From d9d6526e0cd0d1304f6ee987cdfff75f1557d0c5 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 26 Jul 2022 17:25:43 +0200
Subject: [PATCH 01/10] dynamic scene provider component
---
.../navigation/components/CMakeLists.txt | 2 +
.../dynamic_scene_provider/CMakeLists.txt | 34 +++
.../dynamic_scene_provider/Component.cpp | 289 ++++++++++++++++++
.../dynamic_scene_provider/Component.h | 177 +++++++++++
.../ComponentInterface.ice | 35 +++
5 files changed, 537 insertions(+)
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/Component.h
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/ComponentInterface.ice
diff --git a/source/armarx/navigation/components/CMakeLists.txt b/source/armarx/navigation/components/CMakeLists.txt
index d0cdc317..3f13b407 100644
--- a/source/armarx/navigation/components/CMakeLists.txt
+++ b/source/armarx/navigation/components/CMakeLists.txt
@@ -3,3 +3,5 @@ add_subdirectory(NavigationMemory)
add_subdirectory(Navigator)
add_subdirectory(dynamic_distance_to_obstacle_costmap_provider)
+
+add_subdirectory(dynamic_scene_provider)
\ No newline at end of file
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
new file mode 100644
index 00000000..9e1fc7a9
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -0,0 +1,34 @@
+armarx_add_component(dynamic_scene_provider
+ ICE_FILES
+ ComponentInterface.ice
+ ICE_DEPENDENCIES
+ ArmarXCoreInterfaces
+ # RobotAPIInterfaces
+ # ARON_FILES
+ # aron/my_type.xml
+ SOURCES
+ Component.cpp
+ HEADERS
+ Component.h
+ DEPENDENCIES
+ # ArmarXCore
+ ArmarXCore
+ ## ArmarXCoreComponentPlugins # For DebugObserver plugin.
+ # ArmarXGui
+ ## ArmarXGuiComponentPlugins # For RemoteGui plugin.
+ # RobotAPI
+ armem
+ armem_robot
+ armem_robot_state
+ # VisionX
+ armem_human
+ armem_vision
+ ## RobotAPICore
+ ## RobotAPIInterfaces
+ ## RobotAPIComponentPlugins # For ArViz and other plugins.
+ # DEPENDENCIES_LEGACY
+ ## Add libraries that do not provide any targets but ${FOO_*} variables.
+ # FOO
+ # If you need a separate shared component library you can enable it with the following flag.
+ # SHARED_COMPONENT_LIBRARY
+)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
new file mode 100644
index 00000000..101a897a
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
@@ -0,0 +1,289 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package navigation::ArmarXObjects::dynamic_scene_provider
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#include "Component.h"
+
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+#include "ArmarXCore/core/services/tasks/PeriodicTask.h"
+#include "ArmarXCore/core/time/Clock.h"
+#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
+
+#include "VisionX/libraries/armem_human/client/HumanPoseReader.h"
+
+#include <armarx/navigation/core/basic_types.h>
+
+// Include headers you only need in function definitions in the .cpp.
+
+// #include <Eigen/Core>
+
+// #include <SimoxUtility/color/Color.h>
+
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+
+ const std::string Component::defaultName = "dynamic_scene_provider";
+
+
+ Component::Component()
+ {
+ addPlugin(humanPoseReaderPlugin);
+ addPlugin(laserScannerFeaturesReaderPlugin);
+ }
+
+ armarx::PropertyDefinitionsPtr
+ Component::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr def =
+ new armarx::ComponentPropertyDefinitions(getConfigIdentifier());
+
+ // Publish to a topic (passing the TopicListenerPrx).
+ // def->topic(myTopicListener);
+
+ // Subscribe to a topic (passing the topic name).
+ // def->topic<PlatformUnitListener>("MyTopic");
+
+ // Use (and depend on) another component (passing the ComponentInterfacePrx).
+ // def->component(myComponentProxy)
+
+
+ // Add a required property. (The component won't start without a value being set.)
+ // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
+
+ // Add an optionalproperty.
+ def->optional(
+ properties.taskPeriodMs, "p.taskPeriodMs", "Update rate of the running task.");
+
+ return def;
+ }
+
+
+ void
+ Component::onInitComponent()
+ {
+ // Topics and properties defined above are automagically registered.
+
+ // Keep debug observer data until calling `sendDebugObserverBatch()`.
+ // (Requies the armarx::DebugObserverComponentPluginUser.)
+ // setDebugObserverBatchModeEnabled(true);
+ }
+
+
+ void
+ Component::onConnectComponent()
+ {
+ // Do things after connecting to topics and components.
+
+ /* (Requies the armarx::DebugObserverComponentPluginUser.)
+ // Use the debug observer to log data over time.
+ // The data can be viewed in the ObserverView and the LivePlotter.
+ // (Before starting any threads, we don't need to lock mutexes.)
+ {
+ setDebugObserverDatafield("numBoxes", properties.numBoxes);
+ setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
+ sendDebugObserverBatch();
+ }
+ */
+
+ /* (Requires the armarx::ArVizComponentPluginUser.)
+ // Draw boxes in ArViz.
+ // (Before starting any threads, we don't need to lock mutexes.)
+ drawBoxes(properties, arviz);
+ */
+
+ /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
+ // Setup the remote GUI.
+ {
+ createRemoteGuiTab();
+ RemoteGui_startRunningTask();
+ }
+ */
+
+ robot = virtualRobotReaderPlugin->get().getRobot(properties.robot.name);
+ ARMARX_CHECK_NOT_NULL(robot);
+
+ task = new PeriodicTask<Component>(
+ this, &Component::runPeriodically, properties.taskPeriodMs, false, "runningTask");
+ }
+
+
+ void
+ Component::onDisconnectComponent()
+ {
+ }
+
+
+ void
+ Component::onExitComponent()
+ {
+ }
+
+
+ std::string
+ Component::getDefaultName() const
+ {
+ return Component::defaultName;
+ }
+
+
+ std::string
+ Component::GetDefaultName()
+ {
+ return Component::defaultName;
+ }
+
+ void
+ Component::runPeriodically()
+ {
+ // obtain data from perception
+
+ const DateTime timestamp = Clock::Now();
+
+ //
+ // Robot
+ //
+
+ ARMARX_CHECK(virtualRobotReaderPlugin->get().synchronizeRobot(*robot, timestamp));
+ const core::Pose global_T_robot(robot->getGlobalPose());
+
+ ARMARX_INFO << "Robot position: " << global_T_robot.translation().head<2>();
+
+ //
+ // Human
+ //
+
+ const armem::human::client::Reader::Query humanPoseQuery{.providerName = "", // all
+ .timestamp = timestamp};
+
+ const armem::human::client::Reader::Result humanPoseResult =
+ humanPoseReaderPlugin->get().query(humanPoseQuery);
+ ARMARX_CHECK_EQUAL(humanPoseResult.status, armem::human::client::Reader::Result::Success);
+
+ ARMARX_INFO << humanPoseResult.humanPoses.size() << " humans in the scene.";
+
+ //
+ // Laser scanner features
+ //
+
+ const armem::vision::laser_scanner_features::client::Reader::Query laserFeaturesQuery
+ {
+ .providerName = properties.laserScannerFeatures.providerName,
+ .name = properties.laserScannerFeatures.name,
+ .timestamp = timestamp
+ };
+
+ const armem::vision::laser_scanner_features::client::Reader::Result laserFeaturesResult =
+ laserScannerFeaturesReaderPlugin->get().queryData(laserFeaturesQuery);
+
+ ARMARX_CHECK_EQUAL(laserFeaturesResult.status, armem::vision::laser_scanner_features::client::Reader::Result::Success);
+
+ ARMARX_INFO << laserFeaturesResult.features.size() << " clusters/features";
+
+
+ }
+
+
+ /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
+ void
+ Component::createRemoteGuiTab()
+ {
+ using namespace armarx::RemoteGui::Client;
+
+ // Setup the widgets.
+
+ tab.boxLayerName.setValue(properties.boxLayerName);
+
+ tab.numBoxes.setValue(properties.numBoxes);
+ tab.numBoxes.setRange(0, 100);
+
+ tab.drawBoxes.setLabel("Draw Boxes");
+
+ // Setup the layout.
+
+ GridLayout grid;
+ int row = 0;
+ {
+ grid.add(Label("Box Layer"), {row, 0}).add(tab.boxLayerName, {row, 1});
+ ++row;
+
+ grid.add(Label("Num Boxes"), {row, 0}).add(tab.numBoxes, {row, 1});
+ ++row;
+
+ grid.add(tab.drawBoxes, {row, 0}, {2, 1});
+ ++row;
+ }
+
+ VBoxLayout root = {grid, VSpacer()};
+ RemoteGui_createTab(getName(), root, &tab);
+ }
+
+
+ void
+ Component::RemoteGui_update()
+ {
+ if (tab.boxLayerName.hasValueChanged() || tab.numBoxes.hasValueChanged())
+ {
+ std::scoped_lock lock(propertiesMutex);
+ properties.boxLayerName = tab.boxLayerName.getValue();
+ properties.numBoxes = tab.numBoxes.getValue();
+
+ {
+ setDebugObserverDatafield("numBoxes", properties.numBoxes);
+ setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
+ sendDebugObserverBatch();
+ }
+ }
+ if (tab.drawBoxes.wasClicked())
+ {
+ // Lock shared variables in methods running in seperate threads
+ // and pass them to functions. This way, the called functions do
+ // not need to think about locking.
+ std::scoped_lock lock(propertiesMutex, arvizMutex);
+ drawBoxes(properties, arviz);
+ }
+ }
+ */
+
+
+ /* (Requires the armarx::ArVizComponentPluginUser.)
+ void
+ Component::drawBoxes(const Component::Properties& p, viz::Client& arviz)
+ {
+ // Draw something in ArViz (requires the armarx::ArVizComponentPluginUser.
+ // See the ArVizExample in RobotAPI for more examples.
+
+ viz::Layer layer = arviz.layer(p.boxLayerName);
+ for (int i = 0; i < p.numBoxes; ++i)
+ {
+ layer.add(viz::Box("box_" + std::to_string(i))
+ .position(Eigen::Vector3f(i * 100, 0, 0))
+ .size(20).color(simox::Color::blue()));
+ }
+ arviz.commit(layer);
+ }
+ */
+
+
+ ARMARX_REGISTER_COMPONENT_EXECUTABLE(Component, Component::GetDefaultName());
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.h b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
new file mode 100644
index 00000000..c6792742
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
@@ -0,0 +1,177 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package navigation::ArmarXObjects::dynamic_scene_provider
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+
+// #include <mutex>
+
+#include <VirtualRobot/VirtualRobot.h>
+#include "ArmarXCore/core/services/tasks/TaskUtil.h"
+#include <ArmarXCore/core/Component.h>
+
+#include "RobotAPI/libraries/armem/client/plugins/PluginUser.h"
+#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
+#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
+#include "RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.h"
+
+#include "VisionX/libraries/armem_human/client/HumanPoseReader.h"
+
+// #include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+
+// #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <armarx/navigation/components/dynamic_scene_provider/ComponentInterface.h>
+
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+
+ class Component :
+ virtual public armarx::Component,
+ virtual public armarx::navigation::components::dynamic_scene_provider::ComponentInterface,
+ // , virtual public armarx::DebugObserverComponentPluginUser
+ // , virtual public armarx::LightweightRemoteGuiComponentPluginUser
+ // , virtual public armarx::ArVizComponentPluginUser
+ virtual public armarx::armem::client::plugins::PluginUser
+ {
+ public:
+ Component();
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+ /// Get the component's default name.
+ static std::string GetDefaultName();
+
+
+ protected:
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
+
+
+ /* (Requires armarx::LightweightRemoteGuiComponentPluginUser.)
