From 566c0edb5df66af15a73f9d7d201084769ce892e Mon Sep 17 00:00:00 2001
From: Manfred Kroehnert <Manfred.Kroehnert@kit.edu>
Date: Tue, 9 Sep 2014 16:30:58 +0200
Subject: [PATCH] MotionControlTest is now an automatically generated scenario
---
scenarios/CMakeLists.txt | 4 +-
scenarios/MotionControlTest/CMakeLists.txt | 20 ++++
.../{configs => config}/ArmarXGui.cfg | 0
.../{configs => config}/ArmarXLogger.cfg | 0
.../{configs => config}/ConditionHandler.cfg | 0
.../DummyObjectRecognitionConfig.txt | 0
.../{configs => config}/Global.cfg | 0
.../{configs => config}/GuiConfig.ini | 0
.../{configs => config}/HeadUnit.cfg | 0
.../{configs => config}/HeadUnitObserver.cfg | 0
.../config/KinematicUnitObserver.cfg | 90 +++++++++++++++++
.../config/KinematicUnitSimulation.cfg | 98 +++++++++++++++++++
.../{configs => config}/MotionControlTest.cfg | 0
.../{configs => config}/ObjectDB.txt | 0
.../{configs => config}/ObjectMemory.cfg | 0
.../ObjectMemoryObserver.cfg | 0
.../MotionControlTest/config/RobotControl.cfg | 93 ++++++++++++++++++
.../RobotHandLocalization.cfg | 0
.../RobotStateComponent.cfg | 0
.../config/SystemObserver.cfg | 76 ++++++++++++++
.../configs/Armar4KinematicUnit.cfg | 5 -
.../configs/Armar4Observer.cfg | 7 --
scenarios/MotionControlTest/startScenario.sh | 41 --------
scenarios/MotionControlTest/stopScenario.sh | 45 ---------
24 files changed, 379 insertions(+), 100 deletions(-)
create mode 100644 scenarios/MotionControlTest/CMakeLists.txt
rename scenarios/MotionControlTest/{configs => config}/ArmarXGui.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/ArmarXLogger.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/ConditionHandler.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/DummyObjectRecognitionConfig.txt (100%)
rename scenarios/MotionControlTest/{configs => config}/Global.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/GuiConfig.ini (100%)
rename scenarios/MotionControlTest/{configs => config}/HeadUnit.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/HeadUnitObserver.cfg (100%)
create mode 100644 scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
create mode 100644 scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
rename scenarios/MotionControlTest/{configs => config}/MotionControlTest.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/ObjectDB.txt (100%)
rename scenarios/MotionControlTest/{configs => config}/ObjectMemory.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/ObjectMemoryObserver.cfg (100%)
create mode 100644 scenarios/MotionControlTest/config/RobotControl.cfg
rename scenarios/MotionControlTest/{configs => config}/RobotHandLocalization.cfg (100%)
rename scenarios/MotionControlTest/{configs => config}/RobotStateComponent.cfg (100%)
create mode 100644 scenarios/MotionControlTest/config/SystemObserver.cfg
delete mode 100644 scenarios/MotionControlTest/configs/Armar4KinematicUnit.cfg
delete mode 100644 scenarios/MotionControlTest/configs/Armar4Observer.cfg
delete mode 100755 scenarios/MotionControlTest/startScenario.sh
delete mode 100755 scenarios/MotionControlTest/stopScenario.sh
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 62fc4f72f..3b942c248 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,4 +1,4 @@
add_subdirectory(WeissHapticSensorsUnitTest)
-
-add_subdirectory(statecharttestscenario)
\ No newline at end of file
+add_subdirectory(MotionControlTest)
+add_subdirectory(statecharttestscenario)
diff --git a/scenarios/MotionControlTest/CMakeLists.txt b/scenarios/MotionControlTest/CMakeLists.txt
new file mode 100644
index 000000000..7fb1259c8
--- /dev/null
+++ b/scenarios/MotionControlTest/CMakeLists.txt
@@ -0,0 +1,20 @@
+# Add your components below as shown in the following example:
+
