ObjectName = ""
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.cmp.Simulator: Ice object name of the `Simulator` component.
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.cmp.Simulator = Simulator
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.cycleTime:
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.cycleTime = 30
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.CoreSegment: Name of the memory core segment to use for object classes.
+# Attributes:
+# - Default: Class
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.CoreSegment = Class
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.MemoryName:
+# Attributes:
+# - Default: Object
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.MemoryName = Object
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.ProviderName:
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.ProviderName = simulation
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.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.ArticulatedObjectLocalizerDynamicSimulation.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.objects: The objects to (fake) localize.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.objects = Default value not mapped.
+
+
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.tpc.sub.MemoryListener = MemoryUpdates
+
+
+# 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
+# - 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.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
diff --git a/scenarios/NavigationSimulation/config/CommonStorage.cfg b/scenarios/NavigationSimulation/config/CommonStorage.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..cb4873630b84fd08b7cbfc79b416bac348bf944e
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/CommonStorage.cfg
@@ -0,0 +1,217 @@
+# ==================================================================
+# CommonStorage properties
+# ==================================================================
+
+# MemoryX.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
+# MemoryX.AdditionalPackages = Default value not mapped.
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.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
+# - Required: no
+# MemoryX.CachePath = mongo/.cache
+
+
+# MemoryX.CommonStorage.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}
+# MemoryX.CommonStorage.EnableProfiling = false
+
+
+# MemoryX.CommonStorage.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}
+# MemoryX.CommonStorage.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.CommonStorage.MongoAuth: Whether authentication should be used for MongoDB
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.CommonStorage.MongoAuth = false
+
+
+# MemoryX.CommonStorage.MongoHost: MongoDB hostname and optionally port number
+# Attributes:
+# - Default: localhost
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.CommonStorage.MongoHost = localhost
+
+
+# MemoryX.CommonStorage.MongoPassword: MongoDB password
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+MemoryX.CommonStorage.MongoPassword = 1
+
+
+# MemoryX.CommonStorage.MongoUser: MongoDB user name
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+MemoryX.CommonStorage.MongoUser = a
+
+
+# MemoryX.CommonStorage.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.CommonStorage.ObjectName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.Config = ""
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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
+# MemoryX.DefaultPackages = Default value not mapped.
+
+
+# MemoryX.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
+# MemoryX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = false
+
+
+# MemoryX.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}
+# MemoryX.EnableProfiling = false
+
+
+# MemoryX.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
+# MemoryX.LoadLibraries = ""
+
+
+# MemoryX.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
+# MemoryX.LoggingGroup = ""
+
+
+# MemoryX.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}
+# MemoryX.RedirectStdout = true
+
+
+# MemoryX.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
+# MemoryX.RemoteHandlesDeletionTimeout = 3000
+
+
+# MemoryX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.SecondsStartupDelay = 0
+
+
+# MemoryX.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}
+# MemoryX.StartDebuggerOnCrash = false
+
+
+# MemoryX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ThreadPoolSize = 1
+
+
+# MemoryX.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
+# MemoryX.TopicSuffix = ""
+
+
+# MemoryX.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}
+# MemoryX.UseTimeServer = false
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/ConditionHandler.cfg b/scenarios/NavigationSimulation/config/ConditionHandler.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..e80cb5613c747e74e4ef0f55f443eef49440b5c7
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ConditionHandler.cfg
@@ -0,0 +1,202 @@
+# ==================================================================
+# ConditionHandler 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_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
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.ConditionHandler.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.ConditionHandler.EnableProfiling = false
+
+
+# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ConditionHandler.HistoryLength = 1000
+
+
+# ArmarX.ConditionHandler.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.ConditionHandler.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ConditionHandler.ObjectName = ""
+
+
+# ArmarX.ConditionHandler.Observers: Comma seperated observer list
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ConditionHandler.Observers = ""
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/DSObstacleAvoidance.cfg b/scenarios/NavigationSimulation/config/DSObstacleAvoidance.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..5bc644ee59e69c4aba851981e7e1fea607199448
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/DSObstacleAvoidance.cfg
@@ -0,0 +1,289 @@
+# ==================================================================
+# DSObstacleAvoidance 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_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
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DSObstacleAvoidance.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DSObstacleAvoidance.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.DSObstacleAvoidance.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.DSObstacleAvoidance.EnableProfiling = false
+
+
+# ArmarX.DSObstacleAvoidance.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.DSObstacleAvoidance.MinimumLoggingLevel = Info
+
+
+# ArmarX.DSObstacleAvoidance.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DSObstacleAvoidance.ObjectName = PlatformObstacleAvoidance
+
+
+# ArmarX.DSObstacleAvoidance.doa.agent_safety_margin: Agent safety margin.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DSObstacleAvoidance.doa.agent_safety_margin = 0
+
+
+# ArmarX.DSObstacleAvoidance.doa.aggregated: Aggregated environment.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.doa.aggregated = true
+
+
+# ArmarX.DSObstacleAvoidance.doa.critical_distance: Critical distance.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DSObstacleAvoidance.doa.critical_distance = 1.1
+
+
+# ArmarX.DSObstacleAvoidance.doa.local_modulation: Local modulation on/off.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.doa.local_modulation = false
+
+
+# ArmarX.DSObstacleAvoidance.doa.only_2d: Only consider 2D.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.doa.only_2d = true
+
+
+# ArmarX.DSObstacleAvoidance.doa.planar_modulation: Planar modulation on/off.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.doa.planar_modulation = false
+
+
+# ArmarX.DSObstacleAvoidance.doa.repulsion: Repulsion on/off.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.doa.repulsion = true
+
+
+# ArmarX.DSObstacleAvoidance.doa.weight_power: Weight power
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DSObstacleAvoidance.doa.weight_power = 2
+
+
+# ArmarX.DSObstacleAvoidance.load_obstacles_from: Path to JSON file to load initial obstacles from.
+# Attributes:
+# - Default: RobotAPI/obstacle_avoidance/r034_2d_scene_obstacles.json
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DSObstacleAvoidance.load_obstacles_from = RobotAPI/obstacle_avoidance/r034_2d_scene_obstacles.json
+
+
+# ArmarX.DSObstacleAvoidance.udpate_watchdog: Run environment update watchdog.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.udpate_watchdog = true
+
+
+# ArmarX.DSObstacleAvoidance.visualize: Enable/disable visualization.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DSObstacleAvoidance.visualize = true
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/DebugDrawerToArVizApp.cfg b/scenarios/NavigationSimulation/config/DebugDrawerToArVizApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..0e63414592bbb799435d3bdbe3be3998e5436131
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/DebugDrawerToArVizApp.cfg
@@ -0,0 +1,228 @@
+# ==================================================================
+# DebugDrawerToArVizApp 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_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
+# - 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.DebugDrawerToArViz.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugDrawerToArViz.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.DebugDrawerToArViz.DebugDrawerTopicName: Name of the topic the DebugDrawer listens to.
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugDrawerToArViz.DebugDrawerTopicName = DebugDrawerUpdates
+
+
+# ArmarX.DebugDrawerToArViz.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.DebugDrawerToArViz.EnableProfiling = false
+
+
+# ArmarX.DebugDrawerToArViz.LayerBlackWhitelistTopic: The layer where updates to the layer black-whitelist are published.
+# Attributes:
+# - Default: DebugDrawerToArVizLayerBlackWhitelistUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugDrawerToArViz.LayerBlackWhitelistTopic = DebugDrawerToArVizLayerBlackWhitelistUpdates
+
+
+# ArmarX.DebugDrawerToArViz.LayerBlacklist: These layers will never be shown (comma separated list).
+# Attributes:
+# - Default: [empty blacklist]
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {[empty blacklist]}
+# ArmarX.DebugDrawerToArViz.LayerBlacklist = [empty blacklist]
+
+
+# ArmarX.DebugDrawerToArViz.LayerWhitelist: If not empty, layers are shown (comma separated list).
+# Attributes:
+# - Default: [empty whitelist]
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {[empty whitelist]}
+# ArmarX.DebugDrawerToArViz.LayerWhitelist = [empty whitelist]
+
+
+# ArmarX.DebugDrawerToArViz.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.DebugDrawerToArViz.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugDrawerToArViz.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugDrawerToArViz.ObjectName = ""
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/DebugObserver.cfg b/scenarios/NavigationSimulation/config/DebugObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..4ff73bf892e7ecbe8f6aafcde089ac227424ea9c
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/DebugObserver.cfg
@@ -0,0 +1,219 @@
+# ==================================================================
+# DebugObserver 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_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
+# - 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.DebugObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.DebugObserver.DebugObserverTopicName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugObserver.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.DebugObserver.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.DebugObserver.EnableProfiling = false
+
+
+# ArmarX.DebugObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.DebugObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugObserver.MaxHistorySize = 5000
+
+
+# ArmarX.DebugObserver.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.DebugObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DebugObserver.ObjectName = ""
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/DepthImageProviderDynamicSimulationApp.cfg b/scenarios/NavigationSimulation/config/DepthImageProviderDynamicSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..09a66faf8b95f3c0555590f8fdfa3c3d7cb1d262
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/DepthImageProviderDynamicSimulationApp.cfg
@@ -0,0 +1,399 @@
+# ==================================================================
+# DepthImageProviderDynamicSimulationApp 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_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
+# - 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.DynamicSimulationDepthImageProvider.BaseLine: The value returned from getBaseline(). It has no other effect.
+# Attributes:
+# - Default: 0.075000003
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.BaseLine = 0.075000003
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar: Distance of the far clipping plain. (DistanceZFar-DistanceZNear should be minimal, DistanceZFar > DistanceZNear)
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar = 5000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear: Distance of the near clipping plain. (If set too small the agent's model's inside may be visible
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear = 20
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud: Whether the point cloud is drawn to the given DebugDrawerTopic
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud = false
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints: Whether to clip the point cloud drawn to the given DebugDrawerTopic
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints = true
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi: Skip points with x higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo: Skip points with x lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi: Skip points with y higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo: Skip points with y lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi: Skip points with z higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo: Skip points with z lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic: Name of the DebugDrawerTopic
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay: The time between updates of the drawn point cloud (in ms)
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay = 1000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize: The size of a point.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize = 4
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip: Only draw every n'th point in x and y direction (n=DrawPointCloud_PointSkip). Increase this whenever the ice buffer size is to small to transmitt the cloud size. (>0)
+# Attributes:
+# - Default: 3
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip = 3
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.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.DynamicSimulationDepthImageProvider.EnableProfiling = false
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.FOV: Vertical FOV in rad.
+# Attributes:
+# - Default: 0.785398185
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.FOV = 0.785398185
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.FloatImageMode: Whether to provide a CFloatImage or the standard CByteImage
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.FloatImageMode = false
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.ImageSize: Target resolution of the images. Captured images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 200x200, 320x240, 640x480, 768x576, 800x600, none}
+# ArmarX.DynamicSimulationDepthImageProvider.ImageSize = 640x480
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.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.DynamicSimulationDepthImageProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.NanValue: Value of points that are farther away then DistanceZFar. Most cameras return here NaN.
+# Attributes:
+# - Default: nan
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.NanValue = nan
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.Noise: Noise of the point cloud position results as standard deviation of the normal distribution (in mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.Noise = 0
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationDepthImageProvider.ObjectName = OpenNIPointCloudProvider
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.RobotName: The robot
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationDepthImageProvider.RobotName = Armar6
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera: The coordinate system of the used camera
+# Attributes:
+# - Default: DepthCameraSim
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera = DepthCameraSim
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.frameName: name of the source
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.frameName = ""
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.framerate: framerate for the point clouds
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.framerate = 30
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.DynamicSimulationDepthImageProvider.inheritFrom = RobotConfig
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.isEnabled: enable the capturing process immediately
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.isEnabled = true
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/DepthImageProviderDynamicSimulationApp.instance1.cfg b/scenarios/NavigationSimulation/config/DepthImageProviderDynamicSimulationApp.instance1.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..8f81bf347efaaf6591aa4726e8712c359a892226
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/DepthImageProviderDynamicSimulationApp.instance1.cfg
@@ -0,0 +1,391 @@
+# ==================================================================
+# DepthImageProviderDynamicSimulationApp 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_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
+# - 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.DynamicSimulationDepthImageProvider.BaseLine: The value returned from getBaseline(). It has no other effect.
+# Attributes:
+# - Default: 0.075000003
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.BaseLine = 0.075000003
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar: Distance of the far clipping plain. (DistanceZFar-DistanceZNear should be minimal, DistanceZFar > DistanceZNear)
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar = 5000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear: Distance of the near clipping plain. (If set too small the agent's model's inside may be visible
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear = 20
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud: Whether the point cloud is drawn to the given DebugDrawerTopic
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud = false
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints: Whether to clip the point cloud drawn to the given DebugDrawerTopic
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints = true
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi: Skip points with x higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo: Skip points with x lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi: Skip points with y higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo: Skip points with y lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi: Skip points with z higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo: Skip points with z lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic: Name of the DebugDrawerTopic
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay: The time between updates of the drawn point cloud (in ms)
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay = 1000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize: The size of a point.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize = 4
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip: Only draw every n'th point in x and y direction (n=DrawPointCloud_PointSkip). Increase this whenever the ice buffer size is to small to transmitt the cloud size. (>0)
+# Attributes:
+# - Default: 3
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip = 3
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.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.DynamicSimulationDepthImageProvider.EnableProfiling = false
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.FOV: Vertical FOV in rad.
+# Attributes:
+# - Default: 0.785398185
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.FOV = 0.785398185
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.FloatImageMode: Whether to provide a CFloatImage or the standard CByteImage
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.FloatImageMode = false
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.ImageSize: Target resolution of the images. Captured images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 200x200, 320x240, 640x480, 768x576, 800x600, none}
+# ArmarX.DynamicSimulationDepthImageProvider.ImageSize = 640x480
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.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.DynamicSimulationDepthImageProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.NanValue: Value of points that are farther away then DistanceZFar. Most cameras return here NaN.
+# Attributes:
+# - Default: nan
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.NanValue = nan
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.Noise: Noise of the point cloud position results as standard deviation of the normal distribution (in mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.Noise = 0
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.ObjectName = ""
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.RobotName: The robot
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.RobotName = Armar3
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera: The coordinate system of the used camera
+# Attributes:
+# - Default: DepthCameraSim
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera = DepthCameraSim
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.frameName: name of the source
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.frameName = ""
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.framerate: framerate for the point clouds
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.framerate = 30
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.isEnabled: enable the capturing process immediately
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.isEnabled = true
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/ForceTorqueObserver.cfg b/scenarios/NavigationSimulation/config/ForceTorqueObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..a7e016297a24d7cfdb6ebfc6ea84ffda7920c9a5
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ForceTorqueObserver.cfg
@@ -0,0 +1,291 @@
+# ==================================================================
+# ForceTorqueObserver 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_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
+# - 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.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.ForceTorqueUnitObserver.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.ForceTorqueUnitObserver.EnableProfiling = false
+
+
+# ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName: Name of the ForceTorqueUnit Topic
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar6ForceTorqueUnitState
+
+
+# ArmarX.ForceTorqueUnitObserver.ForceVisualizerFactor: Factor by which the forces are scaled to fit into 0..1 (only for visulization)
+# Attributes:
+# - Default: 0.00999999978
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.ForceVisualizerFactor = 0.00999999978
+
+
+# ArmarX.ForceTorqueUnitObserver.MaxExpectedTorqueValue: The torque visualization circle reaches the full circle at this value
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.MaxExpectedTorqueValue = 30
+
+
+# ArmarX.ForceTorqueUnitObserver.MaxForceArrowLength: Length of the force visu arrow in mm
+# Attributes:
+# - Default: 150
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.MaxForceArrowLength = 150
+
+
+# ArmarX.ForceTorqueUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.ForceTorqueUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.ForceTorqueUnitObserver.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.ForceTorqueUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ForceTorqueUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar6ForceTorqueObserver"
+
+
+# ArmarX.ForceTorqueUnitObserver.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.ForceTorqueUnitObserver.RobotUpdateFrequency: Update frequency of the local robot
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.RobotUpdateFrequency = 50
+
+
+# ArmarX.ForceTorqueUnitObserver.SensorRobotNodeMapping: Triplets of sensor node name, target frame robot node name and optional channel name: Sensor values are also reported in the frame of the robot node: e. g. SensorName:RobotNodeName[:ChannelName],SensorName2:RobotNodeName2[:ChannelName2]
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.SensorRobotNodeMapping = ""
+
+
+# ArmarX.ForceTorqueUnitObserver.TorqueVisuDeadZone: Torques below this threshold are not visualized.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.TorqueVisuDeadZone = 1
+
+
+# ArmarX.ForceTorqueUnitObserver.VisualizeForce: Visualize the force with an arrow in the debug drawer
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.VisualizeForce = true
+
+
+# ArmarX.ForceTorqueUnitObserver.VisualizeForceUpdateFrequency: Frequency with which the force is visualized
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ForceTorqueUnitObserver.VisualizeForceUpdateFrequency = 30
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/ForceTorqueUnitDynamicSimulationApp.cfg b/scenarios/NavigationSimulation/config/ForceTorqueUnitDynamicSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..15da2760a55fad60f1255dd7e36a331a2f115ac6
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ForceTorqueUnitDynamicSimulationApp.cfg
@@ -0,0 +1,193 @@
+# ==================================================================
+# ForceTorqueUnitDynamicSimulationApp 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: no
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - 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: no
+# - 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: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+# ArmarX.ForceTorqueUnitDynamicSimulation.AgentName = ::_NOT_SET_::
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.EnableProfiling = 0
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.ForceTorqueTopicName: Name of the topic on which the sensor values are provided
+# Attributes:
+# - Default: ForceTorqueValues
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.ForceTorqueTopicName = ForceTorqueValues
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.ObjectName = ""
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.ReportFrames: Comma separated list of robotNodes in which the force information should be transformed and reported.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.ReportFrames = ""
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.ReportInSensorFrame: Report the sensor values also in the frame of the sensor.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.ReportInSensorFrame = 1
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.ForceTorqueUnitDynamicSimulation.SensorRobotNodeMapping: Comma separated list of a sensor->robotNodes mapping. The sensors will be reported with the robot node name as as sensor name and in the frame of the robot node.