+ /// This function should be called once in onConnect() or when you
+ /// need to re-create the Remote GUI tab.
+ void createRemoteGuiTab();
+
+ /// After calling `RemoteGui_startRunningTask`, this function is
+ /// called periodically in a separate thread. If you update variables,
+ /// make sure to synchronize access to them.
+ void RemoteGui_update() override;
+ */
+
+
+ private:
+ // Private methods go here.
+
+ // Forward declare `Properties` if you used it before its defined.
+ // struct Properties;
+
+ /* (Requires the armarx::ArVizComponentPluginUser.)
+ /// Draw some boxes in ArViz.
+ void drawBoxes(const Properties& p, viz::Client& arviz);
+ */
+
+ void runPeriodically();
+
+ VirtualRobot::RobotPtr robot = nullptr;
+
+
+ private:
+ static const std::string defaultName;
+
+
+ // Private member variables go here.
+
+
+ /// Properties shown in the Scenario GUI.
+ struct Properties
+ {
+ int taskPeriodMs = 100;
+
+ struct
+ {
+ std::string providerName = "LaserScannerFeatureExtraction";
+ std::string name = ""; // all
+ } laserScannerFeatures;
+
+ struct
+ {
+ std::string name = "Armar6";
+ } robot;
+ };
+ Properties properties;
+ /* Use a mutex if you access variables from different threads
+ * (e.g. ice functions and RemoteGui_update()).
+ std::mutex propertiesMutex;
+ */
+
+
+ /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
+ /// Tab shown in the Remote GUI.
+ struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
+ {
+ armarx::RemoteGui::Client::LineEdit boxLayerName;
+ armarx::RemoteGui::Client::IntSpinBox numBoxes;
+
+ armarx::RemoteGui::Client::Button drawBoxes;
+ };
+ RemoteGuiTab tab;
+ */
+
+
+ /* (Requires the armarx::ArVizComponentPluginUser.)
+ * When used from different threads, an ArViz client needs to be synchronized.
+ /// Protects the arviz client inherited from the ArViz plugin.
+ std::mutex arvizMutex;
+ */
+
+ PeriodicTask<Component>::pointer_type task;
+
+ armem::client::plugins::ReaderWriterPlugin<armem::human::client::Reader>*
+ humanPoseReaderPlugin = nullptr;
+
+ armem::client::plugins::ReaderWriterPlugin<
+ armem::vision::laser_scanner_features::client::Reader>* laserScannerFeaturesReaderPlugin =
+ nullptr;
+
+ armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin = nullptr;
+
+ };
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/ComponentInterface.ice b/source/armarx/navigation/components/dynamic_scene_provider/ComponentInterface.ice
new file mode 100644
index 00000000..a66c4f56
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/ComponentInterface.ice
@@ -0,0 +1,35 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * package navigation::dynamic_scene_provider
+ * author Fabian Reister ( fabian dot reister at kit dot edu )
+ * date 2022
+ * copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+
+module armarx { module navigation { module components { module dynamic_scene_provider
+{
+
+ interface ComponentInterface
+ {
+ // Define your interface here.
+ };
+
+};};};};
--
GitLab
From 75d0d119e6d44c28342281a39c50a8197fa32b92 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 08:54:50 +0200
Subject: [PATCH 02/10] more scene features
---
.../dynamic_scene_provider/CMakeLists.txt | 3 +
.../dynamic_scene_provider/Component.cpp | 151 +++++++++++++++---
.../dynamic_scene_provider/Component.h | 37 ++++-
3 files changed, 163 insertions(+), 28 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index 9e1fc7a9..f42f1a64 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -23,6 +23,9 @@ armarx_add_component(dynamic_scene_provider
# VisionX
armem_human
armem_vision
+ # navigation
+ armarx_navigation::util
+ armarx_navigation::memory
## RobotAPICore
## RobotAPIInterfaces
## RobotAPIComponentPlugins # For ArViz and other plugins.
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
index 101a897a..19292c31 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
@@ -23,20 +23,20 @@
#include "Component.h"
-#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
-#include "ArmarXCore/core/services/tasks/PeriodicTask.h"
-#include "ArmarXCore/core/time/Clock.h"
-#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
-
-#include "VisionX/libraries/armem_human/client/HumanPoseReader.h"
+#include <VirtualRobot/SceneObjectSet.h>
-#include <armarx/navigation/core/basic_types.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/time/Clock.h>
+#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
-// Include headers you only need in function definitions in the .cpp.
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
-// #include <Eigen/Core>
+#include <VisionX/libraries/armem_human/client/HumanPoseReader.h>
-// #include <SimoxUtility/color/Color.h>
+#include <armarx/navigation/core/basic_types.h>
+#include <armarx/navigation/memory/client/costmap/Reader.h>
+#include <armarx/navigation/util/util.h>
namespace armarx::navigation::components::dynamic_scene_provider
@@ -49,6 +49,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
{
addPlugin(humanPoseReaderPlugin);
addPlugin(laserScannerFeaturesReaderPlugin);
+ addPlugin(virtualRobotReaderPlugin);
+ addPlugin(costmapReaderPlugin);
+ addPlugin(occupancyGridReaderPlugin);
}
armarx::PropertyDefinitionsPtr
@@ -71,8 +74,17 @@ namespace armarx::navigation::components::dynamic_scene_provider
// def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
// Add an optionalproperty.
- def->optional(
- properties.taskPeriodMs, "p.taskPeriodMs", "Update rate of the running task.");
+ def->optional(properties.taskPeriodMs, "p.taskPeriodMs", "Update rate of the running task.");
+
+ def->optional(properties.laserScannerFeatures.providerName, "p.laserScannerFeatures.providerName", "");
+ def->optional(properties.laserScannerFeatures.name, "p.laserScannerFeatures.name", "");
+
+ def->optional(properties.robot.name, "p.robot.name", "");
+
+ def->optional(properties.occupancyGrid.providerName, "p.occupancyGrid.providerName", "");
+ def->optional(properties.occupancyGrid.name, "p.occupancyGrid.name", "");
+ def->optional(properties.occupancyGrid.freespaceThreshold, "p.occupancyGrid.freespaceThreshold", "");
+ def->optional(properties.occupancyGrid.occupiedThreshold, "p.occupancyGrid.occupiedThreshold", "");
return def;
}
@@ -173,7 +185,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
//
const armem::human::client::Reader::Query humanPoseQuery{.providerName = "", // all
- .timestamp = timestamp};
+ .timestamp = timestamp};
const armem::human::client::Reader::Result humanPoseResult =
humanPoseReaderPlugin->get().query(humanPoseQuery);
@@ -184,22 +196,121 @@ namespace armarx::navigation::components::dynamic_scene_provider
//
// Laser scanner features
//
-
- const armem::vision::laser_scanner_features::client::Reader::Query laserFeaturesQuery
- {
+
+ const armem::vision::laser_scanner_features::client::Reader::Query laserFeaturesQuery{
.providerName = properties.laserScannerFeatures.providerName,
.name = properties.laserScannerFeatures.name,
- .timestamp = timestamp
- };
+ .timestamp = timestamp};
const armem::vision::laser_scanner_features::client::Reader::Result laserFeaturesResult =
laserScannerFeaturesReaderPlugin->get().queryData(laserFeaturesQuery);
- ARMARX_CHECK_EQUAL(laserFeaturesResult.status, armem::vision::laser_scanner_features::client::Reader::Result::Success);
-
+ ARMARX_CHECK_EQUAL(laserFeaturesResult.status,
+ armem::vision::laser_scanner_features::client::Reader::Result::Success);
+
ARMARX_INFO << laserFeaturesResult.features.size() << " clusters/features";
+ //
+ // Objects in the scene (both static and dynamic)
+ //
+
+ const objpose::ObjectPoseSeq objectPoses = ObjectPoseClientPluginUser::getObjectPoses();
+
+ // remove those objects that belong to an object dataset. the manipulation object / distance computation is broken
+ const auto objectPosesStatic =
+ armarx::navigation::util::filterObjects(objectPoses, {"KIT", "HOPE", "MDB", "YCB"});
+
+ const auto objects = armarx::navigation::util::asSceneObjects(objectPosesStatic);
+ ARMARX_INFO << objects->getSize() << " objects in the scene";
+ // ARMARX_INFO << "Creating costmap";
+ // ARMARX_CHECK_NOT_NULL(scene.robot);
+
+ // algorithms::CostmapBuilder costmapBuilder(
+ // scene.robot,
+ // objects,
+ // algorithms::Costmap::Parameters{.binaryGrid = false, .cellSize = 100},
+ // "Platform-navigation-colmodel");
+
+ // // const auto costmap = costmapBuilder.create();
+
+ //
+ // Costmaps
+ //
+
+ const memory::client::costmap::Reader::Query costmapQuery{.providerName =
+ "navigator", // TODO check
+ .name = "distance_to_obstacles",
+ .timestamp = timestamp};
+
+ const memory::client::costmap::Reader::Result costmapResult =
+ costmapReaderPlugin->get().query(costmapQuery);
+
+ ARMARX_CHECK_EQUAL(costmapResult.status, memory::client::costmap::Reader::Result::Success);
+
+ ARMARX_TRACE;
+ ARMARX_CHECK(costmapResult.costmap.has_value());
+ const auto grid = costmapResult.costmap->getGrid();
+
+
+ //
+ // Occupancy grid: from SLAM component
+ //
+
+ const armem::vision::occupancy_grid::client::Reader::Result result =
+ occupancyGridReaderPlugin->get().query(
+ armem::vision::occupancy_grid::client::Reader::Query{
+ .providerName = properties.occupancyGrid.providerName,
+ .timestamp = armem::Time::Now()});
+
+ if (result and result.occupancyGrid.has_value())
+ {
+ ARMARX_INFO << "Occupancy grid available!";
+
+ const auto occupancyGridSceneElements = util::asSceneObjects(
+ result.occupancyGrid.value(),
+ OccupancyGridHelper::Params{
+ .freespaceThreshold = properties.occupancyGrid.freespaceThreshold,
+ .occupiedThreshold = properties.occupancyGrid.occupiedThreshold});
+ ARMARX_INFO << occupancyGridSceneElements->getSize()
+ << " scene elements from occupancy grid";
+
+ auto occupancyGridObstacles =
+ std::make_shared<VirtualRobot::SceneObjectSet>("OccupancyGridObstacles");
+ occupancyGridObstacles->addSceneObjects(occupancyGridSceneElements);
+
+ // draw
+ // auto layer = arviz.layer("occupancy_grid");
+
+ // for (const auto& sceneObject : occupancyGridSceneElements->getSceneObjects())
+ // {
+ // const Eigen::Isometry3f world_T_obj(sceneObject->getGlobalPose());
+ // ARMARX_INFO << world_T_obj.translation();
+ // ARMARX_INFO << layer.size();
+ // layer.add(viz::Box("box_" + std::to_string(layer.size()))
+ // .pose(world_T_obj)
+ // .size(result.occupancyGrid->resolution)
+ // .color(viz::Color::orange()));
+ // }
+
+ // ARMARX_INFO << "Creating costmap";
+
+ // algorithms::CostmapBuilder costmapBuilder(
+ // getRobot(),
+ // scene.objects,
+ // algorithms::Costmap::Parameters{.binaryGrid = false, .cellSize = 100},
+ // "Platform-navigation-colmodel");
+
+ // const auto costmap = costmapBuilder.create();
+
+ // ARMARX_INFO << "Done";
+
+ // ARMARX_TRACE;
+ // ARMARX_INFO << "Saving costmap.";
+ // algorithms::save(costmap, "/tmp/navigation-costmap");
+
+ // arviz.commit({layer});
+ }
}
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.h b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
index c6792742..c31f150f 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/Component.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
@@ -27,6 +27,7 @@
// #include <mutex>
#include <VirtualRobot/VirtualRobot.h>
+
#include "ArmarXCore/core/services/tasks/TaskUtil.h"
#include <ArmarXCore/core/Component.h>
@@ -41,8 +42,11 @@
// #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include "RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h"
+#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include "armarx/navigation/memory/client/costmap/Reader.h"
#include <armarx/navigation/components/dynamic_scene_provider/ComponentInterface.h>
@@ -54,8 +58,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
virtual public armarx::navigation::components::dynamic_scene_provider::ComponentInterface,
// , virtual public armarx::DebugObserverComponentPluginUser
// , virtual public armarx::LightweightRemoteGuiComponentPluginUser
- // , virtual public armarx::ArVizComponentPluginUser
- virtual public armarx::armem::client::plugins::PluginUser
+ virtual public armarx::ArVizComponentPluginUser,
+ virtual public armarx::armem::client::plugins::PluginUser,
+ virtual public ObjectPoseClientPluginUser
{
public:
Component();
@@ -130,10 +135,20 @@ namespace armarx::navigation::components::dynamic_scene_provider
std::string name = ""; // all
} laserScannerFeatures;
+
struct
{
std::string name = "Armar6";
} robot;
+
+ struct
+ {
+ std::string providerName = "CartographerMappingAndLocalization";
+ std::string name = ""; // all
+
+ float freespaceThreshold = 0.45F;
+ float occupiedThreshold = 0.55;
+ } occupancyGrid;
};
Properties properties;
/* Use a mutex if you access variables from different threads
@@ -163,15 +178,21 @@ namespace armarx::navigation::components::dynamic_scene_provider
PeriodicTask<Component>::pointer_type task;
- armem::client::plugins::ReaderWriterPlugin<armem::human::client::Reader>*
- humanPoseReaderPlugin = nullptr;
+ template <typename T>
+ using ReaderWriterPlugin = armem::client::plugins::ReaderWriterPlugin<T>;
+
+ ReaderWriterPlugin<armem::human::client::Reader>* humanPoseReaderPlugin = nullptr;
+
+ ReaderWriterPlugin<armem::vision::laser_scanner_features::client::Reader>*
+ laserScannerFeaturesReaderPlugin = nullptr;
- armem::client::plugins::ReaderWriterPlugin<
- armem::vision::laser_scanner_features::client::Reader>* laserScannerFeaturesReaderPlugin =
+ ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin =
nullptr;
- armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin = nullptr;
+ ReaderWriterPlugin<memory::client::costmap::Reader>* costmapReaderPlugin = nullptr;
+ ReaderWriterPlugin<armem::vision::occupancy_grid::client::Reader>*
+ occupancyGridReaderPlugin = nullptr;
};
} // namespace armarx::navigation::components::dynamic_scene_provider
--
GitLab
From 92f52d8b9fb6396676e3d680f58ee0d6f7a50b9f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 09:22:21 +0200
Subject: [PATCH 03/10] new scenario human aware navigation
---
.../HumanAwareNavigation.scx | 12 +
.../config/MemoryNameSystem.cfg | 196 +++++
.../config/ObjectMemory.cfg | 775 ++++++++++++++++++
.../config/RemoteGuiProviderApp.cfg | 196 +++++
.../config/RobotStateComponent.cfg | 316 +++++++
.../config/VisionMemory.cfg | 366 +++++++++
.../XMLRemoteStateOfferer.NavigationGroup.cfg | 227 +++++
.../config/control_memory.cfg | 375 +++++++++
.../config/example_client.cfg | 262 ++++++
.../HumanAwareNavigation/config/global.cfg | 3 +
.../config/navigation_memory.cfg | 393 +++++++++
.../HumanAwareNavigation/config/navigator.cfg | 411 ++++++++++
12 files changed, 3532 insertions(+)
create mode 100644 scenarios/HumanAwareNavigation/HumanAwareNavigation.scx