+set(SCENARIO_COMPONENTS
+ KinematicUnitSimulation
+ KinematicUnitObserver
+ SystemObserver
+ ConditionHandler
+ RobotStateComponent
+ RobotControl
+ MotionControlTest
+ )
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario("MotionControlTest" "${SCENARIO_COMPONENTS}" "./configs/Global.cfg")
+
+#set(SCENARIO_CONFIGS
+# config/ComponentName.optionalString.cfg
+# )
+# optional 3rd parameter: "path/to/global/config.cfg"
+#armarx_scenario_from_configs("statecharttestscenario" "${SCENARIO_CONFIGS}")
diff --git a/scenarios/MotionControlTest/configs/ArmarXGui.cfg b/scenarios/MotionControlTest/config/ArmarXGui.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/ArmarXGui.cfg
rename to scenarios/MotionControlTest/config/ArmarXGui.cfg
diff --git a/scenarios/MotionControlTest/configs/ArmarXLogger.cfg b/scenarios/MotionControlTest/config/ArmarXLogger.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/ArmarXLogger.cfg
rename to scenarios/MotionControlTest/config/ArmarXLogger.cfg
diff --git a/scenarios/MotionControlTest/configs/ConditionHandler.cfg b/scenarios/MotionControlTest/config/ConditionHandler.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/ConditionHandler.cfg
rename to scenarios/MotionControlTest/config/ConditionHandler.cfg
diff --git a/scenarios/MotionControlTest/configs/DummyObjectRecognitionConfig.txt b/scenarios/MotionControlTest/config/DummyObjectRecognitionConfig.txt
similarity index 100%
rename from scenarios/MotionControlTest/configs/DummyObjectRecognitionConfig.txt
rename to scenarios/MotionControlTest/config/DummyObjectRecognitionConfig.txt
diff --git a/scenarios/MotionControlTest/configs/Global.cfg b/scenarios/MotionControlTest/config/Global.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/Global.cfg
rename to scenarios/MotionControlTest/config/Global.cfg
diff --git a/scenarios/MotionControlTest/configs/GuiConfig.ini b/scenarios/MotionControlTest/config/GuiConfig.ini
similarity index 100%
rename from scenarios/MotionControlTest/configs/GuiConfig.ini
rename to scenarios/MotionControlTest/config/GuiConfig.ini
diff --git a/scenarios/MotionControlTest/configs/HeadUnit.cfg b/scenarios/MotionControlTest/config/HeadUnit.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/HeadUnit.cfg
rename to scenarios/MotionControlTest/config/HeadUnit.cfg
diff --git a/scenarios/MotionControlTest/configs/HeadUnitObserver.cfg b/scenarios/MotionControlTest/config/HeadUnitObserver.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/HeadUnitObserver.cfg
rename to scenarios/MotionControlTest/config/HeadUnitObserver.cfg
diff --git a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
new file mode 100644
index 000000000..ff20d3f9f
--- /dev/null
+++ b/scenarios/MotionControlTest/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 = /Armar4/data/robotmodel/ArmarIV.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 = Armar4Observer
+
+
+
diff --git a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
new file mode 100644
index 000000000..6ade9a04d
--- /dev/null
+++ b/scenarios/MotionControlTest/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 = /Armar4/data/robotmodel/ArmarIV.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 = Armar4KinematicUnit
+
+
+
diff --git a/scenarios/MotionControlTest/configs/MotionControlTest.cfg b/scenarios/MotionControlTest/config/MotionControlTest.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/MotionControlTest.cfg
rename to scenarios/MotionControlTest/config/MotionControlTest.cfg
diff --git a/scenarios/MotionControlTest/configs/ObjectDB.txt b/scenarios/MotionControlTest/config/ObjectDB.txt
similarity index 100%
rename from scenarios/MotionControlTest/configs/ObjectDB.txt
rename to scenarios/MotionControlTest/config/ObjectDB.txt