+# Attributes:
+# - Default: FT L:TCP L,FT R:TCP R
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitDynamicSimulation.SensorRobotNodeMapping = FT L:TCP L,FT R:TCP R
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RedirectStdout = 1
+
+
+# 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: no
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.StartDebuggerOnCrash = 0
+
+
+# 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: no
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/GraphNodePoseResolverApp.cfg b/scenarios/NavigationSimulation/config/GraphNodePoseResolverApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..888621802c5f80501417653a5b8f6f9f741d7268
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/GraphNodePoseResolverApp.cfg
@@ -0,0 +1,202 @@
+# ==================================================================
+# GraphNodePoseResolverApp 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_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
+# - 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.GraphNodePoseResolver.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.GraphNodePoseResolver.EnableProfiling = false
+
+
+# ArmarX.GraphNodePoseResolver.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.GraphNodePoseResolver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GraphNodePoseResolver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GraphNodePoseResolver.ObjectName = ""
+
+
+# ArmarX.GraphNodePoseResolver.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GraphNodePoseResolver.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.GraphNodePoseResolver.WorkingMemoryName: Name of the WorkingMemory that should be used
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GraphNodePoseResolver.WorkingMemoryName = WorkingMemory
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/GraspingManagerApp.cfg b/scenarios/NavigationSimulation/config/GraspingManagerApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7b46cdde933abcff760bfc90affc8c3c011ed6e8
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/GraspingManagerApp.cfg
@@ -0,0 +1,217 @@
+# ==================================================================
+# GraspingManagerApp 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: no
+# - Required: no
+ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - 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: no
+# - 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: no
+# - Required: no
+ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+ArmarX.DisableLogging = 0
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+ArmarX.EnableProfiling = 0
+
+
+# ArmarX.GraspingManager.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.EnableProfiling = 0
+
+
+# ArmarX.GraspingManager.GraspGeneratorName: Name of the GraspGenerator proxy
+# Attributes:
+# - Default: SimpleGraspGenerator
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.GraspGeneratorName = SimpleGraspGenerator
+
+
+# ArmarX.GraspingManager.JointToLinkSetMapping: Mapping from joint set to link set, i.e. which collision set to use for which kinematic chain. Format: JointSet1:CollisionSet1;JointSet2:CollisionSet2
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+# ArmarX.GraspingManager.JointToLinkSetMapping = ::_NOT_SET_::
+
+
+# ArmarX.GraspingManager.MaxDistanceForDirectGrasp: x-y-Distance from robot base to object for which the grasping manager tries to find a solution without platform movement
+# Attributes:
+# - Default: 1200
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.MaxDistanceForDirectGrasp = 1200
+
+
+# ArmarX.GraspingManager.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GraspingManager.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.ObjectName = ""
+
+
+# ArmarX.GraspingManager.PlanningBoundingBox: x_min, y_min, alpha_min, x_max, y_max, alpha_max
+# Attributes:
+# - Default: -15000, -4000, -3.1416, 15000, 15000, 3.1416
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.PlanningBoundingBox = -15000, -4000, -3.1416, 15000, 15000, 3.1416
+
+
+# ArmarX.GraspingManager.ReachabilitySpaceFilePaths: Paths to the reachability space files (needed only if no reachability space is loaded for the chosen RobotNodeSets) (';' delimited)
+# Attributes:
+# - Default: Armar3/reachability/reachability_right_hand_smoothened.bin;Armar3/reachability/reachability_left_hand_smoothened.bin
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.ReachabilitySpaceFilePaths = Armar3/reachability/reachability_right_hand_smoothened.bin;Armar3/reachability/reachability_left_hand_smoothened.bin
+
+
+# ArmarX.GraspingManager.RobotCollisionNodeSet: Name of the collision nodeset used for motion planning
+# Attributes:
+# - Default: Robot
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.RobotCollisionNodeSet = Robot
+
+
+# ArmarX.GraspingManager.RobotNodeSetNames: Names of the robot node sets to use for IK calculations (';' delimited)
+# Attributes:
+# - Default: HipYawRightArm;HipYawLeftArm
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.RobotNodeSetNames = HipYawRightArm;HipYawLeftArm
+
+
+# ArmarX.GraspingManager.RobotPlacementName: Name of the RobotPlacement proxy
+# Attributes:
+# - Default: SimpleRobotPlacement
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.RobotPlacementName = SimpleRobotPlacement
+
+
+# ArmarX.GraspingManager.VisualizationSlowdownFactor: 1.0 is a good value for clear visualization, 0 the visualization should not slow down the process
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+ArmarX.GraspingManager.VisualizationSlowdownFactor = 1
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+ArmarX.RedirectStdout = 1
+
+
+# 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: no
+# - Required: no
+ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+ArmarX.StartDebuggerOnCrash = 0
+
+
+# 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: no
+# - Required: no
+ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+ArmarX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3d0be331d6483e0cab45b0d48090e36fb0807741
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
@@ -0,0 +1,231 @@
+# ==================================================================
+# HandUnitDynamicSimulationApp 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 = LeftHandUnitApp
+
+
+# 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
+# - 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.HandUnitDynamicSimulation.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.HandUnitDynamicSimulation.EnableProfiling = false
+
+
+# ArmarX.HandUnitDynamicSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.HandUnitDynamicSimulation.EndeffectorName = Hand_L_EEF
+
+
+# ArmarX.HandUnitDynamicSimulation.KinematicUnitName: Name of the kinematic unit that should be used
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.HandUnitDynamicSimulation.KinematicUnitName = Armar6KinematicUnit
+
+
+# ArmarX.HandUnitDynamicSimulation.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.HandUnitDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandUnitDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HandUnitDynamicSimulation.ObjectName = LeftHandUnit
+
+
+# ArmarX.HandUnitDynamicSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.HandUnitDynamicSimulation.RobotFileName = Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml
+
+
+# ArmarX.HandUnitDynamicSimulation.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandUnitDynamicSimulation.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName: Name of the simulator proxy to use.
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
+
+
+# ArmarX.HandUnitDynamicSimulation.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HandUnitDynamicSimulation.inheritFrom = RobotConfig
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..0758887aa6b9a3c1a50fb5d9909c5ab284eac749
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
@@ -0,0 +1,231 @@
+# ==================================================================
+# HandUnitDynamicSimulationApp 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 = RightHandUnitApp
+
+
+# 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
+# - 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.HandUnitDynamicSimulation.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.HandUnitDynamicSimulation.EnableProfiling = false
+
+
+# ArmarX.HandUnitDynamicSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.HandUnitDynamicSimulation.EndeffectorName = Hand_R_EEF
+
+
+# ArmarX.HandUnitDynamicSimulation.KinematicUnitName: Name of the kinematic unit that should be used
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.HandUnitDynamicSimulation.KinematicUnitName = Armar6KinematicUnit
+
+
+# ArmarX.HandUnitDynamicSimulation.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.HandUnitDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandUnitDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HandUnitDynamicSimulation.ObjectName = RightHandUnit
+
+
+# ArmarX.HandUnitDynamicSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.HandUnitDynamicSimulation.RobotFileName = Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml
+
+
+# ArmarX.HandUnitDynamicSimulation.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandUnitDynamicSimulation.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName: Name of the simulator proxy to use.
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
+
+
+# ArmarX.HandUnitDynamicSimulation.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HandUnitDynamicSimulation.inheritFrom = RobotConfig
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/HeadIKUnit.cfg b/scenarios/NavigationSimulation/config/HeadIKUnit.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..a3dfa919014843be0dcf394be3875dec5b09317c
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/HeadIKUnit.cfg
@@ -0,0 +1,234 @@
+# ==================================================================
+# HeadIKUnit 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_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
+# - 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.HeadIKUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HeadIKUnit.CycleTime = 30
+
+
+# ArmarX.HeadIKUnit.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.HeadIKUnit.EnableProfiling = false
+
+
+# ArmarX.HeadIKUnit.HeadIKUnitTopicName: Name of the HeadIKUnit Topic
+# Attributes:
+# - Default: HeadIKUnitTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HeadIKUnit.HeadIKUnitTopicName = HeadIKUnitTopic
+
+
+# ArmarX.HeadIKUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.HeadIKUnit.KinematicUnitName = ::_NOT_SET_::
+
+
+# ArmarX.HeadIKUnit.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.HeadIKUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HeadIKUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HeadIKUnit.ObjectName = ""
+
+
+# ArmarX.HeadIKUnit.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HeadIKUnit.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.HeadIKUnit.VisualizeIKTarget: Visualize the current IK target using the debug drawer
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HeadIKUnit.VisualizeIKTarget = true
+
+
+# ArmarX.HeadIKUnit.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HeadIKUnit.inheritFrom = RobotConfig
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/HumanAvoidanceApp.cfg b/scenarios/NavigationSimulation/config/HumanAvoidanceApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..d66d330ba6c4b337b30e26d931b129a417ac700b
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/HumanAvoidanceApp.cfg
@@ -0,0 +1,259 @@
+# ==================================================================
+# HumanAvoidanceApp 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_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
+# - 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.HumanAvoidance.ActivateOnStartup: Activate the component on startup
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.HumanAvoidance.ActivateOnStartup = true
+
+
+# ArmarX.HumanAvoidance.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.HumanAvoidance.EnableProfiling = false
+
+
+# ArmarX.HumanAvoidance.HeadPitchDefaultJointValue: The joint value of the pitch head joint.
+# Attributes:
+# - Default: 0.240855396
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.HeadPitchDefaultJointValue = 0.240855396
+
+
+# ArmarX.HumanAvoidance.HeadYawJointLimits: The Joint limits of the head yaw. Workaround!
+# Attributes:
+# - Default: 2.18000007
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.HeadYawJointLimits = 2.18000007
+
+
+# ArmarX.HumanAvoidance.KinematicUnitName: Name of the kinematic unit that should be used.
+# Attributes:
+# - Default: Armar6KinematicUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.KinematicUnitName = Armar6KinematicUnit
+
+
+# ArmarX.HumanAvoidance.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.HumanAvoidance.MinimumLoggingLevel = Debug
+
+
+# ArmarX.HumanAvoidance.NoiseFilterVelocityThreshold: The noise threshold for filtering the x and y values.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.NoiseFilterVelocityThreshold = 10
+
+
+# ArmarX.HumanAvoidance.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.ObjectName = ""
+
+
+# ArmarX.HumanAvoidance.OpenPoseTopicName: Name of the openpose topic that should be used.
+# Attributes:
+# - Default: OpenPoseEstimation3D
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.OpenPoseTopicName = OpenPoseEstimation3D
+
+
+# ArmarX.HumanAvoidance.PlatformVelocityTopicName: Name of the topic which provides the velocities.
+# Attributes:
+# - Default: PlatformState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HumanAvoidance.PlatformVelocityTopicName = PlatformState
+
+
+# ArmarX.HumanAvoidance.RotationAnticipationFactor: Anticipation factor for rotations.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HumanAvoidance.RotationAnticipationFactor = 11
+
+
+# ArmarX.HumanAvoidance.WarnDistance: Distance in [mm] at which the robot should stop / warn the human.
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HumanAvoidance.WarnDistance = 500
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.FleaCameras.cfg b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.FleaCameras.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..5d140ef7146b08d3d0b59d4dd5542fce39e4907b
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.FleaCameras.cfg
@@ -0,0 +1,243 @@
+# ==================================================================
+# ImageProviderDynamicSimulationApp 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_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
+# - 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.DynamicSimulationImageProvider.CalibrationFile: Camera calibration file, will be made available in the SLICE interface
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.CalibrationFile = ""
+
+
+# ArmarX.DynamicSimulationImageProvider.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.DynamicSimulationImageProvider.EnableProfiling = false
+
+
+# ArmarX.DynamicSimulationImageProvider.FrameRate: Frames per second
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.FrameRate = 30
+
+
+# ArmarX.DynamicSimulationImageProvider.ImageSize: Target resolution of the images. Captured images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 320x240, 640x480, 768x576, 800x600, none}
+ArmarX.DynamicSimulationImageProvider.ImageSize = 800x600
+
+
+# ArmarX.DynamicSimulationImageProvider.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.DynamicSimulationImageProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DynamicSimulationImageProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.ObjectName = FleaImageProvider
+
+
+# ArmarX.DynamicSimulationImageProvider.ReferenceFrame: Reference frame in the robot model of this stereo camera system.
+# Attributes:
+# - Default: EyeLeftCameraSim
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.ReferenceFrame = EyeLeftCameraSim
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotName: The robot
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.RobotName = Armar6
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera: The coordinate system of the left camera
+# Attributes:
+# - Default: EyeLeftCameraSim
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera = FleaCamerasLeftSim
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera: The coordinate system of the right camera
+# Attributes:
+# - Default: EyeRightCameraSim
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera = FleaCamerasRightSim
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..ca063964f250d47f963d21c82a0975fc30f7bc94
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.FovealCameras.cfg
@@ -0,0 +1,194 @@
+# ==================================================================
+# ImageProviderDynamicSimulationApp 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: no
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - 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: no
+# - 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: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.DynamicSimulationImageProvider.CalibrationFile: Camera calibration file, will be made available in the SLICE interface
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.CalibrationFile = ""
+
+
+# ArmarX.DynamicSimulationImageProvider.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.EnableProfiling = 0
+
+
+# ArmarX.DynamicSimulationImageProvider.FrameRate: Frames per second
+# Attributes:
+# - Default: 30
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.FrameRate = 30
+
+
+# ArmarX.DynamicSimulationImageProvider.ImageSize: Target resolution of the images. Captured images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.ImageSize = 640x480
+
+
+# ArmarX.DynamicSimulationImageProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DynamicSimulationImageProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.ObjectName = ""
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotName: The robot
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.RobotName = Armar3
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera: The coordinate system of the left camera
+# Attributes:
+# - Default: EyeLeftCameraSim
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera = EyeLeftCameraSim
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera: The coordinate system of the right camera
+# Attributes:
+# - Default: EyeRightCameraSim
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera = EyeRightCameraSim
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RedirectStdout = 1
+
+
+# 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: no
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.StartDebuggerOnCrash = 0
+
+
+# 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: no
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.Roboception.cfg b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.Roboception.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7b1795d677727e21a25cf6a9d7c79839deeb89bc
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ImageProviderDynamicSimulationApp.Roboception.cfg
@@ -0,0 +1,243 @@
+# ==================================================================
+# ImageProviderDynamicSimulationApp 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_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
+# - 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.DynamicSimulationImageProvider.CalibrationFile: Camera calibration file, will be made available in the SLICE interface
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.CalibrationFile = ""
+
+
+# ArmarX.DynamicSimulationImageProvider.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.DynamicSimulationImageProvider.EnableProfiling = false
+
+
+# ArmarX.DynamicSimulationImageProvider.FrameRate: Frames per second
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.FrameRate = 30
+
+
+# ArmarX.DynamicSimulationImageProvider.ImageSize: Target resolution of the images. Captured images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 320x240, 640x480, 768x576, 800x600, none}
+ArmarX.DynamicSimulationImageProvider.ImageSize = 800x600
+
+
+# ArmarX.DynamicSimulationImageProvider.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.DynamicSimulationImageProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DynamicSimulationImageProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.ObjectName = RCImageProvider
+
+
+# ArmarX.DynamicSimulationImageProvider.ReferenceFrame: Reference frame in the robot model of this stereo camera system.
+# Attributes:
+# - Default: EyeLeftCameraSim
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DynamicSimulationImageProvider.ReferenceFrame = EyeLeftCameraSim
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotName: The robot
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.RobotName = Armar6
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera: The coordinate system of the left camera
+# Attributes:
+# - Default: EyeLeftCameraSim
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.RobotNodeLeftCamera = FleaCamerasLeftSim
+
+
+# ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera: The coordinate system of the right camera
+# Attributes:
+# - Default: EyeRightCameraSim
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.DynamicSimulationImageProvider.RobotNodeRightCamera = FleaCamerasRightSim
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/ImageSourceSelectionApp.cfg b/scenarios/NavigationSimulation/config/ImageSourceSelectionApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..c10e316b06085b7f7ba4af7839a53248ba70f708
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ImageSourceSelectionApp.cfg
@@ -0,0 +1,253 @@
+# ==================================================================
+# ImageSourceSelectionApp 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_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
+# - 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.ImageSourceSelection.CompressionQuality: Quality of the compression: PNG: 0-9 (9: best compression, but slowest), JPEG: 0-100 (100: best quality)
+# Attributes:
+# - Default: 95
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ImageSourceSelection.CompressionQuality = 95
+
+
+# ArmarX.ImageSourceSelection.CompressionType: Compression algorithms to be used. Values: None, PNG, JPEG
+# Attributes:
+# - Default: None
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {JPEG, JPG, None, PNG}
+# ArmarX.ImageSourceSelection.CompressionType = None
+
+
+# ArmarX.ImageSourceSelection.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.ImageSourceSelection.EnableProfiling = false
+
+
+# ArmarX.ImageSourceSelection.ForceIceTransfer: If set to true, this image processor will always use the Ice transfer for images instead of shared memory.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ImageSourceSelection.ForceIceTransfer = false
+
+
+# ArmarX.ImageSourceSelection.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.ImageSourceSelection.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ImageSourceSelection.NumberOfImages: If set to >0, this number of images will be reported. Otherwise, the number of images of the first image provider will be used.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ImageSourceSelection.NumberOfImages = 0
+
+
+# ArmarX.ImageSourceSelection.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ImageSourceSelection.ObjectName = ""
+
+
+# ArmarX.ImageSourceSelection.TargetDimension:
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {1024x768, 1280x1024, 1280x720, 1280x960, 1600x1200, 1920x1080, 1920x1200, 320x240, 640x480, 768x576, 800x600}
+# ArmarX.ImageSourceSelection.TargetDimension = 640x480
+
+
+# ArmarX.ImageSourceSelection.defaultProviderName: Name of the image provider to be used when no provider is set.
+# Attributes:
+# - Default: RCImageProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ImageSourceSelection.defaultProviderName = RCImageProvider
+
+
+# ArmarX.ImageSourceSelection.providerName: No Description
+# Attributes:
+# - Default: RCImageProvider
+# - Case sensitivity: no
+# - Required: no
+ArmarX.ImageSourceSelection.providerName = RCImageProvider
+
+
+# ArmarX.ImageSourceSelection.resultProviderName: Names of the result image provider
+# Attributes:
+# - Default: Armar3ImageProvider
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ImageSourceSelection.resultProviderName = ScaledRCImageProvider
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/InertialMeasurementUnitObserverApp.cfg b/scenarios/NavigationSimulation/config/InertialMeasurementUnitObserverApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..61dc56f96dd7257a7f404d532feb034d6a172be5
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/InertialMeasurementUnitObserverApp.cfg
@@ -0,0 +1,236 @@
+# ==================================================================
+# InertialMeasurementUnitObserverApp 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_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
+# - 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.InertialMeasurementUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.InertialMeasurementUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.InertialMeasurementUnitObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InertialMeasurementUnitObserver.DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.InertialMeasurementUnitObserver.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.InertialMeasurementUnitObserver.EnableProfiling = false
+
+
+# ArmarX.InertialMeasurementUnitObserver.EnableVisualization: Enable/Disable DebugDrawer visualizations
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.InertialMeasurementUnitObserver.EnableVisualization = true
+
+
+# ArmarX.InertialMeasurementUnitObserver.IMUTopicName: Name of the IMU Topic.
+# Attributes:
+# - Default: IMUValues
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InertialMeasurementUnitObserver.IMUTopicName = IMUValues
+
+
+# ArmarX.InertialMeasurementUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InertialMeasurementUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.InertialMeasurementUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InertialMeasurementUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.InertialMeasurementUnitObserver.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.InertialMeasurementUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.InertialMeasurementUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InertialMeasurementUnitObserver.ObjectName = ""
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/KinematicUnitObserver.cfg b/scenarios/NavigationSimulation/config/KinematicUnitObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..c69c2818c5b2705cc8b5c3c7ae7872366c508702
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/KinematicUnitObserver.cfg
@@ -0,0 +1,249 @@
+# ==================================================================
+# KinematicUnitObserver 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_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
+# - 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.KinematicUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.KinematicUnitObserver.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.KinematicUnitObserver.EnableProfiling = false
+
+
+# ArmarX.KinematicUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.KinematicUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.KinematicUnitObserver.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.KinematicUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.KinematicUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.KinematicUnitObserver.ObjectName = Armar6KinematicUnitObserver
+
+
+# ArmarX.KinematicUnitObserver.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.KinematicUnitObserver.RobotFileName = ::_NOT_SET_::
+
+
+# ArmarX.KinematicUnitObserver.RobotFileNameProject: Project in which the robot filename is located (if robot is loaded from an external project)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitObserver.RobotFileNameProject = ""
+
+
+# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node set name as defined in robot xml file, e.g. 'LeftArm'
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.KinematicUnitObserver.RobotNodeSetName = ::_NOT_SET_::
+
+
+# ArmarX.KinematicUnitObserver.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitObserver.TopicPrefix = ""
+
+
+# ArmarX.KinematicUnitObserver.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.KinematicUnitObserver.inheritFrom = RobotConfig
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/LaserScannerPointCloudProviderApp.cfg b/scenarios/NavigationSimulation/config/LaserScannerPointCloudProviderApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..8bee5ef50dd0aa527ad128d0841524023f0ef135
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/LaserScannerPointCloudProviderApp.cfg
@@ -0,0 +1,218 @@
+# ==================================================================
+# LaserScannerPointCloudProviderApp 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_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
+# - 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.LaserScannerPointCloudProvider.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.LaserScannerPointCloudProvider.EnableProfiling = false
+
+
+# ArmarX.LaserScannerPointCloudProvider.LaserScannerUnitName: The name of the laser scanner provider
+# Attributes:
+# - Default: LaserScannerSimulation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerPointCloudProvider.LaserScannerUnitName = LaserScannerSimulation
+
+
+# ArmarX.LaserScannerPointCloudProvider.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.LaserScannerPointCloudProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.LaserScannerPointCloudProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerPointCloudProvider.ObjectName = ""
+
+
+# ArmarX.LaserScannerPointCloudProvider.RobotStateComponentName: Name of the robot state component that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerPointCloudProvider.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.LaserScannerPointCloudProvider.frameName: name of the source
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerPointCloudProvider.frameName = ""
+
+
+# ArmarX.LaserScannerPointCloudProvider.laser_scanner_topic: Name of the laser scanner topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerPointCloudProvider.laser_scanner_topic = LaserScans
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/LaserScannerSimulation.cfg b/scenarios/NavigationSimulation/config/LaserScannerSimulation.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..ba9fdd7c78b54a4273642181a9442eed98d84db7
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/LaserScannerSimulation.cfg
@@ -0,0 +1,316 @@
+# ==================================================================
+# LaserScannerSimulation 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_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
+# - 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.LaserScannerSimulation.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.LaserScannerSimulation.DebugDrawerTopicName: Visualize the results here.