create mode 100644 scenarios/HumanAwareNavigation/config/MemoryNameSystem.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/ObjectMemory.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/RemoteGuiProviderApp.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/RobotStateComponent.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/VisionMemory.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/XMLRemoteStateOfferer.NavigationGroup.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/control_memory.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/example_client.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/global.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/navigation_memory.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/navigator.cfg
diff --git a/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx b/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx
new file mode 100644
index 00000000..ae2dfe63
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="HumanAwareNavigation" creation="2021-07-09.11:39:42" globalConfigName="./config/global.cfg" package="armarx_navigation" deploymentType="local" nodeName="NodeMain">
+ <application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="navigator" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="navigation_memory" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="example_client" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="VisionMemory" instance="" package="VisionX" nodeName="" enabled="false" iceAutoRestart="false"/>
+ <application name="control_memory" instance="" package="armarx_control" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
diff --git a/scenarios/HumanAwareNavigation/config/MemoryNameSystem.cfg b/scenarios/HumanAwareNavigation/config/MemoryNameSystem.cfg
new file mode 100644
index 00000000..b8bc70a6
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/MemoryNameSystem.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.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/HumanAwareNavigation/config/ObjectMemory.cfg b/scenarios/HumanAwareNavigation/config/ObjectMemory.cfg
new file mode 100644
index 00000000..579926b6
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/ObjectMemory.cfg
@@ -0,0 +1,775 @@
+# ==================================================================
+# ObjectMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.ObjectMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.ObjectMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ObjectMemory.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.EnableProfiling = false
+
+
+# ArmarX.ObjectMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ObjectMemory.MinimumLoggingLevel = Undefined
+
+
+# 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.cmp.KinematicUnitObserverName: Name of the kinematic unit observer.
+# Attributes:
+# - Default: KinematicUnitObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
+
+
+# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Object
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.MemoryName = Object
+
+
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Attachments
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName = Attachments
+
+
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName: Object class entity of the floor.
+# Attributes:
+# - Default: Building/floor-20x20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName = Building/floor-20x20
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.Height: Height (z) of the floor plane.
+# Set slightly below 0 to avoid z-fighting when drawing planes on the ground.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.Height = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.LayerName: Layer to draw the floor on.
+# Attributes:
+# - Default: Floor
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.LayerName = Floor
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.Show: Whether to show the floor.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.cls.Floor.Show = true
+
+
+# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage: If true, load the objects from the objects package on startup.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage = true
+
+
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage: Name of the objects package to load from.
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize: Maximal size of the Class entity histories (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName: Name of the Class core segment.
+# Attributes:
+# - Default: Class
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class
+
+
+# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached: If true, no new snapshots are stored while an object is attached to a robot node.
+# If false, new snapshots are stored, but the attachment is kept in the new snapshots.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached = true
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.offset: Offset for the node to be calibrated.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.offset = 0
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.robotNode: Robot node which can be calibrated.
+# Attributes:
+# - Default: Neck_2_Pitch
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.robotNode = Neck_2_Pitch
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds: Duration after latest localization before decay starts.
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds = 5
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds: How long to reach minimal confidence.
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds = 20
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.enabled: If true, object poses decay over time when not localized anymore.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.decay.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence: Confidence when decay starts.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.minConfidence: Confidence after decay duration.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.minConfidence = 0
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence: Remove objects whose confidence is lower than this value.
+# Attributes:
+# - Default: 0.100000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence = 0.100000001
+
+
+# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity: If true, check whether the head is moving and discard updates in the meantime.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity = true
+
+
+# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS: For how long new updates are ignored after moving the head.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS = 100
+
+
+# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity: If a head joint's velocity is higher, the head is considered moving.
+# Attributes:
+# - Default: 0.0500000007
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity = 0.0500000007
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package: ArmarX package containing the scene snapshots.
+# Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory: Directory in Package/data/Package/ containing the scene snapshots.
+# Attributes:
+# - Default: scenes
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
+# You can also specify paths relative to 'Package/scenes/'.
+# You can also specify a ; separated list of scenes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
+
+
+# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
+# Attributes:
+# - Default: 64
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize = 64
+
+
+# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName: Name of the Instance core segment.
+# Attributes:
+# - Default: Instance
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName = Instance
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.alpha = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence: If true, use the pose confidence as alpha (if < 1.0).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.enabled: Enable or disable visualization of objects.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.enabled = true
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz: Frequency of visualization.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz = 25
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position: Enable showing pose gaussians (orientation part).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced: Displace center orientation (co)variance circle arrows along their rotation axis.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale: Scaling of pose gaussians (orientation part).
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale = 100
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame: If true, show global poses. If false, show poses in robot frame.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame = true
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.objectFrames: Enable showing object frames.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.objectFrames = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale: Scaling of object frames.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.oobbs: Enable showing oriented bounding boxes.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show: Show arrows linearly predicting object positions.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset: The offset (in seconds) to the current time to make predictions for.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow: The time window (in seconds) into the past to perform the regression on.
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow = 2
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels: Prefer articulated object models if available.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true
+
+
+# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ObjectMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.ObjectMemory.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:
+# Attributes:
+# - Default: Description
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
+
+
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:
+# Attributes:
+# - Default: Proprioception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
+
+
+# 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.prediction.TimeWindow: Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.prediction.TimeWindow = 2
+
+
+# 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.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/HumanAwareNavigation/config/RemoteGuiProviderApp.cfg b/scenarios/HumanAwareNavigation/config/RemoteGuiProviderApp.cfg
new file mode 100644
index 00000000..4b6abea4
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/RemoteGuiProviderApp.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.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/HumanAwareNavigation/config/RobotStateComponent.cfg b/scenarios/HumanAwareNavigation/config/RobotStateComponent.cfg
new file mode 100644
index 00000000..22eb7df3
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/RobotStateComponent.cfg
@@ -0,0 +1,316 @@
+# ==================================================================
+# 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.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 = Armar6
+
+
+# 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 = Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml
+
+
+# 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 = Robot
+
+
+# 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.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 = ""
+
+
+# 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/HumanAwareNavigation/config/VisionMemory.cfg b/scenarios/HumanAwareNavigation/config/VisionMemory.cfg
new file mode 100644
index 00000000..22e0d3e6
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/VisionMemory.cfg
@@ -0,0 +1,366 @@
+# ==================================================================
+# VisionMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.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.VisionMemory.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.VisionMemory.EnableProfiling = false
+
+
+# ArmarX.VisionMemory.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.VisionMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.VisionMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.ObjectName = ""
+
+
+# ArmarX.VisionMemory.imageDepthMaxHistorySize:
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.imageDepthMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.imageRGBMaxHistorySize:
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.imageRGBMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Vision
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.MemoryName = Vision
+
+
+# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.VisionMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.enabled = false
+
+
+# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.VisionMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.VisionMemory.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.VisionMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.VisionMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.VisionMemory.occupancyGridMaxHistorySize:
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.occupancyGridMaxHistorySize = 20
+
+
+# ArmarX.VisionMemory.pointCloudMaxHistorySize:
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.pointCloudMaxHistorySize = 20
+
+
diff --git a/scenarios/HumanAwareNavigation/config/XMLRemoteStateOfferer.NavigationGroup.cfg b/scenarios/HumanAwareNavigation/config/XMLRemoteStateOfferer.NavigationGroup.cfg
new file mode 100644
index 00000000..f366c706
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/XMLRemoteStateOfferer.NavigationGroup.cfg
@@ -0,0 +1,227 @@
+# ==================================================================
+# XMLRemoteStateOfferer 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 = NavigationGroupApp
+
+
+# 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 = Debug
+
+
+# ArmarX.XMLStateComponent.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.XMLStateComponent.EnableProfiling = false
+
+
+# ArmarX.XMLStateComponent.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.XMLStateComponent.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.XMLStateComponent.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.XMLStateComponent.ObjectName = NavigationGroupXMLStateComponent
+
+
+# ArmarX.XMLStateComponent.StateReportingTopic: Topic on which state changes are published. Leave empty to disable reporting.
