diff --git a/scenarios/ArVizExample/ArVizExample.scx b/scenarios/ArVizExample/ArVizExample.scx
index 00880778f94bdf201adca7c5810da52568c0ae91..bcc46e466e16bf2cb69264abcfbbef745296e3e1 100644
--- a/scenarios/ArVizExample/ArVizExample.scx
+++ b/scenarios/ArVizExample/ArVizExample.scx
@@ -2,5 +2,6 @@
<scenario name="ArVizExample" creation="2019-05-21.14:52:29" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
<application name="ArVizExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotToArVizApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/ArVizExample/config/RobotToArVizApp.cfg b/scenarios/ArVizExample/config/RobotToArVizApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..4f4ea65faf5690963ba6e1ef3a2970d18dcd6563
--- /dev/null
+++ b/scenarios/ArVizExample/config/RobotToArVizApp.cfg
@@ -0,0 +1,212 @@
+# ==================================================================
+# RobotToArVizApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.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.RobotToArViz.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.RobotToArViz.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.RobotToArViz.EnableProfiling = false
+
+
+# ArmarX.RobotToArViz.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.RobotToArViz.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotToArViz.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.ObjectName = ""
+
+
+# ArmarX.RobotToArViz.RemoteStateComponentName: Name of the robot state component
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.RemoteStateComponentName = RobotStateComponent
+
+
+# ArmarX.RobotToArViz.updateFrequency: Target number of updates per second.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.updateFrequency = 100
+
+
+# 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/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index bce9fcf04fd88c2dbbac0321f2346a520ff001a3..34bc50559c07e57e39290ce44ad23d668d6f8ff4 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -1,22 +1,20 @@
add_subdirectory(units)
+
+add_subdirectory(ArViz)
+add_subdirectory(CyberGloveObserver)
add_subdirectory(DebugDrawer)
-add_subdirectory(RobotState)
-add_subdirectory(EarlyVisionGraph)
-add_subdirectory(ViewSelection)
-add_subdirectory(GamepadControlUnit)
-add_subdirectory(RobotNameService)
add_subdirectory(DummyTextToSpeech)
-add_subdirectory(KITProstheticHandUnit)
-add_subdirectory(CyberGloveObserver)
-add_subdirectory(RobotHealth)
+add_subdirectory(EarlyVisionGraph)
add_subdirectory(FrameTracking)
-
+add_subdirectory(GamepadControlUnit)
add_subdirectory(KITHandUnit)
+add_subdirectory(KITProstheticHandUnit)
add_subdirectory(MultiHandUnit)
-
-add_subdirectory(TopicTimingTest)
-
-add_subdirectory(ArViz)
+add_subdirectory(NaturalIKTest)
+add_subdirectory(RobotHealth)
+add_subdirectory(RobotNameService)
+add_subdirectory(RobotState)
+add_subdirectory(RobotToArViz)
add_subdirectory(StatechartExecutorExample)
-
-add_subdirectory(NaturalIKTest)
\ No newline at end of file
+add_subdirectory(TopicTimingTest)
+add_subdirectory(ViewSelection)
diff --git a/source/RobotAPI/components/RobotToArViz/CMakeLists.txt b/source/RobotAPI/components/RobotToArViz/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f07bddf7f12741de4f2a0486fdecef5c6247d57
--- /dev/null
+++ b/source/RobotAPI/components/RobotToArViz/CMakeLists.txt
@@ -0,0 +1,35 @@
+armarx_component_set_name("RobotToArViz")
+
+
+set(COMPONENT_LIBS
+ ArmarXCore
+ RobotAPIComponentPlugins
+)
+
+set(SOURCES
+ RobotToArViz.cpp
+)
+set(HEADERS
+ RobotToArViz.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# target_include_directories(RobotToArViz PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()
+
+# add unit tests
+add_subdirectory(test)
+
+
+armarx_component_set_name("RobotToArVizApp")
+set(COMPONENT_LIBS RobotToArViz)
+armarx_add_component_executable(main.cpp)
+
+
diff --git a/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp b/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f0e7ae58e5a83e9e2ea939b867f7cd0626c809b7
--- /dev/null
+++ b/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
@@ -0,0 +1,93 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::RobotToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "RobotToArViz.h"
+
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+
+namespace armarx
+{
+ RobotToArVizPropertyDefinitions::RobotToArVizPropertyDefinitions(std::string prefix) :
+ armarx::ComponentPropertyDefinitions(prefix)
+ {
+ }
+
+ armarx::PropertyDefinitionsPtr RobotToArViz::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs(new RobotToArVizPropertyDefinitions(getConfigIdentifier()));
+
+ defs->optional(updateFrequency, "updateFrequency", "Target number of updates per second.");
+
+ return defs;
+ }
+
+
+ std::string RobotToArViz::getDefaultName() const
+ {
+ return "RobotToArViz";
+ }
+
+
+ void RobotToArViz::onInitComponent()
+ {
+ }
+
+
+ void RobotToArViz::onConnectComponent()
+ {
+ // Load robot.
