diff --git a/scenarios/ArMemExample/config/ExampleMemory.cfg b/scenarios/ArMemExample/config/ExampleMemory.cfg
index e2e7bb719d4629ed88b2127cf7c97159bdb79341..7989108bc28741f5c638fe53de5608ecaf8c7612 100644
--- a/scenarios/ArMemExample/config/ExampleMemory.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemory.cfg
@@ -298,22 +298,6 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.tpc.pub.DebugObserver = DebugObserver
-# ArmarX.ExampleMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
-# Attributes:
-# - Default: MemoryUpdates
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
-
-
-# ArmarX.ExampleMemory.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
-# Attributes:
-# - Default: MemoryUpdates
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleMemory.tpc.sub.MemoryListener = MemoryUpdates
-
-
# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
# Attributes:
# - Default: ""
diff --git a/scenarios/ArMemExample/config/ExampleMemoryClient.cfg b/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
index 9c012266f8691c27cfa40be3ad793c081877178e..a379624fe9982bff2ccacc95903b47604ec28853 100644
--- a/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
@@ -160,14 +160,6 @@ ArmarX.ArMemExampleClient.tpc.sub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemoryClient.tpc.pub.DebugObserver = DebugObserver
-# ArmarX.ExampleMemoryClient.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
-# Attributes:
-# - Default: MemoryUpdates
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleMemoryClient.tpc.sub.MemoryListener = MemoryUpdates
-
-
# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
# Attributes:
# - Default: ""
diff --git a/scenarios/ArMemObjectMemory/ArMemObjectMemory.scx b/scenarios/ArMemObjectMemory/ArMemObjectMemory.scx
index 7cdb42138f811f9a7990e958f54c92c10f9a251d..dfad872ec9e062182f88389d57a771f0f13afa5c 100644
--- a/scenarios/ArMemObjectMemory/ArMemObjectMemory.scx
+++ b/scenarios/ArMemObjectMemory/ArMemObjectMemory.scx
@@ -6,9 +6,9 @@
<application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="false" iceAutoRestart="false"/>
<application name="ObjectPoseProviderExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="RobotToArVizApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="ObjectPoseClientExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="ArticulatedObjectLocalizerExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SimpleVirtualRobot" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/ArMemObjectMemory/config/ArticulatedObjectExampleMemoryWriterClient.cfg b/scenarios/ArMemObjectMemory/config/ArticulatedObjectExampleMemoryWriterClient.cfg
deleted file mode 100644
index 5082b0ffc78b15d395b64deb6f0ba3c14ac38ea9..0000000000000000000000000000000000000000
--- a/scenarios/ArMemObjectMemory/config/ArticulatedObjectExampleMemoryWriterClient.cfg
+++ /dev/null
@@ -1,251 +0,0 @@
-# ==================================================================
-# ArticulatedObjectExampleMemoryWriterClient 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.ArticulatedObjectExampleMemoryWriterClient.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.ArticulatedObjectExampleMemoryWriterClient.EnableProfiling = false
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.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.ArticulatedObjectExampleMemoryWriterClient.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.ObjectName = ""
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.ArMemMemoryNameSystem: Ice object name of the `MemoryNameSystem` component.
-# Attributes:
-# - Default: ArMemMemoryNameSystem
-# - Case sensitivity: yes
-# - Required: no
-ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.ArMemMemoryNameSystem = MemoryNameSystem
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.CoreSegment: Name of the memory core segment to use for object classes.