+# Attributes:
+# - Default: StateReportingTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.StateReportingTopic = StateReportingTopic
+
+
+# ArmarX.XMLStateComponent.StatesToEnter: List of states that are directly entered and executed. Seperated by comma. These must not need any input parameters!
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.XMLStateComponent.StatesToEnter = NavigateToLocation
+
+
+# ArmarX.XMLStateComponent.XMLRemoteStateOffererName: Name of the RemoteStateOfferer to start. The default name is [StatechartGroupName]RemoteStateOfferer.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.XMLRemoteStateOffererName = ""
+
+
+# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml) - relative to projects' source dir
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
+
+
+# ArmarX.XMLStateComponent.XMLStatechartProfile: Profile to use for state execution. Should be the same for all Statechart Groups in one scenario. This profile name is also added as a prefix to the Ice identifier of the RemoteStateOfferer of this statechart group.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.XMLStateComponent.XMLStatechartProfile = Armar3a
+
+
diff --git a/scenarios/HumanAwareNavigation/config/control_memory.cfg b/scenarios/HumanAwareNavigation/config/control_memory.cfg
new file mode 100644
index 00000000..0d5c0948
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/control_memory.cfg
@@ -0,0 +1,375 @@
+# ==================================================================
+# control_memory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.ControlMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.ControlMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ControlMemory.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.ControlMemory.EnableProfiling = false
+
+
+# ArmarX.ControlMemory.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.ControlMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ControlMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.ObjectName = ""
+
+
+# ArmarX.ControlMemory.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ControlMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Control
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.MemoryName = Control
+
+
+# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ControlMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.ControlMemory.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.ControlMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ControlMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ControlMemory.p.locationGraph.visuFrequency: Visualization frequeny of locations and graph edges [Hz].
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.p.locationGraph.visuFrequency = 2
+
+
+# ArmarX.ControlMemory.p.snapshotToLoad: Memory snapshot to load at start up
+# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.p.snapshotToLoad = ""
+
+
+# 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/HumanAwareNavigation/config/example_client.cfg b/scenarios/HumanAwareNavigation/config/example_client.cfg
new file mode 100644
index 00000000..ba425c4c
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/example_client.cfg
@@ -0,0 +1,262 @@
+# ==================================================================
+# example_client properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.ExampleClient.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.ExampleClient.EnableProfiling = false
+
+
+# ArmarX.ExampleClient.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.ExampleClient.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ExampleClient.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.ObjectName = ""
+
+
+# ArmarX.ExampleClient.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.ExampleClient.mem.robot_state.descriptionSegment:
+# Attributes:
+# - Default: Description
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.mem.robot_state.descriptionSegment = Description
+
+
+# ArmarX.ExampleClient.mem.robot_state.localizationSegment:
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.ExampleClient.mem.robot_state.proprioceptionSegment:
+# Attributes:
+# - Default: Proprioception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.mem.robot_state.proprioceptionSegment = Proprioception
+
+
+# ArmarX.ExampleClient.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.ExampleClient.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ExampleClient.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ExampleClient.nav.NavigatorName: Name of the Navigator
+# Attributes:
+# - Default: navigator
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ExampleClient.nav.NavigatorName = navigator
+
+
+# ArmarX.ExampleClient.relativeMovement: The distance between two target poses [mm]
+# Attributes:
+# - Default: 200
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.relativeMovement = 200
+
+
+# ArmarX.ExampleClient.robotName:
+# Attributes:
+# - Default: Armar6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleClient.robotName = Armar6
+
+
+# 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/HumanAwareNavigation/config/global.cfg b/scenarios/HumanAwareNavigation/config/global.cfg
new file mode 100644
index 00000000..4fe03bb6
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/global.cfg
@@ -0,0 +1,3 @@
+# ==================================================================
+# Global Config from Scenario HumanAwareNavigation
+# ==================================================================
diff --git a/scenarios/HumanAwareNavigation/config/navigation_memory.cfg b/scenarios/HumanAwareNavigation/config/navigation_memory.cfg
new file mode 100644
index 00000000..8e727c26
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/navigation_memory.cfg
@@ -0,0 +1,393 @@
+# ==================================================================
+# navigation_memory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.NavigationMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.NavigationMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.NavigationMemory.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.NavigationMemory.EnableProfiling = false
+
+
+# ArmarX.NavigationMemory.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.NavigationMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.NavigationMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.ObjectName = ""
+
+
+# ArmarX.NavigationMemory.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.NavigationMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.MemoryName = Navigation
+
+
+# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.NavigationMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.NavigationMemory.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.NavigationMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.NavigationMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.NavigationMemory.p.locationGraph.visuFrequency: Visualization frequeny of locations and graph edges [Hz].
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.NavigationMemory.p.locationGraph.visuFrequency = 2
+
+
+# ArmarX.NavigationMemory.p.locationGraph.visuGraphEdges: Enable visualization of navigation graph edges.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.p.locationGraph.visuGraphEdges = true
+
+
+# ArmarX.NavigationMemory.p.locationGraph.visuLocation: Enable visualization of locations.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.p.locationGraph.visuLocation = true
+
+
+# ArmarX.NavigationMemory.p.snapshotToLoad: Memory snapshot to load at start up
+# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graphs/audimax-science-week-opening
+
+
+# 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/HumanAwareNavigation/config/navigator.cfg b/scenarios/HumanAwareNavigation/config/navigator.cfg
new file mode 100644
index 00000000..d481cf59
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/navigator.cfg
@@ -0,0 +1,411 @@
+# ==================================================================
+# navigator properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.Navigator.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.Navigator.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.Navigator.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.Navigator.EnableProfiling = false
+
+
+# ArmarX.Navigator.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.Navigator.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.Navigator.ObjectMemoryName: Name of the object memory.
+# Attributes:
+# - Default: ObjectMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.ObjectMemoryName = ObjectMemory
+
+
+# ArmarX.Navigator.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Navigator.ObjectName = navigator
+
+
+# ArmarX.Navigator.RobotUnitName: Name of the RobotUnit
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.Navigator.RobotUnitName = Armar6Unit
+
+
+# ArmarX.Navigator.cmp.PlatformUnit: No Description
+# Attributes:
+# - Default: Armar6PlatformUnit
+# - Case sensitivity: no
+# - Required: no
+ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
+
+
+# ArmarX.Navigator.cmp.RemoteGui: Ice object name of the `RemoteGui` component.
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.cmp.RemoteGui = RemoteGuiProvider
+
+
+# ArmarX.Navigator.mem.nav.costmap.CoreSegment:
+# Attributes:
+# - Default: Costmap
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.costmap.CoreSegment = Costmap
+
+
+# ArmarX.Navigator.mem.nav.costmap.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.costmap.Memory = Navigation
+
+
+# ArmarX.Navigator.mem.nav.costmap.Provider: Name of this provider
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.costmap.Provider = ""
+
+
+# ArmarX.Navigator.mem.nav.events.CoreSegment:
+# Attributes:
+# - Default: Events
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.events.CoreSegment = Events
+
+
+# ArmarX.Navigator.mem.nav.events.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.events.Memory = Navigation
+
+
+# ArmarX.Navigator.mem.nav.events.Provider: Name of this provider
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.events.Provider = ""
+
+
+# ArmarX.Navigator.mem.nav.graph.CoreSegment:
+# Attributes:
+# - Default: Location
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.graph.CoreSegment = Location
+
+
+# ArmarX.Navigator.mem.nav.graph.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.graph.Memory = Navigation
+
+
+# ArmarX.Navigator.mem.nav.param.CoreSegment:
+# Attributes:
+# - Default: Parameterization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.param.CoreSegment = Parameterization
+
+
+# ArmarX.Navigator.mem.nav.param.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.param.Memory = Navigation
+
+
+# ArmarX.Navigator.mem.nav.param.Provider: Name of this provider
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.param.Provider = ""
+
+
+# ArmarX.Navigator.mem.nav.stack_result.CoreSegment:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.stack_result.CoreSegment = ""
+
+
+# ArmarX.Navigator.mem.nav.stack_result.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.stack_result.Memory = Navigation
+
+
+# ArmarX.Navigator.mem.nav.stack_result.Provider: Name of this provider
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.nav.stack_result.Provider = ""
+
+
+# ArmarX.Navigator.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.Navigator.mem.robot_state.descriptionSegment:
+# Attributes:
+# - Default: Description
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.robot_state.descriptionSegment = Description
+
+
+# ArmarX.Navigator.mem.robot_state.localizationSegment:
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.Navigator.mem.robot_state.proprioceptionSegment:
+# Attributes:
+# - Default: Proprioception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mem.robot_state.proprioceptionSegment = Proprioception
+
+
+# ArmarX.Navigator.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.Navigator.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.Navigator.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.Navigator.p.occupancy_grid.occopied_threshold: Threshold for each cell to be considered occupied. Increase this value to reduce noise.
