Merge remote-tracking branch 'origin/master' into refactor/new_arch

scenarios/ArmemGraspMemory/ArmemGraspMemory.scx

+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="ArmemGraspMemory" creation="2021-05-07.14:40:52" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+	<application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="GraspMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="GraspProviderExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+

scenarios/ArmemGraspMemory/config/DebugObserver.cfg

+# ==================================================================
+# DebugObserver properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+#  Attributes:
+#  - Default:            mongo/.cache
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel:  If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.DebugObserver.DebugObserverTopicName:  Name of the topic the DebugObserver listens on
+#  Attributes:
+#  - Default:            DebugObserver
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.DebugObserver.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.EnableProfiling = false
+
+
+# ArmarX.DebugObserver.MaxHistoryRecordFrequency:  The Observer history is written with this maximum frequency. Everything faster is being skipped.
+#  Attributes:
+#  - Default:            50
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.DebugObserver.MaxHistorySize:  Maximum number of entries in the Observer history
+#  Attributes:
+#  - Default:            5000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.MaxHistorySize = 5000
+
+
+# ArmarX.DebugObserver.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.DebugObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugObserver.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DebugObserver.ObjectName = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries:  Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup:  The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout:  The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+#  Attributes:
+#  - Default:            3000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize:  Size of the ArmarX ThreadPool that is always running.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix:  Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer:  Enable using a global Timeserver (e.g. from ArmarXSimulator)
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity:  Global logging level for whole application
+#  Attributes:
+#  - Default:            Info
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+

scenarios/ArmemGraspMemory/config/GraspMemory.cfg

+# ==================================================================
+# GraspMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+#  Attributes:
+#  - Default:            mongo/.cache
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.GraspMemory.ArVizTopicName:  Name of the ArViz topic
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.GraspMemory.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.GraspMemory.EnableProfiling = false
+
+
+# ArmarX.GraspMemory.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.GraspMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GraspMemory.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.ObjectName = ""
+
+
+# ArmarX.GraspMemory.RemoteGuiName:  Name of the remote gui provider
+#  Attributes:
+#  - Default:            RemoteGuiProvider
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.GraspMemory.mem.ltm.00_enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GraspMemory.mem.ltm.00_enabled = true
+
+
+# ArmarX.GraspMemory.memory.Name:  Name of this memory server.
+#  Attributes:
+#  - Default:            Grasp
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.memory.Name = Grasp
+
+
+# ArmarX.GraspMemory.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.GraspMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.GraspMemory.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
+#  Attributes:
+#  - Default:            MemoryNameSystem
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.GraspMemory.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
+#  Attributes:
+#  - Default:            DebugObserver
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.tpc.pub.DebugObserver = DebugObserver
+
+
+# ArmarX.GraspMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
+#  Attributes:
+#  - Default:            MemoryUpdates
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.GraspMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
+#  Attributes:
+#  - Default:            MemoryUpdates
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspMemory.tpc.sub.MemoryListener = MemoryUpdates
+
+
+# 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
+
+

scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg

+# ==================================================================
+# GraspProviderExample properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+#  Attributes:
+#  - Default:            mongo/.cache
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.GraspProviderExample.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.GraspProviderExample.EnableProfiling = false
+
+
+# ArmarX.GraspProviderExample.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.GraspProviderExample.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GraspProviderExample.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspProviderExample.ObjectName = ""
+
+
+# ArmarX.GraspProviderExample.mem.MemoryName:  Name of the memory to use.
+#  Attributes:
+#  - Default:            Grasp
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspProviderExample.mem.MemoryName = Grasp
+
+
+# ArmarX.GraspProviderExample.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.GraspProviderExample.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.GraspProviderExample.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
+#  Attributes:
+#  - Default:            MemoryNameSystem
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspProviderExample.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.GraspProviderExample.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
+#  Attributes:
+#  - Default:            DebugObserver
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.GraspProviderExample.tpc.pub.DebugObserver = DebugObserver
+
+
+# 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
+
+

scenarios/ArmemGraspMemory/config/MemoryNameSystem.cfg

+# ==================================================================
+# MemoryNameSystem properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+#  Attributes:
+#  - Default:            mongo/.cache
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries:  Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup:  The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.MemoryNameSystem.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MemoryNameSystem.EnableProfiling = false
+
+
+# ArmarX.MemoryNameSystem.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.MemoryNameSystem.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MemoryNameSystem.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.MemoryNameSystem.ObjectName = ""
+
+
+# ArmarX.MemoryNameSystem.RemoteGuiName:  Name of the remote gui provider
+#  Attributes:
+#  - Default:            RemoteGuiProvider
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.MemoryNameSystem.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout:  The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+#  Attributes:
+#  - Default:            3000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize:  Size of the ArmarX ThreadPool that is always running.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix:  Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer:  Enable using a global Timeserver (e.g. from ArmarXSimulator)
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity:  Global logging level for whole application
+#  Attributes:
+#  - Default:            Info
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+