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.DebugDrawerTopicName = DebugDrawerUpdates
+
+
+# ArmarX.LaserScannerSimulation.Devices: Name of the devices to simulate (e.g. Device1,Device2,Device3)
+# Attributes:
+# - Default: 127.0.0.1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Devices = 127.0.0.1
+
+
+# ArmarX.LaserScannerSimulation.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.LaserScannerSimulation.EnableProfiling = false
+
+
+# ArmarX.LaserScannerSimulation.Frames: Name of the frames to attach the sensor to (e.g. Node1,Node2,Node3)
+# Attributes:
+# - Default: LaserScanner_1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.LaserScannerSimulation.Frames = LaserScannerFront,LaserScannerBack
+
+
+# ArmarX.LaserScannerSimulation.GridCellSize: Size of the grid cells used to generate the occupancy map in mm
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.GridCellSize = 20
+
+
+# ArmarX.LaserScannerSimulation.LaserScannerTopicName: Name of the laser scan topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.LaserScannerTopicName = LaserScans
+
+
+# ArmarX.LaserScannerSimulation.MaxAngles: Maxiumum angles to be reported in rad (e.g 2.35,1.27,3.14)
+# Attributes:
+# - Default: 3.141593
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.MaxAngles = 3.141593
+
+
+# ArmarX.LaserScannerSimulation.MinAngles: Minumum angles to be reported in rad (e.g -2.35,-1.27,0)
+# Attributes:
+# - Default: -3.141593
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.MinAngles = -3.141593
+
+
+# ArmarX.LaserScannerSimulation.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.LaserScannerSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.LaserScannerSimulation.NoiseStdDev: Noise is added to the distance of single steps (e.g 40,30,20)
+# Attributes:
+# - Default: 40.0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.NoiseStdDev = 40.0
+
+
+# ArmarX.LaserScannerSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ObjectName = ""
+
+
+# ArmarX.LaserScannerSimulation.ReportVisuTopicName: The topic on which the visualization updates are published.
+# Attributes:
+# - Default: SimulatorVisuUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ReportVisuTopicName = SimulatorVisuUpdates
+
+
+# ArmarX.LaserScannerSimulation.RobotStateComponentName: Name of the RobotStateComponent to use.
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.LaserScannerSimulation.Steps: Number of single steps (angle, distance) per scan (e.g 1081,360,270)
+# Attributes:
+# - Default: 1081
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Steps = 1081
+
+
+# ArmarX.LaserScannerSimulation.TopicReplayerDummy: Enable to serve the purpose of a topic replayer dummy
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerSimulation.TopicReplayerDummy = false
+
+
+# ArmarX.LaserScannerSimulation.UpdatePeriod: Update period for laser scans in ms
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.UpdatePeriod = 25
+
+
+# ArmarX.LaserScannerSimulation.VisuUpdateFrequency: Visualization update frequency (Hz) for laser scans
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.VisuUpdateFrequency = 10
+
+
+# ArmarX.LaserScannerSimulation.visualization.enable: If enabled, useful information will be visualized in ArViz
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerSimulation.visualization.enable = 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.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
diff --git a/scenarios/NavigationSimulation/config/LaserScannerSimulationApp.cfg b/scenarios/NavigationSimulation/config/LaserScannerSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3be793db7a05bccf8c2da94a322bc11ca2b7e7ed
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/LaserScannerSimulationApp.cfg
@@ -0,0 +1,299 @@
+# ==================================================================
+# LaserScannerSimulationApp 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_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
+# - 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.LaserScannerSimulation.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.LaserScannerSimulation.DebugDrawerTopicName: Visualize the results here.
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.DebugDrawerTopicName = DebugDrawerUpdates
+
+
+# ArmarX.LaserScannerSimulation.Devices: Name of the devices to simulate (e.g. Device1,Device2,Device3)
+# Attributes:
+# - Default: 127.0.0.1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Devices = 127.0.0.1
+
+
+# ArmarX.LaserScannerSimulation.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.LaserScannerSimulation.EnableProfiling = false
+
+
+# ArmarX.LaserScannerSimulation.Frames: Name of the frames to attach the sensor to (e.g. Node1,Node2,Node3)
+# Attributes:
+# - Default: LaserScanner_1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.LaserScannerSimulation.Frames = LaserScannerFront,LaserScannerBack
+
+
+# ArmarX.LaserScannerSimulation.GridCellSize: Size of the grid cells used to generate the occupancy map in mm
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.GridCellSize = 20
+
+
+# ArmarX.LaserScannerSimulation.LaserScannerTopicName: Name of the laser scan topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.LaserScannerTopicName = LaserScans
+
+
+# ArmarX.LaserScannerSimulation.MaxAngles: Maxiumum angles to be reported in rad (e.g 2.35,1.27,3.14)
+# Attributes:
+# - Default: +2.3561945
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.MaxAngles = +2.3561945
+
+
+# ArmarX.LaserScannerSimulation.MinAngles: Minumum angles to be reported in rad (e.g -2.35,-1.27,0)
+# Attributes:
+# - Default: -2.3561945
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.MinAngles = -2.3561945
+
+
+# ArmarX.LaserScannerSimulation.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.LaserScannerSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.LaserScannerSimulation.NoiseStdDev: Noise is added to the distance of single steps (e.g 40,30,20)
+# Attributes:
+# - Default: 40.0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.NoiseStdDev = 40.0
+
+
+# ArmarX.LaserScannerSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ObjectName = ""
+
+
+# ArmarX.LaserScannerSimulation.ReportVisuTopicName: The topic on which the visualization updates are published.
+# Attributes:
+# - Default: SimulatorVisuUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ReportVisuTopicName = SimulatorVisuUpdates
+
+
+# ArmarX.LaserScannerSimulation.RobotStateComponentName: Name of the RobotStateComponent to use.
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.LaserScannerSimulation.Steps: Number of single steps (angle, distance) per scan (e.g 1081,360,270)
+# Attributes:
+# - Default: 1081
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Steps = 1081
+
+
+# ArmarX.LaserScannerSimulation.TopicReplayerDummy: Enable to serve the purpose of a topic replayer dummy
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerSimulation.TopicReplayerDummy = false
+
+
+# ArmarX.LaserScannerSimulation.UpdatePeriod: Update period for laser scans in ms
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.UpdatePeriod = 25
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/LaserScannerSimulationApp.instance1.cfg b/scenarios/NavigationSimulation/config/LaserScannerSimulationApp.instance1.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..f19cb51e3151363d0f08fa861fb2a9e10882cd66
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/LaserScannerSimulationApp.instance1.cfg
@@ -0,0 +1,291 @@
+# ==================================================================
+# LaserScannerSimulationApp 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_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
+# - 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.LaserScannerSimulation.DebugDrawerTopicName: Visualize the results here.
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.DebugDrawerTopicName = DebugDrawerUpdates
+
+
+# ArmarX.LaserScannerSimulation.Devices: Name of the devices to simulate (e.g. Device1,Device2,Device3)
+# Attributes:
+# - Default: 127.0.0.1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Devices = 127.0.0.1
+
+
+# ArmarX.LaserScannerSimulation.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.LaserScannerSimulation.EnableProfiling = false
+
+
+# ArmarX.LaserScannerSimulation.Frames: Name of the frames to attach the sensor to (e.g. Node1,Node2,Node3)
+# Attributes:
+# - Default: LaserScanner_1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Frames = LaserScanner_1
+
+
+# ArmarX.LaserScannerSimulation.GridCellSize: Size of the grid cells used to generate the occupancy map in mm
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.GridCellSize = 20
+
+
+# ArmarX.LaserScannerSimulation.LaserScannerTopicName: Name of the laser scan topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.LaserScannerTopicName = LaserScans
+
+
+# ArmarX.LaserScannerSimulation.MaxAngles: Maxiumum angles to be reported in rad (e.g 2.35,1.27,3.14)
+# Attributes:
+# - Default: +2.3561945
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.MaxAngles = +2.3561945
+
+
+# ArmarX.LaserScannerSimulation.MinAngles: Minumum angles to be reported in rad (e.g -2.35,-1.27,0)
+# Attributes:
+# - Default: -2.3561945
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.MinAngles = -2.3561945
+
+
+# ArmarX.LaserScannerSimulation.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.LaserScannerSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.LaserScannerSimulation.NoiseStdDev: Noise is added to the distance of single steps (e.g 40,30,20)
+# Attributes:
+# - Default: 40.0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.NoiseStdDev = 40.0
+
+
+# ArmarX.LaserScannerSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ObjectName = ""
+
+
+# ArmarX.LaserScannerSimulation.ReportVisuTopicName: The topic on which the visualization updates are published.
+# Attributes:
+# - Default: SimulatorVisuUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.ReportVisuTopicName = SimulatorVisuUpdates
+
+
+# ArmarX.LaserScannerSimulation.RobotStateComponentName: Name of the RobotStateComponent to use.
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.LaserScannerSimulation.Steps: Number of single steps (angle, distance) per scan (e.g 1081,360,270)
+# Attributes:
+# - Default: 1081
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.Steps = 1081
+
+
+# ArmarX.LaserScannerSimulation.TopicReplayerDummy: Enable to serve the purpose of a topic replayer dummy
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerSimulation.TopicReplayerDummy = false
+
+
+# ArmarX.LaserScannerSimulation.UpdatePeriod: Update period for laser scans in ms
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerSimulation.UpdatePeriod = 25
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/LaserScannerUnitObserverApp.cfg b/scenarios/NavigationSimulation/config/LaserScannerUnitObserverApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..591bb1ef4265904f7b3f3492b1d22ef07868580b
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/LaserScannerUnitObserverApp.cfg
@@ -0,0 +1,219 @@
+# ==================================================================
+# LaserScannerUnitObserverApp 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_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
+# - 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.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.LaserScannerUnitObserver.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.LaserScannerUnitObserver.EnableProfiling = false
+
+
+# ArmarX.LaserScannerUnitObserver.LaserScannerTopicName: Name of the laser scan topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.LaserScannerTopicName = LaserScans
+
+
+# ArmarX.LaserScannerUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.LaserScannerUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.LaserScannerUnitObserver.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.LaserScannerUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.LaserScannerUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.ObjectName = ""
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/LongtermMemory.cfg b/scenarios/NavigationSimulation/config/LongtermMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..2c2c1f93c223c6c94f935f75434cbc0ef08b2b06
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/LongtermMemory.cfg
@@ -0,0 +1,265 @@
+# ==================================================================
+# LongtermMemory properties
+# ==================================================================
+
+# MemoryX.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
+# MemoryX.AdditionalPackages = Default value not mapped.
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.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
+# - Required: no
+# MemoryX.CachePath = mongo/.cache
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.Config = ""
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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
+# MemoryX.DefaultPackages = Default value not mapped.
+
+
+# MemoryX.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
+# MemoryX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = false
+
+
+# MemoryX.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}
+# MemoryX.EnableProfiling = false
+
+
+# MemoryX.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
+# MemoryX.LoadLibraries = ""
+
+
+# MemoryX.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
+# MemoryX.LoggingGroup = ""
+
+
+# MemoryX.LongtermMemory.ClassCollections: Comma separated list of MongoDB collections (<db>.<collection>) which store known object classes. First collection will be used for writing.
+# Attributes:
+# - Default: memdb.Longterm_Objects
+# - Case sensitivity: yes
+# - Required: no
+MemoryX.LongtermMemory.ClassCollections = memdb.Longterm_Objects
+
+
+# MemoryX.LongtermMemory.DatabaseName: Mongo database to store LTM data
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+MemoryX.LongtermMemory.DatabaseName = CeBITdb
+
+
+# MemoryX.LongtermMemory.DmpCollection: Mongo collection holding all DMPs
+# Attributes:
+# - Default: dmp
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.DmpCollection = dmp
+
+
+# MemoryX.LongtermMemory.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}
+# MemoryX.LongtermMemory.EnableProfiling = false
+
+
+# MemoryX.LongtermMemory.KbmCollection: Mongo collection holding all KBM instances
+# Attributes:
+# - Default: kbm
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.KbmCollection = kbm
+
+
+# MemoryX.LongtermMemory.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}
+# MemoryX.LongtermMemory.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.LongtermMemory.OacCollection: Mongo collection holding all OACs
+# Attributes:
+# - Default: oacs
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.OacCollection = oacs
+
+
+# MemoryX.LongtermMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.ObjectName = ""
+
+
+# MemoryX.LongtermMemory.PredictionDataCollection: Mongo collection for storing ResourceProfile
+# Attributes:
+# - Default: ltm_predictiondata
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.PredictionDataCollection = ltm_predictiondata
+
+
+# MemoryX.LongtermMemory.ProfilerDataCollection: Mongo collection for storing Profiler data
+# Attributes:
+# - Default: ltm_profilerdata
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.ProfilerDataCollection = ltm_profilerdata
+
+
+# MemoryX.LongtermMemory.ResourceProfileCollection: Mongo collection for storing ResourceProfile
+# Attributes:
+# - Default: ltm_resourceprofiles
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.ResourceProfileCollection = ltm_resourceprofiles
+
+
+# MemoryX.LongtermMemory.SelfLocalisationCollection: Mongo collection for storing self localisation results
+# Attributes:
+# - Default: ltm_selflocalisation
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.SelfLocalisationCollection = ltm_selflocalisation
+
+
+# MemoryX.LongtermMemory.SnapshotListCollection: Mongo collection holding a list of snapshots with corresponding metadata
+# Attributes:
+# - Default: snapshots
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.LongtermMemory.SnapshotListCollection = snapshots
+
+
+# MemoryX.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}
+# MemoryX.RedirectStdout = true
+
+
+# MemoryX.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
+# MemoryX.RemoteHandlesDeletionTimeout = 3000
+
+
+# MemoryX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.SecondsStartupDelay = 0
+
+
+# MemoryX.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}
+# MemoryX.StartDebuggerOnCrash = false
+
+
+# MemoryX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ThreadPoolSize = 1
+
+
+# MemoryX.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
+# MemoryX.TopicSuffix = ""
+
+
+# MemoryX.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}
+# MemoryX.UseTimeServer = false
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/MemoryNameSystem.cfg b/scenarios/NavigationSimulation/config/MemoryNameSystem.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..45422098aede3d7bf879417d7878f42ca679770d
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/MemoryNameSystem.cfg
@@ -0,0 +1,194 @@
+# ==================================================================
+# MemoryNameSystem 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_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
+# - 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.MemoryNameSystem.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.MemoryNameSystem.EnableProfiling = false
+
+
+# ArmarX.MemoryNameSystem.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.MemoryNameSystem.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MemoryNameSystem.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryNameSystem.ObjectName = ""
+
+
+# ArmarX.MemoryNameSystem.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryNameSystem.RemoteGuiName = RemoteGuiProvider
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/MotionPlanningServerApp.cfg b/scenarios/NavigationSimulation/config/MotionPlanningServerApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3eb8ad21862c8680f086c0d7cb8faffe57701bda
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/MotionPlanningServerApp.cfg
@@ -0,0 +1,211 @@
+# ==================================================================
+# MotionPlanningServerApp 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_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
+# - 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.MotionPlanningServer.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.MotionPlanningServer.EnableProfiling = false
+
+
+# ArmarX.MotionPlanningServer.LocalRONCorePerc: Local remote object node core count percentage. (has to be >0; 0.5 => 50%
+# Attributes:
+# - Default: 0.5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MotionPlanningServer.LocalRONCorePerc = 0.5
+
+
+# ArmarX.MotionPlanningServer.LocalRONStart: start a local remote object node if the CSV RemoteObjectNodes is empty
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MotionPlanningServer.LocalRONStart = true
+
+
+# ArmarX.MotionPlanningServer.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.MotionPlanningServer.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MotionPlanningServer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MotionPlanningServer.ObjectName = ""
+
+
+# ArmarX.MotionPlanningServer.RemoteObjectNodes: CSV of RemoteObjectNode names
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MotionPlanningServer.RemoteObjectNodes = ""
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg b/scenarios/NavigationSimulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..fe19c22103ad44db93dda5c65d0639ce0f3b35d2
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ObjectLocalizationDynamicSimulationApp.SegmentableRecognition.cfg
@@ -0,0 +1,227 @@
+# ==================================================================
+# ObjectLocalizationDynamicSimulationApp 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 = SegmentableObjectRecognitionApp
+
+
+# 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
+# - 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.ObjectLocalizerDynamicSimulation.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.ObjectLocalizerDynamicSimulation.EnableProfiling = false
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.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.ObjectLocalizerDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectLocalizerDynamicSimulation.ObjectName = SegmentableObjectRecognition
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.RecognitionCertainty: Certainty of recognition used in simulation (0...1).
+# Attributes:
+# - Default: 0.899999976
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizerDynamicSimulation.RecognitionCertainty = 0.899999976
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.ReferenceFrameName: Name of reference frame to use for pose
+# Attributes:
+# - Default: EyeLeftCamera
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectLocalizerDynamicSimulation.ReferenceFrameName = FleaCamerasLeft
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.RobotName: Name of robot used for calculating reference frame
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectLocalizerDynamicSimulation.RobotName = Armar6
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.SimulatorProxyName: name of dynamics simulator proxy
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizerDynamicSimulation.SimulatorProxyName = Simulator
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.VisibilityCheck: Whether to simulate camera and checking visibility within camera
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectLocalizerDynamicSimulation.VisibilityCheck = false
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/ObjectLocalizationDynamicSimulationApp.TexturedRecognition.cfg b/scenarios/NavigationSimulation/config/ObjectLocalizationDynamicSimulationApp.TexturedRecognition.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..cc2bb2cb077e05bbdb212ec5ecb26ac2b57e6fb5
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ObjectLocalizationDynamicSimulationApp.TexturedRecognition.cfg
@@ -0,0 +1,227 @@
+# ==================================================================
+# ObjectLocalizationDynamicSimulationApp 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 = TexturedObjectRecognitionApp
+
+
+# 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
+# - 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.ObjectLocalizerDynamicSimulation.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.ObjectLocalizerDynamicSimulation.EnableProfiling = false
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.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.ObjectLocalizerDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectLocalizerDynamicSimulation.ObjectName = TexturedObjectRecognition
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.RecognitionCertainty: Certainty of recognition used in simulation (0...1).
