Configuration file

Configuration file config.yaml uses YAML.
simple structure of the file:

• Basic config
• Config for Simulation mode
• Config for Generation mode and in this order will be explained below

Basic config

Name of the variable	Type of the variable	Variable value range	Information
mode	string	simulation dataset
loggingEnabled	boolean	true false

Simulation config

Variables for simulation config are stored in YAML object named simulationOptions.

Name of the variable	Type of the variable	Variable value range	Information
videoPort	int	>10000	Port number for requesting video frames [deprecated]
webAPIPort	int	>10000	Port number for WebAPI
videoQuality	int	1-100	Quality of send video frame from Streamer3D11 (JPEG encoding quality 100 best) [deprecated]
selectedWaterContainer	string	values	Simulation will use this selected water container
selectedRobot	string	okon2	Simulation will use this selected robot [deprecated]
selectedRandomObjects	string array	values	Simulation will put those objects in the virtual enviroment randomly
fixedDeltaTime	float	0.0005-0.0100	Time with physcics step is calculated
depthMapQuality	int	1-100	Quality of depth map from WebAPI (JPEG encoding quality 100 best)
depthMapScale	float	0.1-1.0	Resolution of the depth map from WebAPI. Multiply 1280x720px by the given number
videoFeedQuality	int	1-100	Quality of video feed from WebAPI (JPEG encoding quality 100 best)
videoFeedScale	float	0.1-1.01	Resolution of the video feed from WebAPI. Multiply 1280x720px by the given number

selectedWaterContainer

Currently simulation supports those names:

• waterpool1
• waterpool3
• waterpool4
• level1
• level2

selectedRandomObjects

Currently simulation supports those names:

• okon1
• flareRed1
• flareRed2
• gate2
• gate4
• okon2
• tripod1
• obstacle1
• diver1
• flareYellow1

Generation config