scenarios/ArmemGraspMemory/config/RemoteGuiProviderApp.cfg

+# ==================================================================
+# RemoteGuiProviderApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+#  Attributes:
+#  - Default:            mongo/.cache
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries:  Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup:  The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteGuiProvider.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RemoteGuiProvider.EnableProfiling = false
+
+
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RemoteGuiProvider.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteGuiProvider.ObjectName = ""
+
+
+# ArmarX.RemoteGuiProvider.TopicName:  Name of the topic on which updates to the remote state are reported.
+#  Attributes:
+#  - Default:            RemoteGuiTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteGuiProvider.TopicName = RemoteGuiTopic
+
+
+# ArmarX.RemoteHandlesDeletionTimeout:  The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+#  Attributes:
+#  - Default:            3000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize:  Size of the ArmarX ThreadPool that is always running.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix:  Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer:  Enable using a global Timeserver (e.g. from ArmarXSimulator)
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity:  Global logging level for whole application
+#  Attributes:
+#  - Default:            Info
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+

scenarios/ArmemGraspMemory/config/global.cfg

+# ==================================================================
+# Global Config from Scenario ArmemGraspMemory
+# ==================================================================
+

source/RobotAPI/components/ArViz/Client/Elements.h

@@ -296,7 +296,7 @@ namespace armarx::viz
             return *this;
         }
 
-        Arrow& fromTo(Eigen::Vector3f from, Eigen::Vector3f to)
+        Arrow& fromTo(const Eigen::Vector3f& from, const Eigen::Vector3f& to)
         {
             position(from);
             direction((to - from).normalized());

source/RobotAPI/components/ArViz/Introspection/json_elements.cpp

@@ -3,6 +3,7 @@
 #include <SimoxUtility/algorithm/string.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/interface/core/BasicVectorTypes.h>
 
 #include "json_base.h"
 
@@ -194,6 +195,18 @@ namespace armarx::viz
         json::from_json_base(j, pose);
     }
 
+    void data::to_json(nlohmann::json& j, const ElementPath& path)
+    {
+        json::to_json_base(j, path);
+        j["points"] = path.points;
+    }
+
+    void data::from_json(const nlohmann::json& j, ElementPath& path)
+    {
+        json::from_json_base(j, path);
+        path.points = j.at("points").get<armarx::Vector3fSeq>();
+    }
+
 
     void data::to_json(nlohmann::json& j, const ElementSphere& sphere)
     {
@@ -301,4 +314,3 @@ namespace armarx::viz
     }
 
 }
-

source/RobotAPI/components/ArViz/Introspection/json_elements.h

@@ -70,6 +70,10 @@ namespace armarx::viz::data
     void from_json(const nlohmann::json& j, ElementPose& pose);
 
 
+    void to_json(nlohmann::json& j, const ElementPath& path);
+    void from_json(const nlohmann::json& j, ElementPath& path);
+
+
     void to_json(nlohmann::json& j, const ElementRobot& robot);
     void from_json(const nlohmann::json& j, ElementRobot& robot);
 

source/RobotAPI/components/ArViz/Introspection/register_element_json_serializers.cpp

+#include <RobotAPI/interface/ArViz/Elements.h>
 #include "ElementJsonSerializers.h"
 #include "json_elements.h"
 
@@ -15,6 +16,7 @@ void armarx::viz::json::ElementJsonSerializers::registerElements()
     registerSerializer<data::ElementPointCloud>(viz::data::to_json, viz::data::from_json);
     registerSerializer<data::ElementPolygon>(viz::data::to_json, viz::data::from_json);
     registerSerializer<data::ElementPose>(viz::data::to_json, viz::data::from_json);
+    registerSerializer<data::ElementPath>(viz::data::to_json, viz::data::from_json);
     registerSerializer<data::ElementRobot>(viz::data::to_json, viz::data::from_json);
     registerSerializer<data::ElementSphere>(viz::data::to_json, viz::data::from_json);
     registerSerializer<data::ElementEllipsoid>(viz::data::to_json, viz::data::from_json);