+# Attributes:
+# - Default: 0.899999976
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizerDynamicSimulation.RecognitionCertainty = 0.899999976
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.ReferenceFrameName: Name of reference frame to use for pose
+# Attributes:
+# - Default: EyeLeftCamera
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectLocalizerDynamicSimulation.ReferenceFrameName = FleaCamerasLeft
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.RobotName: Name of robot used for calculating reference frame
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectLocalizerDynamicSimulation.RobotName = Armar6
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.SimulatorProxyName: name of dynamics simulator proxy
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizerDynamicSimulation.SimulatorProxyName = Simulator
+
+
+# ArmarX.ObjectLocalizerDynamicSimulation.VisibilityCheck: Whether to simulate camera and checking visibility within camera
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectLocalizerDynamicSimulation.VisibilityCheck = false
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/ObjectLocalizationSaliencyApp.cfg b/scenarios/NavigationSimulation/config/ObjectLocalizationSaliencyApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..9286c876a4651e254d2528264bccfb8f239000ac
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ObjectLocalizationSaliencyApp.cfg
@@ -0,0 +1,290 @@
+# ==================================================================
+# ObjectLocalizationSaliencyApp 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_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
+# - 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.ObjectLocalizationSaliency.CameraFrameName: Name of the frame of the head base in the robot model
+# Attributes:
+# - Default: VirtualCentralGaze
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.CameraFrameName = VirtualCentralGaze
+
+
+# ArmarX.ObjectLocalizationSaliency.CentralHeadTiltAngle: Defines the height direction that will be considered 'central' in the reachable area of the head (in degrees). Default is looking 20 degrees downwards
+# Attributes:
+# - Default: 110
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.CentralHeadTiltAngle = 110
+
+
+# ArmarX.ObjectLocalizationSaliency.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.ObjectLocalizationSaliency.EnableProfiling = false
+
+
+# ArmarX.ObjectLocalizationSaliency.HalfCameraOpeningAngle: 0.5 * minimal opening angles of the used cameras
+# Attributes:
+# - Default: 0.209439516
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.HalfCameraOpeningAngle = 0.209439516
+
+
+# ArmarX.ObjectLocalizationSaliency.HeadFrameName: Name of the frame of the head base in the robot model
+# Attributes:
+# - Default: Head Base
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.HeadFrameName = Head Base
+
+
+# ArmarX.ObjectLocalizationSaliency.HeadIKUnitName: Name of the head IK unit component that should be used
+# Attributes:
+# - Default: HeadIKUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.HeadIKUnitName = HeadIKUnit
+
+
+# ArmarX.ObjectLocalizationSaliency.MaxObjectDistance: Maximum distance of objects the head to be considered for observation
+# Attributes:
+# - Default: 1500
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.MaxObjectDistance = 1500
+
+
+# ArmarX.ObjectLocalizationSaliency.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.ObjectLocalizationSaliency.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ObjectLocalizationSaliency.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.ObjectName = ""
+
+
+# ArmarX.ObjectLocalizationSaliency.PriorKnowledgeName: Name of the PriorKnowledge component that should be used
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.PriorKnowledgeName = PriorKnowledge
+
+
+# ArmarX.ObjectLocalizationSaliency.ProbabilityToLookForALostObject: Probability that one of the objects that have been seen but could later not been localized again will be included in the view selection
+# Attributes:
+# - Default: 0.0299999993
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.ProbabilityToLookForALostObject = 0.0299999993
+
+
+# ArmarX.ObjectLocalizationSaliency.RandomNoiseLevel: Maximum for the random noise that will be added to the localization necessities
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.RandomNoiseLevel = 1
+
+
+# ArmarX.ObjectLocalizationSaliency.RobotStateComponentName: Name of the robot state component that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.ObjectLocalizationSaliency.UpdateFrequency: Frequency of the saliency update
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.UpdateFrequency = 10
+
+
+# ArmarX.ObjectLocalizationSaliency.ViewSelectionName: Name of the ViewSelection component that should be used
+# Attributes:
+# - Default: ViewSelection
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.ViewSelectionName = ViewSelection
+
+
+# ArmarX.ObjectLocalizationSaliency.WorkingMemoryName: Name of the WorkingMemory component that should be used
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectLocalizationSaliency.WorkingMemoryName = WorkingMemory
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/ObjectMemory.cfg b/scenarios/NavigationSimulation/config/ObjectMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..a3ed2baa24decf2fff2e05f6736b502f9d510d55
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ObjectMemory.cfg
@@ -0,0 +1,628 @@
+# ==================================================================
+# 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_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
+# - 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.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.ltm.00_enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.ObjectMemory.ltm.00_enabled = false
+
+
+# ArmarX.ObjectMemory.ltm.10_host:
+# Attributes:
+# - Default: localhost
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.10_host = localhost
+
+
+# ArmarX.ObjectMemory.ltm.11_port:
+# Attributes:
+# - Default: 25270
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.11_port = 25270
+
+
+# ArmarX.ObjectMemory.ltm.20_user:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.20_user = ""
+
+
+# ArmarX.ObjectMemory.ltm.21_password:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.21_password = ""
+
+
+# ArmarX.ObjectMemory.ltm.22_database:
+# Attributes:
+# - Default: Test
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.22_database = Test
+
+
+# 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.CoreSegmentName: Name of the object clazz core segment.
+# Attributes:
+# - Default: Class
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.CoreSegmentName = Class
+
+
+# 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.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.MaxHistorySize = -1
+
+
+# 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.inst.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Instance
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.CoreSegmentName = Instance
+
+
+# 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.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = 25
+
+
+# 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 snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
+# You can also specify paths relative to 'Package/scenes/'.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003
+
+
+# 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.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.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
diff --git a/scenarios/NavigationSimulation/config/ObjectMemoryObserver.cfg b/scenarios/NavigationSimulation/config/ObjectMemoryObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1a593781c267e52c8cf2d6fa17fd1a381ea5ca27
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ObjectMemoryObserver.cfg
@@ -0,0 +1,235 @@
+# ==================================================================
+# ObjectMemoryObserver properties
+# ==================================================================
+
+# MemoryX.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
+# MemoryX.AdditionalPackages = Default value not mapped.
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.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
+# - Required: no
+# MemoryX.CachePath = mongo/.cache
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.Config = ""
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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
+# MemoryX.DefaultPackages = Default value not mapped.
+
+
+# MemoryX.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
+# MemoryX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = false
+
+
+# MemoryX.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}
+# MemoryX.EnableProfiling = false
+
+
+# MemoryX.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
+# MemoryX.LoadLibraries = ""
+
+
+# MemoryX.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
+# MemoryX.LoggingGroup = ""
+
+
+# MemoryX.ObjectMemoryObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.ObjectMemoryObserver.CreateUpdateFrequenciesChannel = false
+
+
+# MemoryX.ObjectMemoryObserver.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}
+# MemoryX.ObjectMemoryObserver.EnableProfiling = false
+
+
+# MemoryX.ObjectMemoryObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ObjectMemoryObserver.MaxHistoryRecordFrequency = 50
+
+
+# MemoryX.ObjectMemoryObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ObjectMemoryObserver.MaxHistorySize = 5000
+
+
+# MemoryX.ObjectMemoryObserver.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}
+# MemoryX.ObjectMemoryObserver.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.ObjectMemoryObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ObjectMemoryObserver.ObjectName = ""
+
+
+# MemoryX.ObjectMemoryObserver.PriorKnowledgeProxy: Proxy of PriorKnowledge
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ObjectMemoryObserver.PriorKnowledgeProxy = PriorKnowledge
+
+
+# MemoryX.ObjectMemoryObserver.WorkingMemoryListenerTopic: Topic for working memory updates
+# Attributes:
+# - Default: WorkingMemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ObjectMemoryObserver.WorkingMemoryListenerTopic = WorkingMemoryUpdates
+
+
+# MemoryX.ObjectMemoryObserver.WorkingMemoryProxy: Proxy of working memory
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ObjectMemoryObserver.WorkingMemoryProxy = WorkingMemory
+
+
+# MemoryX.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}
+# MemoryX.RedirectStdout = true
+
+
+# MemoryX.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
+# MemoryX.RemoteHandlesDeletionTimeout = 3000
+
+
+# MemoryX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.SecondsStartupDelay = 0
+
+
+# MemoryX.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}
+# MemoryX.StartDebuggerOnCrash = false
+
+
+# MemoryX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ThreadPoolSize = 1
+
+
+# MemoryX.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
+# MemoryX.TopicSuffix = ""
+
+
+# MemoryX.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}
+# MemoryX.UseTimeServer = false
+
+
+# MemoryX.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}
+MemoryX.Verbosity = Verbose
diff --git a/scenarios/NavigationSimulation/config/ObstacleAvoidingPlatformUnit.cfg b/scenarios/NavigationSimulation/config/ObstacleAvoidingPlatformUnit.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..e783a1069f5998c43b8bd6cc5edffcaeed9322c2
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ObstacleAvoidingPlatformUnit.cfg
@@ -0,0 +1,338 @@
+# ==================================================================
+# ObstacleAvoidingPlatformUnit 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_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
+# - 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.ObstacleAvoidingPlatformUnit.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.DebugObserverTopicName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.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.ObstacleAvoidingPlatformUnit.EnableProfiling = false
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.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.ObstacleAvoidingPlatformUnit.MinimumLoggingLevel = Debug
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.ObjectName = ObstacleAvoidingPlatformUnit
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.PlatformName: Name of the platform (will publish values on PlatformName + 'State')
+# Attributes:
+# - Default: Platform
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.PlatformName = ObstacleAvoidingPlatform
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.RemoteStateComponentName: Name of the robot state component
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.RemoteStateComponentName = RobotStateComponent
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.adaptive_max_vel_exponent: Adaptive max vel exponent. This throttles the max_vel adaptively depending on the angle between target velocity and modulated velocity. 0 = disable.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.adaptive_max_vel_exponent = 1.2
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.cmp.ObstacleAvoidance: Ice object name of the `ObstacleAvoidance` component.
+# Attributes:
+# - Default: PlatformObstacleAvoidance
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.cmp.ObstacleAvoidance = PlatformObstacleAvoidance
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.cmp.PlatformUnit: Ice object name of the `PlatformUnit` component.
+# Attributes:
+# - Default: Platform
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.cmp.PlatformUnit = Armar6PlatformUnit
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.cmp.RobotStateComponent: Ice object name of the `RobotStateComponent` component.
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.cmp.RobotStateComponent = RobotStateComponent
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.control.pos.kp:
+# Attributes:
+# - Default: 3.5
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.control.pos.kp = 3.5
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.control.pose.cycle_time: Control loop cycle time.
+# Attributes:
+# - Default: 10 ms
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.control.pose.cycle_time = 10 ms
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.control.rot.kd:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.control.rot.kd = 0.0
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.control.rot.ki:
+# Attributes:
+# - Default: 9.00000014e-05
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.control.rot.ki = 0.00009
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.control.rot.kp:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.control.rot.kp = 1.0
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.doa.agent_safety_margin:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObstacleAvoidingPlatformUnit.doa.agent_safety_margin = 0.0
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.min_vel_general: Velocity in [mm/s] the robot should at least set on general
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.min_vel_general = 100
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.min_vel_near_target: Velocity in [mm/s] the robot should at least set when near the target
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.min_vel_near_target = 50
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.pos_near_threshold: Distance in [mm] after which the robot is considered to be near the target for min velocity, smoothing, etc.
+# Attributes:
+# - Default: 250
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.pos_near_threshold = 250
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.tpc.pub.GlobalRobotPoseLocalization: Name of the `GlobalRobotPoseLocalization` topic to publish data to.
+# Attributes:
+# - Default: GlobalRobotPoseLocalization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.tpc.pub.GlobalRobotPoseLocalization = GlobalRobotPoseLocalization
+
+
+# ArmarX.ObstacleAvoidingPlatformUnit.tpc.pub.Odometry: Name of the `Odometry` topic to publish data to.
+# Attributes:
+# - Default: Odometry
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObstacleAvoidingPlatformUnit.tpc.pub.Odometry = Odometry
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/PlatformUnitDynamicSimulationApp.cfg b/scenarios/NavigationSimulation/config/PlatformUnitDynamicSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7f0876e6022a99e6660b81f97a1442ffd2cd681f
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/PlatformUnitDynamicSimulationApp.cfg
@@ -0,0 +1,242 @@
+# ==================================================================
+# PlatformUnitDynamicSimulationApp 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: no
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - 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: no
+# - 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: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.PlatformUnit.AngularAccelerationMax: Maximum Angular Acceleration (unit: rad/sec^2
+# Attributes:
+# - Default: 1.89999998
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.AngularAccelerationMax = 1.89999998
+
+
+# ArmarX.PlatformUnit.AngularVelocityMax: Maximum Angular velocity of the platform (unit: rad/sec).
+# Attributes:
+# - Default: 0.800000012
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.AngularVelocityMax = 0.800000012
+
+
+# ArmarX.PlatformUnit.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.EnableProfiling = 0
+
+
+# ArmarX.PlatformUnit.IntervalMs: The time in milliseconds between two calls to the simulation method.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.IntervalMs = 100
+
+
+# ArmarX.PlatformUnit.LinearAccelerationMax: Maximum Linear Acceleration (unit: m/sec^2
+# Attributes:
+# - Default: 0.899999976
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.LinearAccelerationMax = 0.899999976
+
+
+# ArmarX.PlatformUnit.LinearVelocityMax: Maximum Linear velocity of the platform (unit: m/sec).
+# Attributes:
+# - Default: 1.5
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.LinearVelocityMax = 1.5
+
+
+# ArmarX.PlatformUnit.LinearVelocityMin: Minimum Linear velocity of the platform (unit: m/sec).
+# Attributes:
+# - Default: 0.5
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.LinearVelocityMin = 0.5
+
+
+# ArmarX.PlatformUnit.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.PlatformUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.ObjectName = ""
+
+
+# ArmarX.PlatformUnit.PlatformName: Name of the Platform node to use.
+# Attributes:
+# - Default: Platform
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.PlatformName = Platform
+
+
+# ArmarX.PlatformUnit.PlatformOrientationOffset: Rotation offset of the platform (unit: rad).
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.PlatformOrientationOffset = 0
+
+
+# ArmarX.PlatformUnit.RobotName: Name of the Robot to use.
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: no
+# - Required: no
+ArmarX.PlatformUnit.RobotName = Armar6
+
+
+# ArmarX.PlatformUnit.SimulatorProxyName: Name of the simulator proxy to use.
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.SimulatorProxyName = Simulator
+
+
+# ArmarX.PlatformUnit.WorkingMemoryName: Name of the WorkingMemory that should be used
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.PlatformUnit.WorkingMemoryName = WorkingMemory
+
+
+# ArmarX.PlatformUnit.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.PlatformUnit.inheritFrom = RobotConfig
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RedirectStdout = 1
+
+
+# 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: no
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.StartDebuggerOnCrash = 0
+
+
+# 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: no
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/PlatformUnitObserver.cfg b/scenarios/NavigationSimulation/config/PlatformUnitObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3d93293bce470bf17bf2501a31be6bb9b5c879c0
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/PlatformUnitObserver.cfg
@@ -0,0 +1,219 @@
+# ==================================================================
+# PlatformUnitObserver 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_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
+# - 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.PlatformUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.PlatformUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.PlatformUnitObserver.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.PlatformUnitObserver.EnableProfiling = false
+
+
+# ArmarX.PlatformUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.PlatformUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.PlatformUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.PlatformUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.PlatformUnitObserver.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.PlatformUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.PlatformUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.PlatformUnitObserver.ObjectName = ""
+
+
+# ArmarX.PlatformUnitObserver.PlatformName: Name of the platform (will publish values on PlatformName + 'State')
+# Attributes:
+# - Default: Platform
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.PlatformUnitObserver.PlatformName = Platform
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/PriorKnowledge.cfg b/scenarios/NavigationSimulation/config/PriorKnowledge.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..45fa68ef610a4ffd3533392ddb5036e7e949b7cd
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/PriorKnowledge.cfg
@@ -0,0 +1,209 @@
+# ==================================================================
+# PriorKnowledge properties
+# ==================================================================
+
+# MemoryX.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
+# MemoryX.AdditionalPackages = Default value not mapped.
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.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
+# - Required: no
+# MemoryX.CachePath = mongo/.cache
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.Config = ""
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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
+# MemoryX.DefaultPackages = Default value not mapped.
+
+
+# MemoryX.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
+# MemoryX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = false
+
+
+# MemoryX.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}
+# MemoryX.EnableProfiling = false
+
+
+# MemoryX.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
+# MemoryX.LoadLibraries = ""
+
+
+# MemoryX.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
+# MemoryX.LoggingGroup = ""
+
+
+# MemoryX.PriorKnowledge.ClassCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store known object classes. First collection will be used for writing.
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+MemoryX.PriorKnowledge.ClassCollections = CeBITdb.Prior_CeBIT
+
+
+# MemoryX.PriorKnowledge.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}
+# MemoryX.PriorKnowledge.EnableProfiling = false
+
+
+# MemoryX.PriorKnowledge.GraphCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store graphs. First collection will be used for writing.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+MemoryX.PriorKnowledge.GraphCollections = CeBITdb.Prior_CeBITGraphs
+
+
+# MemoryX.PriorKnowledge.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}
+# MemoryX.PriorKnowledge.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.PriorKnowledge.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.PriorKnowledge.ObjectName = ""
+
+
+# MemoryX.PriorKnowledge.RelationCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store known object classes relations. First collection will be used for writing.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.PriorKnowledge.RelationCollections = ""
+
+
+# MemoryX.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}
+# MemoryX.RedirectStdout = true
+
+
+# MemoryX.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
+# MemoryX.RemoteHandlesDeletionTimeout = 3000
+
+
+# MemoryX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.SecondsStartupDelay = 0
+
+
+# MemoryX.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}
+# MemoryX.StartDebuggerOnCrash = false
+
+
+# MemoryX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ThreadPoolSize = 1
+
+
+# MemoryX.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
+# MemoryX.TopicSuffix = ""
+
+
+# MemoryX.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}
+# MemoryX.UseTimeServer = false
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/ProfilerObserverApp.cfg b/scenarios/NavigationSimulation/config/ProfilerObserverApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..cb1fd43c11b2f862c85aaf6370645402e6402e5d
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ProfilerObserverApp.cfg
@@ -0,0 +1,211 @@
+# ==================================================================
+# ProfilerObserverApp 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_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
+# - 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.ProfilerObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ProfilerObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.ProfilerObserver.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.ProfilerObserver.EnableProfiling = false
+
+
+# ArmarX.ProfilerObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ProfilerObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.ProfilerObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ProfilerObserver.MaxHistorySize = 5000
+
+
+# ArmarX.ProfilerObserver.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.ProfilerObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ProfilerObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ProfilerObserver.ObjectName = ""
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/RemoteGuiProviderApp.cfg b/scenarios/NavigationSimulation/config/RemoteGuiProviderApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..c2e8702ce7a95465e4270105de825cbee4aa602a
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RemoteGuiProviderApp.cfg
@@ -0,0 +1,194 @@
+# ==================================================================
+# RemoteGuiProviderApp 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_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
+# - 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.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.RemoteGuiProvider.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.RemoteGuiProvider.EnableProfiling = false
+
+
+# ArmarX.RemoteGuiProvider.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.RemoteGuiProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RemoteGuiProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.ObjectName = ""
+
+
+# ArmarX.RemoteGuiProvider.TopicName: Name of the topic on which updates to the remote state are reported.
+# Attributes:
+# - Default: RemoteGuiTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.TopicName = RemoteGuiTopic
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/RobotHandLocalizationDynamicSimulationApp.cfg b/scenarios/NavigationSimulation/config/RobotHandLocalizationDynamicSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..d20a460af4dc7005eb40bff5bd99aa7869eb6203
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RobotHandLocalizationDynamicSimulationApp.cfg
@@ -0,0 +1,226 @@
+# ==================================================================
+# RobotHandLocalizationDynamicSimulationApp 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_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
+# - 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.HandMarkerLocalization.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.HandMarkerLocalization.EnableProfiling = false
+
+
+# ArmarX.HandMarkerLocalization.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.HandMarkerLocalization.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandMarkerLocalization.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandMarkerLocalization.ObjectName = ""
+
+
+# ArmarX.HandMarkerLocalization.ReferenceFrameName: Sets the reference frame name of the pose provided by this recognizer. Must be a frame name known in Pose from the robot model.
+# Attributes:
+# - Default: EyeLeftCamera
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HandMarkerLocalization.ReferenceFrameName = FleaCamerasLeft
+
+
+# ArmarX.HandMarkerLocalization.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandMarkerLocalization.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.HandMarkerLocalization.SimulatorName: Name of the simulator component that should be used
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HandMarkerLocalization.SimulatorName = Simulator
+
+
+# ArmarX.HandMarkerLocalization.TCPNameLeft: Name of the TCP of the left robot hand.
+# Attributes:
+# - Default: TCP L
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HandMarkerLocalization.TCPNameLeft = Hand L TCP
+
+
+# ArmarX.HandMarkerLocalization.TCPNameRight: Name of the TCP of the right robot hand.
+# Attributes:
+# - Default: TCP R
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.HandMarkerLocalization.TCPNameRight = Hand R TCP
+
+
+# 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.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
diff --git a/scenarios/NavigationSimulation/config/RobotIK.cfg b/scenarios/NavigationSimulation/config/RobotIK.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..ce913c2d92df5cce7266a83477ad3dd321399c0e
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RobotIK.cfg
@@ -0,0 +1,233 @@
+# ==================================================================
+# RobotIK 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_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
+# - 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.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.RobotIK.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.RobotIK.EnableProfiling = false
+
+
+# ArmarX.RobotIK.InitialReachabilitySpaces: Reachability spaces to load initially (semi-colon separated)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotIK.InitialReachabilitySpaces = ""
+
+
+# ArmarX.RobotIK.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.RobotIK.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotIK.NumIKTrials: Number of trials to find an ik solution
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotIK.NumIKTrials = 10
+
+
+# ArmarX.RobotIK.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotIK.ObjectName = ""
+
+
+# ArmarX.RobotIK.ReachabilitySpacesFolder:
+# Attributes:
+# - Default: Path to a folder containing reachability spaces
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotIK.ReachabilitySpacesFolder = Path to a folder containing reachability spaces
+
+
+# ArmarX.RobotIK.RobotFileName: Filename of VirtualRobot robot model (e.g. robot_model.xml)
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.RobotIK.RobotFileName = ::_NOT_SET_::
+
+
+# ArmarX.RobotIK.RobotStateComponentName: Name of the robot state component that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotIK.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.RobotIK.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.RobotIK.inheritFrom = RobotConfig
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/RobotStateComponent.cfg b/scenarios/NavigationSimulation/config/RobotStateComponent.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..de799891d653584a40cf5f8d11cb45a1e2ca2083
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RobotStateComponent.cfg
@@ -0,0 +1,322 @@
+# ==================================================================
+# RobotStateComponent 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_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
+# - 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.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.RobotStateComponent.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.RobotStateComponent.AgentName = ::_NOT_SET_::
+
+
+# ArmarX.RobotStateComponent.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.RobotStateComponent.EnableProfiling = false
+
+
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName: Topic where the global robot pose can be reported.