-# Attributes:
-# - Default: ArticulatedObjectClass
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.CoreSegment = ArticulatedObjectClass
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.MemoryName:
-# Attributes:
-# - Default: Object
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.MemoryName = Object
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.ProviderName:
-# Attributes:
-# - Case sensitivity: yes
-# - Required: yes
-ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.ProviderName = ExampleProvider
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.write.ArMemMemoryNameSystem: No Description
-# Attributes:
-# - Default: MemoryNameSystem
-# - Case sensitivity: no
-# - Required: no
-ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.write.ArMemMemoryNameSystem = MemoryNameSystem
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.write.MemoryName: No Description
-# Attributes:
-# - Default: Object
-# - Case sensitivity: no
-# - Required: no
-ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.write.MemoryName = Object
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.write.ProviderName: No Description
-# Attributes:
-# - Default: ExampleProvider
-# - Case sensitivity: no
-# - Required: no
-ArmarX.ArticulatedObjectExampleMemoryWriterClient.mem.obj.articulated.write.ProviderName = ExampleProvider
-
-
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
-# Attributes:
-# - Default: DebugObserver
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectExampleMemoryWriterClient.tpc.pub.DebugObserver = DebugObserver
-
-
-# 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.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/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.instance1.cfg b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.instance1.cfg
deleted file mode 100644
index 9d225df2f4efadbb731a79fd45dbf852189ec80b..0000000000000000000000000000000000000000
--- a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.instance1.cfg
+++ /dev/null
@@ -1,254 +0,0 @@
-# ==================================================================
-# ArticulatedObjectLocalizerExample 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.ArticulatedObjectLocalizerExample.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.ArticulatedObjectLocalizerExample.EnableProfiling = false
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.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.ArticulatedObjectLocalizerExample.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.ObjectName = ""
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.CoreSegment: Name of the memory core segment to use for object classes.
-# Attributes:
-# - Default: Class
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.CoreSegment = Class
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.MemoryName:
-# Attributes:
-# - Default: Object
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.MemoryName = Object
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.ProviderName:
-# Attributes:
-# - Default: PriorKnowledgeData
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.ProviderName = PriorKnowledgeData
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
-# Set to false to use this memory as a stand-alone.
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemEnabled = true
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
-# Attributes:
-# - Default: MemoryNameSystem
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemName = MemoryNameSystem
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
-# Attributes:
-# - Default: DebugObserver
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver = DebugObserver
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
-# Attributes:
-# - Default: MemoryUpdates
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.tpc.sub.MemoryListener = MemoryUpdates
-
-
-# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency: Memory update frequency (write).
-# Attributes:
-# - Default: 25
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency = 25
-
-
-# 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.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/ArMemObjectMemory/config/ArticulatedObjectStateProviderExample.cfg b/scenarios/ArMemObjectMemory/config/ArticulatedObjectStateProviderExample.cfg
deleted file mode 100644
index 392cba9cc038fcc870930199b577e5699b2d9b48..0000000000000000000000000000000000000000
--- a/scenarios/ArMemObjectMemory/config/ArticulatedObjectStateProviderExample.cfg
+++ /dev/null
@@ -1,204 +0,0 @@
-# ==================================================================
-# ArticulatedObjectStateProviderExample 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.ArticulatedObjectStateProviderExample.ArticulatedObjectTopicName: Name of the articulated object topic.
-# Attributes:
-# - Default: ArticulatedObjectTopic
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectStateProviderExample.ArticulatedObjectTopicName = ArticulatedObjectTopic
-
-
-# ArmarX.ArticulatedObjectStateProviderExample.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.ArticulatedObjectStateProviderExample.EnableProfiling = false
-
-
-# ArmarX.ArticulatedObjectStateProviderExample.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.ArticulatedObjectStateProviderExample.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ArticulatedObjectStateProviderExample.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectStateProviderExample.ObjectName = ""
-
-
-# ArmarX.ArticulatedObjectStateProviderExample.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
-# Attributes:
-# - Default: DebugObserver
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectStateProviderExample.tpc.pub.DebugObserver = DebugObserver
-
-
-# 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.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/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index 5e0858b92c6caa5e2aba4453dac7bacef8367318..fb7453c4142e918a680e69310f30b83a9d80e109 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -641,15 +641,7 @@
# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
-# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:
-# Attributes:
-# - Default: Description
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
-
-
-# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
# Attributes:
# - Default: Localization
# - Case sensitivity: yes
@@ -657,14 +649,6 @@
# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
-# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:
-# Attributes:
-# - Default: Proprioception
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
-
-
# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
@@ -696,7 +680,7 @@
# - Default: Armar6
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.robotName = Armar6
+ArmarX.ObjectMemory.robotName = CameraOnTripod
# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
diff --git a/scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg b/scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg
similarity index 78%
rename from scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg
rename to scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg
index 55d034d9c687c16ad2f34f458f85ca66da54cdff..55fd820ebb611bf06941cf5c250e8621b825ce1d 100644
--- a/scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg
+++ b/scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg
@@ -1,5 +1,5 @@
# ==================================================================
-# RobotToArVizApp properties
+# SimpleVirtualRobot 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.
