move scenarios into RobotAPI project

git-svn-id: https://svn.sfb588.uni-karlsruhe.de/svn/HumanoidRobotAPI@24 e7ad446d-f7d8-486a-9efb-df2f5bbea5c6

scenarios/MotionControlTest/MotionControlTestGui.ini

+[General]
+MainWindowGeometry="@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\a|\0\0\0\x38\0\0\f\x83\0\0\x4;\0\0\a\x80\0\0\0L\0\0\n_\0\0\x5\xb3\0\0\0\x1\x2\0)"
+DockWidgetsState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x2\0\0\0\0\0\0\x3\xf5\0\0\x3\xb8\xfc\x2\0\0\0\x1\xfc\0\0\0\x19\0\0\x3\xb8\0\0\x2\x5\x1\0\0\x1d\xfa\0\0\0\0\x1\0\0\0\x2\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0(\0\x44\0o\0\x63\0k\0K\0i\0n\0\x65\0m\0\x61\0t\0i\0\x63\0U\0n\0i\0t\0G\0U\0I\x1\0\0\0\0\0\0\x3\x99\0\0\x2\x4\0\xff\xff\xff\0\0\0\x1\0\0\x1\x5\0\0\x3\xb8\xfc\x2\0\0\0\x2\xfc\0\0\0\x19\0\0\x2\xda\0\0\x1\x32\x1\0\0\x1d\xfa\0\0\0\x1\x1\0\0\0\x2\xfb\0\0\0,\0\x44\0o\0\x63\0k\0S\0y\0s\0t\0\x65\0m\0S\0t\0\x61\0t\0\x65\0M\0o\0n\0i\0t\0o\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0\x33\0\x44\0 \0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x4%\0\0\0\xdb\0\0\0\xdb\0\xff\xff\xff\xfb\0\0\0\x1e\0\x44\0o\0\x63\0k\0\x45\0v\0\x65\0n\0t\0S\0\x65\0n\0\x64\0\x65\0r\x1\0\0\x2\xf9\0\0\0\xd8\0\0\0\xaf\0\xff\xff\xff\xff\xff\xff\xfa\0\0\x3\xb8\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
+WidgetCustomNames=EventSender, KinematicUnitGUI, LogViewer, SystemStateMonitor
+
+[EventSender]
+WidgetBaseName=EventSender
+widgetWidth=261
+widgetHeight=191
+EventSender\1\eventSenderName=startRobot
+EventSender\1\description=
+EventSender\1\componentName=RobotStatechart
+EventSender\1\globalStateIdentifier=RobotStatechart->RobotControl
+EventSender\1\eventName=EvStartRobot
+EventSender\1\eventReceiverName=toAll
+EventSender\1\parameters\size=0
+EventSender\2\eventSenderName=stopRobot
+EventSender\2\description=
+EventSender\2\componentName=RobotStatechart
+EventSender\2\globalStateIdentifier=RobotStatechart->RobotControl
+EventSender\2\eventName=EvStopRobot
+EventSender\2\eventReceiverName=toAll
+EventSender\2\parameters\size=0
+EventSender\3\eventSenderName=loadMotionControl
+EventSender\3\description=
+EventSender\3\componentName=RobotStatechart
+EventSender\3\globalStateIdentifier=RobotStatechart->RobotControl->Functional
+EventSender\3\eventName=EvLoadScenario
+EventSender\3\eventReceiverName=toAll
+EventSender\3\parameters\1\key=proxyName
+EventSender\3\parameters\1\VariantTypeId=-2125418521
+EventSender\3\parameters\1\value=MotionControl
+EventSender\3\parameters\2\key=stateName
+EventSender\3\parameters\2\VariantTypeId=-2125418521
+EventSender\3\parameters\2\value=MotionControlTestState
+EventSender\3\parameters\size=2
+EventSender\size=3
+
+[KinematicUnitGUI]
+WidgetBaseName=KinematicUnitGUI
+widgetWidth=921
+widgetHeight=872
+kinematicUnitName=Armar4KinematicUnit
+robotNodeSetName=Robot
+kinematicUnitFile=/org/share/home/staff/waechter/projects/armarx/trunk/Core/build/../../Armar4/ARMAR_IV.xml
+
+[LogViewer]
+WidgetBaseName=LogViewer
+widgetWidth=1013
+widgetHeight=897
+
+[SystemStateMonitor]
+WidgetBaseName=SystemStateMonitor
+widgetWidth=219
+widgetHeight=872
+ManagerRepository=@Invalid()
+MonitoredManagers=ArmarXGuiManager, ConditionHandlerManager, KinematicUnitObserverManager, KinematicUnitSimulationManager, MotionControlTestManager, RobotControlManager, RobotStateComponentManager, SystemObserverManager