+# Attributes:
+# - Default: GlobalRobotPoseLocalization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName = GlobalRobotPoseLocalization
+
+
+# ArmarX.RobotStateComponent.HistoryLength: Number of entries in the robot state history
+# Attributes:
+# - Default: 10000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.HistoryLength = 10000
+
+
+# ArmarX.RobotStateComponent.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.RobotStateComponent.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStateComponent.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.ObjectName = ""
+
+
+# ArmarX.RobotStateComponent.PlatformTopicName: Topic where platform state is published.
+# Attributes:
+# - Default: PlatformState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.PlatformTopicName = PlatformState
+
+
+# ArmarX.RobotStateComponent.RobotFileName: Filename of VirtualRobot robot model (e.g. robot_model.xml)
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.RobotStateComponent.RobotFileName = ::_NOT_SET_::
+
+
+# ArmarX.RobotStateComponent.RobotModelScaling: Scaling of the robot model
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.RobotModelScaling = 1
+
+
+# ArmarX.RobotStateComponent.RobotNodeSetName: Set of nodes that is controlled by the KinematicUnit
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.RobotStateComponent.RobotNodeSetName = ::_NOT_SET_::
+
+
+# ArmarX.RobotStateComponent.RobotStateReportingTopic: Name of the topic on which updates of the robot state are reported.
+# Attributes:
+# - Default: RobotStateUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.RobotStateReportingTopic = RobotStateUpdates
+
+
+# ArmarX.RobotStateComponent.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.TopicPrefix = ""
+
+
+# ArmarX.RobotStateComponent.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.RobotStateComponent.inheritFrom = RobotConfig
+
+
+# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.RobotStateObserver.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.RobotStateObserver.EnableProfiling = false
+
+
+# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.RobotStateObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.MaxHistorySize = 5000
+
+
+# ArmarX.RobotStateObserver.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.RobotStateObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStateObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.ObjectName = ""
+
+
+# ArmarX.RobotStateObserver.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateObserver.TCPsToReport = Hand R TCP, Hand L TCP,VirtualCentralGaze
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/RobotStateMemory.cfg b/scenarios/NavigationSimulation/config/RobotStateMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..a286fdac0a7245d6ac3b8effc2a2fcd6068f0434
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RobotStateMemory.cfg
@@ -0,0 +1,389 @@
+# ==================================================================
+# RobotStateMemory 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_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
+# - 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.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.RobotStateMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.RobotStateMemory.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.RobotStateMemory.EnableProfiling = false
+
+
+# ArmarX.RobotStateMemory.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.RobotStateMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStateMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateMemory.ObjectName = RobotState
+
+
+# ArmarX.RobotStateMemory.RobotUnit.ConfigPath: Specify a configuration file to group the sensor values specifically.
+# Attributes:
+# - Default: NO CONFIG SET
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.RobotUnit.ConfigPath = NO CONFIG SET
+
+
+# ArmarX.RobotStateMemory.RobotUnit.MemoryBatchSize: The size of the entity snapshot to send to the memory. Min is 1
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateMemory.RobotUnit.MemoryBatchSize = 1
+
+
+# ArmarX.RobotStateMemory.RobotUnit.SensorValuePrefix: Prefix of all sensor values
+# Attributes:
+# - Default: sens.*
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.RobotUnit.SensorValuePrefix = sens.*
+
+
+# ArmarX.RobotStateMemory.RobotUnit.UpdateFrequency: The frequency in Hz to store values. All other values get discarded. Min is 1, max is 100
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.RobotUnit.UpdateFrequency = 50
+
+
+# ArmarX.RobotStateMemory.RobotUnitName: Name of the RobotUnit
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.RobotStateMemory.RobotUnitName = Armar6Unit
+
+
+# ArmarX.RobotStateMemory.ltm.00_enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.ltm.00_enabled = true
+
+
+# ArmarX.RobotStateMemory.ltm.10_host:
+# Attributes:
+# - Default: localhost
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ltm.10_host = localhost
+
+
+# ArmarX.RobotStateMemory.ltm.11_port:
+# Attributes:
+# - Default: 25270
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ltm.11_port = 25270
+
+
+# ArmarX.RobotStateMemory.ltm.20_user:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ltm.20_user = ""
+
+
+# ArmarX.RobotStateMemory.ltm.21_password:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ltm.21_password = ""
+
+
+# ArmarX.RobotStateMemory.ltm.22_database:
+# Attributes:
+# - Default: Test
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ltm.22_database = Test
+
+
+# ArmarX.RobotStateMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.MemoryName = RobotState
+
+
+# ArmarX.RobotStateMemory.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.RobotStateMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.RobotStateMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.RobotStateMemory.seg.description.CoreSegment: Name of the robot description core segment.
+# Attributes:
+# - Default: Description
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.seg.description.CoreSegment = Description
+
+
+# ArmarX.RobotStateMemory.seg.description.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateMemory.seg.description.MaxHistorySize = 3000
+
+
+# ArmarX.RobotStateMemory.seg.localization.CoreSegment: Name of the object instance core segment.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.seg.localization.CoreSegment = Localization
+
+
+# ArmarX.RobotStateMemory.seg.localization.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateMemory.seg.localization.MaxHistorySize = 3000
+
+
+# ArmarX.RobotStateMemory.seg.proprioception.CoreSegment: Name of the object instance core segment.
+# Attributes:
+# - Default: Proprioception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.seg.proprioception.CoreSegment = Proprioception
+
+
+# ArmarX.RobotStateMemory.seg.proprioception.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateMemory.seg.proprioception.MaxHistorySize = 3000
+
+
+# ArmarX.RobotStateMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.RobotStateMemory.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.tpc.sub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.RobotStateMemory.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.RobotStateMemory.visu.enabled = true
+
+
+# ArmarX.RobotStateMemory.visu.frequenzyHz: Frequency of visualization.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.visu.frequenzyHz = 25
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/RobotToArVizApp.cfg b/scenarios/NavigationSimulation/config/RobotToArVizApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..5cbee932b18936869255b2e7d7a4ceb06c3e478c
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RobotToArVizApp.cfg
@@ -0,0 +1,236 @@
+# ==================================================================
+# RobotToArVizApp 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_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
+# - 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.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.RobotToArViz.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.RobotToArViz.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.RobotToArViz.EnableProfiling = false
+
+
+# ArmarX.RobotToArViz.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.RobotToArViz.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotToArViz.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.ObjectName = ""
+
+
+# ArmarX.RobotToArViz.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.RobotToArViz.RemoteStateComponentName: Name of the robot state component
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.RemoteStateComponentName = RobotStateComponent
+
+
+# ArmarX.RobotToArViz.ShowRobotNodeFrames: If true, show frames of robot nodes (can be changed in RemoteGui).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotToArViz.ShowRobotNodeFrames = false
+
+
+# ArmarX.RobotToArViz.UseCollisionModel: Use the collision model for visualization
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotToArViz.UseCollisionModel = false
+
+
+# ArmarX.RobotToArViz.updateFrequency: Target number of updates per second.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.updateFrequency = 100
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/RobotUnitSimulationApp.cfg b/scenarios/NavigationSimulation/config/RobotUnitSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..b02cf2081dbe42c47c641bd02cbe6728e1000e4c
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/RobotUnitSimulationApp.cfg
@@ -0,0 +1,827 @@
+# ==================================================================
+# RobotUnitSimulationApp 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_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
+# - 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.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.RobotUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.RobotUnitObserver.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.RobotUnitObserver.EnableProfiling = false
+
+
+# ArmarX.RobotUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.RobotUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.RobotUnitObserver.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.RobotUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitObserver.ObjectName = ""
+
+
+# ArmarX.RobotUnitSimulation.AdditionalObjectSchedulerCount: Number of ObjectSchedulers to be added
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.AdditionalObjectSchedulerCount = 10
+
+
+# ArmarX.RobotUnitSimulation.AggregatedRobotHealthTopicName: Name of the AggregatedRobotHealthTopic
+# Attributes:
+# - Default: AggregatedRobotHealthTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.AggregatedRobotHealthTopicName = AggregatedRobotHealthTopic
+
+
+# ArmarX.RobotUnitSimulation.ControlDevices_HardwareControlModeGroups: Groups of control devices for which the same hardware control mode has to be set. For a control mode, the JointControllers of all devices in a group must have the identical hardware control mode. The kinematic unit will change the control mode of all joints in a group, if their current hw control mode does not match the new hw control mode. This can be used if the robot has a multi DOF joint which is represented by multiple 1DOF control devices (in such a case all of these 1DOF joints should have the same hw control mode, except he multi DOF joint can handle different control modes at once). Syntax: semicolon separated groups , each group is CSV of joints e.g. j1,j2;j3,j4,j5 -> Group 1 = j1+j2 Group 2 = j3+j4+j5; No joint may be in two groups!
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.ControlDevices_HardwareControlModeGroups = ""
+
+
+# ArmarX.RobotUnitSimulation.ControlIterationMs: Time each iteration should take (in ms)
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.ControlIterationMs = 10
+
+
+# ArmarX.RobotUnitSimulation.CreateTCPControlUnit: If true the TCPControl SubUnit is created and added
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.RobotUnitSimulation.CreateTCPControlUnit = 1
+
+
+# ArmarX.RobotUnitSimulation.CreateTrajectoryPlayer: If true the TrajectoryPlayer SubUnit is created and added
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.RobotUnitSimulation.CreateTrajectoryPlayer = 1
+
+
+# ArmarX.RobotUnitSimulation.DebugDrawerUpdatesTopicName: The topic receiving events for debug drawing
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.DebugDrawerUpdatesTopicName = DebugDrawerUpdates
+
+
+# ArmarX.RobotUnitSimulation.DebugObserverTopicName: The topic where updates are send to
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.RobotUnitSimulation.EmergencyStopMasterName: The name used to register as an EmergencyStopMaster
+# Attributes:
+# - Default: EmergencyStopMaster
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.EmergencyStopMasterName = EmergencyStopMaster
+
+
+# ArmarX.RobotUnitSimulation.EmergencyStopTopic: The name of the topic over which changes of the emergencyStopState are sent.
+# Attributes:
+# - Default: EmergencyStop
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.EmergencyStopTopic = EmergencyStop
+
+
+# ArmarX.RobotUnitSimulation.EnableInverseDynamics: If true, inverse dynamics are calculated for all joints given in the InverseDynamicsRobotJointSets property during each loop of the rt control thread.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotUnitSimulation.EnableInverseDynamics = false
+
+
+# ArmarX.RobotUnitSimulation.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.RobotUnitSimulation.EnableProfiling = false
+
+
+# ArmarX.RobotUnitSimulation.ForceTorqueSensorMapping: A list of mappings to modify the forceTorque sensors given in the robot format. Syntax (comma SV of colon SV): 'NameInFile:ReportName[:ReportFrame],NameInFile2:ReportName2[:ReportFrame2]' This would cause reporting of the ft sensor called 'NameInFile' under the name 'ReportName' and optionally change the report frame to 'ReportFrame'. IMPORTANT: (1) The original reporting frame of the simulator has to be the parent node of 'NameInFile'. (2) The transformation from the original reporting frame to 'ReportFrame' should be fix (there should be no joints in the kinematic chain between them), since the transformation is done without access to the joint values
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.ForceTorqueSensorMapping = ""
+
+
+# ArmarX.RobotUnitSimulation.ForceTorqueTopicName: Name of the topic on which the force torque sensor values are provided
+# Attributes:
+# - Default: ForceTorqueValues
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.ForceTorqueTopicName = ForceTorqueValues
+
+
+# ArmarX.RobotUnitSimulation.ForceTorqueUnitName: The name of the created force troque unit (empty = default)
+# Attributes:
+# - Default: ForceTorqueUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.ForceTorqueUnitName = ForceTorqueUnit
+
+
+# ArmarX.RobotUnitSimulation.HeartbeatMaxCycleMS: The heartbeats cycle time
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.HeartbeatMaxCycleMS = 99999999
+
+
+# ArmarX.RobotUnitSimulation.HeartbeatRequired: Whether the Heatbeat is required.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.RobotUnitSimulation.HeartbeatRequired = 0
+
+
+# ArmarX.RobotUnitSimulation.HeartbeatStartupMarginMS: Startup time for heartbeats
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.HeartbeatStartupMarginMS = 99999999
+
+
+# ArmarX.RobotUnitSimulation.IMUTopicName: Name of the IMU Topic.
+# Attributes:
+# - Default: IMUValues
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.IMUTopicName = IMUValues
+
+
+# ArmarX.RobotUnitSimulation.InertialMeasurementUnitName: The name of the created inertial measurement unit (empty = default)
+# Attributes:
+# - Default: InertialMeasurementUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.InertialMeasurementUnitName = InertialMeasurementUnit
+
+
+# ArmarX.RobotUnitSimulation.InverseDynamicsRobotBodySet: Robot nodeset of which the masses should be used for the inverse dynamics
+# Attributes:
+# - Default: RobotCol
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.InverseDynamicsRobotBodySet = RobotCol
+
+
+# ArmarX.RobotUnitSimulation.InverseDynamicsRobotJointSets: Comma separated list of robot nodesets for which the inverse dynamics should be calculcated.
+# Attributes:
+# - Default: LeftArm,RightArm
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.InverseDynamicsRobotJointSets = PlatformRightArm
+
+
+# ArmarX.RobotUnitSimulation.KinematicUnitName: The name of the created kinematic unit
+# Attributes:
+# - Default: KinematicUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.KinematicUnitName = KinematicUnit
+
+
+# ArmarX.RobotUnitSimulation.KinematicUnitNameTopicPrefix: Prefix for the kinematic sensor values topic
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.KinematicUnitNameTopicPrefix = ""
+
+
+# ArmarX.RobotUnitSimulation.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.RobotUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotUnitSimulation.NjointController_AllowedExecutionTimePerControlDeviceUntilError: An Error will be printed, If the execution time in micro seconds of a NJointControllerBase exceeds this parameter times the number of ControlDevices.
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.NjointController_AllowedExecutionTimePerControlDeviceUntilError = 2000
+
+
+# ArmarX.RobotUnitSimulation.NjointController_AllowedExecutionTimePerControlDeviceUntilWarning: A Warning will be printed, If the execution time in micro seconds of a NJointControllerBase exceeds this parameter times the number of ControlDevices.
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.NjointController_AllowedExecutionTimePerControlDeviceUntilWarning = 2000
+
+
+# ArmarX.RobotUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.ObjectName = Armar6Unit
+
+
+# ArmarX.RobotUnitSimulation.ObserverPrintEveryNthIterations: Only every nth iteration data is send to the debug observer
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.ObserverPrintEveryNthIterations = 1
+
+
+# ArmarX.RobotUnitSimulation.ObserverPublishAdditionalInformation: Whether additional information are send to the observer
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotUnitSimulation.ObserverPublishAdditionalInformation = true
+
+
+# ArmarX.RobotUnitSimulation.ObserverPublishControlTargets: Whether control targets are send to the observer
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotUnitSimulation.ObserverPublishControlTargets = true
+
+
+# ArmarX.RobotUnitSimulation.ObserverPublishSensorValues: Whether sensor values are send to the observer
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotUnitSimulation.ObserverPublishSensorValues = true
+
+
+# ArmarX.RobotUnitSimulation.ObserverPublishTimingInformation: Whether timing information are send to the observer
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotUnitSimulation.ObserverPublishTimingInformation = true
+
+
+# ArmarX.RobotUnitSimulation.PlatformInstanceName: Name of the platform instance (will publish values on PlatformInstanceName + 'State')
+# Attributes:
+# - Default: Platform
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.PlatformInstanceName = Platform
+
+
+# ArmarX.RobotUnitSimulation.PlatformName: Name of the platform needs to correspond to a node in the virtual robot.
+# Attributes:
+# - Default: Platform
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.PlatformName = Platform
+
+
+# ArmarX.RobotUnitSimulation.PlatformUnitName: The name of the created platform unit
+# Attributes:
+# - Default: PlatformUnit
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotUnitSimulation.PlatformUnitName = Armar6PlatformUnit
+
+
+# ArmarX.RobotUnitSimulation.PublishPeriodMs: Milliseconds between each publish
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.PublishPeriodMs = 10
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_DefaultLog: If rt logging is active and a file path is given, all data is logged to this file.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_DefaultLog = ""
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_KeepIterationsForMs: All logging data (SensorValues, ControlTargets, Messages) is keept for this duration and can be dunped in case of an error.
+# Attributes:
+# - Default: 60000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_KeepIterationsForMs = 60000
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_MaxMessageBufferSize: Max number of bytes that can be logged in the control thread
+# Attributes:
+# - Default: 16777216
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_MaxMessageBufferSize = 16777216
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_MaxMessageNumber: Max number of messages that can be logged in the control thread
+# Attributes:
+# - Default: 16000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_MaxMessageNumber = 16000
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_MessageBufferSize: Number of bytes that can be logged in the control thread
+# Attributes:
+# - Default: 1048576
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_MessageBufferSize = 1048576
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_MessageNumber: Number of messages that can be logged in the control thread
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_MessageNumber = 1000
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_PeriodMs: Period of the rt-logging thread in milliseconds. A high period can cause spikes in disk activity if data is logged to disk. A low period causes more computation overhead and memory consumption. Must not be 0.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_PeriodMs = 10
+
+
+# ArmarX.RobotUnitSimulation.RTLogging_StreamingDataMaxClientConnectionFailures: If sending data to a client fails this often, the client is removed from the list
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RTLogging_StreamingDataMaxClientConnectionFailures = 10
+
+
+# ArmarX.RobotUnitSimulation.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.RobotUnitSimulation.RobotFileName = ::_NOT_SET_::
+
+
+# ArmarX.RobotUnitSimulation.RobotFileNameProject: Project in which the robot filename is located (if robot is loaded from an external project)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RobotFileNameProject = ""
+
+
+# ArmarX.RobotUnitSimulation.RobotName: Override robot name if you want to load multiple robots of the same type
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RobotName = ""
+
+
+# ArmarX.RobotUnitSimulation.RobotNodeSetName: Robot node set name as defined in robot xml file, e.g. 'LeftArm'
+# Attributes:
+# - Default: Robot
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RobotNodeSetName = Robot
+
+
+# ArmarX.RobotUnitSimulation.RobotUnitListenerTopicName: The topic receiving events for RobotUnitListener
+# Attributes:
+# - Default: RobotUnitListenerTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.RobotUnitListenerTopicName = RobotUnitListenerTopic
+
+
+# ArmarX.RobotUnitSimulation.SelfCollisionCheck_Frequency: Frequency [Hz] of self collision checking (default = 10). If set to 0, no cllisions will be checked.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.SelfCollisionCheck_Frequency = 10
+
+
+# ArmarX.RobotUnitSimulation.SelfCollisionCheck_MinSelfDistance: Minimum allowed distance (mm) between each collision model before entering emergency stop (default = 20).
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.SelfCollisionCheck_MinSelfDistance = 20
+
+
+# ArmarX.RobotUnitSimulation.SelfCollisionCheck_ModelGroupsToCheck: Comma seperated list of groups (two or more) of collision models (RobotNodeSets or RobotNodes) that should be checked against each other by collision avoidance
+# (e.g. {rnsColModel1,rnsColModel2};{rnsColModel3,rnsColModel4}; .... says that rnsColModel1 will be only checked against rnsColModel2 and rnsColModel3 will only be checked against rnsColModel4).
+# Following predefined descriptors can be used: 'FLOOR' which represents a virtual collision model of the floor.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.SelfCollisionCheck_ModelGroupsToCheck = ""
+
+
+# ArmarX.RobotUnitSimulation.SimulatorForceTorqueListenerInterfaceTopic: Name of the simulator topic for SimulatorForceTorqueListenerInterface
+# Attributes:
+# - Default: ForceTorqueDynamicSimulationValues
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.SimulatorForceTorqueListenerInterfaceTopic = ForceTorqueDynamicSimulationValues
+
+
+# ArmarX.RobotUnitSimulation.SimulatorName: Name of the simulator component that should be used
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.SimulatorName = Simulator
+
+
+# ArmarX.RobotUnitSimulation.SimulatorRobotListenerInterfaceTopic: Name of the simulator topic for SimulatorRobotListenerInterface (empty defaults to Simulator_Robot_<ROBOTNAME>
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.SimulatorRobotListenerInterfaceTopic = ""
+
+
+# ArmarX.RobotUnitSimulation.SynchronizedSimulation: If the simulation should be synchronized
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.RobotUnitSimulation.SynchronizedSimulation = 0
+
+
+# ArmarX.RobotUnitSimulation.TCPControlUnitName: Name of the TCPControlUnit.