+ this->robot = RobotState::addRobot(robotName, VirtualRobot::RobotIO::RobotDescription::eStructure);
+
+ // Initialize robot visu element.
+ this->robotViz = viz::Robot(robot->getName()).file("", robot->getFilename());
+
+ task = new SimplePeriodicTask<>([this]()
+ {
+ this->updateRobot();
+ }, int(1000 / updateFrequency));
+ task->start();
+ }
+
+
+ void RobotToArViz::onDisconnectComponent()
+ {
+ task->stop();
+ task = nullptr;
+ }
+
+
+ void RobotToArViz::onExitComponent()
+ {
+ }
+
+
+ void RobotToArViz::updateRobot()
+ {
+ RobotState::synchronizeLocalClone(robotName);
+
+ robotViz.joints(robot->getConfig()->getRobotNodeJointValueMap())
+ .pose(robot->getGlobalPose());
+
+ arviz.commitLayerContaining(robot->getName(), robotViz);
+ }
+}
diff --git a/source/RobotAPI/components/RobotToArViz/RobotToArViz.h b/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
new file mode 100644
index 0000000000000000000000000000000000000000..4e6a64ca03a9daea07df8f6e3cc8deb91ad67374
--- /dev/null
+++ b/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
@@ -0,0 +1,108 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::RobotToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
+
+
+namespace armarx
+{
+ /**
+ * @class RobotToArVizPropertyDefinitions
+ * @brief Property definitions of `RobotToArViz`.
+ */
+ class RobotToArVizPropertyDefinitions :
+ public armarx::ComponentPropertyDefinitions
+ {
+ public:
+ RobotToArVizPropertyDefinitions(std::string prefix);
+ };
+
+
+
+ /**
+ * @defgroup Component-RobotToArViz RobotToArViz
+ * @ingroup RobotAPI-Components
+ *
+ * Visualizes a robot via ArViz.
+ *
+ * @class RobotToArViz
+ * @ingroup Component-RobotToArViz
+ * @brief Brief description of class RobotToArViz.
+ *
+ * Detailed description of class RobotToArViz.
+ */
+ class RobotToArViz :
+ virtual public armarx::Component,
+ virtual public armarx::ArVizComponentPluginUser,
+ virtual public armarx::RobotStateComponentPluginUser
+ {
+ using RobotState = RobotStateComponentPluginUser;
+
+ public:
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+
+ protected:
+
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+
+ private:
+
+ void updateRobot();
+
+
+ private:
+
+ float updateFrequency = 100;
+ SimplePeriodicTask<>::pointer_type task;
+
+ std::string robotName = "robot";
+
+ VirtualRobot::RobotPtr robot;
+
+ viz::Robot robotViz { "" };
+
+ };
+}
diff --git a/source/RobotAPI/components/RobotToArViz/main.cpp b/source/RobotAPI/components/RobotToArViz/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f0d3c514ddc51065741b36cd42347b8ee3db848e
--- /dev/null
+++ b/source/RobotAPI/components/RobotToArViz/main.cpp
@@ -0,0 +1,33 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package OML::application::SceneVisualizer
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/components/RobotToArViz/RobotToArViz.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+int main(int argc, char* argv[])
+{
+ return armarx::runSimpleComponentApp < armarx::RobotToArViz > (argc, argv, "RobotToArViz");
+}
diff --git a/source/RobotAPI/components/RobotToArViz/test/CMakeLists.txt b/source/RobotAPI/components/RobotToArViz/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ddf1aed81a6864438a0e1250ddc7b258cbc6942
--- /dev/null
+++ b/source/RobotAPI/components/RobotToArViz/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore RobotToArViz)
+
+armarx_add_test(RobotToArVizTest RobotToArVizTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/components/RobotToArViz/test/RobotToArVizTest.cpp b/source/RobotAPI/components/RobotToArViz/test/RobotToArVizTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8a7082d680abfa3573e6d5f60417161c36ca7ea8
--- /dev/null
+++ b/source/RobotAPI/components/RobotToArViz/test/RobotToArVizTest.cpp
@@ -0,0 +1,37 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::RobotToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::RobotToArViz
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/RobotToArViz/RobotToArViz.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::RobotToArViz instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}