diff --git a/scenarios/PlatformNavigation/PlatformNavigation.scx b/scenarios/PlatformNavigation/PlatformNavigation.scx
index a50c5adc92dab36493e8db75bb95cb40994a61a1..1f20100cc5755d50d6cd3efc01986ac1faeabf06 100644
--- a/scenarios/PlatformNavigation/PlatformNavigation.scx
+++ b/scenarios/PlatformNavigation/PlatformNavigation.scx
@@ -6,7 +6,7 @@
<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"/>
</scenario>
diff --git a/scenarios/PlatformNavigation/config/ObjectMemory.cfg b/scenarios/PlatformNavigation/config/ObjectMemory.cfg
index 579926b6b945c4489f7646549a7a875ea32e5722..773e48120ca477d223c4745028bede338999bc49 100644
--- a/scenarios/PlatformNavigation/config/ObjectMemory.cfg
+++ b/scenarios/PlatformNavigation/config/ObjectMemory.cfg
@@ -259,6 +259,15 @@
# ArmarX.ObjectMemory.mem.inst.calibration.offset = 0
+# ArmarX.ObjectMemory.mem.inst.calibration.robotName: Name of robot whose note can be calibrated.
+# If not given, the 'fallbackName' is used.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.robotName = ""
+
+
# ArmarX.ObjectMemory.mem.inst.calibration.robotNode: Robot node which can be calibrated.
# Attributes:
# - Default: Neck_2_Pitch
@@ -341,6 +350,14 @@
# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity = 0.0500000007
+# ArmarX.ObjectMemory.mem.inst.robots.FallbackName: Robot name to use as fallback if the robot name is not specified in a provided object pose.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.robots.FallbackName = ""
+
+
# 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:
@@ -513,21 +530,12 @@
# 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:
+# ArmarX.ObjectMemory.mem.ltm.configuration:
# Attributes:
-# - Default: true
+# - Default: {}
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled = true
+# ArmarX.ObjectMemory.mem.ltm.configuration = {}
# ArmarX.ObjectMemory.mem.ltm.enabled:
@@ -539,100 +547,6 @@
# 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
@@ -641,15 +555,7 @@
# 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 +563,6 @@
# 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:
@@ -773,3 +671,5 @@
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/control_memory.cfg b/scenarios/PlatformNavigation/config/control_memory.cfg
index 0d5c094879b6c331938ae8ac3e138fbd5d8b37d6..53efd6fedf80402149271390c3c93fca3e434c63 100644
--- a/scenarios/PlatformNavigation/config/control_memory.cfg
+++ b/scenarios/PlatformNavigation/config/control_memory.cfg
@@ -92,21 +92,12 @@
# ArmarX.ControlMemory.mem.MemoryName = Control
-# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.ControlMemory.mem.ltm.configuration:
# Attributes:
-# - Default: 10
+# - Default: {}
# - 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.configuration = {}
# ArmarX.ControlMemory.mem.ltm.enabled:
@@ -118,100 +109,6 @@
# 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:
diff --git a/scenarios/PlatformNavigation/config/example_client.cfg b/scenarios/PlatformNavigation/config/example_client.cfg
index ba425c4c5a68ab76506853fb64940ba75e90a9d4..eef853017b53a47640988642eec0e92c8660c615 100644
--- a/scenarios/PlatformNavigation/config/example_client.cfg
+++ b/scenarios/PlatformNavigation/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/PlatformNavigation/config/navigation_memory.cfg b/scenarios/PlatformNavigation/config/navigation_memory.cfg
index 8e727c261d9bc6e67640665b692d20e616000f0c..f808f7771be10fe6b63eee35db55e0ab5db5f3cf 100644
--- a/scenarios/PlatformNavigation/config/navigation_memory.cfg
+++ b/scenarios/PlatformNavigation/config/navigation_memory.cfg
@@ -150,21 +150,12 @@
# 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
+# - Default: {}
# - 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.configuration = {}
# ArmarX.NavigationMemory.mem.ltm.enabled:
@@ -176,100 +167,6 @@
# 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:
diff --git a/scenarios/PlatformNavigation/config/navigator.cfg b/scenarios/PlatformNavigation/config/navigator.cfg
index d481cf59b2448853ab66e215e77767ead180e564..f6a497b25e20ac551dbcc98a5eb5fd28244e68df 100644
--- a/scenarios/PlatformNavigation/config/navigator.cfg
+++ b/scenarios/PlatformNavigation/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/source/armarx/navigation/server/monitoring/GoalReachedMonitor.h b/source/armarx/navigation/server/monitoring/GoalReachedMonitor.h
index 34f9e49d72d2a69b3430a15397b5b09c02cb357b..438c18daa85433c511eb03f3cfc086ee484a30aa 100644
--- a/source/armarx/navigation/server/monitoring/GoalReachedMonitor.h
+++ b/source/armarx/navigation/server/monitoring/GoalReachedMonitor.h
@@ -33,8 +33,8 @@ namespace armarx::navigation::server
struct GoalReachedMonitorConfig
{
- float posTh{70.F}; // [mm]
- float oriTh{VirtualRobot::MathTools::deg2rad(5.F)}; // [rad]
+ float posTh{30.F}; // [mm]
+ float oriTh{VirtualRobot::MathTools::deg2rad(2.F)}; // [rad]
float linearVelTh{100.F}; // [mm/s]
float angularVelTh{VirtualRobot::MathTools::deg2rad(5.F)}; // [rad/s]