+# Attributes:
+# - Default: 0.550000012
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
+
+
+# ArmarX.Navigator.p.robotName:
+# Attributes:
+# - Default: Armar6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.p.robotName = Armar6
+
+
+# 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 = Verbose
--
GitLab
From 511646c40187332ebe2a7ceeff028ca586d3cc79 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 12:03:03 +0200
Subject: [PATCH 04/10] scenario update
---
.../HumanAwareNavigation.scx | 5 +-
.../config/ObjectMemory.cfg | 125 +-----
.../config/VisionMemory.cfg | 97 +----
.../config/control_memory.cfg | 371 -----------------
..._distance_to_obstacle_costmap_provider.cfg | 270 +++++++++++++
.../config/dynamic_scene_provider.cfg | 374 ++++++++++++++++++
.../config/example_client.cfg | 18 +-
.../HumanAwareNavigation/config/global.cfg | 1 +
.../config/navigation_memory.cfg | 103 +----
.../HumanAwareNavigation/config/navigator.cfg | 28 +-
...ulatedObjectLocalizerDynamicSimulation.cfg | 8 +
.../HandUnitDynamicSimulationApp.LeftHand.cfg | 17 -
...HandUnitDynamicSimulationApp.RightHand.cfg | 17 -
.../config/ObjectMemory.cfg | 115 +-----
.../SelfLocalizationDynamicSimulationApp.cfg | 18 +-
.../config/SimulatorViewerApp.cfg | 74 +++-
.../config/VisionMemory.cfg | 97 +----
.../config/ObjectMemory.cfg | 10 +
.../config/VisionMemory.cfg | 16 +
.../config/control_memory.cfg | 371 -----------------
.../config/example_client.cfg | 68 +---
.../config/navigation_memory.cfg | 97 +----
.../PlatformNavigation/config/navigator.cfg | 21 +-
23 files changed, 824 insertions(+), 1497 deletions(-)
create mode 100644 scenarios/HumanAwareNavigation/config/dynamic_distance_to_obstacle_costmap_provider.cfg
create mode 100644 scenarios/HumanAwareNavigation/config/dynamic_scene_provider.cfg
diff --git a/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx b/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx
index ae2dfe63..3c4d6c5a 100644
--- a/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx
+++ b/scenarios/HumanAwareNavigation/HumanAwareNavigation.scx
@@ -6,7 +6,10 @@
<application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
<application name="navigator" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="navigation_memory" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="example_client" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="example_client" instance="" package="armarx_navigation" nodeName="" enabled="false" iceAutoRestart="false"/>
<application name="VisionMemory" instance="" package="VisionX" nodeName="" enabled="false" iceAutoRestart="false"/>
<application name="control_memory" instance="" package="armarx_control" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="dynamic_distance_to_obstacle_costmap_provider" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="dynamic_scene_provider" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
+
diff --git a/scenarios/HumanAwareNavigation/config/ObjectMemory.cfg b/scenarios/HumanAwareNavigation/config/ObjectMemory.cfg
index 579926b6..2af60bde 100644
--- a/scenarios/HumanAwareNavigation/config/ObjectMemory.cfg
+++ b/scenarios/HumanAwareNavigation/config/ObjectMemory.cfg
@@ -513,74 +513,21 @@
# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true
-# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.ObjectMemory.mem.ltm..configuration:
# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.ObjectMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled = true
+# ArmarX.ObjectMemory.mem.ltm..configuration = ""
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled:
+# ArmarX.ObjectMemory.mem.ltm..enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled = true
+# ArmarX.ObjectMemory.mem.ltm..enabled = false
# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
@@ -591,40 +538,6 @@
# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
# ArmarX.ObjectMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
@@ -641,15 +554,7 @@
# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
-# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:
-# Attributes:
-# - Default: Description
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
-
-
-# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
# Attributes:
# - Default: Localization
# - Case sensitivity: yes
@@ -657,14 +562,6 @@
# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
-# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:
-# Attributes:
-# - Default: Proprioception
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
-
-
# 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:
@@ -691,6 +588,14 @@
# ArmarX.ObjectMemory.prediction.TimeWindow = 2
+# ArmarX.ObjectMemory.robotName:
+# Attributes:
+# - Default: Armar6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.robotName = Armar6
+
+
# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
# Attributes:
# - Default: DebugObserver
@@ -773,3 +678,5 @@
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/HumanAwareNavigation/config/VisionMemory.cfg b/scenarios/HumanAwareNavigation/config/VisionMemory.cfg
index 22e0d3e6..4c7327ed 100644
--- a/scenarios/HumanAwareNavigation/config/VisionMemory.cfg
+++ b/scenarios/HumanAwareNavigation/config/VisionMemory.cfg
@@ -210,74 +210,21 @@
# ArmarX.VisionMemory.mem.MemoryName = Vision
-# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.VisionMemory.mem.ltm..configuration:
# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled = true
+# ArmarX.VisionMemory.mem.ltm..configuration = ""
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled:
+# ArmarX.VisionMemory.mem.ltm..enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled = true
+# ArmarX.VisionMemory.mem.ltm..enabled = false
# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
@@ -288,40 +235,6 @@
# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
# ArmarX.VisionMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
diff --git a/scenarios/HumanAwareNavigation/config/control_memory.cfg b/scenarios/HumanAwareNavigation/config/control_memory.cfg
index 0d5c0948..dd21987d 100644
--- a/scenarios/HumanAwareNavigation/config/control_memory.cfg
+++ b/scenarios/HumanAwareNavigation/config/control_memory.cfg
@@ -2,374 +2,3 @@
# control_memory properties
# ==================================================================
-# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
-# Attributes:
-# - Default: Default value not mapped.
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.AdditionalPackages = Default value not mapped.
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
-# Attributes:
-# - Default: mongo/.cache
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.CachePath = mongo/.cache
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ArmarX.ControlMemory.ArVizStorageName: Name of the ArViz storage
-# Attributes:
-# - Default: ArVizStorage
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.ArVizStorageName = ArVizStorage
-
-
-# ArmarX.ControlMemory.ArVizTopicName: Name of the ArViz topic
-# Attributes:
-# - Default: ArVizTopic
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.ArVizTopicName = ArVizTopic
-
-
-# ArmarX.ControlMemory.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.ControlMemory.EnableProfiling = false
-
-
-# ArmarX.ControlMemory.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.ControlMemory.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ControlMemory.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.ObjectName = ""
-
-
-# ArmarX.ControlMemory.RemoteGuiName: Name of the remote gui provider
-# Attributes:
-# - Default: RemoteGuiProvider
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.RemoteGuiName = RemoteGuiProvider
-
-
-# ArmarX.ControlMemory.mem.MemoryName: Name of this memory server.
-# Attributes:
-# - Default: Control
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.MemoryName = Control
-
-
-# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
-# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
-# Attributes:
-# - Default: 1024
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-
-
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
-# ArmarX.ControlMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
-# Attributes:
-# - Default: Default value not mapped.
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.storagepath = Default value not mapped.
-
-
-# ArmarX.ControlMemory.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.ControlMemory.mns.MemoryNameSystemEnabled = true
-
-
-# ArmarX.ControlMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
-# Attributes:
-# - Default: MemoryNameSystem
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mns.MemoryNameSystemName = MemoryNameSystem
-
-
-# ArmarX.ControlMemory.p.locationGraph.visuFrequency: Visualization frequeny of locations and graph edges [Hz].
-# Attributes:
-# - Default: 2
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.p.locationGraph.visuFrequency = 2
-
-
-# ArmarX.ControlMemory.p.snapshotToLoad: Memory snapshot to load at start up
-# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.p.snapshotToLoad = ""
-
-
-# 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/HumanAwareNavigation/config/dynamic_distance_to_obstacle_costmap_provider.cfg b/scenarios/HumanAwareNavigation/config/dynamic_distance_to_obstacle_costmap_provider.cfg
new file mode 100644
index 00000000..27479d20
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/dynamic_distance_to_obstacle_costmap_provider.cfg
@@ -0,0 +1,270 @@
+# ==================================================================
+# dynamic_distance_to_obstacle_costmap_provider properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.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.dynamic_distance_to_obstacle_costmap_provider.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.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.dynamic_distance_to_obstacle_costmap_provider.EnableProfiling = false
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.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.dynamic_distance_to_obstacle_costmap_provider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ObjectName = ""
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.CoreSegment:
+# Attributes:
+# - Default: Costmap
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.CoreSegment = Costmap
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Memory = Navigation
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Provider: Name of this provider
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Provider = ""
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.CoreSegment: Name of the mapping memory core segment to use.
+# Attributes:
+# - Default: LaserScannerFeatures
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.CoreSegment = LaserScannerFeatures
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.MemoryName:
+# Attributes:
+# - Default: Vision
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.MemoryName = Vision
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.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.dynamic_distance_to_obstacle_costmap_provider.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.p.updatePeriodMs:
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.p.updatePeriodMs = 100
+
+
diff --git a/scenarios/HumanAwareNavigation/config/dynamic_scene_provider.cfg b/scenarios/HumanAwareNavigation/config/dynamic_scene_provider.cfg
new file mode 100644
index 00000000..98cd68b7
--- /dev/null
+++ b/scenarios/HumanAwareNavigation/config/dynamic_scene_provider.cfg
@@ -0,0 +1,374 @@
+# ==================================================================
+# dynamic_scene_provider properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.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.dynamic_scene_provider.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.dynamic_scene_provider.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.dynamic_scene_provider.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.dynamic_scene_provider.EnableProfiling = false
+
+
+# ArmarX.dynamic_scene_provider.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.dynamic_scene_provider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.dynamic_scene_provider.ObjectMemoryName: Name of the object memory.
+# Attributes:
+# - Default: ObjectMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.ObjectMemoryName = ObjectMemory
+
+
+# ArmarX.dynamic_scene_provider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.ObjectName = ""
+
+
+# ArmarX.dynamic_scene_provider.mem.human.pose.CoreSegment:
+# Attributes:
+# - Default: Pose
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.human.pose.CoreSegment = Pose
+
+
+# ArmarX.dynamic_scene_provider.mem.human.pose.Memory:
+# Attributes:
+# - Default: Human
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.human.pose.Memory = Human
+
+
+# ArmarX.dynamic_scene_provider.mem.nav.costmap.CoreSegment:
+# Attributes:
+# - Default: Costmap
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.nav.costmap.CoreSegment = Costmap
+
+
+# ArmarX.dynamic_scene_provider.mem.nav.costmap.Memory:
+# Attributes:
+# - Default: Navigation
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.nav.costmap.Memory = Navigation
+
+
+# ArmarX.dynamic_scene_provider.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.dynamic_scene_provider.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.dynamic_scene_provider.mem.vision.laser_scanner_features.CoreSegment: Name of the mapping memory core segment to use.
+# Attributes:
+# - Default: LaserScannerFeatures
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.vision.laser_scanner_features.CoreSegment = LaserScannerFeatures
+
+
+# ArmarX.dynamic_scene_provider.mem.vision.laser_scanner_features.MemoryName:
+# Attributes:
+# - Default: Vision
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.vision.laser_scanner_features.MemoryName = Vision
+
+
+# ArmarX.dynamic_scene_provider.mem.vision.occupancy_grid.CoreSegment:
+# Attributes:
+# - Default: OccupancyGrid
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.vision.occupancy_grid.CoreSegment = OccupancyGrid
+
+
+# ArmarX.dynamic_scene_provider.mem.vision.occupancy_grid.Memory:
+# Attributes:
+# - Default: Vision
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mem.vision.occupancy_grid.Memory = Vision
+
+
+# ArmarX.dynamic_scene_provider.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.dynamic_scene_provider.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.dynamic_scene_provider.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.dynamic_scene_provider.p.laserScannerFeatures.name:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.laserScannerFeatures.name = ""
+
+
+# ArmarX.dynamic_scene_provider.p.laserScannerFeatures.providerName:
+# Attributes:
+# - Default: LaserScannerFeatureExtraction
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.laserScannerFeatures.providerName = LaserScannerFeatureExtraction
+
+
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.freespaceThreshold:
+# Attributes:
+# - Default: 0.449999988
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.freespaceThreshold = 0.449999988
+
+
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.name:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.name = ""
+
+
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.occupiedThreshold:
+# Attributes:
+# - Default: 0.550000012
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.occupiedThreshold = 0.550000012
+
+
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.providerName:
+# Attributes:
+# - Default: CartographerMappingAndLocalization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.occupancyGrid.providerName = CartographerMappingAndLocalization
+
+
+# ArmarX.dynamic_scene_provider.p.robot.name:
+# Attributes:
