scenario update

scenarios/ViewScheduler/config/ArVizStorage.cfg

@@ -18,6 +18,14 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.ArVizStorage.ComponentWarnFrequency:  Define a frequency in Hz above which the compnent raises a warning. As you should not send data at a too high rate.
+#  Attributes:
+#  - Default:            30
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ArVizStorage.ComponentWarnFrequency = 30
+
+
 # ArmarX.ArVizStorage.EnableProfiling:  enable profiler which is used for logging performance events
 #  Attributes:
 #  - Default:            false
@@ -29,10 +37,10 @@
 
 # ArmarX.ArVizStorage.HistoryPath:  Destination path where the history is serialized to
 #  Attributes:
-#  - Default:            RobotAPI/ArVizStorage
+#  - Default:            Default value not mapped.
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ArVizStorage.HistoryPath = RobotAPI/ArVizStorage
+# ArmarX.ArVizStorage.HistoryPath = Default value not mapped.
 
 
 # ArmarX.ArVizStorage.MaxHistorySize:  How many layer updates are saved in the history until they are compressed
@@ -68,6 +76,15 @@
 # ArmarX.ArVizStorage.TopicName = ArVizTopic
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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

scenarios/ViewScheduler/config/MemoryNameSystem.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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

scenarios/ViewScheduler/config/RemoteGuiProviderApp.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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

scenarios/ViewScheduler/config/control_memory.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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
@@ -94,10 +103,10 @@
 
 # ArmarX.ControlMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ControlMemory.mem.ltm.configuration = {}
+# ArmarX.ControlMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
 
 
 # ArmarX.ControlMemory.mem.ltm.enabled:  
@@ -109,6 +118,30 @@
 # ArmarX.ControlMemory.mem.ltm.enabled = false
 
 
+# ArmarX.ControlMemory.mem.ltm.exportName:  
+#  Attributes:
+#  - Default:            MemoryExport
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.exportName = MemoryExport
+
+
+# ArmarX.ControlMemory.mem.ltm.exportPath:  
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.exportPath = ""
+
+
+# ArmarX.ControlMemory.mem.ltm.storeFrequency:  
+#  Attributes:
+#  - Default:            10
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.storeFrequency = 10
+
+
 # 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:

scenarios/ViewScheduler/config/gaze_scheduler.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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
@@ -125,20 +134,13 @@
 ArmarX.GazeScheduler.RobotUnitName = Armar6Unit
 
 
-# ArmarX.GazeScheduler.controllerName:  The name under which the controller is registered
-#  Attributes:
-#  - Default:            GazeScheduler_GazeController
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.GazeScheduler.controllerName = GazeScheduler_GazeController
-
-
 # ArmarX.GazeScheduler.controllerType:  The type of NJointController to use, e.g. GazeController
 #  Attributes:
-#  - Default:            GazeController
+#  - Default:            GazeIK
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.GazeScheduler.controllerType = GazeController
+#  - Possible values: {Atan2, GazeIK, Hemisphere}
+ArmarX.GazeScheduler.controllerType = Atan2
 
 
 # ArmarX.GazeScheduler.kp:  No Description
@@ -183,45 +185,47 @@ ArmarX.GazeScheduler.kp = 2
 # ArmarX.GazeScheduler.mns.MemoryNameSystemName = MemoryNameSystem
 
 
-# ArmarX.GazeScheduler.properties.controllerConfig.abortIfUnreachable:  If true, the controller drops a target if it gets out of reach.If false, the controller stays at the jointlimits and keeps the target
+# ArmarX.GazeScheduler.p.rtUnitDynamicallyLoadLibraries:  If enabled, the controller library will automatically be loaded in the RobotUnit. If disabled (desired), you have to make sure that the controller library is listed in the RobotUnit's property `LoadLibraries`
 #  Attributes:
 #  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.GazeScheduler.properties.controllerConfig.abortIfUnreachable = false
+# ArmarX.GazeScheduler.p.rtUnitDynamicallyLoadLibraries = false
 