+# Attributes:
+# - Default: TCPControlUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.TCPControlUnitName = TCPControlUnit
+
+
+# ArmarX.RobotUnitSimulation.TrajectoryControllerUnitName: Name of the TrajectoryControllerUnit. The respective component outside of the RobotUnit is TrajectoryPlayer
+# Attributes:
+# - Default: TrajectoryPlayer
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotUnitSimulation.TrajectoryControllerUnitName = TrajectoryPlayer
+
+
+# ArmarX.RobotUnitSimulation.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.RobotUnitSimulation.inheritFrom = RobotConfig
+
+
+# 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 = 1
+
+
+# ArmarX.TCPControlUnit.AvoidJointLimitsKp: Proportional gain value of P-Controller for joint limit avoidance
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.AvoidJointLimitsKp = 1
+
+
+# ArmarX.TCPControlUnit.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.TCPControlUnit.EnableProfiling = false
+
+
+# ArmarX.TCPControlUnit.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.TCPControlUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.ObjectName = ""
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ThreadPoolSize = 10
+
+
+# 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.TrajectoryPlayer.CustomRootNode: If this value is set, the root pose of the motion is set for this node instead of the root joint.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.CustomRootNode = ""
+
+
+# ArmarX.TrajectoryPlayer.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.TrajectoryPlayer.EnableProfiling = false
+
+
+# ArmarX.TrajectoryPlayer.EnableRobotPoseUnit: Specify whether RobotPoseUnit should be used to move the robot's position. Only useful in simulation.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.TrajectoryPlayer.EnableRobotPoseUnit = false
+
+
+# ArmarX.TrajectoryPlayer.Kd: Differential gain value of PID Controller
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.Kd = 0
+
+
+# ArmarX.TrajectoryPlayer.Ki: Integral gain value of PID Controller
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.Ki = 0
+
+
+# ArmarX.TrajectoryPlayer.KinematicUnitName: Name of the KinematicUnit. Only needed for returning to zeroFramePose while resetting.
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.TrajectoryPlayer.KinematicUnitName = ::_NOT_SET_::
+
+
+# ArmarX.TrajectoryPlayer.Kp: Proportional gain value of PID Controller
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.Kp = 1
+
+
+# ArmarX.TrajectoryPlayer.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.TrajectoryPlayer.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TrajectoryPlayer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.ObjectName = ""
+
+
+# ArmarX.TrajectoryPlayer.RobotPoseUnitName: Name of the RobotPoseUnit to which the robot position should be sent
+# Attributes:
+# - Default: RobotPoseUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.RobotPoseUnitName = RobotPoseUnit
+
+
+# ArmarX.TrajectoryPlayer.absMaximumVelocity: The PID will never set a velocity above this threshold (degree/s)
+# Attributes:
+# - Default: 80
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TrajectoryPlayer.absMaximumVelocity = 80
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/SegmentableObjectRecognition.cfg b/scenarios/NavigationSimulation/config/SegmentableObjectRecognition.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..04d936405ca56ff32fbdf9472c34ee2bae2c5551
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/SegmentableObjectRecognition.cfg
@@ -0,0 +1,349 @@
+# ==================================================================
+# SegmentableObjectRecognition properties
+# ==================================================================
+
+# VisionX.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
+# VisionX.AdditionalPackages = Default value not mapped.
+
+
+# VisionX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.ApplicationName = ""
+
+
+# VisionX.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
+# - Required: no
+# VisionX.CachePath = mongo/.cache
+
+
+# VisionX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.Config = ""
+
+
+# VisionX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.DataPath = ""
+
+
+# VisionX.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
+# VisionX.DefaultPackages = Default value not mapped.
+
+
+# VisionX.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
+# VisionX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# VisionX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.DisableLogging = false
+
+
+# VisionX.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}
+# VisionX.EnableProfiling = false
+
+
+# VisionX.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
+# VisionX.LoadLibraries = ""
+
+
+# VisionX.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
+# VisionX.LoggingGroup = ""
+
+
+# VisionX.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}
+# VisionX.RedirectStdout = true
+
+
+# VisionX.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
+# VisionX.RemoteHandlesDeletionTimeout = 3000
+
+
+# VisionX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SecondsStartupDelay = 0
+
+
+# VisionX.SegmentableObjectRecognition.2DLocalizationNoise: 2D localization noise of object recognition. Used in order to calculate the 3D world localization noise.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.2DLocalizationNoise = 4
+
+
+# VisionX.SegmentableObjectRecognition.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# VisionX.SegmentableObjectRecognition.AgentName = ::_NOT_SET_::
+
+
+# VisionX.SegmentableObjectRecognition.CalibrationUpdateTopicName: Topic name of the stereo calibration provider
+# Attributes:
+# - Default: StereoCalibrationInterface
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.CalibrationUpdateTopicName = StereoCalibrationInterface
+
+
+# VisionX.SegmentableObjectRecognition.ColorParameterFile: The color parameter file configures the colors used for segmentable recognition (usually colors.txt)
+# Attributes:
+# - Default: VisionX/examples/colors.txt
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.ColorParameterFile = VisionX/examples/colors.txt
+
+
+# VisionX.SegmentableObjectRecognition.CompressionQuality: Quality of the compression: PNG: 0-9 (9: best compression, but slowest), JPEG: 0-100 (100: best quality)
+# Attributes:
+# - Default: 95
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.CompressionQuality = 95
+
+
+# VisionX.SegmentableObjectRecognition.CompressionType: Compression algorithms to be used. Values: None, PNG, JPEG
+# Attributes:
+# - Default: None
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {JPEG, JPG, None, PNG}
+# VisionX.SegmentableObjectRecognition.CompressionType = None
+
+
+# VisionX.SegmentableObjectRecognition.CorrelationThreshold:
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.CorrelationThreshold = 0.699999988
+
+
+# VisionX.SegmentableObjectRecognition.DataBaseObjectCollectionName: name of collection from database to use for object classes
+# Attributes:
+# - Default: memdb.Prior_Objects
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.DataBaseObjectCollectionName = memdb.Prior_Objects
+
+
+# VisionX.SegmentableObjectRecognition.DebugObserverName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.DebugObserverName = DebugObserver
+
+
+# VisionX.SegmentableObjectRecognition.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}
+# VisionX.SegmentableObjectRecognition.EnableProfiling = false
+
+
+# VisionX.SegmentableObjectRecognition.EnableResultImages: Enable the calculation of resultimages which are then provided using an ImageProvider
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableObjectRecognition.EnableResultImages = true
+
+
+# VisionX.SegmentableObjectRecognition.ForceIceTransfer: If set to true, this image processor will always use the Ice transfer for images instead of shared memory.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableObjectRecognition.ForceIceTransfer = false
+
+
+# VisionX.SegmentableObjectRecognition.ImageProviderName: name of the image provider to use
+# Attributes:
+# - Default: ImageProvider
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.ImageProviderName = ImageProvider
+
+
+# VisionX.SegmentableObjectRecognition.MaxEpipolarDistance: Maximum epipolar line distance allowed for a valid 3D recognition result
+# Attributes:
+# - Default: 6
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.MaxEpipolarDistance = 6
+
+
+# VisionX.SegmentableObjectRecognition.MaxPoint: max point for valid result bounding box
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.MaxPoint = Default value not mapped.
+
+
+# VisionX.SegmentableObjectRecognition.MinPixelsPerRegion: Minimum number of pixels per region for detecting a uniformly colored object
+# Attributes:
+# - Default: 200
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.MinPixelsPerRegion = 200
+
+
+# VisionX.SegmentableObjectRecognition.MinPoint: min point for valid result bounding box
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.MinPoint = Default value not mapped.
+
+
+# VisionX.SegmentableObjectRecognition.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}
+# VisionX.SegmentableObjectRecognition.MinimumLoggingLevel = Undefined
+
+
+# VisionX.SegmentableObjectRecognition.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.ObjectName = ""
+
+
+# VisionX.SegmentableObjectRecognition.PriorKnowledgeProxyName: name of prior memory proxy
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.PriorKnowledgeProxyName = PriorKnowledge
+
+
+# VisionX.SegmentableObjectRecognition.SizeRatioThreshold:
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.SizeRatioThreshold = 0.699999988
+
+
+# VisionX.SegmentableObjectRecognition.colorMask: image color that should be used as alpha channel
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableObjectRecognition.colorMask = Default value not mapped.
+
+
+# VisionX.SegmentableObjectRecognition.useResultImageMask: Use a color mask for the result images if set. Otherwise the camera images are used
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableObjectRecognition.useResultImageMask = false
+
+
+# VisionX.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}
+# VisionX.StartDebuggerOnCrash = false
+
+
+# VisionX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.ThreadPoolSize = 1
+
+
+# VisionX.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
+# VisionX.TopicSuffix = ""
+
+
+# VisionX.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}
+# VisionX.UseTimeServer = false
+
+
+# VisionX.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}
+# VisionX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/SegmentableTemplateRecognition.cfg b/scenarios/NavigationSimulation/config/SegmentableTemplateRecognition.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..e86b85433145356ab5697fb346b3356a3abb10bc
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/SegmentableTemplateRecognition.cfg
@@ -0,0 +1,374 @@
+# ==================================================================
+# SegmentableTemplateRecognition properties
+# ==================================================================
+
+# VisionX.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
+# VisionX.AdditionalPackages = Default value not mapped.
+
+
+# VisionX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.ApplicationName = ""
+
+
+# VisionX.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
+# - Required: no
+# VisionX.CachePath = mongo/.cache
+
+
+# VisionX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.Config = ""
+
+
+# VisionX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.DataPath = ""
+
+
+# VisionX.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
+# VisionX.DefaultPackages = Default value not mapped.
+
+
+# VisionX.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
+# VisionX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# VisionX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.DisableLogging = false
+
+
+# VisionX.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}
+# VisionX.EnableProfiling = false
+
+
+# VisionX.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
+# VisionX.LoadLibraries = ""
+
+
+# VisionX.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
+# VisionX.LoggingGroup = ""
+
+
+# VisionX.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}
+# VisionX.RedirectStdout = true
+
+
+# VisionX.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
+# VisionX.RemoteHandlesDeletionTimeout = 3000
+
+
+# VisionX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SecondsStartupDelay = 0
+
+
+# VisionX.SegmentableTemplateRecognition.2DLocalizationNoise: 2D localization noise of object recognition. Used in order to calculate the 3D world localization noise.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.2DLocalizationNoise = 4
+
+
+# VisionX.SegmentableTemplateRecognition.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+VisionX.SegmentableTemplateRecognition.AgentName = Armar6
+
+
+# VisionX.SegmentableTemplateRecognition.CalibrationUpdateTopicName: Topic name of the stereo calibration provider
+# Attributes:
+# - Default: StereoCalibrationInterface
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.CalibrationUpdateTopicName = StereoCalibrationInterface
+
+
+# VisionX.SegmentableTemplateRecognition.ColorParameterFile: The color parameter file configures the colors used for segmentable recognition (usually colors.txt)
+# Attributes:
+# - Default: VisionX/examples/cebit-colors.txt
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.ColorParameterFile = VisionX/examples/cebit-colors.txt
+
+
+# VisionX.SegmentableTemplateRecognition.CompressionQuality: Quality of the compression: PNG: 0-9 (9: best compression, but slowest), JPEG: 0-100 (100: best quality)
+# Attributes:
+# - Default: 95
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.CompressionQuality = 95
+
+
+# VisionX.SegmentableTemplateRecognition.CompressionType: Compression algorithms to be used. Values: None, PNG, JPEG
+# Attributes:
+# - Default: None
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {JPEG, JPG, None, PNG}
+# VisionX.SegmentableTemplateRecognition.CompressionType = None
+
+
+# VisionX.SegmentableTemplateRecognition.CorrelationThreshold:
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.CorrelationThreshold = 0.699999988
+
+
+# VisionX.SegmentableTemplateRecognition.DataBaseObjectCollectionName: name of collection from database to use for object classes
+# Attributes:
+# - Default: memdb.Prior_Objects
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.DataBaseObjectCollectionName = memdb.Prior_Objects
+
+
+# VisionX.SegmentableTemplateRecognition.DebugObserverName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.DebugObserverName = DebugObserver
+
+
+# VisionX.SegmentableTemplateRecognition.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}
+# VisionX.SegmentableTemplateRecognition.EnableProfiling = false
+
+
+# VisionX.SegmentableTemplateRecognition.EnableResultImages: Enable the calculation of resultimages which are then provided using an ImageProvider
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableTemplateRecognition.EnableResultImages = true
+
+
+# VisionX.SegmentableTemplateRecognition.ForceIceTransfer: If set to true, this image processor will always use the Ice transfer for images instead of shared memory.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableTemplateRecognition.ForceIceTransfer = false
+
+
+# VisionX.SegmentableTemplateRecognition.ImageProviderName: name of the image provider to use
+# Attributes:
+# - Default: ImageProvider
+# - Case sensitivity: yes
+# - Required: no
+VisionX.SegmentableTemplateRecognition.ImageProviderName = RCImageProvider
+
+
+# VisionX.SegmentableTemplateRecognition.MaxEpipolarDistance: Maximum epipolar line distance allowed for a valid 3D recognition result
+# Attributes:
+# - Default: 12
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.MaxEpipolarDistance = 12
+
+
+# VisionX.SegmentableTemplateRecognition.MaxPoint: max point for valid result bounding box
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.MaxPoint = Default value not mapped.
+
+
+# VisionX.SegmentableTemplateRecognition.MinPixelsPerRegion: Minimum number of pixels per region for detecting a uniformly colored object
+# Attributes:
+# - Default: 6000
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.MinPixelsPerRegion = 6000
+
+
+# VisionX.SegmentableTemplateRecognition.MinPoint: min point for valid result bounding box
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.MinPoint = Default value not mapped.
+
+
+# VisionX.SegmentableTemplateRecognition.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}
+# VisionX.SegmentableTemplateRecognition.MinimumLoggingLevel = Undefined
+
+
+# VisionX.SegmentableTemplateRecognition.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.ObjectName = ""
+
+
+# VisionX.SegmentableTemplateRecognition.PriorKnowledgeProxyName: name of prior memory proxy
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.PriorKnowledgeProxyName = PriorKnowledge
+
+
+# VisionX.SegmentableTemplateRecognition.SingleInstance:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableTemplateRecognition.SingleInstance = true
+
+
+# VisionX.SegmentableTemplateRecognition.SizeRatioThreshold:
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.SizeRatioThreshold = 0.699999988
+
+
+# VisionX.SegmentableTemplateRecognition.TemplateMatchThreshold:
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.TemplateMatchThreshold = 0.699999988
+
+
+# VisionX.SegmentableTemplateRecognition.TemplatePath:
+# Attributes:
+# - Default: VisionX/templates
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.TemplatePath = VisionX/templates
+
+
+# VisionX.SegmentableTemplateRecognition.colorMask: image color that should be used as alpha channel
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SegmentableTemplateRecognition.colorMask = Default value not mapped.
+
+
+# VisionX.SegmentableTemplateRecognition.useResultImageMask: Use a color mask for the result images if set. Otherwise the camera images are used
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.SegmentableTemplateRecognition.useResultImageMask = false
+
+
+# VisionX.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}
+# VisionX.StartDebuggerOnCrash = false
+
+
+# VisionX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.ThreadPoolSize = 1
+
+
+# VisionX.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
+# VisionX.TopicSuffix = ""
+
+
+# VisionX.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}
+# VisionX.UseTimeServer = false
+
+
+# VisionX.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}
+# VisionX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg b/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..cb20a2f66469e6f959c04609237554aa22ac8a8c
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg
@@ -0,0 +1,359 @@
+# ==================================================================
+# SelfLocalizationDynamicSimulationApp 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_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
+# - 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.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.SelfLocalizationDynamicSimulation.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.SelfLocalizationDynamicSimulation.EnableProfiling = false
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.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.SelfLocalizationDynamicSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.ObjectName = ""
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.RobotName:
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.SelfLocalizationDynamicSimulation.RobotName = Armar6
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.armem.update: If enabled, updates ArMem
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SelfLocalizationDynamicSimulation.armem.update = true
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.armem.update_frequency:
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.armem.update_frequency = 1000
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.cmp.Simulator: Ice object name of the `Simulator` component.
+# Attributes:
+# - Default: Simulator
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.cmp.Simulator = Simulator
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.cmp.WorkingMemory: Ice object name of the `WorkingMemory` component.
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.cmp.WorkingMemory = WorkingMemory
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.cycleTime:
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.cycleTime = 30
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory: Ice object name of the `LongtermMemory` component.
+# Attributes:
+# - Default: LongtermMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory = LongtermMemory
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.retrieve_initial_pose:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.retrieve_initial_pose = false
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.update: If enabled, updates the global pose in the longterm memory
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.update = true
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.update_frequency:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory.update_frequency = 1
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SelfLocalizationDynamicSimulation.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.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.SelfLocalizationDynamicSimulation.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.robot_state_component: The name of the RobotStateComponent. Used to get local transformation of laser scanners
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.robot_state_component = RobotStateComponent
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.GlobalRobotPoseLocalization: Name of the `GlobalRobotPoseLocalization` topic to publish data to.
+# Attributes:
+# - Default: GlobalRobotPoseLocalization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.GlobalRobotPoseLocalization = GlobalRobotPoseLocalization
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.LaserScannerSelfLocalisation: Name of the `LaserScannerSelfLocalisation` topic to publish data to.
+# Attributes:
+# - Default: LaserScannerSelfLocalisation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.LaserScannerSelfLocalisation = LaserScannerSelfLocalisation
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.PlatformUnit: Name of the `PlatformUnit` topic to publish data to.
+# Attributes:
+# - Default: PlatformUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.PlatformUnit = PlatformUnit
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.tpc.sub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.working_memory.update: If enabled, updates the global pose in the working memory
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SelfLocalizationDynamicSimulation.working_memory.update = true
+
+
+# ArmarX.SelfLocalizationDynamicSimulation.working_memory.update_frequency:
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SelfLocalizationDynamicSimulation.working_memory.update_frequency = 50
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/SimulatorApp.cfg b/scenarios/NavigationSimulation/config/SimulatorApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7bb27ae4119dbff4d25ee0204de660e3ebf897bc
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/SimulatorApp.cfg
@@ -0,0 +1,943 @@
+# ==================================================================
+# SimulatorApp 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_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
+# - 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.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.Simulator.CommonStorageName: Name of CommonStorage
+# Attributes:
+# - Default: CommonStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.CommonStorageName = CommonStorage
+
+
+# ArmarX.Simulator.DrawCoMVisu: If true the CoM of each robot is drawn as a circle on the ground after each simulation cycle.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.DrawCoMVisu = true
+
+
+# ArmarX.Simulator.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.Simulator.EnableProfiling = false
+
+
+# ArmarX.Simulator.FixedObjects: Fixate objects or parts of a robot in the world. Comma separated list.
+# Define objects by their name, robots can be defined with robotName:RobotNodeName
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.FixedObjects = ""
+
+
+# ArmarX.Simulator.FixedTimeStepLoopNrSteps: The maximum number of internal simulation loops (fixed time step mode).
+# After max number of time steps, the remaining time is interpolated.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.FixedTimeStepLoopNrSteps = 10
+
+
+# ArmarX.Simulator.FixedTimeStepStepTimeMS: The simulation's internal timestep (fixed time step mode).
+# This property determines the precision of the simulation.
+# Needs to be set to bigger values for slow PCs, but the simulation results might be bad. Smaller value for higher precision, but slower calculation.