diff --git a/scenarios/MotionControlTest/configs/ObjectMemory.cfg b/scenarios/MotionControlTest/config/ObjectMemory.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/ObjectMemory.cfg
rename to scenarios/MotionControlTest/config/ObjectMemory.cfg
diff --git a/scenarios/MotionControlTest/configs/ObjectMemoryObserver.cfg b/scenarios/MotionControlTest/config/ObjectMemoryObserver.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/ObjectMemoryObserver.cfg
rename to scenarios/MotionControlTest/config/ObjectMemoryObserver.cfg
diff --git a/scenarios/MotionControlTest/config/RobotControl.cfg b/scenarios/MotionControlTest/config/RobotControl.cfg
new file mode 100644
index 000000000..cefc98c81
--- /dev/null
+++ b/scenarios/MotionControlTest/config/RobotControl.cfg
@@ -0,0 +1,93 @@
+# ==================================================================
+# 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.RobotControlStateOfferer properties
+# ==================================================================
+
+# ArmarX.RobotControlStateOfferer.logstates:
+# Attributes:
+# - Default: Comma seperated list with state names to log. If not set, all transitions will be logged
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RobotControlStateOfferer.logstates = Comma seperated list with state names to log. If not set, all transitions will be logged
+
+
+# ArmarX.RobotControlStateOfferer.enableStatechartLogger: disable/enable statechart logger
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotControlStateOfferer.enableStatechartLogger = 0
+
+
+# ArmarX.RobotControlStateOfferer.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.RobotControlStateOfferer.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotControlStateOfferer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RobotControlStateOfferer.ObjectName = ""
+
+
+
diff --git a/scenarios/MotionControlTest/configs/RobotHandLocalization.cfg b/scenarios/MotionControlTest/config/RobotHandLocalization.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/RobotHandLocalization.cfg
rename to scenarios/MotionControlTest/config/RobotHandLocalization.cfg
diff --git a/scenarios/MotionControlTest/configs/RobotStateComponent.cfg b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
similarity index 100%
rename from scenarios/MotionControlTest/configs/RobotStateComponent.cfg
rename to scenarios/MotionControlTest/config/RobotStateComponent.cfg
diff --git a/scenarios/MotionControlTest/config/SystemObserver.cfg b/scenarios/MotionControlTest/config/SystemObserver.cfg
new file mode 100644
index 000000000..7102973bd
--- /dev/null
+++ b/scenarios/MotionControlTest/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/MotionControlTest/configs/Armar4KinematicUnit.cfg b/scenarios/MotionControlTest/configs/Armar4KinematicUnit.cfg
deleted file mode 100644
index a4d3306ff..000000000
--- a/scenarios/MotionControlTest/configs/Armar4KinematicUnit.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-# test config file for KinematicUnit configured to be a Head
-
-ArmarX.KinematicUnitSimulation.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml
-ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot # node set name
-ArmarX.KinematicUnitSimulation.ObjectName=Armar4KinematicUnit # name of the Ice adapter
diff --git a/scenarios/MotionControlTest/configs/Armar4Observer.cfg b/scenarios/MotionControlTest/configs/Armar4Observer.cfg
deleted file mode 100644
index 645b897d7..000000000
--- a/scenarios/MotionControlTest/configs/Armar4Observer.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-# test config file for KinematicUnit configured to be a Head
-
-ArmarX.KinematicUnitObserver.RobotFileName=/Armar4/data/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