+# - Default: Armar6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.robot.name = Armar6
+
+
+# ArmarX.dynamic_scene_provider.p.taskPeriodMs: Update rate of the running task.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.dynamic_scene_provider.p.taskPeriodMs = 100
+
+
diff --git a/scenarios/HumanAwareNavigation/config/example_client.cfg b/scenarios/HumanAwareNavigation/config/example_client.cfg
index ba425c4c..eef85301 100644
--- a/scenarios/HumanAwareNavigation/config/example_client.cfg
+++ b/scenarios/HumanAwareNavigation/config/example_client.cfg
@@ -110,15 +110,7 @@
# ArmarX.ExampleClient.mem.robot_state.Memory = RobotState
-# ArmarX.ExampleClient.mem.robot_state.descriptionSegment:
-# Attributes:
-# - Default: Description
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mem.robot_state.descriptionSegment = Description
-
-
-# ArmarX.ExampleClient.mem.robot_state.localizationSegment:
+# ArmarX.ExampleClient.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
# Attributes:
# - Default: Localization
# - Case sensitivity: yes
@@ -126,14 +118,6 @@
# ArmarX.ExampleClient.mem.robot_state.localizationSegment = Localization
-# ArmarX.ExampleClient.mem.robot_state.proprioceptionSegment:
-# Attributes:
-# - Default: Proprioception
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mem.robot_state.proprioceptionSegment = Proprioception
-
-
# ArmarX.ExampleClient.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:
diff --git a/scenarios/HumanAwareNavigation/config/global.cfg b/scenarios/HumanAwareNavigation/config/global.cfg
index 4fe03bb6..b127ca30 100644
--- a/scenarios/HumanAwareNavigation/config/global.cfg
+++ b/scenarios/HumanAwareNavigation/config/global.cfg
@@ -1,3 +1,4 @@
# ==================================================================
# Global Config from Scenario HumanAwareNavigation
# ==================================================================
+
diff --git a/scenarios/HumanAwareNavigation/config/navigation_memory.cfg b/scenarios/HumanAwareNavigation/config/navigation_memory.cfg
index 8e727c26..aeb9f55b 100644
--- a/scenarios/HumanAwareNavigation/config/navigation_memory.cfg
+++ b/scenarios/HumanAwareNavigation/config/navigation_memory.cfg
@@ -123,7 +123,7 @@
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.NavigationMemory.MinimumLoggingLevel = Undefined
+ArmarX.NavigationMemory.MinimumLoggingLevel = Verbose
# ArmarX.NavigationMemory.ObjectName: Name of IceGrid well-known object
@@ -150,74 +150,21 @@
# ArmarX.NavigationMemory.mem.MemoryName = Navigation
-# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.NavigationMemory.mem.ltm..configuration:
# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.NavigationMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled = true
+# ArmarX.NavigationMemory.mem.ltm..configuration = ""
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled:
+# ArmarX.NavigationMemory.mem.ltm..enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled = true
+# ArmarX.NavigationMemory.mem.ltm..enabled = false
# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
@@ -228,40 +175,6 @@
# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
# ArmarX.NavigationMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
@@ -320,7 +233,7 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graphs/audimax-science-week-opening
+# ArmarX.NavigationMemory.p.snapshotToLoad = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
@@ -388,6 +301,6 @@ ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graph
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Info
+ArmarX.Verbosity = Verbose
diff --git a/scenarios/HumanAwareNavigation/config/navigator.cfg b/scenarios/HumanAwareNavigation/config/navigator.cfg
index d481cf59..f6a497b2 100644
--- a/scenarios/HumanAwareNavigation/config/navigator.cfg
+++ b/scenarios/HumanAwareNavigation/config/navigator.cfg
@@ -285,15 +285,7 @@ ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
# ArmarX.Navigator.mem.robot_state.Memory = RobotState
-# ArmarX.Navigator.mem.robot_state.descriptionSegment:
-# Attributes:
-# - Default: Description
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.Navigator.mem.robot_state.descriptionSegment = Description
-
-
-# ArmarX.Navigator.mem.robot_state.localizationSegment:
+# ArmarX.Navigator.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
# Attributes:
# - Default: Localization
# - Case sensitivity: yes
@@ -301,14 +293,6 @@ ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
# ArmarX.Navigator.mem.robot_state.localizationSegment = Localization
-# ArmarX.Navigator.mem.robot_state.proprioceptionSegment:
-# Attributes:
-# - Default: Proprioception
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.Navigator.mem.robot_state.proprioceptionSegment = Proprioception
-
-
# ArmarX.Navigator.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:
@@ -335,14 +319,6 @@ ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
-# ArmarX.Navigator.p.robotName:
-# Attributes:
-# - Default: Armar6
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.Navigator.p.robotName = Armar6
-
-
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
# - Default: true
@@ -409,3 +385,5 @@ ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
ArmarX.Verbosity = Verbose
+
+
diff --git a/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg b/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg
index 7c4574e0..a64fd58d 100644
--- a/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg
+++ b/scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg
@@ -133,6 +133,14 @@ ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.ProviderN
# 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
diff --git a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
index aa21b8fd..18e2d2db 100644
--- a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
+++ b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.LeftHand.cfg
@@ -139,23 +139,6 @@ ArmarX.HandUnitDynamicSimulation.ObjectName = LeftHandUnit
# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
-# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory: Require the legacy MemoryX working memory to be available before starting.
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory = false
-
-
-# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName: Name of the object pose storage (only used if necessary).
-# Attributes:
-# - Default: ObjectMemory
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName = ObjectMemory
-
-
# ArmarX.HandUnitDynamicSimulation.inheritFrom: No Description
# Attributes:
# - Default: RobotConfig
diff --git a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
index b92bb000..85cc4345 100644
--- a/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
+++ b/scenarios/NavigationSimulation/config/HandUnitDynamicSimulationApp.RightHand.cfg
@@ -139,23 +139,6 @@ ArmarX.HandUnitDynamicSimulation.ObjectName = RightHandUnit
# ArmarX.HandUnitDynamicSimulation.SimulatorProxyName = Simulator
-# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory: Require the legacy MemoryX working memory to be available before starting.
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.HandUnitDynamicSimulation.UseLegacyWorkingMemory = false
-
-
-# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName: Name of the object pose storage (only used if necessary).
-# Attributes:
-# - Default: ObjectMemory
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.HandUnitDynamicSimulation.cmp.ObjectPoseStorageName = ObjectMemory
-
-
# ArmarX.HandUnitDynamicSimulation.inheritFrom: No Description
# Attributes:
# - Default: RobotConfig
diff --git a/scenarios/NavigationSimulation/config/ObjectMemory.cfg b/scenarios/NavigationSimulation/config/ObjectMemory.cfg
index 57b383ba..ed320714 100644
--- a/scenarios/NavigationSimulation/config/ObjectMemory.cfg
+++ b/scenarios/NavigationSimulation/config/ObjectMemory.cfg
@@ -513,74 +513,21 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true
-# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.ObjectMemory.mem.ltm..configuration:
# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.ObjectMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled = true
+# ArmarX.ObjectMemory.mem.ltm..configuration = ""
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled:
+# ArmarX.ObjectMemory.mem.ltm..enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled = true
+# ArmarX.ObjectMemory.mem.ltm..enabled = false
# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
@@ -591,40 +538,6 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
# ArmarX.ObjectMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
@@ -641,15 +554,7 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
-# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:
-# Attributes:
-# - Default: Description
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
-
-
-# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
# Attributes:
# - Default: Localization
# - Case sensitivity: yes
@@ -657,14 +562,6 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
-# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:
-# Attributes:
-# - Default: Proprioception
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
-
-
# 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:
diff --git a/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg b/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg
index 23b096b3..1dab8f00 100644
--- a/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg
+++ b/scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg
@@ -175,6 +175,14 @@ ArmarX.SelfLocalizationDynamicSimulation.RobotName = Armar6
# 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
@@ -183,7 +191,7 @@ ArmarX.SelfLocalizationDynamicSimulation.RobotName = Armar6
# ArmarX.SelfLocalizationDynamicSimulation.cycleTime = 30
-# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory: Which legacy long-term memory to use if longterm_memory.updateor longterm_memory.retrieve_initial_pose are set
+# ArmarX.SelfLocalizationDynamicSimulation.longterm_memory: Ice object name of the `LongtermMemory` component.
# Attributes:
# - Default: LongtermMemory
# - Case sensitivity: yes
@@ -299,6 +307,14 @@ ArmarX.SelfLocalizationDynamicSimulation.mem.robot_state.Memory = RobotState
# 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
diff --git a/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg b/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg
index 74604be7..d514a485 100644
--- a/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg
+++ b/scenarios/NavigationSimulation/config/SimulatorViewerApp.cfg
@@ -117,14 +117,73 @@
# ArmarX.SecondsStartupDelay = 0
-# ArmarX.SimulatorViewer_EntityDrawer.MinimumLoggingLevel: No Description
+# ArmarX.SimulatorViewer_EntityDrawer.CommonStorageName: Name of the the CommonStorage memory component
# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
+# - 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
@@ -324,15 +383,6 @@ ArmarX.SimulatorViewer_SimulationWindow.Camera.z = 6000
# ArmarX.UpdateRate = 30
-# ArmarX.UseDebugDrawer: Whether to create the debug drawer component for the viewer.
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.UseDebugDrawer = false
-
-
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
# - Default: false
diff --git a/scenarios/NavigationSimulation/config/VisionMemory.cfg b/scenarios/NavigationSimulation/config/VisionMemory.cfg
index 22e0d3e6..4c7327ed 100644
--- a/scenarios/NavigationSimulation/config/VisionMemory.cfg
+++ b/scenarios/NavigationSimulation/config/VisionMemory.cfg
@@ -210,74 +210,21 @@
# ArmarX.VisionMemory.mem.MemoryName = Vision
-# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.VisionMemory.mem.ltm..configuration:
# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled = true
+# ArmarX.VisionMemory.mem.ltm..configuration = ""
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled:
+# ArmarX.VisionMemory.mem.ltm..enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled = true
+# ArmarX.VisionMemory.mem.ltm..enabled = false
# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
@@ -288,40 +235,6 @@
# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
# ArmarX.VisionMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
diff --git a/scenarios/PlatformNavigation/config/ObjectMemory.cfg b/scenarios/PlatformNavigation/config/ObjectMemory.cfg
index 579926b6..5e0858b9 100644
--- a/scenarios/PlatformNavigation/config/ObjectMemory.cfg
+++ b/scenarios/PlatformNavigation/config/ObjectMemory.cfg
@@ -691,6 +691,14 @@
# ArmarX.ObjectMemory.prediction.TimeWindow = 2
+# ArmarX.ObjectMemory.robotName:
+# Attributes:
+# - Default: Armar6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.robotName = Armar6
+
+
# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
# Attributes:
# - Default: DebugObserver
@@ -773,3 +781,5 @@
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/VisionMemory.cfg b/scenarios/PlatformNavigation/config/VisionMemory.cfg
index 22e0d3e6..9c59a9f6 100644
--- a/scenarios/PlatformNavigation/config/VisionMemory.cfg
+++ b/scenarios/PlatformNavigation/config/VisionMemory.cfg
@@ -364,3 +364,19 @@
# ArmarX.VisionMemory.pointCloudMaxHistorySize = 20
+# ArmarX.VisionMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.VisionMemory.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.VisionMemory.tpc.sub.MemoryListener = MemoryUpdates
+
+
diff --git a/scenarios/PlatformNavigation/config/control_memory.cfg b/scenarios/PlatformNavigation/config/control_memory.cfg
index 0d5c0948..dd21987d 100644
--- a/scenarios/PlatformNavigation/config/control_memory.cfg
+++ b/scenarios/PlatformNavigation/config/control_memory.cfg
@@ -2,374 +2,3 @@
# control_memory properties
# ==================================================================
-# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
-# Attributes:
-# - Default: Default value not mapped.
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.AdditionalPackages = Default value not mapped.
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
-# Attributes:
-# - Default: mongo/.cache
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.CachePath = mongo/.cache
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ArmarX.ControlMemory.ArVizStorageName: Name of the ArViz storage
-# Attributes:
-# - Default: ArVizStorage
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.ArVizStorageName = ArVizStorage
-
-
-# ArmarX.ControlMemory.ArVizTopicName: Name of the ArViz topic
-# Attributes:
-# - Default: ArVizTopic
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.ArVizTopicName = ArVizTopic
-
-
-# ArmarX.ControlMemory.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.ControlMemory.EnableProfiling = false
-
-
-# ArmarX.ControlMemory.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.ControlMemory.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ControlMemory.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.ObjectName = ""
-
-
-# ArmarX.ControlMemory.RemoteGuiName: Name of the remote gui provider
-# Attributes:
-# - Default: RemoteGuiProvider
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.RemoteGuiName = RemoteGuiProvider
-
-
-# ArmarX.ControlMemory.mem.MemoryName: Name of this memory server.
-# Attributes:
-# - Default: Control
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.MemoryName = Control
-
-
-# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
-# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled = true
-
-
-# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
-# Attributes:
-# - Default: 1024
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-
-
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
-# ArmarX.ControlMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
-# Attributes:
-# - Default: Default value not mapped.
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mem.ltm.storagepath = Default value not mapped.
