From 409107161d83bcdfbfe0b4229f3740461b0dfeb4 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Mon, 10 Aug 2015 18:09:27 +0200
Subject: [PATCH] Added KinemticSimualtioNArmar3 scenario (will be removed from
Armar3 package soon) Improved KinematicUnitGui search paths
---
scenarios/CMakeLists.txt | 5 +-
.../KinematicSimulationArmar3/CMakeLists.txt | 32 ++++
.../config/CommonStorage.cfg | 107 ++++++++++++
.../config/ConditionHandler.cfg | 92 ++++++++++
.../config/DebugObserver.cfg | 84 ++++++++++
.../config/ForceTorqueObserver.cfg | 91 ++++++++++
.../config/ForceTorqueUnitSimulation.cfg | 114 +++++++++++++
.../config/Global.cfg | 5 +
.../config/HandUnitSimulation.LeftHand.cfg | 98 +++++++++++
.../config/HandUnitSimulation.RightHand.cfg | 98 +++++++++++
.../config/HeadIKUnit.cfg | 91 ++++++++++
.../config/ImageSequenceProvider.cfg | 136 +++++++++++++++
.../config/KinematicUnitObserver.cfg | 90 ++++++++++
.../config/KinematicUnitSimulation.cfg | 98 +++++++++++
.../config/LongtermMemory.cfg | 99 +++++++++++
.../config/ObjectMemoryObserver.cfg | 100 +++++++++++
.../config/PriorKnowledge.cfg | 95 +++++++++++
.../config/RobotStateComponent.cfg | 4 +
.../config/SystemObserver.cfg | 76 +++++++++
.../config/TCPControlUnit.cfg | 158 ++++++++++++++++++
.../config/WorkingMemory.cfg | 156 +++++++++++++++++
.../KinematicUnitConfigDialog.cpp | 2 +-
.../KinematicUnitGuiPlugin.cpp | 24 ++-
.../KinematicUnitGuiPlugin.h | 4 -
24 files changed, 1851 insertions(+), 8 deletions(-)
create mode 100644 scenarios/KinematicSimulationArmar3/CMakeLists.txt
create mode 100644 scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/Global.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
create mode 100644 scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 29d0d1c9e..0c57b98a9 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,4 +1,7 @@
-add_subdirectory(tests)
add_subdirectory(MMMScenario)
+add_subdirectory(KinematicSimulationArmar3)
+
+add_subdirectory(tests)
+
diff --git a/scenarios/KinematicSimulationArmar3/CMakeLists.txt b/scenarios/KinematicSimulationArmar3/CMakeLists.txt
new file mode 100644
index 000000000..6e5939b2c
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/CMakeLists.txt
@@ -0,0 +1,32 @@
+# Add your components below as shown in the following example:
+
+set(SCENARIO_CONFIG_COMPONENTS
+
+ config/CommonStorage.cfg
+ config/PriorKnowledge.cfg
+ config/LongtermMemory.cfg
+ config/WorkingMemory.cfg
+ config/ObjectMemoryObserver.cfg
+
+ config/KinematicUnitSimulation.cfg
+ config/KinematicUnitObserver.cfg
+ config/HeadIKUnit.cfg
+ config/TCPControlUnit.cfg
+ config/HandUnitSimulation.LeftHand.cfg
+ config/HandUnitSimulation.RightHand.cfg
+ config/ForceTorqueUnitSimulation.cfg
+ config/ForceTorqueObserver.cfg
+
+ config/DebugObserver.cfg
+ config/ConditionHandler.cfg
+ config/SystemObserver.cfg
+ config/RobotStateComponent.cfg
+
+ config/ImageSequenceProvider.cfg
+)
+
+# RobotControl
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario_from_configs("KinematicSimulationArmar3" "${SCENARIO_CONFIG_COMPONENTS}" "./config/Global.cfg")
+
diff --git a/scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg b/scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg
new file mode 100644
index 000000000..99bcff276
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg
@@ -0,0 +1,107 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.CommonStorage properties
+# ==================================================================
+
+# MemoryX.CommonStorage.MongoUser: MongoDB user name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.CommonStorage.MongoUser = a
+
+
+# MemoryX.CommonStorage.MongoAuth: Whether authentication should be used for MongoDB
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.CommonStorage.MongoAuth = 0
+
+
+# MemoryX.CommonStorage.MongoPassword: MongoDB password
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.CommonStorage.MongoPassword = 1
+
+
+# MemoryX.CommonStorage.MongoHost: MongoDB hostname and optionally port number
+# Attributes:
+# - Default: localhost
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CommonStorage.MongoHost = localhost
+
+
+# MemoryX.CommonStorage.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.CommonStorage.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.CommonStorage.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CommonStorage.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg b/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
new file mode 100644
index 000000000..a938a4186
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
@@ -0,0 +1,92 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.ConditionHandler properties
+# ==================================================================
+
+# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ConditionHandler.HistoryLength = 1000
+
+
+# ArmarX.ConditionHandler.Observers: Comma seperated observer list
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver,ObjectMemoryObserver
+
+
+# ArmarX.ConditionHandler.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ConditionHandler.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg b/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
new file mode 100644
index 000000000..1806791a0
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
@@ -0,0 +1,84 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.DebugObserver properties
+# ==================================================================
+
+# ArmarX.DebugObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.DebugObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DebugObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg b/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
new file mode 100644
index 000000000..af8cc946b
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
@@ -0,0 +1,91 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.ForceTorqueUnitObserver properties
+# ==================================================================
+
+# ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName: Name of the ForceTorqueUnit Topic
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
+
+