@@ -109,96 +109,97 @@
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.RobotToArViz.ArVizStorageName: Name of the ArViz storage
-# Attributes:
-# - Default: ArVizStorage
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.RobotToArViz.ArVizStorageName = ArVizStorage
-
-
-# ArmarX.RobotToArViz.ArVizTopicName: Name of the ArViz topic
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
-# - Default: ArVizTopic
+# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotToArViz.ArVizTopicName = ArVizTopic
+# ArmarX.SecondsStartupDelay = 0
-# ArmarX.RobotToArViz.EnableProfiling: enable profiler which is used for logging performance events
+# ArmarX.SimpleVirtualRobot.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.SimpleVirtualRobot.EnableProfiling = false
-# ArmarX.RobotToArViz.MinimumLoggingLevel: Local logging level only for this component
+# ArmarX.SimpleVirtualRobot.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.SimpleVirtualRobot.MinimumLoggingLevel = Undefined
-# ArmarX.RobotToArViz.ObjectName: Name of IceGrid well-known object
+# ArmarX.SimpleVirtualRobot.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotToArViz.ObjectName = ""
+# ArmarX.SimpleVirtualRobot.ObjectName = ""
-# ArmarX.RobotToArViz.RemoteGuiName: Name of the remote gui provider
+# ArmarX.SimpleVirtualRobot.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
# Attributes:
-# - Default: RemoteGuiProvider
+# - Default: true
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotToArViz.RemoteGuiName = RemoteGuiProvider
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SimpleVirtualRobot.mns.MemoryNameSystemEnabled = true
-# ArmarX.RobotToArViz.RemoteStateComponentName: Name of the robot state component
+# ArmarX.SimpleVirtualRobot.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
# Attributes:
-# - Default: RobotStateComponent
+# - Default: MemoryNameSystem
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotToArViz.RemoteStateComponentName = RobotStateComponent
+# ArmarX.SimpleVirtualRobot.mns.MemoryNameSystemName = MemoryNameSystem
-# ArmarX.RobotToArViz.ShowRobotNodeFrames: If true, show frames of robot nodes (can be changed in RemoteGui).
+# ArmarX.SimpleVirtualRobot.p.oneShot: If true, commit once after connecting, then stop.
# Attributes:
-# - Default: false
+# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RobotToArViz.ShowRobotNodeFrames = false
+# ArmarX.SimpleVirtualRobot.p.oneShot = true
-# ArmarX.RobotToArViz.UseCollisionModel: Use the collision model for visualization
+# ArmarX.SimpleVirtualRobot.p.robot.name: Optional override for the robot name. If not set, the default name from the robot model is used.
# Attributes:
-# - Default: false
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RobotToArViz.UseCollisionModel = false
+# ArmarX.SimpleVirtualRobot.p.robot.name = ""
-# ArmarX.RobotToArViz.updateFrequency: Target number of updates per second.
+# ArmarX.SimpleVirtualRobot.p.robot.package: Package of the Simox robot XML.
# Attributes:
-# - Default: 100
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotToArViz.updateFrequency = 100
+ArmarX.SimpleVirtualRobot.p.robot.package = RobotAPI
-# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# ArmarX.SimpleVirtualRobot.p.robot.path: Local path of the Simox robot XML.
# Attributes:
-# - Default: 0
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SecondsStartupDelay = 0
+ArmarX.SimpleVirtualRobot.p.robot.path = robots/CameraOnTripod/CameraOnTripod.xml
+
+
+# ArmarX.SimpleVirtualRobot.p.updateFrequency: Memory update frequency (write).
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimpleVirtualRobot.p.updateFrequency = 10
# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.