-
-
-# ArmarX.ControlMemory.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.ControlMemory.mns.MemoryNameSystemEnabled = true
-
-
-# ArmarX.ControlMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
-# Attributes:
-# - Default: MemoryNameSystem
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.mns.MemoryNameSystemName = MemoryNameSystem
-
-
-# ArmarX.ControlMemory.p.locationGraph.visuFrequency: Visualization frequeny of locations and graph edges [Hz].
-# Attributes:
-# - Default: 2
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.p.locationGraph.visuFrequency = 2
-
-
-# ArmarX.ControlMemory.p.snapshotToLoad: Memory snapshot to load at start up
-# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ControlMemory.p.snapshotToLoad = ""
-
-
-# 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/PlatformNavigation/config/example_client.cfg b/scenarios/PlatformNavigation/config/example_client.cfg
index ba425c4c..fa27dee3 100644
--- a/scenarios/PlatformNavigation/config/example_client.cfg
+++ b/scenarios/PlatformNavigation/config/example_client.cfg
@@ -102,80 +102,14 @@
# ArmarX.ExampleClient.ObjectName = ""
-# ArmarX.ExampleClient.mem.robot_state.Memory:
-# Attributes:
-# - Default: RobotState
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mem.robot_state.Memory = RobotState
-
-
-# ArmarX.ExampleClient.mem.robot_state.descriptionSegment:
-# Attributes:
-# - Default: Description
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mem.robot_state.descriptionSegment = Description
-
-
-# ArmarX.ExampleClient.mem.robot_state.localizationSegment:
-# Attributes:
-# - Default: Localization
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mem.robot_state.localizationSegment = Localization
-
-
-# ArmarX.ExampleClient.mem.robot_state.proprioceptionSegment:
-# Attributes:
-# - Default: Proprioception
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mem.robot_state.proprioceptionSegment = Proprioception
-
-
-# ArmarX.ExampleClient.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.ExampleClient.mns.MemoryNameSystemEnabled = true
-
-
-# ArmarX.ExampleClient.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
-# Attributes:
-# - Default: MemoryNameSystem
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.mns.MemoryNameSystemName = MemoryNameSystem
-
-
# ArmarX.ExampleClient.nav.NavigatorName: Name of the Navigator
# Attributes:
-# - Default: navigator
+# - Default: Navigator
# - Case sensitivity: yes
# - Required: no
ArmarX.ExampleClient.nav.NavigatorName = navigator
-# ArmarX.ExampleClient.relativeMovement: The distance between two target poses [mm]
-# Attributes:
-# - Default: 200
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.relativeMovement = 200
-
-
-# ArmarX.ExampleClient.robotName:
-# Attributes:
-# - Default: Armar6
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleClient.robotName = Armar6
-
-
# 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: ""
diff --git a/scenarios/PlatformNavigation/config/navigation_memory.cfg b/scenarios/PlatformNavigation/config/navigation_memory.cfg
index 8e727c26..d66f1082 100644
--- a/scenarios/PlatformNavigation/config/navigation_memory.cfg
+++ b/scenarios/PlatformNavigation/config/navigation_memory.cfg
@@ -150,74 +150,21 @@
# ArmarX.NavigationMemory.mem.MemoryName = Navigation
-# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.NavigationMemory.mem.ltm..configuration:
# Attributes:
-# - Default: 10
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled = true
-
-
-# ArmarX.NavigationMemory.mem.ltm.enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled = true
+# ArmarX.NavigationMemory.mem.ltm..configuration = ""
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled:
+# ArmarX.NavigationMemory.mem.ltm..enabled:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled = true
+# ArmarX.NavigationMemory.mem.ltm..enabled = false
# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
@@ -228,40 +175,6 @@
# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
# ArmarX.NavigationMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
# Attributes:
# - Default: Default value not mapped.
diff --git a/scenarios/PlatformNavigation/config/navigator.cfg b/scenarios/PlatformNavigation/config/navigator.cfg
index d481cf59..0501ba1e 100644
--- a/scenarios/PlatformNavigation/config/navigator.cfg
+++ b/scenarios/PlatformNavigation/config/navigator.cfg
@@ -142,17 +142,18 @@
ArmarX.Navigator.ObjectName = navigator
-# ArmarX.Navigator.RobotUnitName: Name of the RobotUnit
+# ArmarX.Navigator.RobotUnitName: No Description
# Attributes:
-# - Case sensitivity: yes
-# - Required: yes
+# - Default: Armar6Unit
+# - Case sensitivity: no
+# - Required: no
ArmarX.Navigator.RobotUnitName = Armar6Unit
-# ArmarX.Navigator.cmp.PlatformUnit: No Description
+# ArmarX.Navigator.cmp.PlatformUnit: Ice object name of the `PlatformUnit` component.
# Attributes:
-# - Default: Armar6PlatformUnit
-# - Case sensitivity: no
+# - Default: PlatformUnit
+# - Case sensitivity: yes
# - Required: no
ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
@@ -335,12 +336,12 @@ ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
-# ArmarX.Navigator.p.robotName:
+# ArmarX.Navigator.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
# Attributes:
-# - Default: Armar6
+# - Default: MemoryUpdates
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.p.robotName = Armar6
+# ArmarX.Navigator.tpc.sub.MemoryListener = MemoryUpdates
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
@@ -409,3 +410,5 @@ ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
ArmarX.Verbosity = Verbose
+
+
--
GitLab
From a8c9c8f18ebc2fd99bf207f7723227f3e163b421 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 12:04:36 +0200
Subject: [PATCH 05/10] json at() instead of []
---
.../navigation/algorithms/persistence.cpp | 38 ++++++++++---------
.../algorithms/test/algorithms_spfa_test.cpp | 4 +-
.../NavigationMemory/NavigationMemory.cpp | 8 +++-
.../NavigationMemory/NavigationMemory.h | 3 +-
4 files changed, 29 insertions(+), 24 deletions(-)
diff --git a/source/armarx/navigation/algorithms/persistence.cpp b/source/armarx/navigation/algorithms/persistence.cpp
index 7b55a46e..a7c0e965 100644
--- a/source/armarx/navigation/algorithms/persistence.cpp
+++ b/source/armarx/navigation/algorithms/persistence.cpp
@@ -48,20 +48,22 @@ namespace armarx::navigation::algorithms
load(const std::filesystem::path& directory)
{
// load
- std::ifstream ifs(directory / "costmap.json");
+ const auto filename = directory / "costmap.json";
+ std::ifstream ifs(filename);
+ ARMARX_VERBOSE << "Loading costmap info " << filename.string();
const nlohmann::json j = nlohmann::json::parse(ifs);
// params
- const auto& jParam = j["params"];
+ const auto& jParam = j.at("params");
- const Costmap::Parameters params{.binaryGrid = jParam["binary_grid"],
- .cellSize = jParam["cell_size"]};
+ const Costmap::Parameters params{.binaryGrid = jParam.at("binary_grid"),
+ .cellSize = jParam.at("cell_size")};
// scene bounds
- const auto& jSceneBounds = j["scene_bounds"];
+ const auto& jSceneBounds = j.at("scene_bounds");
- const std::vector<float> boundsMin = jSceneBounds["min"];
- const std::vector<float> boundsMax = jSceneBounds["max"];
+ const std::vector<float> boundsMin = jSceneBounds.at("min");
+ const std::vector<float> boundsMax = jSceneBounds.at("max");
ARMARX_CHECK_EQUAL(boundsMin.size(), 2);
ARMARX_CHECK_EQUAL(boundsMax.size(), 2);
@@ -71,7 +73,7 @@ namespace armarx::navigation::algorithms
// grid
- const std::string gridFilename = j["grid_filename"];
+ const std::string gridFilename = j.at("grid_filename");
cv::Mat gridMat = cv::imread((directory / gridFilename).string(), cv::IMREAD_ANYCOLOR | cv::IMREAD_ANYDEPTH);
Eigen::MatrixXf grid;
@@ -79,9 +81,9 @@ namespace armarx::navigation::algorithms
// mask, if any
std::optional<Costmap::Mask> optMask;
- if (not j["mask_filename"].empty())
+ if (not j.at("mask_filename").empty())
{
- const std::string maskFilename = j["grid_filename"];
+ const std::string maskFilename = j.at("grid_filename");
cv::Mat maskMat = cv::imread((directory / maskFilename).string(), cv::IMREAD_ANYCOLOR | cv::IMREAD_ANYDEPTH);
Eigen::Matrix<std::uint8_t, Eigen::Dynamic, Eigen::Dynamic> mask;
@@ -111,17 +113,17 @@ namespace armarx::navigation::algorithms
// params
{
- auto& jParam = j["params"];
- jParam["binary_grid"] = costmap.params().binaryGrid;
- jParam["cell_size"] = costmap.params().cellSize;
+ auto& jParam = j.at("params");
+ jParam.at("binary_grid") = costmap.params().binaryGrid;
+ jParam.at("cell_size") = costmap.params().cellSize;
}
// scene bounds
{
- auto& jSceneBounds = j["scene_bounds"];
- jSceneBounds["min"] = std::vector<float>{costmap.getLocalSceneBounds().min.x(),
+ auto& jSceneBounds = j.at("scene_bounds");
+ jSceneBounds.at("min") = std::vector<float>{costmap.getLocalSceneBounds().min.x(),
costmap.getLocalSceneBounds().min.y()};
- jSceneBounds["max"] = std::vector<float>{costmap.getLocalSceneBounds().max.x(),
+ jSceneBounds.at("max") = std::vector<float>{costmap.getLocalSceneBounds().max.x(),
costmap.getLocalSceneBounds().max.y()};
}
@@ -135,7 +137,7 @@ namespace armarx::navigation::algorithms
const std::string gridFilename = "grid.exr";
cv::imwrite((directory / gridFilename).string(), grid);
- j["grid_filename"] = gridFilename;
+ j.at("grid_filename") = gridFilename;
// for debugging purpose, also save a png image
const std::string gridDebuggingFilename = "grid.png";
@@ -160,7 +162,7 @@ namespace armarx::navigation::algorithms
const std::string maskFilename = "mask.ppm";
cv::imwrite((directory / maskFilename).string(), mask);
- j["mask_filename"] = maskFilename;
+ j.at("mask_filename") = maskFilename;
}
}
diff --git a/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp b/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp
index 6a0db3eb..74baecbd 100644
--- a/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp
+++ b/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp
@@ -155,7 +155,7 @@ BOOST_AUTO_TEST_CASE(testGrid)
std::ifstream fs(testExrMetaFilename);
auto j = nlohmann::json::parse(fs);
- const float cellSize = j["cell_size"]; // [mm]
+ const float cellSize = j.at("cell_size"); // [mm]
BOOST_REQUIRE_GT(cellSize, 0);
std::vector<float> sceneBoundsMinV(j["scene_bounds"]["min"]);
@@ -209,7 +209,7 @@ BOOST_AUTO_TEST_CASE(testSPFAPlanWObstacleDistance)
std::ifstream fs(testExrMetaFilename);
const auto j = nlohmann::json::parse(fs);
- const float cellSize = j["cell_size"]; // [mm]
+ const float cellSize = j.at("cell_size"); // [mm]
BOOST_REQUIRE_GT(cellSize, 0);
std::vector<float> sceneBoundsMinV(j["scene_bounds"]["min"]);
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
index f35c33fa..0189ad50 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
@@ -163,7 +163,8 @@ namespace armarx::navigation
(std::istreambuf_iterator<char>()));
// parse location as json. All files in Location folder must be valid json objects!