+# ArmarX.ForceTorqueUnitObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.ForceTorqueUnitObserver.MinimumLoggingLevel = Verbose
+
+
+# ArmarX.ForceTorqueUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg b/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
new file mode 100644
index 000000000..e6503a4c7
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
@@ -0,0 +1,114 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.ForceTorqueUnitSimulation properties
+# ==================================================================
+
+# ArmarX.ForceTorqueUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitSimulation.IntervalMs = 10
+
+
+# ArmarX.ForceTorqueUnitSimulation.SensorName: simulated sensor name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.ForceTorqueUnitSimulation.SensorName = <set value!>
+
+
+# ArmarX.ForceTorqueUnitSimulation.ForceTorqueTopicName: Name of the topic on which the sensor values are provided
+# Attributes:
+# - Default: ForceTorqueValues
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitSimulation.ForceTorqueTopicName = ForceTorqueValues
+
+
+# ArmarX.ForceTorqueUnitSimulation.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.ForceTorqueUnitSimulation.AgentName = Armar3
+
+
+# ArmarX.ForceTorqueUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.ForceTorqueUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ForceTorqueUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitSimulation.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/Global.cfg b/scenarios/KinematicSimulationArmar3/config/Global.cfg
new file mode 100644
index 000000000..779276246
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/Global.cfg
@@ -0,0 +1,5 @@
+ArmarX.DisableLogging = no
+VisionX.DisableLogging = no
+
+ArmarX.GlobalMinimumLoggingLevel = Verbose
+VisionX.GlobalMinimumLoggingLevel = Verbose
diff --git a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
new file mode 100644
index 000000000..46eb917da
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
@@ -0,0 +1,98 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.HandUnitSimulation properties
+# ==================================================================
+
+# ArmarX.HandUnitSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.RobotFileName = Armar3/robotmodel/ArmarIII.xml
+
+
+# ArmarX.HandUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.HandUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandUnitSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.EndeffectorName = TCP L
+
+
+# ArmarX.HandUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HandUnitSimulation.ObjectName = "LeftHandUnit"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
new file mode 100644
index 000000000..8708bf8ec
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
@@ -0,0 +1,98 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.HandUnitSimulation properties
+# ==================================================================
+
+# ArmarX.HandUnitSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.RobotFileName = Armar3/robotmodel/ArmarIII.xml
+
+
+# ArmarX.HandUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.HandUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandUnitSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.EndeffectorName = TCP R
+
+
+# ArmarX.HandUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HandUnitSimulation.ObjectName = "RightHandUnit"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg b/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
new file mode 100644
index 000000000..8123d9308
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
@@ -0,0 +1,91 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.HeadIKUnit properties
+# ==================================================================
+
+# ArmarX.HeadIKUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HeadIKUnit.CycleTime = 30
+
+
+# ArmarX.HeadIKUnit.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.HeadIKUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HeadIKUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
+
+
+# ArmarX.HeadIKUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HeadIKUnit.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg b/scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg
new file mode 100644
index 000000000..9090c34aa
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg
@@ -0,0 +1,136 @@
+# ==================================================================
+# VisionX properties
+# ==================================================================
+
+# VisionX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# VisionX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# VisionX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# VisionX.DataPath = ""
+
+
+# VisionX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# VisionX.Verbosity = Verbose
+
+
+# VisionX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.DisableLogging = 0
+
+
+# VisionX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# VisionX.ApplicationName = ""
+
+
+# VisionX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# VisionX.DatapathConfig = ./config/datapath.cfg
+
+
+# VisionX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# VisionX.Config = ""
+
+
+# ==================================================================
+# VisionX.ImageSequenceProvider properties
+# ==================================================================
+
+# VisionX.ImageSequenceProvider.CalibrationFile: Camera calibration file, will be made available in the SLICE interface
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+VisionX.ImageSequenceProvider.CalibrationFile = "/home/SMBAD/schieben/home/mca2.4/projects/armar3/robot_interface/files/camera_armar3a_640x480_wide.txt"
+
+
+# VisionX.ImageSequenceProvider.ImageSize: Target resolution of the images. Loaded images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 320x240, 640x480, 768x576, 800x600, none}
+# VisionX.ImageSequenceProvider.ImageSize = 640x480
+
+
+# VisionX.ImageSequenceProvider.FrameRate: Frames per second
+# Attributes:
+# - Default: 30
+# - Bounds: [0; 60]
+# - Case sensitivity: no
+# - Required: no
+# - Format: \d+(.\d*)?