scenarios/MotionControlTest/MotionControlTestGuiDavid.ini

+[General]
+MainWindowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\xff\xff\xff\xfc\0\0\0\x18\0\0\a}\0\0\x4J\0\0\0\0\0\0\0\0\xff\xff\xff\xfe\xff\xff\xff\xfe\0\0\0\0\x2\0)
+DockWidgetsState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x2\0\0\0\0\0\0\x4\xd1\0\0\x3\xe7\xfc\x2\0\0\0\x1\xfc\0\0\0\x19\0\0\x3\xe7\0\0\x2\x5\x1\0\0\x1d\xfa\0\0\0\x1\x1\0\0\0\x2\xfb\0\0\0(\0\x44\0o\0\x63\0k\0K\0i\0n\0\x65\0m\0\x61\0t\0i\0\x63\0U\0n\0i\0t\0G\0U\0I\x1\0\0\0\0\xff\xff\xff\xff\0\0\x2\x1c\0\xff\xff\xff\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x2\"\0\0\x2\xaf\0\0\0\xc8\0\xff\xff\xff\0\0\0\x1\0\0\x2\xa3\0\0\x3\xe7\xfc\x2\0\0\0\x1\xfc\0\0\0\x19\0\0\x3\xe7\0\0\x1\x14\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0\x33\0\x44\0 \0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x4\xd7\0\0\x1^\0\0\0\xdb\0\xff\xff\xff\xfc\0\0\x6;\0\0\x1?\0\0\0\xc8\0\xff\xff\xff\xfa\0\0\0\0\x2\0\0\0\x2\xfb\0\0\0\x1e\0\x44\0o\0\x63\0k\0\x45\0v\0\x65\0n\0t\0S\0\x65\0n\0\x64\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\xaf\0\xff\xff\xff\xfb\0\0\0,\0\x44\0o\0\x63\0k\0S\0y\0s\0t\0\x65\0m\0S\0t\0\x61\0t\0\x65\0M\0o\0n\0i\0t\0o\0r\x1\0\0\0\x19\0\0\x3\xe7\0\0\0\xe1\0\xff\xff\xff\0\0\0\0\0\0\x3\xe7\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
+WidgetCustomNames=EventSender, KinematicUnitGUI, LogViewer, SystemStateMonitor
+
+[EventSender]
+WidgetBaseName=EventSender
+widgetWidth=319
+widgetHeight=944
+EventSender\1\eventSenderName=loadScenario
+EventSender\1\description=
+EventSender\1\componentName=RobotStatechart
+EventSender\1\globalStateIdentifier=RobotStatechart->RobotControl->Functional
+EventSender\1\eventName=EvLoadScenario
+EventSender\1\eventReceiverName=toAll
+EventSender\1\parameters\1\key=proxyName
+EventSender\1\parameters\1\VariantTypeId=-2125418521
+EventSender\1\parameters\1\value=MotionControl
+EventSender\1\parameters\2\key=stateName
+EventSender\1\parameters\2\VariantTypeId=-2125418521
+EventSender\1\parameters\2\value=MotionControlTestStateIK
+EventSender\1\parameters\size=2
+EventSender\size=1
+
+[KinematicUnitGUI]
+WidgetBaseName=KinematicUnitGUI
+widgetWidth=1233
+widgetHeight=944
+kinematicUnitName=Armar4KinematicUnit
+robotNodeSetName=Robot
+kinematicUnitFile=/home/staff/schieben/armarx/Core/build/../..//data/ArmarIV/RobotModel/ArmarIV.xml
+
+[LogViewer]
+WidgetBaseName=LogViewer
+widgetWidth=1233
+widgetHeight=944
+verbosityLevel=1
+autoFilterAdding=true
+
+[SystemStateMonitor]
+WidgetBaseName=SystemStateMonitor
+widgetWidth=319
+widgetHeight=944
+ManagerRepository=@Invalid()
+MonitoredManagers=ArmarXGuiManager, ConditionHandlerManager, DummyObjectRecognitionManager, KinematicUnitObserverManager, KinematicUnitSimulationManager, MotionControlTestManager, ObjectMemoryManager, ObjectMemoryObserverManager, RobotControlManager, RobotHandLocalizationManager, RobotStateComponentManager, SystemObserverManager