-
-
diff --git a/scenarios/MotionControlTest/startScenario.sh b/scenarios/MotionControlTest/startScenario.sh
deleted file mode 100755
index 047e7c4bd..000000000
--- a/scenarios/MotionControlTest/startScenario.sh
+++ /dev/null
@@ -1,41 +0,0 @@
-
-export CORE_PATH=../../../Core
-export GUI_PATH=../../../Gui
-export VISIONX_PATH=../..././VisionX
-export ARMAR4_PATH=../../../Armar4
-export HUMANOIDROBOTAPI_PATH=../../../RobotAPI
-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
-export HUMANOIDROBOTAPI_BIN_PATH=$HUMANOIDROBOTAPI_PATH/build/bin
-
-export GLOBAL_CONFIG=./configs/Global.cfg
-
-# armarx components
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/KinematicUnitSimulationRun --Ice.Config=$GLOBAL_CONFIG,./configs/Armar4KinematicUnit.cfg &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/KinematicUnitObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/Armar4Observer.cfg &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/SystemObserverRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotStateComponentRun --Ice.Config=$GLOBAL_CONFIG,./configs/RobotStateComponent.cfg &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotControlRun --Ice.Config=$GLOBAL_CONFIG &
-
-
-# Gui
-#$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun --Ice.Config=$GLOBAL_CONFIG,./configs/ArmarXGui.cfg &
-
-# scenario
-#$SCRIPT_PATH/debugApplication.sh $ARMAR4_BIN_PATH/visualservoRun --Ice.Config=$GLOBAL_CONFIG
-#$SCRIPT_PATH/startApplication.sh $ARMAR4_BIN_PATH/diffkintestRun --Ice.Config=$GLOBAL_CONFIG &
-
-# vision x components
-#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/DummyObjectRecognitionRun --Ice.Config=$GLOBAL_CONFIG,./configs/DummyObjectRecognitionConfig.txt &
-#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/RobotHandLocalizationRun --Ice.Config=$GLOBAL_CONFIG,./configs/RobotHandLocalization.cfg &
-#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/ObjectMemoryRun --Ice.Config=$GLOBAL_CONFIG,./configs/ObjectMemory.cfg &
-#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/ObjectMemoryObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/ObjectMemoryObserver.cfg &
-
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/ConditionHandlerRun --Ice.Config=$GLOBAL_CONFIG,./configs/ConditionHandler.cfg &
-
-$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MotionControlTestRun --Ice.Config=$GLOBAL_CONFIG,./configs/MotionControlTest.cfg &
-
diff --git a/scenarios/MotionControlTest/stopScenario.sh b/scenarios/MotionControlTest/stopScenario.sh
deleted file mode 100755
index 21b8b2c22..000000000
--- a/scenarios/MotionControlTest/stopScenario.sh
+++ /dev/null
@@ -1,45 +0,0 @@
-
-skill ()
-{
- STR=`ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
- if [ ${#STR} == 0 ]
- then
- echo skipping $1
- else
- echo killing $1
- kill -s $2 `ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
- fi
-}
-
-echo SENDING SIGINT TO ALL PROCESSES
-skill KinematicUnitSimulationRun 2
-skill KinematicUnitObserverRun 2
-skill SystemObserverRun 2
-skill ConditionHandlerRun 2
-skill RobotStateComponentRun 2
-skill RobotControlRun 2
-
-skill DummyObjectRecognitionRun 2
-skill RobotHandLocalizationRun 2
-skill ObjectMemoryRun 2
-skill ObjectMemoryObserverRun 2
-
-
-skill MotionControlTestRun 2
-
-sleep 1
-
-echo SENDING SIGKILL TO ALL PROCESSES
-skill KinematicUnitSimulationRun 9
-skill KinematicUnitObserverRun 9
-skill SystemObserverRun 9
-skill ConditionHandlerRun 9
-skill RobotStateComponentRun 9
-skill RobotControlRun 9
-
-skill DummyObjectRecognitionRun 9
-skill RobotHandLocalizationRun 9
-skill ObjectMemoryRun 9
-skill ObjectMemoryObserverRun 9
-
-skill MotionControlTestRun 9
--
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