+VisionX.ImageSequenceProvider.FrameRate = 2
+
+
+# VisionX.ImageSequenceProvider.PathLeft: Filename and path of the left camera images. Filenames need to follow the format: path/*%d.bmp (e.g. path/image_left0000.bmp).
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+#VisionX.ImageSequenceProvider.PathLeft = "/home/SMBAD/schieben/home/Bilder/OLP-Test/img2/scL0000.bmp"
+VisionX.ImageSequenceProvider.PathLeft = "/home/SMBAD/schieben/home/Bilder/BlaueTasse/scL0000.bmp"
+
+
+# VisionX.ImageSequenceProvider.ImagesAreUndistorted: Sets whether images are provided undistorted.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# VisionX.ImageSequenceProvider.ImagesAreUndistorted = 0
+
+
+# VisionX.ImageSequenceProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# VisionX.ImageSequenceProvider.MinimumLoggingLevel = Undefined
+
+
+# VisionX.ImageSequenceProvider.PathRight: Filename and path of the right camera images. Filenames need to follow the format: path/*%d.bmp (e.g. path/image_right0000.bmp).
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+#VisionX.ImageSequenceProvider.PathRight = "/home/SMBAD/schieben/home/Bilder/OLP-Test/img2/scR0000.bmp"
+VisionX.ImageSequenceProvider.PathRight = "/home/SMBAD/schieben/home/Bilder/BlaueTasse/scR0000.bmp"
+
+
+# VisionX.ImageSequenceProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+VisionX.ImageSequenceProvider.ObjectName = "Armar3ImageProvider"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg b/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
new file mode 100644
index 000000000..965659b90
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
@@ -0,0 +1,90 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.KinematicUnitObserver properties
+# ==================================================================
+
+# ArmarX.KinematicUnitObserver.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitObserver.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+
+
+# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitObserver.RobotNodeSetName = Robot
+
+
+# ArmarX.KinematicUnitObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.KinematicUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.KinematicUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.KinematicUnitObserver.ObjectName = Armar3KinematicUnitObserver
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg b/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
new file mode 100644
index 000000000..6bef0c11b
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
@@ -0,0 +1,98 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.KinematicUnitSimulation properties
+# ==================================================================
+
+# ArmarX.KinematicUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.KinematicUnitSimulation.IntervalMs = 10
+
+
+# ArmarX.KinematicUnitSimulation.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+
+
+# ArmarX.KinematicUnitSimulation.RobotNodeSetName: Robot node name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitSimulation.RobotNodeSetName = Robot
+
+
+# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.KinematicUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.KinematicUnitSimulation.ObjectName = Armar3KinematicUnit
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg b/scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg
new file mode 100644
index 000000000..bdce00076
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg
@@ -0,0 +1,99 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.LongtermMemory properties
+# ==================================================================
+
+# MemoryX.LongtermMemory.OacCollection: Mongo collection holding all OACs
+# Attributes:
+# - Default: oacs
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.LongtermMemory.OacCollection = oacs
+
+
+# MemoryX.LongtermMemory.SnapshotListCollection: Mongo collection holding a list of snapshots with corresponding metadata
+# Attributes:
+# - Default: snapshots
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.LongtermMemory.SnapshotListCollection = snapshots
+
+
+# MemoryX.LongtermMemory.DatabaseName: Mongo database to store LTM data
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.LongtermMemory.DatabaseName = memdb
+
+
+# MemoryX.LongtermMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.LongtermMemory.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.LongtermMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.LongtermMemory.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg b/scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg
new file mode 100644
index 000000000..1bba0f7bd
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg
@@ -0,0 +1,100 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DatapathConfig = ./config/datapath.cfg
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.ObjectMemoryObserver properties
+# ==================================================================
+
+# MemoryX.ObjectMemoryObserver.WorkingMemoryProxy: Proxy of working memory
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ObjectMemoryObserver.WorkingMemoryProxy = WorkingMemory
+
+
+# MemoryX.ObjectMemoryObserver.WorkingMemoryListenerTopic: Topic for working memory updates
+# Attributes:
+# - Default: WorkingMemoryUpdates
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ObjectMemoryObserver.WorkingMemoryListenerTopic = WorkingMemoryUpdates
+
+
+# MemoryX.ObjectMemoryObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.ObjectMemoryObserver.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.ObjectMemoryObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ObjectMemoryObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg b/scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg
new file mode 100644
index 000000000..459e98fa0
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg
@@ -0,0 +1,95 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.PriorKnowledge properties
+# ==================================================================
+
+# MemoryX.PriorKnowledge.RelationCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store known object classes relations. First collection will be used for writing.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.PriorKnowledge.RelationCollections = ""
+
+
+# MemoryX.PriorKnowledge.ClassCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store known object classes. First collection will be used for writing.