scenarios/MotionControlTest/configs/Armar4KinematicUnit.cfg

+# test config file for KinematicUnit configured to be a Head
+
+ArmarX.KinematicUnitSimulation.RobotFileName=ArmarIV/RobotModel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot           # node set name
+ArmarX.KinematicUnitSimulation.ObjectName=Armar4KinematicUnit  # name of the Ice adapter

scenarios/MotionControlTest/configs/Armar4Observer.cfg

+# test config file for KinematicUnit configured to be a Head
+
+ArmarX.KinematicUnitObserver.RobotFileName=ArmarIV/RobotModel/ArmarIV.xml        	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotNodeSetName=Robot					# node set name
+ArmarX.KinematicUnitObserver.ObjectName=Armar4Observer      				# name of the ICE adapter
+
+

scenarios/MotionControlTest/configs/ArmarXGui.cfg

+ArmarX.LoadPlugins=${ArmarXHome_DIR}/Gui/build/lib/libKinematicUnitGuiPlugin.so,${ArmarXHome_DIR}/Gui/build/lib/libMdiGuiPlugin.so
+ArmarX.Show3DViewer=yes
+ArmarX.KinematicUnitGuiPlugin.RobotFileName=ArmarIV/RobotModel/ARMAR_IV.xml        	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot                                            # node set name
+ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=Armar4KinematicUnit

scenarios/MotionControlTest/configs/ArmarXLogger.cfg

+ArmarX.LoadPlugins=${ArmarXHome_DIR}/Gui/build/lib/libMdiGuiPlugin.so
+ArmarX.Show3DViewer=no

scenarios/MotionControlTest/configs/ConditionHandler.cfg

+ArmarX.ConditionHandler.Observers=Armar4Observer,SystemObserver,ObjectMemoryObserver
+
+

scenarios/MotionControlTest/configs/DummyObjectRecognitionConfig.txt

+VisionX.DummyObjectRecognition.Object.Name = TestObject01
+VisionX.DummyObjectRecognition.Object.Pose.x = 300
+VisionX.DummyObjectRecognition.Object.Pose.y = -200
+VisionX.DummyObjectRecognition.Object.Pose.z = 0
+VisionX.DummyObjectRecognition.Object.Pose.qw = 0
+VisionX.DummyObjectRecognition.Object.Pose.qx = 1
+VisionX.DummyObjectRecognition.Object.Pose.qy = 0
+VisionX.DummyObjectRecognition.Object.Pose.qz = 0
+VisionX.DummyObjectRecognition.Object.RecognitionCertainty = 0.9
+VisionX.DummyObjectRecognition.LocalizationDelay = 100
+

scenarios/MotionControlTest/configs/Global.cfg

+ArmarX.DisableLogging = no
+VisionX.DisableLogging = no
+
+ArmarX.GlobalMinimumLoggingLevel = Verbose
+VisionX.GlobalMinimumLoggingLevel = Verbose