+# Attributes:
+# - Default: 16
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.FixedTimeStepStepTimeMS = 16
+
+
+# ArmarX.Simulator.FloorPlane: Enable floor plane.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.FloorPlane = true
+
+
+# ArmarX.Simulator.FloorTexture: Texture file for floor.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.FloorTexture = ""
+
+
+# ArmarX.Simulator.InitialRobotConfig: Initial robot config as comma separated list (RobotNodeName:value)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Simulator.InitialRobotConfig = ArmR5_Elb1:1.57, ArmL5_Elb1:1.57
+
+
+# ArmarX.Simulator.InitialRobotConfig_0: Initial robot config as comma separated list (RobotNodeName:value)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotConfig_0 = ""
+
+
+# ArmarX.Simulator.InitialRobotConfig_1: Initial robot config as comma separated list (RobotNodeName:value)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotConfig_1 = ""
+
+
+# ArmarX.Simulator.InitialRobotConfig_2: Initial robot config as comma separated list (RobotNodeName:value)
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotConfig_2 = ""
+
+
+# ArmarX.Simulator.InitialRobotPose.pitch: Initial robot pose: pitch component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.pitch = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.pitch_0: Initial robot pose: pitch component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.pitch_0 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.pitch_1: Initial robot pose: pitch component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.pitch_1 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.pitch_2: Initial robot pose: pitch component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.pitch_2 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.roll: Initial robot pose: roll component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.roll = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.roll_0: Initial robot pose: roll component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.roll_0 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.roll_1: Initial robot pose: roll component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.roll_1 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.roll_2: Initial robot pose: roll component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.roll_2 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.x: x component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Simulator.InitialRobotPose.x = 1300
+
+
+# ArmarX.Simulator.InitialRobotPose.x_0: x component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.x_0 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.x_1: x component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.x_1 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.x_2: x component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.x_2 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.y: y component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Simulator.InitialRobotPose.y = -300
+
+
+# ArmarX.Simulator.InitialRobotPose.y_0: y component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.y_0 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.y_1: y component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.y_1 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.y_2: y component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.y_2 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.yaw: Initial robot pose: yaw component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Simulator.InitialRobotPose.yaw = 1.57
+
+
+# ArmarX.Simulator.InitialRobotPose.yaw_0: Initial robot pose: yaw component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Simulator.InitialRobotPose.yaw_0 = 3.14
+
+
+# ArmarX.Simulator.InitialRobotPose.yaw_1: Initial robot pose: yaw component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.yaw_1 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.yaw_2: Initial robot pose: yaw component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.yaw_2 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.z: z component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.z = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.z_0: z component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.z_0 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.z_1: z component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.z_1 = 0
+
+
+# ArmarX.Simulator.InitialRobotPose.z_2: z component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.InitialRobotPose.z_2 = 0
+
+
+# ArmarX.Simulator.LoadAgentsFromSnapshot: Also load the agents from the snapshot into the WorkingMemory
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.LoadAgentsFromSnapshot = false
+
+
+# ArmarX.Simulator.LoadSnapshotToWorkingMemory: Load the snapshot also into the WorkingMemory
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.LoadSnapshotToWorkingMemory = true
+
+
+# ArmarX.Simulator.LogRobot: Enable robot logging. If true, the complete robot state is logged to a file each step.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.LogRobot = false
+
+
+# ArmarX.Simulator.LongtermMemory.SnapshotName: Name of snapshot to load the scene
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Simulator.LongtermMemory.SnapshotName = Snapshot_R003_2021_02_251
+
+
+# ArmarX.Simulator.LongtermMemoryName: Name of LongtermMemory
+# Attributes:
+# - Default: LongtermMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.LongtermMemoryName = LongtermMemory
+
+
+# ArmarX.Simulator.MaxRealTime: If not zero and the real time mode is off, the simulator will not run
+# faster than real-time * MaxRealTime even if the machine is fast enough
+# (a sleep is inserted to slow down the simulator - the precision remains unchanged).
+# If set to 2, the simulator will not run faster than double speed.
+# If set to 0.5, the simulator will not run faster than half speed.
+# If set to 0, the simulator will run as fast as possible.
+#
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.MaxRealTime = 1
+
+
+# ArmarX.Simulator.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.Simulator.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.Simulator.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.ObjectName = ""
+
+
+# ArmarX.Simulator.PriorKnowledgeName: Name of PriorKnowledge
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.PriorKnowledgeName = PriorKnowledge
+
+
+# ArmarX.Simulator.RealTimeMode: If true the timestep is adjusted to the computing power of the host and
+# the time progress in real time. Can result in bad results on slow PCs.
+# The property StepTimeMS has then no effect. FixedTimeStepStepTimeMS needs
+# to be adjusted if real time cannot be achieved on slower PCs.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RealTimeMode = false
+
+
+# ArmarX.Simulator.ReportDataFrequency: How often should the robot data be published. Value is given in Hz. (0 to disable)
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.ReportDataFrequency = 30
+
+
+# ArmarX.Simulator.ReportRobotPose: Report the global robot pose.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.ReportRobotPose = false
+
+
+# ArmarX.Simulator.ReportVisuFrequency: How often should the visualization data be published. Value is given in Hz. (0 to disable)
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.ReportVisuFrequency = 30
+
+
+# ArmarX.Simulator.ReportVisuTopicName: The topic on which the visualization updates are published.
+# Attributes:
+# - Default: SimulatorVisuUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.ReportVisuTopicName = SimulatorVisuUpdates
+
+
+# ArmarX.Simulator.RobotCollisionModel: Show the collision model of the robot.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotCollisionModel = false
+
+
+# ArmarX.Simulator.RobotCollisionModel_0: Show the collision model of the robot.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotCollisionModel_0 = false
+
+
+# ArmarX.Simulator.RobotCollisionModel_1: Show the collision model of the robot.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotCollisionModel_1 = false
+
+
+# ArmarX.Simulator.RobotCollisionModel_2: Show the collision model of the robot.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotCollisionModel_2 = false
+
+
+# ArmarX.Simulator.RobotControllerPID.d: Setup robot controllers: PID paramter d.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.d = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.d_0: Setup robot controllers: PID paramter d.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.d_0 = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.d_1: Setup robot controllers: PID paramter d.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.d_1 = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.d_2: Setup robot controllers: PID paramter d.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.d_2 = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.i: Setup robot controllers: PID paramter i.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.i = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.i_0: Setup robot controllers: PID paramter i.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.i_0 = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.i_1: Setup robot controllers: PID paramter i.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.i_1 = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.i_2: Setup robot controllers: PID paramter i.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.i_2 = 0
+
+
+# ArmarX.Simulator.RobotControllerPID.p: Setup robot controllers: PID paramter p.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.p = 10
+
+
+# ArmarX.Simulator.RobotControllerPID.p_0: Setup robot controllers: PID paramter p.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.p_0 = 10
+
+
+# ArmarX.Simulator.RobotControllerPID.p_1: Setup robot controllers: PID paramter p.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.p_1 = 10
+
+
+# ArmarX.Simulator.RobotControllerPID.p_2: Setup robot controllers: PID paramter p.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotControllerPID.p_2 = 10
+
+
+# ArmarX.Simulator.RobotFileName: Simox/VirtualRobot robot file name, e.g. robot_model.xml
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotFileName = ""
+
+
+# ArmarX.Simulator.RobotFileName_0: Simox/VirtualRobot robot file name, e.g. robot_model.xml
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotFileName_0 = ""
+
+
+# ArmarX.Simulator.RobotFileName_1: Simox/VirtualRobot robot file name, e.g. robot_model.xml
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotFileName_1 = ""
+
+
+# ArmarX.Simulator.RobotFileName_2: Simox/VirtualRobot robot file name, e.g. robot_model.xml
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotFileName_2 = ""
+
+
+# ArmarX.Simulator.RobotInstanceName: Name of this robot instance
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotInstanceName = ""
+
+
+# ArmarX.Simulator.RobotInstanceName_0: Name of this robot instance
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotInstanceName_0 = ""
+
+
+# ArmarX.Simulator.RobotInstanceName_1: Name of this robot instance
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotInstanceName_1 = ""
+
+
+# ArmarX.Simulator.RobotInstanceName_2: Name of this robot instance
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotInstanceName_2 = ""
+
+
+# ArmarX.Simulator.RobotIsStatic: A static robot does not move due to the physical environment (i.e. no gravity).
+# It is a static (but kinematic) object in the world.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotIsStatic = false
+
+
+# ArmarX.Simulator.RobotIsStatic_0: A static robot does not move due to the physical environment (i.e. no gravity).
+# It is a static (but kinematic) object in the world.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotIsStatic_0 = false
+
+
+# ArmarX.Simulator.RobotIsStatic_1: A static robot does not move due to the physical environment (i.e. no gravity).
+# It is a static (but kinematic) object in the world.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotIsStatic_1 = false
+
+
+# ArmarX.Simulator.RobotIsStatic_2: A static robot does not move due to the physical environment (i.e. no gravity).
+# It is a static (but kinematic) object in the world.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotIsStatic_2 = false
+
+
+# ArmarX.Simulator.RobotScaling: Scaling of the robot (1 = no scaling).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotScaling = 1
+
+
+# ArmarX.Simulator.RobotScaling_0: Scaling of the robot (1 = no scaling).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotScaling_0 = 1
+
+
+# ArmarX.Simulator.RobotScaling_1: Scaling of the robot (1 = no scaling).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotScaling_1 = 1
+
+
+# ArmarX.Simulator.RobotScaling_2: Scaling of the robot (1 = no scaling).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.RobotScaling_2 = 1
+
+
+# ArmarX.Simulator.RobotSelfCollisions: If false, the robot bodies will not collide with other bodies of this
+# robot but with all other bodies in the world.
+# If true, the robot bodies will collide with all other bodies
+# (This needs an accurately modelled robot model without self collisions
+# if the robot does not move.)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotSelfCollisions = false
+
+
+# ArmarX.Simulator.RobotSelfCollisions_0: If false, the robot bodies will not collide with other bodies of this
+# robot but with all other bodies in the world.
+# If true, the robot bodies will collide with all other bodies
+# (This needs an accurately modelled robot model without self collisions
+# if the robot does not move.)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotSelfCollisions_0 = false
+
+
+# ArmarX.Simulator.RobotSelfCollisions_1: If false, the robot bodies will not collide with other bodies of this
+# robot but with all other bodies in the world.
+# If true, the robot bodies will collide with all other bodies
+# (This needs an accurately modelled robot model without self collisions
+# if the robot does not move.)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotSelfCollisions_1 = false
+
+
+# ArmarX.Simulator.RobotSelfCollisions_2: If false, the robot bodies will not collide with other bodies of this
+# robot but with all other bodies in the world.
+# If true, the robot bodies will collide with all other bodies
+# (This needs an accurately modelled robot model without self collisions
+# if the robot does not move.)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Simulator.RobotSelfCollisions_2 = false
+
+
+# ArmarX.Simulator.SceneFileName: Simox/VirtualRobot scene file name, e.g. myScene.xml
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.SceneFileName = ""
+
+
+# ArmarX.Simulator.SimulationType: Simulation type (Supported: Bullet, Kinematics, Mujoco)
+# Attributes:
+# - Default: bullet
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {bullet, kinematics, mujoco}
+ArmarX.Simulator.SimulationType = kinematics
+
+
+# ArmarX.Simulator.StepTimeMS: The simulation's time progress per step.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.StepTimeMS = 25
+
+
+# ArmarX.Simulator.WorkingMemoryName: Name of WorkingMemory
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Simulator.WorkingMemoryName = WorkingMemory
+
+
+# ArmarX.Simulator.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.Simulator.inheritFrom = RobotConfig
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg b/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..bb2d86bc50c03ce11b35b0d6a2c75fd9543b1efd
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg
@@ -0,0 +1,401 @@
+# ==================================================================
+# SimulatorViewerApp 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_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
+# - 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.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.SimulatorViewer_EntityDrawer.CommonStorageName: Name of the the CommonStorage memory component
+# Attributes:
+# - Default: CommonStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_EntityDrawer.CommonStorageName = CommonStorage
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.DebugDrawerSelectionTopic: Name of the DebugDrawerSelectionTopic
+# Attributes:
+# - Default: DebugDrawerSelections
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_EntityDrawer.DebugDrawerSelectionTopic = DebugDrawerSelections
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.DebugDrawerTopic: Name of the DebugDrawerTopic
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_EntityDrawer.DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.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.SimulatorViewer_EntityDrawer.EnableProfiling = false
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.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.SimulatorViewer_EntityDrawer.MinimumLoggingLevel = Verbose
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_EntityDrawer.ObjectName = ""
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.PriorKnowledgeName: Name of the the PriorKnowledge memory component
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_EntityDrawer.PriorKnowledgeName = PriorKnowledge
+
+
+# ArmarX.SimulatorViewer_EntityDrawer.ShowDebugDrawing: The simulator implements the DebugDrawerInterface. The debug visualizations (e.g. coordinate systems) can enabled/disbaled with this flag.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SimulatorViewer_EntityDrawer.ShowDebugDrawing = true
+
+
+# ArmarX.SimulatorViewer_PhysicsWorldVisualization.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.SimulatorViewer_PhysicsWorldVisualization.EnableProfiling = false
+
+
+# ArmarX.SimulatorViewer_PhysicsWorldVisualization.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.SimulatorViewer_PhysicsWorldVisualization.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SimulatorViewer_PhysicsWorldVisualization.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_PhysicsWorldVisualization.ObjectName = ""
+
+
+# ArmarX.SimulatorViewer_PhysicsWorldVisualization.ReportVisuTopicName: The topic on which the visualization updates are published.
+# Attributes:
+# - Default: SimulatorVisuUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_PhysicsWorldVisualization.ReportVisuTopicName = SimulatorVisuUpdates
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.AntiAliasingRenderPasses: If >0 anti aliasing is enabled (may slow down the visualization). Defines the number of render passes.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SimulatorViewer_SimulationWindow.AntiAliasingRenderPasses = 0
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Background.b: b component of initial background color [0, 1]
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_SimulationWindow.Background.b = 1
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Background.g: g component of initial background color [0, 1]
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_SimulationWindow.Background.g = 1
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Background.r: r component of initial background color [0, 1]
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_SimulationWindow.Background.r = 1
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.pitch: Initial camera pose: pitch component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.pitch = 0
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.roll: Initial camera pose: roll component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SimulatorViewer_SimulationWindow.Camera.roll = 0.785
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.x: x component of initial camera position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SimulatorViewer_SimulationWindow.Camera.x = 3000
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.y: y component of initial camera position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SimulatorViewer_SimulationWindow.Camera.y = 7000
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.yaw: Initial camera pose: yaw component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SimulatorViewer_SimulationWindow.Camera.yaw = 3.14
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.Camera.z: z component of initial camera position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SimulatorViewer_SimulationWindow.Camera.z = 6000
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.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.SimulatorViewer_SimulationWindow.EnableProfiling = false
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.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.SimulatorViewer_SimulationWindow.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_SimulationWindow.ObjectName = ""
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.SaveVideo: Enable/disbale video recording (video is stored to tmp directory, currently only BMP files are supported.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SimulatorViewer_SimulationWindow.SaveVideo = false
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.ShowBaseCoordSystem: Enable/disbale a coordinate visualization at the global root.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SimulatorViewer_SimulationWindow.ShowBaseCoordSystem = false
+
+
+# ArmarX.SimulatorViewer_SimulationWindow.TempDir: Local temp directory. Used for storing video files.
+# Attributes:
+# - Default: /tmp
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimulatorViewer_SimulationWindow.TempDir = /tmp
+
+
+# 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.UpdateRate: Rate at which the data is polled from the simulator
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.UpdateRate = 30
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/SystemObserver.cfg b/scenarios/NavigationSimulation/config/SystemObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..6df52eca861b73e6783c38e42fe9a79fb7f00d9d
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/SystemObserver.cfg
@@ -0,0 +1,211 @@
+# ==================================================================
+# SystemObserver 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_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
+# - 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.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.SystemObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.SystemObserver.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.SystemObserver.EnableProfiling = false
+
+
+# ArmarX.SystemObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SystemObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.SystemObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SystemObserver.MaxHistorySize = 5000
+
+
+# ArmarX.SystemObserver.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.SystemObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SystemObserver.ObjectName = ""
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/TCPControlUnit.cfg b/scenarios/NavigationSimulation/config/TCPControlUnit.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..07c59d43d1896c798db96bab42f0d88194cf8b91
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/TCPControlUnit.cfg
@@ -0,0 +1,308 @@
+# ==================================================================
+# TCPControlUnit 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_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
+# - 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.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.TCPControlUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.CycleTime = 30
+
+
+# ArmarX.TCPControlUnit.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.TCPControlUnit.EnableProfiling = false
+
+
+# ArmarX.TCPControlUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# ArmarX.TCPControlUnit.KinematicUnitName = ::_NOT_SET_::
+
+
+# ArmarX.TCPControlUnit.LambdaDampedSVD: Parameter used for smoothing the differential IK near singularities.
+# Attributes:
+# - Default: 0.100000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.LambdaDampedSVD = 0.100000001
+
+
+# ArmarX.TCPControlUnit.MaxJointVelocity: Maximal joint velocity in rad/sec
+# Attributes:
+# - Default: 0.523500025
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.MaxJointVelocity = 0.523500025
+
+
+# ArmarX.TCPControlUnit.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.TCPControlUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.ObjectName = ""
+
+
+# ArmarX.TCPControlUnit.RobotStateComponentName: Name of the RobotStateComponent that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.TCPControlUnit.RobotStateTopicName: Name of the RobotComponent State topic.
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.RobotStateTopicName = RobotState
+
+
+# ArmarX.TCPControlUnit.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnit.TCPsToReport = ""
+
+
+# ArmarX.TCPControlUnit.inheritFrom: No Description
+# Attributes:
+# - Default: RobotConfig
+# - Case sensitivity: no
+# - Required: no
+ArmarX.TCPControlUnit.inheritFrom = RobotConfig
+
+
+# ArmarX.TCPControlUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.TCPControlUnitObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.TCPControlUnitObserver.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.TCPControlUnitObserver.EnableProfiling = false
+
+
+# ArmarX.TCPControlUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.TCPControlUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.TCPControlUnitObserver.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.TCPControlUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnitObserver.ObjectName = ""
+
+
+# ArmarX.TCPControlUnitObserver.TCPControlUnitName: Name of the TCPControlUnit
+# Attributes:
+# - Default: TCPControlUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TCPControlUnitObserver.TCPControlUnitName = TCPControlUnit
+
+
+# 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
diff --git a/scenarios/NavigationSimulation/config/TexturedObjectRecognition.cfg b/scenarios/NavigationSimulation/config/TexturedObjectRecognition.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..81103847942bd352fa4018116b02472c69a7a505
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/TexturedObjectRecognition.cfg
@@ -0,0 +1,357 @@
+# ==================================================================
+# TexturedObjectRecognition properties
+# ==================================================================
+
+# VisionX.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
+# VisionX.AdditionalPackages = Default value not mapped.
+
+
+# VisionX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.ApplicationName = ""
+
+
+# VisionX.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
+# - Required: no
+# VisionX.CachePath = mongo/.cache
+
+
+# VisionX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.Config = ""
+
+
+# VisionX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.DataPath = ""
+
+
+# VisionX.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
+# VisionX.DefaultPackages = Default value not mapped.
+
+
+# VisionX.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
+# VisionX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# VisionX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.DisableLogging = false
+
+
+# VisionX.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}
+# VisionX.EnableProfiling = false
+
+
+# VisionX.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
+# VisionX.LoadLibraries = ""
+
+
+# VisionX.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
+# VisionX.LoggingGroup = ""
+
+
+# VisionX.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}
+# VisionX.RedirectStdout = true
+
+
+# VisionX.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
+# VisionX.RemoteHandlesDeletionTimeout = 3000
+
+
+# VisionX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.SecondsStartupDelay = 0
+
+
+# VisionX.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}
+# VisionX.StartDebuggerOnCrash = false
+
+
+# VisionX.TexturedObjectRecognition.2DLocalizationNoise: 2D localization noise of object recognition. Used in order to calculate the 3D world localization noise.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.2DLocalizationNoise = 4
+
+
+# VisionX.TexturedObjectRecognition.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+# VisionX.TexturedObjectRecognition.AgentName = ::_NOT_SET_::
+
+
+# VisionX.TexturedObjectRecognition.CalibrationUpdateTopicName: Topic name of the stereo calibration provider
+# Attributes:
+# - Default: StereoCalibrationInterface
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.CalibrationUpdateTopicName = StereoCalibrationInterface
+
+
+# VisionX.TexturedObjectRecognition.CompressionQuality: Quality of the compression: PNG: 0-9 (9: best compression, but slowest), JPEG: 0-100 (100: best quality)
+# Attributes:
+# - Default: 95
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.CompressionQuality = 95
+
+
+# VisionX.TexturedObjectRecognition.CompressionType: Compression algorithms to be used. Values: None, PNG, JPEG
+# Attributes:
+# - Default: None
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {JPEG, JPG, None, PNG}
+# VisionX.TexturedObjectRecognition.CompressionType = None
+
+
+# VisionX.TexturedObjectRecognition.DataBaseObjectCollectionName: name of collection from database to use for object classes
+# Attributes:
+# - Default: memdb.Prior_Objects
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.DataBaseObjectCollectionName = memdb.Prior_Objects
+
+
+# VisionX.TexturedObjectRecognition.DebugObserverName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.DebugObserverName = DebugObserver
+
+
+# VisionX.TexturedObjectRecognition.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}
+# VisionX.TexturedObjectRecognition.EnableProfiling = false
+
+
+# VisionX.TexturedObjectRecognition.EnableResultImages: Enable the calculation of resultimages which are then provided using an ImageProvider
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.TexturedObjectRecognition.EnableResultImages = true
+
+
+# VisionX.TexturedObjectRecognition.ForceIceTransfer: If set to true, this image processor will always use the Ice transfer for images instead of shared memory.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.TexturedObjectRecognition.ForceIceTransfer = false
+
+
+# VisionX.TexturedObjectRecognition.ImageProviderName: name of the image provider to use
+# Attributes:
+# - Default: ImageProvider
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.ImageProviderName = ImageProvider
+
+
+# VisionX.TexturedObjectRecognition.MaxError: maximum error after application of homography on valid features. See CTexturedRecognition
+# Attributes:
+# - Default: 3.29999995
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.MaxError = 3.29999995
+
+
+# VisionX.TexturedObjectRecognition.MaxPoint: max point for valid result bounding box
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.MaxPoint = Default value not mapped.