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.PriorKnowledge.ClassCollections = memdb.Prior_KitchenKK,memdb.Prior_KitchenKKObjects
+
+
+# MemoryX.PriorKnowledge.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.PriorKnowledge.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.PriorKnowledge.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.PriorKnowledge.ObjectName = ""
+
+# MemoryX.PriorKnowledge.GraphCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store graphs. First collection will be used for writing.
+# Attributes:
+# - Case sensitivity: no
+# - Required: no
+MemoryX.PriorKnowledge.GraphCollections = memdb.Prior_KitchenKKGraphs
+
diff --git a/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg b/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
new file mode 100644
index 000000000..74dae5bf0
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
@@ -0,0 +1,4 @@
+ArmarX.RobotStateComponent.RobotFileName=RobotAPI/robots/Armar3/ArmarIII.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotNodeSetName=Robot # node set name
+ArmarX.RobotStateComponent.ObjectName=RobotStateComponent # name of the ICE adapter
+ArmarX.RobotStateComponent.AgentName=Armar3
diff --git a/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg b/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
new file mode 100644
index 000000000..7102973bd
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
@@ -0,0 +1,76 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.SystemObserver properties
+# ==================================================================
+
+# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.SystemObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg b/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
new file mode 100644
index 000000000..5a9d95709
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
@@ -0,0 +1,158 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: 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/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.TCPControlUnit properties
+# ==================================================================
+
+# ArmarX.TCPControlUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnit.CycleTime = 30
+
+
+# ArmarX.TCPControlUnit.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TCPControlUnit.inheritFrom=RobotConfig
+
+
+# ArmarX.TCPControlUnit.MaxJointVelocity: Maximal joint velocity in rad/sec
+# Attributes:
+# - Default: 0.523500025
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnit.MaxJointVelocity = 0.523500025
+
+
+# ArmarX.TCPControlUnit.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.TCPControlUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnit.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.TCPControlUnit.TCPsToReport = TCP R,TCP L
+
+
+# ArmarX.TCPControlUnit.MaximumCommandDelay: Delay after which the TCP Control unit releases itself if no new velocity have been set.