scenarios/MotionControlTest/configs/GuiConfig.ini

+[General]
+MainWindowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\xff\xff\xff\xfc\0\0\0\x18\0\0\a\x83\0\0\x4#\0\0\0\0\0\0\0\0\xff\xff\xff\xfe\xff\xff\xff\xfe\0\0\0\0\x2\0)
+DockWidgetsState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x1\0\0\0\0\0\0\a\x80\0\0\x3\xc0\xfc\x2\0\0\0\x1\xfc\0\0\0\x19\0\0\x3\xc0\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x3\xfb\0\0\0\x1e\0\x44\0o\0\x63\0k\0\x45\0v\0\x65\0n\0t\0S\0\x65\0n\0\x64\0\x65\0r\x1\0\0\0\0\0\0\0\xc8\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\xce\0\0\x5\xe4\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0\x38\0\x44\0o\0\x63\0k\0S\0y\0s\0t\0\x65\0m\0S\0t\0\x61\0t\0\x65\0M\0o\0n\0i\0t\0o\0r\0W\0i\0\x64\0g\0\x65\0t\x1\0\0\x6\xb8\0\0\0\xc8\0\0\0\xc8\0\xff\xff\xff\0\0\0\0\0\0\x3\xc0\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
+WidgetCustomNames=EventSender, LogViewer, SystemStateMonitorWidget
+
+[EventSender]
+WidgetBaseName=EventSender
+widgetWidth=200
+widgetHeight=935
+EventSender\1\eventSenderName=LoadMotionControl
+EventSender\1\description=
+EventSender\1\componentName=
+EventSender\1\globalStateIdentifier=RobotStatechart->RobotControl->Functional->DynamicRemoteState
+EventSender\1\eventName=EvLoadScenario
+EventSender\1\eventReceiverName=toAll
+EventSender\1\parameters\1\key=proxyName
+EventSender\1\parameters\1\VariantTypeId=-2125418521
+EventSender\1\parameters\1\value=MotionControl
+EventSender\1\parameters\2\key=stateName
+EventSender\1\parameters\2\VariantTypeId=-2125418521
+EventSender\1\parameters\2\value=MotionControlTestState
+EventSender\1\parameters\size=2
+EventSender\size=1
+
+[LogViewer]
+WidgetBaseName=LogViewer
+widgetWidth=1508
+widgetHeight=935
+
+[SystemStateMonitorWidget]
+WidgetBaseName=SystemStateMonitorWidget
+widgetWidth=200
+widgetHeight=935
+ManagerRepository=@Invalid()
+MonitoredManagers=MotionControlTestManager

scenarios/MotionControlTest/configs/HeadUnit.cfg

+# test config file for KinematicUnit configured to be a Head
+
+ArmarX.KinematicUnit.RobotFileName=ArmarIII/ArmarIII-Head.xml        	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnit.RobotNodeSetName=Head				# node set name
+ArmarX.KinematicUnit.ObjectName=HeadKinematicUnit      		# name of the ICE adapter
+
+

scenarios/MotionControlTest/configs/HeadUnitObserver.cfg

+# test config file for KinematicUnit configured to be a Head
+
+ArmarX.KinematicUnitObserver.RobotFileName=ArmarIII/ArmarIII-Head.xml        	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotNodeSetName=Head				# node set name
+ArmarX.KinematicUnitObserver.ObjectName=HeadKinematicUnitObserver      	# name of the ICE adapter
+
+

scenarios/MotionControlTest/configs/MotionControlTest.cfg

+# test config file for KinematicUnit configured to be a Head
+
+ArmarX.MotionControl.KinematicUnitName=Armar4KinematicUnit
+ArmarX.MotionControl.KinematicUnitObserverName=Armar4Observer
+

scenarios/MotionControlTest/configs/ObjectDB.txt

+BlueCup eSegmentable eMMStaticObject
+GreenCup eSegmentable eMMStaticObject
+LeftHand eRobotHand eMMRobotHand
+RightHand eRobotHand eMMRobotHand
+TestObject01 eSegmentable eMMStaticObject
+TestObject02 eSegmentable eMMStaticObject
+TestObject03 eSegmentable eMMStaticObject
+TestObject04 eSegmentable eMMStaticObject
+TestObject05 eSegmentable eMMStaticObject
+TestObject06 eSegmentable eMMStaticObject
+TestObject07 eSegmentable eMMStaticObject
+TestObject08 eSegmentable eMMStaticObject
+TestObject09 eSegmentable eMMStaticObject
+TestObject10 eSegmentable eMMStaticObject
+TestObject11 eSegmentable eMMStaticObject
+TestObject12 eSegmentable eMMStaticObject
+TestObject13 eSegmentable eMMStaticObject
+TestObject14 eSegmentable eMMStaticObject
+TestObject15 eSegmentable eMMStaticObject
+TestObject16 eSegmentable eMMStaticObject
+TestObject17 eSegmentable eMMStaticObject
+TestObject18 eSegmentable eMMStaticObject
+TestObject19 eSegmentable eMMStaticObject
+TestObject20 eSegmentable eMMStaticObject
+TestObject21 eSegmentable eMMStaticObject
+TestObject22 eSegmentable eMMStaticObject
+TestObject23 eSegmentable eMMStaticObject
+TestObject24 eSegmentable eMMStaticObject
+TestObject25 eSegmentable eMMStaticObject
+TestObject26 eSegmentable eMMStaticObject
+TestObject27 eSegmentable eMMStaticObject
+TestObject28 eSegmentable eMMStaticObject
+TestObject29 eSegmentable eMMStaticObject
+TestObject30 eSegmentable eMMStaticObject
+TestObject31 eSegmentable eMMStaticObject
+TestObject32 eSegmentable eMMStaticObject
+TestObject33 eSegmentable eMMStaticObject
+TestObject34 eSegmentable eMMStaticObject
+TestObject35 eSegmentable eMMStaticObject
+TestObject36 eSegmentable eMMStaticObject
+TestObject37 eSegmentable eMMStaticObject
+TestObject38 eSegmentable eMMStaticObject
+TestObject39 eSegmentable eMMStaticObject
+TestObject40 eSegmentable eMMStaticObject

scenarios/MotionControlTest/configs/ObjectMemory.cfg

+VisionX.ObjectMemory.ObjectDatabaseFile = ${ArmarXHome_DIR}/scenarios/Armar4/configs/ObjectDB.txt
+VisionX.ObjectMemory.UpdateCycleTimeInMs = 30
+

scenarios/MotionControlTest/configs/ObjectMemoryObserver.cfg

+VisionX.ObjectMemoryObserver.ObjectDatabaseFile = ${ArmarXHome_DIR}/scenarios/Armar4/configs/ObjectDB.txt

scenarios/MotionControlTest/configs/RobotHandLocalization.cfg

+VisionX.RobotHandLocalization.RobotBaseNode=waist        	# base frame
+VisionX.RobotHandLocalization.RobotLeftHandNode=LHAND           # left hand
+VisionX.RobotHandLocalization.RobotRightHandNode=RHAND     	# right hand
+

scenarios/MotionControlTest/configs/RobotStateComponent.cfg

+ArmarX.RobotStateComponent.RobotFileName=ArmarIV/RobotModel/ArmarIV.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
+

scenarios/MotionControlTest/startGui.sh

+
+export CORE_PATH=../../Core
+export GUI_PATH=../../Gui
+export VISIONX_PATH=../../VisionX
+export ARMAR4_PATH=../../Armar4/api/visualservo
+export SCRIPT_PATH=$CORE_PATH/build/bin
+
+export CORE_BIN_PATH=$CORE_PATH/build/bin
+export GUI_BIN_PATH=$GUI_PATH/build/bin
+export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
+export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
+
+# Gui
+$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun --Ice.Config=./configs/ArmarXGui.cfg &

scenarios/MotionControlTest/startLogger.sh

+
+export CORE_PATH=../../Core
+export GUI_PATH=../../Gui
+export VISIONX_PATH=../../VisionX
+export ARMAR4_PATH=../../Armar4/api/visualservo
+export SCRIPT_PATH=$CORE_PATH/build/bin
+
+export CORE_BIN_PATH=$CORE_PATH/build/bin
+export GUI_BIN_PATH=$GUI_PATH/build/bin
+export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
+export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
+
+# Gui
+$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun --Ice.Config=./configs/ArmarXLogger.cfg &