source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp

@@ -61,7 +61,7 @@ namespace armarx
         }
 
         {
-            providerInfo.objectType = objpose::ObjectTypeEnum::KnownObject;
+            providerInfo.objectType = objpose::ObjectType::KnownObject;
             std::vector<ObjectInfo> objects = objectFinder.findAllObjectsOfDataset("KIT");
             for (const auto& obj : objects)
             {
@@ -154,7 +154,7 @@ namespace armarx
 
                 armarx::objpose::data::ProvidedObjectPose& pose = poses.emplace_back();
                 pose.providerName = getName();
-                pose.objectType = objpose::ObjectTypeEnum::KnownObject;
+                pose.objectType = objpose::ObjectType::KnownObject;
 
                 pose.objectID.dataset = info.id().dataset();
                 pose.objectID.className = info.id().className();

source/RobotAPI/components/armem/client/CMakeLists.txt

 add_subdirectory(ExampleMemoryClient)
+
+add_subdirectory(GraspProviderExample)
+
 add_subdirectory(VirtualRobotReaderExampleClient)
+

source/RobotAPI/components/armem/client/GraspProviderExample/CMakeLists.txt

+armarx_component_set_name("GraspProviderExample")
+
+find_package(IVT QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+
+set(COMPONENT_LIBS
+    ArmarXCore ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore RobotAPIInterfaces armem
+    GraspingUtility
+    ${IVT_LIBRARIES}
+)
+
+set(SOURCES
+    GraspProviderExample.cpp
+)
+
+set(HEADERS
+    GraspProviderExample.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+if (IVT_FOUND)
+    target_include_directories(${ARMARX_COMPONENT_NAME} PUBLIC ${IVT_INCLUDE_DIRS})
+endif()
+
+
+# add unit tests
+# add_subdirectory(test)
+
+#generate the application
+armarx_generate_and_add_component_executable()