 
-# ArmarX.GazeScheduler.properties.controllerConfig.pitchAngleTolerance:  The pitch angle distance at which the controller considers the target as reached
+# ArmarX.GazeScheduler.properties.defaultTarget:  Local coordinates to Position where the robot looks in idle phases.
 #  Attributes:
-#  - Default:            0.00499999989
+#  - Default:            0,1500,1500
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.GazeScheduler.properties.controllerConfig.pitchAngleTolerance = 0.00499999989
+# ArmarX.GazeScheduler.properties.defaultTarget = 0,1500,1500
 
 
-# ArmarX.GazeScheduler.properties.controllerConfig.yawAngleTolerance:  The yaw angle distance at which the controller considers the target as reached
+# ArmarX.GazeScheduler.properties.dummy:  
 #  Attributes:
-#  - Default:            0.00499999989
+#  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.GazeScheduler.properties.controllerConfig.yawAngleTolerance = 0.00499999989
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GazeScheduler.properties.dummy = false
 
 
-# ArmarX.GazeScheduler.properties.defaultTarget:  Local coordinates to Position where the robot looks in idle phases.
+# ArmarX.GazeScheduler.properties.targetVizAlpha:  
 #  Attributes:
-#  - Default:            Default value not mapped.
+#  - Default:            128
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.GazeScheduler.properties.defaultTarget = Default value not mapped.
+# ArmarX.GazeScheduler.properties.targetVizAlpha = 128
 
 
-# ArmarX.GazeScheduler.properties.targetVizAlpha:  
+# ArmarX.GazeScheduler.properties.visuEnabled:  
 #  Attributes:
-#  - Default:            128
+#  - Default:            false
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.GazeScheduler.properties.targetVizAlpha = 128
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GazeScheduler.properties.visuEnabled = 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;...

scenarios/ViewScheduler/config/handover_target_provider.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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
@@ -160,6 +169,22 @@
 # ArmarX.Verbosity = Info
 
 
+# ArmarX.handover_target_provider.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.handover_target_provider.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.handover_target_provider.ArVizTopicName:  Name of the ArViz topic
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.handover_target_provider.ArVizTopicName = ArVizTopic
+
+
 # ArmarX.handover_target_provider.EnableProfiling:  enable profiler which is used for logging performance events
 #  Attributes:
 #  - Default:            false
@@ -244,20 +269,12 @@
 # ArmarX.handover_target_provider.mns.MemoryNameSystemName = MemoryNameSystem
 
 
-# ArmarX.handover_target_provider.p.box.ProviderName:  OpenNIPointCloudProvider
+# ArmarX.handover_target_provider.p.humanProviderName:  OpenNIPointCloudProvider
 #  Attributes:
 #  - Default:            OpenNIPointCloudProvider
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.handover_target_provider.p.box.ProviderName = OpenNIPointCloudProvider
-
-
-# ArmarX.handover_target_provider.p.objectProviderDynamic:  
-#  Attributes:
-#  - Default:            sim_track
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.handover_target_provider.p.objectProviderDynamic = sim_track
+# ArmarX.handover_target_provider.p.humanProviderName = OpenNIPointCloudProvider
 
 
 # ArmarX.handover_target_provider.p.robotName:  

scenarios/ViewScheduler/config/object_tracking_example.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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

scenarios/ViewScheduler/config/scheduler_example.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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

scenarios/ViewScheduler/config/view_memory.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # 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
@@ -196,10 +205,10 @@
 
 # ArmarX.ViewMemory.mem.ltm.configuration:  
 #  Attributes:
-#  - Default:            {}
+#  - Default:            { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ViewMemory.mem.ltm.configuration = {}
+# ArmarX.ViewMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
 
 
 # ArmarX.ViewMemory.mem.ltm.enabled:  
@@ -211,6 +220,30 @@
 # ArmarX.ViewMemory.mem.ltm.enabled = false
 
 
+# ArmarX.ViewMemory.mem.ltm.exportName:  
+#  Attributes:
+#  - Default:            MemoryExport
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ViewMemory.mem.ltm.exportName = MemoryExport
+
+
+# ArmarX.ViewMemory.mem.ltm.exportPath:  
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ViewMemory.mem.ltm.exportPath = ""
+
+
+# ArmarX.ViewMemory.mem.ltm.storeFrequency:  
+#  Attributes:
+#  - Default:            10
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ViewMemory.mem.ltm.storeFrequency = 10
+
+
 # ArmarX.ViewMemory.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: