diff --git a/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx b/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx
index 9e4ef2810eae6db0c1a475e9b220fae7e18418b6..af532a553a7b0b7a2d140c40bbd0637deec91cc3 100644
--- a/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx
+++ b/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx
@@ -6,5 +6,6 @@
<application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg b/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg
index e6c221120c7a8f33693caf9dc5fa229875dabb4a..3754d03657a08e8d6105dddaf36338864203681c 100644
--- a/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg
+++ b/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg
@@ -60,14 +60,6 @@
# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.MemoryName = Object
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.read.ProviderName:
-# Attributes:
-# - Default: PriorKnowledgeData
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.read.ProviderName = PriorKnowledgeData
-
-
# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName: Name of this provider
# Attributes:
# - Case sensitivity: yes
@@ -98,7 +90,7 @@ ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName
# - Default: mobile-dishwasher
# - Case sensitivity: yes
# - Required: no
-ArmarX.ArticulatedObjectLocalizerExample.p.obj.class = cabinet
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.class = mobile-dishwasher
# ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset:
@@ -106,7 +98,7 @@ ArmarX.ArticulatedObjectLocalizerExample.p.obj.class = cabinet
# - Default: Kitchen
# - Case sensitivity: yes
# - Required: no
-ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset = RBO-articulated-object-dataset
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset = Kitchen
# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
diff --git a/scenarios/ArticulatedObjectWriterExample/config/DebugObserver.cfg b/scenarios/ArticulatedObjectWriterExample/config/DebugObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/DebugObserver.cfg
@@ -0,0 +1,221 @@
+# ==================================================================
+# 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - 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
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg b/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg
index 95961b39febd5772f9f3ee485552631f407b73cc..0297d31a40c207ebb82d244091d7be2e6c53efea 100644
--- a/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg
+++ b/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg
@@ -150,6 +150,22 @@
# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
+# ArmarX.ObjectMemory.mem..marker.Name: Marker Memory Name
+# Attributes:
+# - Default: Marker
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem..marker.Name = Marker
+
+
+# ArmarX.ObjectMemory.mem..marker.maxHistorySize: Maximum marker memory history size
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem..marker.maxHistorySize = -1
+
+
# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
# Attributes:
# - Default: Object
@@ -375,14 +391,17 @@
# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
-# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
-# You can also specify paths relative to 'Package/scenes/'.
-# You can also specify a ; separated list of scenes.
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene(s) to load on startup.
+# Specify multiple scenes in a ; separated list.
+# Each entry must be one of the following:
+# (1) A scene file in 'Package/scenes/' (with or without '.json' extension), e.g. 'MyScene', 'MyScene.json'
+# (2) A path to a scene file relative to 'Package/scenes/' (with or without '.json' extension), e.g. 'path/to/MyScene', 'path/to/MyScene.json'
+# (3) An ArmarX data path to a scene file, e.g. 'Package/scenes/path/to/MyScene.json'
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
+ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003
# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
@@ -558,10 +577,10 @@
# ArmarX.ObjectMemory.mem.ltm.configuration:
# Attributes:
-# - Default: {}
+# - Default: {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.configuration = {}
+# ArmarX.ObjectMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# ArmarX.ObjectMemory.mem.ltm.enabled:
diff --git a/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg b/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg
index 5839620e5e3c5df7e080f39405a021bdbcd4a0ea..fd3b8a1217bb4f5732e7a1dbf78a25db133a7223 100644
--- a/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg
+++ b/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg
@@ -216,6 +216,22 @@
# ArmarX.RobotStateMemory.mem.desc.seg.CoreSegmentName = Description
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize: Maximal size of the Exteroception entity histories (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize = -1
+
+
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreSegmentName: Name of the Exteroception core segment.
+# Attributes:
+# - Default: Exteroception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreSegmentName = Exteroception
+
+
# ArmarX.RobotStateMemory.mem.loc.seg.CoreMaxHistorySize: Maximal size of the Localization entity histories (-1 for infinite).
# Attributes:
# - Default: 1024
@@ -234,10 +250,10 @@
# ArmarX.RobotStateMemory.mem.ltm.configuration:
# Attributes:
-# - Default: {}
+# - Default: {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateMemory.mem.ltm.configuration = {}
+# ArmarX.RobotStateMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# ArmarX.RobotStateMemory.mem.ltm.enabled:
@@ -274,6 +290,15 @@
# ArmarX.RobotStateMemory.mem.visu.enabled = true
+# ArmarX.RobotStateMemory.mem.visu.famesEnabled: Enable or disable visualization of frames.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.visu.famesEnabled = false
+
+
# ArmarX.RobotStateMemory.mem.visu.frequenzyHz: Frequency of visualization.
# Attributes:
# - Default: 25