source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp

+#include "GraspProviderExample.h"
+
+#include <SimoxUtility/color/cmaps.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+#include <RobotAPI/libraries/core/Pose.h>
+
+#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+#include <RobotAPI/libraries/GraspingUtility/aron/GraspCandidate.aron.generated.h>
+
+
+namespace armarx
+{
+    GraspProviderExamplePropertyDefinitions::GraspProviderExamplePropertyDefinitions(std::string prefix) :
+        armarx::ComponentPropertyDefinitions(prefix)
+    {
+    }
+
+    armarx::PropertyDefinitionsPtr GraspProviderExample::createPropertyDefinitions()
+    {
+        ARMARX_IMPORTANT << "Prperty defs";
+        armarx::PropertyDefinitionsPtr defs = new GraspProviderExamplePropertyDefinitions(getConfigIdentifier());
+
+        defs->topic(debugObserver);
+
+        defs->optional(memoryName, "mem.MemoryName", "Name of the memory to use.");
+
+        return defs;
+
+    }
+
+    std::string GraspProviderExample::getDefaultName() const
+    {
+        return "GraspProviderExample";
+    }
+
+    GraspProviderExample::GraspProviderExample() : writer(memoryNameSystem()), reader(memoryNameSystem())
+    {
+
+    }
+
+
+    void GraspProviderExample::onInitComponent()
+    {
+        ARMARX_IMPORTANT << "Init";
+    }
+
+
+    void GraspProviderExample::onConnectComponent()
+    {
+        writer.connect();
+        reader.connect();
+        task = new RunningTask<GraspProviderExample>(this, &GraspProviderExample::run);
+        task->start();
+    }
+
+
+    void GraspProviderExample::onDisconnectComponent()
+    {
+        task->stop();
+    }
+
+
+    void GraspProviderExample::onExitComponent()
+    {
+    }
+
+
+    void GraspProviderExample::run()
+    {
+        ARMARX_IMPORTANT << "Running example.";
+
+        CycleUtil c(1000);
+        int i = 0;
+
+
+        while (!task->isStopped() && i++ < 100)
+        {
+            // initialize all necessary fields of a grasp candidate and use writer to commit it to memory
+
+            armarx::grasping::GraspCandidate candidate = armarx::grasping::GraspCandidate();
+            candidate.groupNr = i; //non-necessary field, but used to commit different candidates
+            candidate.approachVector = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            candidate.graspPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            candidate.providerName = "Example";
+            candidate.robotPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            candidate.tcpPoseInHandRoot = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            // source Info is also not necessary, but reference object name is used as entity name
+            // "UnknownObject" if none is provided
+            candidate.sourceInfo = new grasping::GraspCandidateSourceInfo();
+            candidate.sourceInfo->referenceObjectName = "Box";
+            candidate.sourceInfo->bbox = new grasping::BoundingBox();
+            candidate.sourceInfo->bbox->center = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            candidate.sourceInfo->bbox->ha1 = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            candidate.sourceInfo->bbox->ha2 = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            candidate.sourceInfo->bbox->ha3 = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            candidate.sourceInfo->referenceObjectPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
+
+            writer.commitGraspCandidate(candidate, armem::Time::now(), "provider1");
+            // initialize all necessary fields of a bimanual grasp candidate and use writer to commit it to memory
+            armarx::grasping::BimanualGraspCandidate bimanualCandidate = armarx::grasping::BimanualGraspCandidate();
+            bimanualCandidate.groupNr = i; //non-necessary field, but used to commit different candidates
+            bimanualCandidate.approachVectorLeft = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            bimanualCandidate.approachVectorRight = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            bimanualCandidate.graspPoseLeft = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            bimanualCandidate.graspPoseRight = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            bimanualCandidate.providerName = "BimanualExample";
+            bimanualCandidate.robotPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            bimanualCandidate.tcpPoseInHandRootRight = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            bimanualCandidate.tcpPoseInHandRootLeft = PoseBasePtr(toIce(Eigen::Matrix4f()));
+            bimanualCandidate.inwardsVectorLeft = Vector3BasePtr(toIce(Eigen::Vector3f()));
+            bimanualCandidate.inwardsVectorRight = Vector3BasePtr(toIce(Eigen::Vector3f()));
+
+            writer.commitBimanualGraspCandidate(bimanualCandidate, armem::Time::now(), "provider2");
+
+            //test for writing Seqs, candidates from the same object appear as instances of the same snapshot
+            grasping::GraspCandidateSeq candidatesToWrite;
+            candidatesToWrite.push_back(new grasping::GraspCandidate(candidate));
+            candidate.side = "Left";
+
+            candidatesToWrite.push_back(new grasping::GraspCandidate(candidate));
+
+            writer.commitGraspCandidateSeq(candidatesToWrite, armem::Time::now(), "provider1");
+
+            // test reader and debug by logging the group number of the candidate
+
+            std::map<std::string, grasping::GraspCandidatePtr> candidates;
+
+            try
+            {
+                candidates = reader.queryLatestGraspCandidates();
+            }
+            catch (armem::error::QueryFailed &e)
+            {
+                ARMARX_ERROR << e.makeMsg(memoryName);
+            }
+
+
+            for (auto [id, ca] : candidates)
+            {
+                ARMARX_INFO << "candidate with ID " << id << " has group number " <<  ca->groupNr ;
+            }
+
+            std::map<std::string, grasping::BimanualGraspCandidatePtr> bimanualCandidates;
+
+            try
+            {
+                bimanualCandidates = reader.queryLatestBimanualGraspCandidates();
+            }
+            catch (armem::error::QueryFailed &e)
+            {
+                ARMARX_ERROR << e.makeMsg(memoryName);
+            }
+
+            for (auto [id, ca] : bimanualCandidates)
+            {
+                ARMARX_INFO << "bimanual candidate with ID " << id << " has group number " <<  ca->groupNr ;
+            }
+
+            c.waitForCycleDuration();
+        }
+    }
+
+}

source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.h

+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/util/tasks.h>
+#include <RobotAPI/libraries/GraspingUtility/GraspCandidateReader.h>
+#include <RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+
+#pragma once
+
+
+namespace armarx
+{
+
+
+    class GraspProviderExamplePropertyDefinitions :
+        public armarx::ComponentPropertyDefinitions
+    {
+    public:
+        GraspProviderExamplePropertyDefinitions(std::string prefix);
+    };
+
+
+    class GraspProviderExample :
+        virtual public armarx::Component,
+        virtual public armarx::armem::ClientPluginUser
+    {
+    public:
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+        GraspProviderExample();
+
+
+    protected:
+
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+        void onInitComponent() override;
+        void onConnectComponent() override;
+        void onDisconnectComponent() override;
+        void onExitComponent() override;
+
+        void run();
+
+
+    private:
+
+        armarx::RunningTask<GraspProviderExample>::pointer_type task;
+
+        armarx::DebugObserverInterfacePrx debugObserver;
+
+        std::string memoryName = "Grasp";
+        armarx::armem::GraspCandidateWriter writer;
+        armarx::armem::GraspCandidateReader reader;
+    };
+}

source/RobotAPI/components/armem/server/CMakeLists.txt

@@ -3,5 +3,7 @@ add_subdirectory(GeneralPurposeMemory)
 add_subdirectory(ObjectMemory)
 add_subdirectory(RobotStateMemory)
 add_subdirectory(SkillsMemory)
+add_subdirectory(GraspMemory)
 #add_subdirectory(SubjectMemory)
 add_subdirectory(MotionMemory)
+