- nlohmann::json j = nlohmann::json::parse(content);
+ ARMARX_INFO << "Parsing file `" << location << "`";
+ const nlohmann::json j = nlohmann::json::parse(content);
if (j.find("globalRobotPose") == j.end())
{
@@ -239,7 +240,8 @@ namespace armarx::navigation
(std::istreambuf_iterator<char>()));
// parse vertice. Each vertice must be a valid json object
- nlohmann::json j = nlohmann::json::parse(content);
+ ARMARX_INFO << "Parsing file `" << location << "`";
+ const nlohmann::json j = nlohmann::json::parse(content);
if (j.find("location") == j.end())
{
ARMARX_WARNING
@@ -438,6 +440,8 @@ namespace armarx::navigation
CycleUtil cycle(static_cast<int>(1000 / p.visuFrequency));
while (tasks.visuTask and not tasks.visuTask->isStopped())
{
+ ARMARX_TRACE;
+
{
std::scoped_lock lock(propertiesMutex);
p = properties.locationGraph;
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h
index 11bd41fd..0b4b95a5 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h
@@ -50,9 +50,8 @@ namespace armarx::navigation
* Detailed description of class NavigationMemory.
*/
class NavigationMemory :
- virtual public armarx::Component
+ virtual public armarx::Component,
// , virtual public armarx::DebugObserverComponentPluginUser
- ,
virtual public armarx::LightweightRemoteGuiComponentPluginUser,
virtual public armarx::ArVizComponentPluginUser,
virtual public armarx::armem::server::ReadWritePluginUser
--
GitLab
From c76a4e57c33195a6ee247035d9b3ebe86b4ff97e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 13:15:29 +0200
Subject: [PATCH 06/10] test: json stuff
---
.../navigation/algorithms/test/algorithms_spfa_test.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp b/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp
index 74baecbd..e2a24383 100644
--- a/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp
+++ b/source/armarx/navigation/algorithms/test/algorithms_spfa_test.cpp
@@ -158,8 +158,8 @@ BOOST_AUTO_TEST_CASE(testGrid)
const float cellSize = j.at("cell_size"); // [mm]
BOOST_REQUIRE_GT(cellSize, 0);
- std::vector<float> sceneBoundsMinV(j["scene_bounds"]["min"]);
- std::vector<float> sceneBoundsMaxV(j["scene_bounds"]["max"]);
+ const std::vector<float> sceneBoundsMinV(j.at("scene_bounds").at("min"));
+ const std::vector<float> sceneBoundsMaxV(j.at("scene_bounds").at("max"));
BOOST_REQUIRE_EQUAL(sceneBoundsMinV.size(), 2);
BOOST_REQUIRE_EQUAL(sceneBoundsMaxV.size(), 2);
@@ -212,8 +212,8 @@ BOOST_AUTO_TEST_CASE(testSPFAPlanWObstacleDistance)
const float cellSize = j.at("cell_size"); // [mm]
BOOST_REQUIRE_GT(cellSize, 0);
- std::vector<float> sceneBoundsMinV(j["scene_bounds"]["min"]);
- std::vector<float> sceneBoundsMaxV(j["scene_bounds"]["max"]);
+ std::vector<float> sceneBoundsMinV(j.at("scene_bounds"]["min"));
+ std::vector<float> sceneBoundsMaxV(j.at("scene_bounds"]["max"));
BOOST_REQUIRE_EQUAL(sceneBoundsMinV.size(), 2);
BOOST_REQUIRE_EQUAL(sceneBoundsMaxV.size(), 2);
--
GitLab
From e936618ab24f8c586901b3f07364e0c20a05f216 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 14:10:12 +0200
Subject: [PATCH 07/10] dynamic scene lib
---
source/armarx/navigation/CMakeLists.txt | 1 +
.../navigation/dynamic_scene/CMakeLists.txt | 15 +++++++++++++++
2 files changed, 16 insertions(+)
create mode 100644 source/armarx/navigation/dynamic_scene/CMakeLists.txt
diff --git a/source/armarx/navigation/CMakeLists.txt b/source/armarx/navigation/CMakeLists.txt
index 9026c247..dfd3bf35 100644
--- a/source/armarx/navigation/CMakeLists.txt
+++ b/source/armarx/navigation/CMakeLists.txt
@@ -3,6 +3,7 @@ add_subdirectory(core)
add_subdirectory(util)
add_subdirectory(conversions)
add_subdirectory(algorithms)
+add_subdirectory(dynamic_scene)
add_subdirectory(global_planning)
add_subdirectory(local_planning)
add_subdirectory(trajectory_control)
diff --git a/source/armarx/navigation/dynamic_scene/CMakeLists.txt b/source/armarx/navigation/dynamic_scene/CMakeLists.txt
new file mode 100644
index 00000000..5a8b485a
--- /dev/null
+++ b/source/armarx/navigation/dynamic_scene/CMakeLists.txt
@@ -0,0 +1,15 @@
+
+armarx_add_library(dynamic_scene
+DEPENDENCIES_PUBLIC
+ ArmarXCoreInterfaces
+ ArmarXCore
+ armarx_navigation::core
+ armarx_navigation::conversions
+DEPENDENCIES_PRIVATE
+ range-v3::range-v3
+SOURCES
+ #LocalPlanner.cpp
+HEADERS
+ #LocalPlanner.h
+INTERFACE # TODO SALt: remove this line once you added some source files!
+)
--
GitLab
From 5ace94ff2a735e6e044c51209049b610528e25b6 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 14:10:35 +0200
Subject: [PATCH 08/10] arviz drawer
---
.../dynamic_scene_provider/ArVizDrawer.cpp | 62 +++++++++++++++++++
.../dynamic_scene_provider/ArVizDrawer.h | 52 ++++++++++++++++
.../dynamic_scene_provider/CMakeLists.txt | 3 +
3 files changed, 117 insertions(+)
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.cpp
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.cpp b/source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.cpp
new file mode 100644
index 00000000..01e6728c
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.cpp
@@ -0,0 +1,62 @@
+#include "ArVizDrawer.h"
+
+#include <iomanip>
+#include <sstream>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+#include <RobotAPI/components/ArViz/Client/Client.h>
+#include <RobotAPI/components/ArViz/Client/Elements.h>
+#include <RobotAPI/components/ArViz/Client/Layer.h>
+#include <RobotAPI/components/ArViz/Client/elements/Color.h>
+#include <RobotAPI/components/ArViz/Client/elements/Mesh.h>
+#include <RobotAPI/components/ArViz/Client/elements/PointCloud.h>
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+
+ ArVizDrawer::ArVizDrawer(armarx::viz::Client& arviz) :
+ arviz(arviz)
+ {
+ }
+
+ ArVizDrawer::~ArVizDrawer()
+ {
+ // make sure, the Arviz Ice calls are handled.
+ // {
+ // std::unique_lock g{layerMtx};
+ // g.lock();
+ // }
+ }
+
+ inline std::string
+ nameWithId(const std::string& name, const int id, const unsigned int idWidth = 6)
+ {
+ std::stringstream ss;
+ ss << name << "_" << std::setw(static_cast<int>(idWidth)) << std::setfill('0') << id;
+ return ss.str();
+ }
+
+ inline std::string nameWithIds(const std::string& name,
+ const int id,
+ const int subId,
+ const unsigned int idWidth = 6)
+ {
+ std::stringstream ss;
+ ss << name << "_" << std::setw(static_cast<int>(idWidth)) << std::setfill('0') << id << "_"
+ << std::setw(static_cast<int>(idWidth)) << std::setfill('0') << subId;
+ return ss.str();
+ }
+
+ void ArVizDrawer::visualizeFoo()
+ {
+ auto layer = arviz.layer("my_layer_name");
+
+ // TODO: populate layer, e.g.
+ // odomLayer.add(viz::Pose("odom").pose(odomPose.translation() * 1000, odomPose.linear()));
+
+ arviz.commit(layer);
+ }
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h b/source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h
new file mode 100644
index 00000000..832fdeea
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h
@@ -0,0 +1,52 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+
+#include <Eigen/Geometry>
+
+#include <RobotAPI/components/ArViz/Client/Client.h>
+
+
+namespace armarx::viz
+{
+ struct Client;
+} // namespace armarx::viz
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+
+ class ArVizDrawer
+ {
+ public:
+ ArVizDrawer(armarx::viz::Client& arviz);
+ virtual ~ArVizDrawer();
+
+ void visualizeFoo();
+
+ private:
+ viz::Client& arviz;
+ };
+
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index f42f1a64..146e5b7b 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -8,8 +8,10 @@ armarx_add_component(dynamic_scene_provider
# aron/my_type.xml
SOURCES
Component.cpp
+ ArVizDrawer.cpp
HEADERS
Component.h
+ ArVizDrawer.h
DEPENDENCIES
# ArmarXCore
ArmarXCore
@@ -26,6 +28,7 @@ armarx_add_component(dynamic_scene_provider
# navigation
armarx_navigation::util
armarx_navigation::memory
+ armarx_navigation::dynamic_scene
## RobotAPICore
## RobotAPIInterfaces
## RobotAPIComponentPlugins # For ArViz and other plugins.
--
GitLab
From c13ba30d4a8b45eedcbb58094291fdcce27a6476 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 14:12:01 +0200
Subject: [PATCH 09/10] using arviz drawer
---
.../components/dynamic_scene_provider/Component.cpp | 3 +++
.../navigation/components/dynamic_scene_provider/Component.h | 4 ++++
2 files changed, 7 insertions(+)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
index 19292c31..9f8cd9f7 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
@@ -34,6 +34,7 @@
#include <VisionX/libraries/armem_human/client/HumanPoseReader.h>
+#include "armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h"
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/memory/client/costmap/Reader.h>
#include <armarx/navigation/util/util.h>
@@ -104,6 +105,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
void
Component::onConnectComponent()
{
+ arvizDrawer.emplace(ArVizDrawer(getArvizClient()));
+
// Do things after connecting to topics and components.
/* (Requies the armarx::DebugObserverComponentPluginUser.)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.h b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
index c31f150f..1d7d92fc 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/Component.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
@@ -46,6 +46,7 @@
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include "armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h"
#include "armarx/navigation/memory/client/costmap/Reader.h"
#include <armarx/navigation/components/dynamic_scene_provider/ComponentInterface.h>
@@ -176,6 +177,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
std::mutex arvizMutex;
*/
+ std::optional<ArVizDrawer> arvizDrawer;
+
+
PeriodicTask<Component>::pointer_type task;
template <typename T>
--
GitLab
From 23f455dd0f0884e4bd159ba65a599c85843fd71e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 27 Jul 2022 21:16:20 +0200
Subject: [PATCH 10/10] scenario update
---
.../config/control_memory.cfg | 284 ++++++++++++++++++
1 file changed, 284 insertions(+)
diff --git a/scenarios/HumanAwareNavigation/config/control_memory.cfg b/scenarios/HumanAwareNavigation/config/control_memory.cfg
index dd21987d..4aad1c46 100644
--- a/scenarios/HumanAwareNavigation/config/control_memory.cfg
+++ b/scenarios/HumanAwareNavigation/config/control_memory.cfg
@@ -2,3 +2,287 @@
# control_memory properties
# ==================================================================
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.ControlMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.ControlMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ControlMemory.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.ControlMemory.EnableProfiling = false
+
+
+# ArmarX.ControlMemory.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.ControlMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ControlMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.ObjectName = ""
+
+
+# ArmarX.ControlMemory.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ControlMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Control
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.MemoryName = Control
+
+
+# ArmarX.ControlMemory.mem.ltm..configuration:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm..configuration = ""
+
+
+# ArmarX.ControlMemory.mem.ltm..enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm..enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ControlMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.ControlMemory.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.ControlMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ControlMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ControlMemory.p.locationGraph.visuFrequency: Visualization frequeny of locations and graph edges [Hz].
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.p.locationGraph.visuFrequency = 2
+
+
+# ArmarX.ControlMemory.p.snapshotToLoad: Memory snapshot to load at start up
+# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.p.snapshotToLoad = ""
+
+
+# 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
+
+
--
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