+
+
+# VisionX.TexturedObjectRecognition.MinPoint: min point for valid result bounding box
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.MinPoint = Default value not mapped.
+
+
+# VisionX.TexturedObjectRecognition.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}
+# VisionX.TexturedObjectRecognition.MinimumLoggingLevel = Undefined
+
+
+# VisionX.TexturedObjectRecognition.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.ObjectName = ""
+
+
+# VisionX.TexturedObjectRecognition.PriorKnowledgeProxyName: name of prior memory proxy
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.PriorKnowledgeProxyName = PriorKnowledge
+
+
+# VisionX.TexturedObjectRecognition.QualityThreshold: Set quality threshold for Harris interest point calculation. Smaller means more features. See CTexturedRecognition
+# Attributes:
+# - Default: 9.99999975e-05
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.QualityThreshold = 9.99999975e-05
+
+
+# VisionX.TexturedObjectRecognition.SIFTThreshold: A threshold for detecting SIFT descriptors in the image. Smaller value -> more features found
+# Attributes:
+# - Default: 0.00999999978
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.SIFTThreshold = 0.00999999978
+
+
+# VisionX.TexturedObjectRecognition.StereoCorrelationThreshold: The threshold for the Zero Mean-Normalized Cross Correlation (ZNCC, range: 0.0 - 1.0).
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.StereoCorrelationThreshold = 0.699999988
+
+
+# VisionX.TexturedObjectRecognition.StereoCorrelationWindowSize: Correlation size for stereo matching
+# Attributes:
+# - Default: 19
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.StereoCorrelationWindowSize = 19
+
+
+# VisionX.TexturedObjectRecognition.colorMask: image color that should be used as alpha channel
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.colorMask = Default value not mapped.
+
+
+# VisionX.TexturedObjectRecognition.nMinValidFeatures: minimum number of features in Houghspace. See CTexturedRecognition
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.TexturedObjectRecognition.nMinValidFeatures = 10
+
+
+# VisionX.TexturedObjectRecognition.useResultImageMask: Use a color mask for the result images if set. Otherwise the camera images are used
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.TexturedObjectRecognition.useResultImageMask = false
+
+
+# VisionX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# VisionX.ThreadPoolSize = 1
+
+
+# VisionX.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
+# VisionX.TopicSuffix = ""
+
+
+# VisionX.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}
+# VisionX.UseTimeServer = false
+
+
+# VisionX.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}
+# VisionX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/TrajectoryPlayerApp.cfg b/scenarios/NavigationSimulation/config/TrajectoryPlayerApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..d49ef3c9faa7123b03f01f08dc60e452f9aaa13e
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/TrajectoryPlayerApp.cfg
@@ -0,0 +1,304 @@
+# ==================================================================
+# TrajectoryPlayerApp 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: no
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - 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: no
+# - 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: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RedirectStdout = 1
+
+
+# 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: no
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.StartDebuggerOnCrash = 0
+
+
+# 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: no
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.TrajectoryPlayer.ArmarXProjects: Comma-separated list with names of ArmarXProjects (e.g. 'Armar3,Armar4'). The MMM XML File can be specified relatively to a data path of one of these projects.
+# Attributes:
+# - Default: Armar4
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.ArmarXProjects = Armar4
+
+
+# ArmarX.TrajectoryPlayer.CustomRootNode: If this value is set, the root pose of the motion is set for this node instead of the root joint.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.CustomRootNode = ""
+
+
+# ArmarX.TrajectoryPlayer.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.EnableProfiling = 0
+
+
+# ArmarX.TrajectoryPlayer.EnableRobotPoseUnit: Specify whether RobotPoseUnit should be used to move the robot's position. Only useful in simulation.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.EnableRobotPoseUnit = 0
+
+
+# ArmarX.TrajectoryPlayer.FPS: FPS with which the recording should be executed. Velocities will be adapted.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.FPS = 100
+
+
+# ArmarX.TrajectoryPlayer.Kd: Differential gain value of PID Controller
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Kd = 0
+
+
+# ArmarX.TrajectoryPlayer.Ki: Integral gain value of PID Controller
+# Attributes:
+# - Default: 9.99999975e-06
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Ki = 9.99999975e-06
+
+
+# ArmarX.TrajectoryPlayer.KinematicTopicName: Name of the KinematicUnit reporting topic
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TrajectoryPlayer.KinematicTopicName = RobotState
+
+
+# ArmarX.TrajectoryPlayer.KinematicUnitName: Name of the KinematicUnit to which the joint values should be sent
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TrajectoryPlayer.KinematicUnitName = Armar6KinematicUnit
+
+
+# ArmarX.TrajectoryPlayer.Kp: Proportional gain value of PID Controller
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Kp = 1
+
+
+# ArmarX.TrajectoryPlayer.LoopPlayback: Specify whether motion should be repeated after execution
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.LoopPlayback = 0
+
+
+# ArmarX.TrajectoryPlayer.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TrajectoryPlayer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.ObjectName = ""
+
+
+# ArmarX.TrajectoryPlayer.Offset.pitch: Initial robot pose: pitch component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Offset.pitch = 0
+
+
+# ArmarX.TrajectoryPlayer.Offset.roll: Initial robot pose: roll component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Offset.roll = 0
+
+
+# ArmarX.TrajectoryPlayer.Offset.x: x component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Offset.x = 0
+
+
+# ArmarX.TrajectoryPlayer.Offset.y: y component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Offset.y = 0
+
+
+# ArmarX.TrajectoryPlayer.Offset.yaw: Initial robot pose: yaw component of RPY angles (radian)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Offset.yaw = 0
+
+
+# ArmarX.TrajectoryPlayer.Offset.z: z component of initial robot position (mm)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.Offset.z = 0
+
+
+# ArmarX.TrajectoryPlayer.RobotNodeSetName: The name of the robot node set to be used (only need for PIDController mode)
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.RobotNodeSetName = RobotState
+
+
+# ArmarX.TrajectoryPlayer.RobotPoseUnitName: Name of the RobotPoseUnit to which the robot position should be sent
+# Attributes:
+# - Default: RobotPoseUnit
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.RobotPoseUnitName = RobotPoseUnit
+
+
+# ArmarX.TrajectoryPlayer.absMaximumVelocity: The PID will never set a velocity above this threshold (degree/s)
+# Attributes:
+# - Default: 120
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.absMaximumVelocity = 120
+
+
+# ArmarX.TrajectoryPlayer.isVelocityControl: Specify whether the PID Controller should be used (==velocity control)
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TrajectoryPlayer.isVelocityControl = 1
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Verbosity = Info
diff --git a/scenarios/NavigationSimulation/config/ViewSelectionApp.cfg b/scenarios/NavigationSimulation/config/ViewSelectionApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..6a5952df9997f79a5dddd3c402d28633f57ff006
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/ViewSelectionApp.cfg
@@ -0,0 +1,284 @@
+# ==================================================================
+# ViewSelectionApp 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_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
+# - 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.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
+
+
+# ArmarX.ViewSelection.ActiveAtStartup: Decide whether the automatic view selection will be activated (can be changed via the proxy during runtime)
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ViewSelection.ActiveAtStartup = true
+
+
+# ArmarX.ViewSelection.CameraFrameName: Name of the frame of the head base in the robot model
+# Attributes:
+# - Default: VirtualCentralGaze
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.CameraFrameName = VirtualCentralGaze
+
+
+# ArmarX.ViewSelection.CentralHeadTiltAngle: Defines the height direction that will be considered 'central' in the reachable area of the head (in degrees). Default is looking 20 degrees downwards
+# Attributes:
+# - Default: 110
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.CentralHeadTiltAngle = 110
+
+
+# ArmarX.ViewSelection.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.ViewSelection.EnableProfiling = false
+
+
+# ArmarX.ViewSelection.HeadFrameName: Name of the frame of the head base in the robot model
+# Attributes:
+# - Default: Head Base
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.HeadFrameName = Head Base
+
+
+# ArmarX.ViewSelection.HeadIKKinematicChainName: Name of the kinematic chain for the head IK
+# Attributes:
+# - Default: IKVirtualGaze
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.HeadIKKinematicChainName = IKVirtualGaze
+
+
+# ArmarX.ViewSelection.HeadIKUnitName: Name of the head IK unit component that should be used
+# Attributes:
+# - Default: HeadIKUnit
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.HeadIKUnitName = HeadIKUnit
+
+
+# ArmarX.ViewSelection.MaxOverallHeadTiltAngle: Maximal angle the head and eyes can look down (in degrees)
+# Attributes:
+# - Default: 55
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.MaxOverallHeadTiltAngle = 55
+
+
+# ArmarX.ViewSelection.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.ViewSelection.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ViewSelection.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.ObjectName = ""
+
+
+# ArmarX.ViewSelection.ProbabilityToLookForALostObject: Probability that one of the objects that have been seen but could later not been localized again will be included in the view selection
+# Attributes:
+# - Default: 0.0299999993
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.ProbabilityToLookForALostObject = 0.0299999993
+
+
+# ArmarX.ViewSelection.RobotStateComponentName: Name of the robot state component that should be used
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.ViewSelection.SleepingTimeBetweenViewDirectionChanges: Time between two view changes, to keep the head looking into one direction for a while (in ms)
+# Attributes:
+# - Default: 2500
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.SleepingTimeBetweenViewDirectionChanges = 2500
+
+
+# ArmarX.ViewSelection.VisuSaliencyThreshold: If greater than zero the saliency map is drawn into the debug drawer on each iteration. The value is used as minimum saliency threshold for a point to be shown in debug visu
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewSelection.VisuSaliencyThreshold = 0
+
+
+# ArmarX.ViewSelection.VisualizeViewDirection: Draw view ray on DebugLayer.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ViewSelection.VisualizeViewDirection = true
diff --git a/scenarios/NavigationSimulation/config/WorkingMemory.cfg b/scenarios/NavigationSimulation/config/WorkingMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..325143629bc23efa85638c7a961e7b66cdeaae1d
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/WorkingMemory.cfg
@@ -0,0 +1,384 @@
+# ==================================================================
+# WorkingMemory properties
+# ==================================================================
+
+# MemoryX.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
+# MemoryX.AdditionalPackages = Default value not mapped.
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.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
+# - Required: no
+# MemoryX.CachePath = mongo/.cache
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.Config = ""
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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
+# MemoryX.DefaultPackages = Default value not mapped.
+
+
+# MemoryX.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
+# MemoryX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = false
+
+
+# MemoryX.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}
+# MemoryX.EnableProfiling = false
+
+
+# MemoryX.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
+# MemoryX.LoadLibraries = ""
+
+
+# MemoryX.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
+# MemoryX.LoggingGroup = ""
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.CameraOpeningAngle: No Description
+# Attributes:
+# - Default: 0.87
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.CameraOpeningAngle = 0.87
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.CheckFieldOfView: No Description
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.CheckFieldOfView = 0
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.CommonPlacesLearnerName: No Description
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.CommonPlacesLearnerName = ""
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameLeft: No Description
+# Attributes:
+# - Default: Hand L TCP
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameLeft = Hand L TCP
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameRight: No Description
+# Attributes:
+# - Default: Hand R TCP
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameRight = Hand R TCP
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.HeadMotionVelocityLimit: No Description
+# Attributes:
+# - Default: 500
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.HeadMotionVelocityLimit = 500
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.KBMLeftArmNodeSetName: No Description
+# Attributes:
+# - Default: "LeftArm"
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.KBMLeftArmNodeSetName = "LeftArm"
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.KBMReferenceNodeName: No Description
+# Attributes:
+# - Default: FleaCamerasCenter
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.KBMReferenceNodeName = FleaCamerasCenter
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.KBMRightArmNodeSetName: No Description
+# Attributes:
+# - Default: "RightArm"
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.KBMRightArmNodeSetName = "RightArm"
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.RobotNodeNameLeftCamera: No Description
+# Attributes:
+# - Default: FleaCamerasLeft
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.RobotNodeNameLeftCamera = FleaCamerasLeft
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.RobotNodeNameRightCamera: No Description
+# Attributes:
+# - Default: FleaCamerasRight
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.RobotNodeNameRightCamera = FleaCamerasRight
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.RobotStateComponentName: No Description
+# Attributes:
+# - Default: "RobotStateComponent"
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.RobotStateComponentName = "RobotStateComponent"
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.TCPControlUnitObserverName: No Description
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.TCPControlUnitObserverName = ""
+
+
+# MemoryX.ObjectLocalizationMemoryUpdater.WorkingMemoryName: No Description
+# Attributes:
+# - Default: "WorkingMemory"
+# - Case sensitivity: no
+# - Required: no
+MemoryX.ObjectLocalizationMemoryUpdater.WorkingMemoryName = "WorkingMemory"
+
+
+# MemoryX.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}
+# MemoryX.RedirectStdout = true
+
+
+# MemoryX.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
+# MemoryX.RemoteHandlesDeletionTimeout = 3000
+
+
+# MemoryX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.SecondsStartupDelay = 0
+
+
+# MemoryX.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}
+# MemoryX.StartDebuggerOnCrash = false
+
+
+# MemoryX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.ThreadPoolSize = 1
+
+
+# MemoryX.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
+# MemoryX.TopicSuffix = ""
+
+
+# MemoryX.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}
+# MemoryX.UseTimeServer = false
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Info
+
+
+# MemoryX.WorkingMemory.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}
+# MemoryX.WorkingMemory.EnableProfiling = false
+
+
+# MemoryX.WorkingMemory.LongtermMemoryName: Name of LongtermMemory Ice component
+# Attributes:
+# - Default: LongtermMemory
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.WorkingMemory.LongtermMemoryName = LongtermMemory
+
+
+# MemoryX.WorkingMemory.MatchByClassName: Check for class equality when searching for corresponding instance
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.WorkingMemory.MatchByClassName = true
+
+
+# MemoryX.WorkingMemory.MatchThreshold: Threshold value of spatial proximity between observations
+# to consider them belonging to the same instance (0..1)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.WorkingMemory.MatchThreshold = 0
+
+
+# MemoryX.WorkingMemory.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}
+# MemoryX.WorkingMemory.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.WorkingMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.WorkingMemory.ObjectName = ""
+
+
+# MemoryX.WorkingMemory.PriorMemoryName: Name of PriorKnowledge Ice component
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.WorkingMemory.PriorMemoryName = PriorKnowledge
+
+
+# MemoryX.WorkingMemory.PublishUpdates: Publish scene updates (ObjectCreated/Updated/Removed) on IceStrom topic
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.PublishUpdates = 1
+
+
+# MemoryX.WorkingMemory.SnapshotToLoad: Name of Snapshot that should be loaded on start up. Leave empty for none.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+MemoryX.WorkingMemory.SnapshotToLoad = R003
+
+
+# MemoryX.WorkingMemory.UpdatesTopicName: Name of IceStrom topic to publish scene updates on
+# Attributes:
+# - Default: WorkingMemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# MemoryX.WorkingMemory.UpdatesTopicName = WorkingMemoryUpdates
+
+
+# MemoryX.WorkingMemory.UseKalmanFilter: Switch fusion with Kalman Filter on/off.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.UseKalmanFilter = 1
+
+
+# MemoryX.WorkingMemory.UseLongtermMemory: Switch longterm memory on/off.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.UseLongtermMemory = 1
+
+
+# MemoryX.WorkingMemory.UsePriorMemory: Switch prior knowledge on/off.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.WorkingMemory.UsePriorMemory = true
diff --git a/scenarios/NavigationSimulation/config/WorkingMemoryToArVizApp.cfg b/scenarios/NavigationSimulation/config/WorkingMemoryToArVizApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..49530322c2fd0b2d4297e484eb34ff9d13577945
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/WorkingMemoryToArVizApp.cfg
@@ -0,0 +1,270 @@
+# ==================================================================
+# WorkingMemoryToArVizApp 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_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
+# - 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.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
+
+
+# ArmarX.WorkingMemoryToArViz.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.WorkingMemoryToArViz.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.WorkingMemoryToArViz.EnableProfiling = false
+
+
+# ArmarX.WorkingMemoryToArViz.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.WorkingMemoryToArViz.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.WorkingMemoryToArViz.ObjectClassBlackWhitelistTopic: The topic where updates to the object class black-whitelist are published.
+# Attributes:
+# - Default: WorkingMemoryToArVizObjectClassBlackWhitelistUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.ObjectClassBlackWhitelistTopic = WorkingMemoryToArVizObjectClassBlackWhitelistUpdates
+
+
+# ArmarX.WorkingMemoryToArViz.ObjectClassBlacklist: These object classes will never be shown (comma separated list).
+# Attributes:
+# - Default: [empty blacklist]
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {[empty blacklist]}
+# ArmarX.WorkingMemoryToArViz.ObjectClassBlacklist = [empty blacklist]
+
+
+# ArmarX.WorkingMemoryToArViz.ObjectClassWhitelist: If not empty, only these object classes are shown (comma separated list).
+# Attributes:
+# - Default: [empty whitelist]
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {[empty whitelist]}
+# ArmarX.WorkingMemoryToArViz.ObjectClassWhitelist = [empty whitelist]
+
+
+# ArmarX.WorkingMemoryToArViz.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.ObjectName = ""
+
+
+# ArmarX.WorkingMemoryToArViz.PriorKnowledgeName: Prior knowledge name.
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.PriorKnowledgeName = PriorKnowledge
+
+
+# ArmarX.WorkingMemoryToArViz.RobotStateComponentName: Robot state component name.
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.RobotStateComponentName = RobotStateComponent
+
+
+# ArmarX.WorkingMemoryToArViz.WorkingMemoryName: Working memory name.
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.WorkingMemoryName = WorkingMemory
+
+
+# ArmarX.WorkingMemoryToArViz.p.UpdateFrequency: Target number of updates per second.
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.WorkingMemoryToArViz.p.UpdateFrequency = 30
+
+
+# ArmarX.WorkingMemoryToArViz.p.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.WorkingMemoryToArViz.p.floor.Height = -1
+
+
+# ArmarX.WorkingMemoryToArViz.p.floor.Show: Whether to show the floor.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.WorkingMemoryToArViz.p.floor.Show = true
diff --git a/scenarios/NavigationSimulation/config/global.cfg b/scenarios/NavigationSimulation/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..419d8b20ee412ea353de63f4f071d0b01ea15d48
--- /dev/null
+++ b/scenarios/NavigationSimulation/config/global.cfg
@@ -0,0 +1,50 @@
+# ==================================================================
+# Global Config from Scenario CeBITSimulation
+# ==================================================================
+
+# RobotConfig.AgentName: Custom Property
+# Attributes:
+# - Default: ::NOT_DEFINED::
+# - Case sensitivity: no
+# - Required: no
+RobotConfig.AgentName = Armar6
+
+
+# RobotConfig.ForceTorqueTopicName: Custom Property
+# Attributes:
+# - Default: ::NOT_DEFINED::
+# - Case sensitivity: no
+# - Required: no
+RobotConfig.ForceTorqueTopicName = Armar6ForceTorqueUnitState
+
+
+# RobotConfig.KinematicUnitName: Custom Property
+# Attributes:
+# - Default: ::NOT_DEFINED::
+# - Case sensitivity: no
+# - Required: no
+RobotConfig.KinematicUnitName = Armar6KinematicUnit
+
+
+# RobotConfig.PlatformName: Custom Property
+# Attributes:
+# - Default: ::NOT_DEFINED::
+# - Case sensitivity: no
+# - Required: no
+RobotConfig.PlatformName = Platform
+
+
+# RobotConfig.RobotFileName: Custom Property
+# Attributes:
+# - Default: ::NOT_DEFINED::
+# - Case sensitivity: no
+# - Required: no
+RobotConfig.RobotFileName = Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml
+
+
+# RobotConfig.RobotNodeSetName: Custom Property
+# Attributes:
+# - Default: ::NOT_DEFINED::
+# - Case sensitivity: no
+# - Required: no
+RobotConfig.RobotNodeSetName = Robot