source/RobotAPI/components/armem/server/GraspMemory/CMakeLists.txt

+armarx_component_set_name("GraspMemory")
+
+
+set(COMPONENT_LIBS
+    ArmarXCore ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore RobotAPIInterfaces armem
+    RobotAPIComponentPlugins  # for ArViz and other plugins
+
+    ${IVT_LIBRARIES}
+)
+
+set(SOURCES
+    GraspMemory.cpp
+)
+set(HEADERS
+    GraspMemory.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#generate the application
+armarx_generate_and_add_component_executable(
+    COMPONENT_NAMESPACE ::armarx::armem::server::grasp
+)
+
+
+

source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp

+
+#include "GraspMemory.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+
+#include <RobotAPI/libraries/GraspingUtility/aron/GraspCandidate.aron.generated.h>
+
+namespace armarx::armem::server::grasp
+{
+    armarx::PropertyDefinitionsPtr GraspMemory::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+        defs->topic(debugObserver);
+
+        defs->optional(memoryName, "memory.Name", "Name of this memory server.");
+
+        return defs;
+    }
+
+
+    std::string GraspMemory::getDefaultName() const
+    {
+        return "GraspMemory";
+    }
+
+    void GraspMemory::onInitComponent()
+    {
+        workingMemory().name() = memoryName;
+
+        workingMemory().addCoreSegment("GraspCandidate",
+                                     armarx::grasping::arondto::GraspCandidate::toAronType());
+        workingMemory().addCoreSegment("BimanualGraspCandidate",
+                                     armarx::grasping::arondto::BimanualGraspCandidate::toAronType());
+    }
+
+    void GraspMemory::onConnectComponent()
+    {
+
+        createRemoteGuiTab();
+        RemoteGui_startRunningTask();
+
+    }
+
+    void GraspMemory::onDisconnectComponent()
+    {
+    }
+
+    void GraspMemory::onExitComponent()
+    {
+    }
+
+
+
+    // WRITING
+
+    armem::data::CommitResult GraspMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
+    {
+        // This function is overloaded to trigger the remote gui rebuild.
+        armem::data::CommitResult result = ReadWritePluginUser::commit(commit);
+        tab.rebuild = true;
+        return result;
+    }
+
+
+    // READING
+
+    // Inherited from Plugin
+
+
+
+    // REMOTE GUI
+
+    void GraspMemory::createRemoteGuiTab()
+    {
+        using namespace armarx::RemoteGui::Client;
+
+        {
+
+            tab.memoryGroup = armem::server::MemoryRemoteGui().makeGroupBox(workingMemory());
+        }
+
+        VBoxLayout root = {tab.memoryGroup, VSpacer()};
+        RemoteGui_createTab(getName(), root, &tab);
+    }
+
+
+    void GraspMemory::RemoteGui_update()
+    {
+        if (tab.rebuild.exchange(false))
+        {
+            createRemoteGuiTab();
+        }
+    }
+
+}

source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h

+#pragma once
+
+
+#include <memory>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
+
+namespace armarx::armem::server::grasp
+{
+    /**
+     * @defgroup Component-GraspMemory GraspMemory
+     * @ingroup RobotAPI-Components
+     * A description of the component GraspMemory.
+     *
+     * @class GraspMemory
+     * @ingroup Component-GraspMemory
+     * @brief Brief description of class GraspMemory.
+     *
+     * Detailed description of class GraspMemory.
+     */
+    class GraspMemory :
+        virtual public armarx::Component
+        , virtual public armem::server::ReadWritePluginUser
+        , virtual public armarx::LightweightRemoteGuiComponentPluginUser
+        , virtual public armarx::ArVizComponentPluginUser
+    {
+    public:
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+
+
+    public:
+        armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+
+
+    public:
+        void createRemoteGuiTab();
+        void RemoteGui_update() override;
+
+
+    protected:
+
+        PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+        void onInitComponent() override;
+        void onConnectComponent() override;
+        void onDisconnectComponent() override;
+        void onExitComponent() override;
+
+
+    private:
+
+        DebugObserverInterfacePrx debugObserver;
+
+
+        std::string memoryName = "Grasp";
+
+
+
+        struct RemoteGuiTab : RemoteGui::Client::Tab
+        {
+            std::atomic_bool rebuild = false;
+
+            RemoteGui::Client::GroupBox memoryGroup;
+        };
+        RemoteGuiTab tab;
+
+    };
+}