+# Attributes:
+# - Default: 200
+# - Case sensitivity: no
+# - Required: no
+ArmarX.TCPControlUnit.MaximumCommandDelay = 500
+
+
+# ArmarX.TCPControlUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TCPControlUnit.KinematicUnitName = Armar3KinematicUnit
+
+
+# ArmarX.TCPControlUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnit.ObjectName = ""
+
+
+# ==================================================================
+# ArmarX.TCPControlUnitObserver properties
+# ==================================================================
+
+# ArmarX.TCPControlUnitObserver.TCPControlUnitName: Name of the TCPControlUnit
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TCPControlUnitObserver.TCPControlUnitName = TCPControlUnit
+
+
+# ArmarX.TCPControlUnitObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.TCPControlUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnitObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg b/scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg
new file mode 100644
index 000000000..6b9351e1d
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg
@@ -0,0 +1,156 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.WorkingMemory properties
+# ==================================================================
+
+# MemoryX.WorkingMemory.MatchByClassName: Check for class equality when searching for corresponding instance
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.WorkingMemory.MatchByClassName = 1
+
+
+# MemoryX.WorkingMemory.MatchThreshold: Threshold value of spatial proximity between observations to consider them belonging to the same instance (0..1)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.MatchThreshold = 0
+
+
+# MemoryX.WorkingMemory.UpdatesTopicName: Name of IceStrom topic to publish scene updates on
+# Attributes:
+# - Default: WorkingMemoryUpdates
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.UpdatesTopicName = WorkingMemoryUpdates
+
+
+# MemoryX.WorkingMemory.UseKalmanFilter: Switch fusion with Kalman Filter on/off.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.UseKalmanFilter = 1
+
+
+# MemoryX.WorkingMemory.PublishUpdates: Publish scene updates (ObjectCreated/Updated/Removed) on IceStrom topic
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.PublishUpdates = 1
+
+
+# MemoryX.WorkingMemory.UseLongtermMemory: Switch longterm memory on/off.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.UseLongtermMemory = 1
+
+
+# MemoryX.WorkingMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.WorkingMemory.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.WorkingMemory.UsePriorMemory: Switch prior knowledge on/off.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.WorkingMemory.UsePriorMemory = 1
+
+
+# MemoryX.WorkingMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.ObjectName = ""
+
+
+# MemoryX.WorkingMemory.PriorMemoryName: Name of PriorKnowledge Ice component
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.PriorMemoryName = PriorKnowledge
+
+
+# MemoryX.WorkingMemory.LongtermMemoryName: Name of LongtermMemory Ice component
+# Attributes:
+# - Default: LongtermMemory
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.LongtermMemoryName = LongtermMemory
+
+MemoryX.ObjectLocalizationMemoryUpdater.CheckFieldOfView = 0
+MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameLeft = "TCP L"
+MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameRight = "TCP R"
+
+
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
index 9d5477918..bb428b13c 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
@@ -56,7 +56,7 @@ KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget *parent) :
connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
ui->buttonBox->button( QDialogButtonBox::Ok )->setDefault(true);
proxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
- proxyFinder->setSearchMask("*Unit");
+ proxyFinder->setSearchMask("*");
ui->gridLayout->addWidget(proxyFinder, 2,1,1,2);
topicFinder = new IceTopicFinder(this);
topicFinder->setSearchMask("*RobotState");
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 0791cf16d..f6adc2d74 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -3,6 +3,7 @@
#include <RobotAPI/gui-plugins/KinematicUnitPlugin/ui_KinematicUnitConfigDialog.h>
+#include <Core/core/system/cmake/CMakePackageFinder.h>
#include <Core/core/system/ArmarXDataPath.h>
#include <Core/core/ArmarXObjectScheduler.h>
#include <Core/core/ArmarXManager.h>
@@ -33,6 +34,10 @@
#include <boost/filesystem.hpp>
+#define KINEMATIC_UNIT_FILE_DEFAULT std::string("RobotAPI/robots/Armar3/ArmarIII.xml")
+#define KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE std::string("RobotAPI")
+#define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
+#define TOPIC_NAME_DEFAULT "RobotState"
using namespace armarx;
using namespace VirtualRobot;
@@ -192,10 +197,25 @@ QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent
{
dialog = new KinematicUnitConfigDialog(parent);
dialog->setName(dialog->getDefaultName());
- boost::filesystem::path dir(KINEMATIC_UNIT_FILE_DEFAULT);
+
+ armarx::CMakePackageFinder finder(KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE);
+ if (!finder.packageFound())
+ {
+ ARMARX_WARNING << "ArmarX Package " << KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE << " has not been found!";
+ } else
+ {
+ ARMARX_INFO << "Adding to datapaths: " << finder.getDataDir();
+ armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
+ }
+
+ std::string filename = KINEMATIC_UNIT_FILE_DEFAULT;
+ ArmarXDataPath::getAbsolutePath(filename,filename);
+
+ boost::filesystem::path dir(filename);
+
dialog->fileDialog->setDirectory(QString::fromStdString(dir.remove_filename().string()));
- dialog->ui->editRobotFilepath->setText(QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT));
+ dialog->ui->editRobotFilepath->setText(QString::fromStdString(filename));
dialog->ui->ediRobotNodeSetName->setText(KINEMATIC_UNIT_NAME_DEFAULT);
}
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 10339d96b..ff85d49c3 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -56,10 +56,6 @@
#include <boost/shared_ptr.hpp>
#include <boost/cstdint.hpp>
-#define KINEMATIC_UNIT_FILE_DEFAULT armarx::ArmarXDataPath::getHomePath() + std::string("Armar3/data/Armar3/robotmodel/ArmarIII.xml")
-#define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
-#define TOPIC_NAME_DEFAULT "RobotState"
-
namespace armarx
{
typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
--
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