Config File Parameters

We use a configuration file to make changing between robots and location specific parameters easy. The configuration file loaded by the code is whatever file is named Player/Config/Config.lua. Normally we use a soft link to set the configuration file to one of the configurations we have.

For example, to set the config file to the Nao Webots one:

ln -s Config_Webots.lua Config.lua

The parameters are just table values contained in the Lua module.

Split Config Files

As the project has grown in size so has the number of configuration parameters. Keeping all the parameters in one file can become unwieldy. We provide a method for splitting up the complete configuration between multiple files.

The loadconfig function will load the parameters from another config file into the current one:

function loadconfig(configName)
  local localConfig=require(configName);
  for k,v in pairs(localConfig) do
    Config[k]=localConfig[k];
  end 
end

loadconfig('Config_Nao_World')

This is also beneficial for sharing sets of parameters between two different configurations without having to keep two copies. (e.g. the Config_Nao_World.lua configuration is used by both the Webots Nao code and the actual Nao robot code)

Parameters

NOTE: any parameter types that have a superscript (e.g. array^special ) are tables or arrays that have a special format. You can find a description of these formats in the next section.

Table	Table Overview
	Parameter Key	Type	Description
platform	Name of the current running robot platform.
	name	string	Name of the robot platform. (e.g. 'nao', 'op', 'webots')
dev	Names of the platform dependent device interfaces.
	body	string	Name of the platform dependent Body module.
	camera	string	Name of the platform dependent Camera module.
	kinematics	string	Name of the platform dependent Kinematics module.
	comm	string	Name of the platform dependent Comm module.
	monitor_comm	string	Name of the platform dependent MonitorComm module.
	game_control	string	Name of the platform dependent GameControl module.
	walk	string	Name of the platform dependent walk module.
	kick	string	Name of the platform dependent kick module.
game	Parameters relevant to the game including player id and team number.
	teamNumber	int	Robot's team number.
	playerID	int	Robot's player ID. Used by team coordination.
	robotID	int	Robot's robot ID.
	teamColor	int	Default team color (1/0).
	nPlayers	int	Number of players on each team.
fsm	Names of the finite state machines to use.
	game	string	Name of the GameFSM to run.
	body	array	Array of possible BodyFSM names to use.
	head	array	Array of possible HeadFSM names to use.
camera	Physical camera parameters including focal length, image size and camera settings.
	ncamera	int	Number of cameras on the robot.
	switchFreq	int	Frequency to switch between the cameras in auto switch mode. Will switch every switchFreq images.
	width	int	Width of the raw YUYV image in pixels.
	height	int	Height of the raw YUYV image in pixels.
	x_center	int	Horizontal center of the raw YUYV image in pixels.
	y_center	int	Vertical center of the raw YUYV image in pixels.
	focal_length	int	Focal length of the camera in pixels.
	focal_base	int	Width, in pixels, of the image size used in the focal length calculation..
	auto_param	tablecam_param	Array of camera parameter tables. These should be the parameters for any auto settings for the camera (auto exposure, auto gain, etc.). These parameters are set before those in the param array.
	param	tablecam_param	Array of camera parameter tables. The array should contain all other available parameters not specified in the auto_param array.These parameters are set after those in the auto_param array.
	lut_file	string	Name of the look up table to use for color classification.
vision	Parameters relevant to the Vision system.
	maxFPS	int	Maximum frame rate to allow the Vision algorithms to run at. Allows the user to throttle the vision process if it is taking up too much CPU.
	scaleB	int	Size, in pixels, to scale the labeled image in the bit-or process.
	ball_diameter	float	Diameter of the ball in meters.
	ball_height_max	float	Maximum height we expect to detect the ball, in the robots Head frame.
	check_for_ground	int	Flag to indicate that the ball detector should use the ground check.
	yellow_goal_count_thres	int	Yellow pixel threshold to run the yellow goal detection. If there are less than this number of yellow pixels in the image the yellow goal detection is skipped.
	enable_line_detection	int	Flag to indicate if the line detection should be run.
	enable_spot_detection	int	Flag to indicate if the spot detection should be run.
	enable_midfield_landmark_detection	int	Flag to indicate if the midfield landmark detection should be run. (used in the NSL)
	copy_image_to_shm	int	Flag to enable copying the images to shared memory for debuggging.
	store_all_images	int	Flag to indicate that all images should be copied to shared memory.
	store_goal_detections	int	Flag to indicate that images where a goal was detected should be copied to shared memory.
	store_ball_detections	int	Flag to indicate that images where a ball was detected should be copied to shared memory.
	ballColor	int	The label color of the ball.
	goal1Color	int	The label color of the first goal. (Should be consistent with the goal order in the world configuration)
	goal2Color	int	The label color of the second goal. (Should be consistent with the goal order in the _world_ configuration)
world	Localization parameters and landmark positions.
	n	int	Number of particles to use in the particle filter.
	xLineBoundary	float	Distance to the x-axis boundary from the center.
	yLineBoundary	float	Distance to the y-axis boundary from the center.
	xMax	float	Maximum valid distance the robot can be along the x-axis, from the center.
	yMax	float	Maximum valid distance the robot can be along the y-axis, from the center.
	goalWidth	float	Width of the goal (post center to center).
	postYellow	array	Position of each yellow post in the world
	postCyan	array	Position of each cyan post in the world
	spot	array	Position of each spot in the world
	landmarkCyan	array	Position of the cyan landmark in the world.
	landmarkYellow	array	Position of the yellow landmark in the world.
	cResample	int	Interval to resample the particle filter.
	odomScale	array	Scaling factor of the odometry estimates. `{x, y, a}`
	rGoalFilter	float	Radius weight to use for goal detections in the particle filter.
	aGoalFilter	float	Angle weight to use for goal detections in the particle filter.
	rPostFilter	float	Radius weight to use for post detections in the particle filter.
	aPostFilter	float	Angle weight to use for post detections in the particle filter.
team	Team coordination parameters.
	msgTimeout	float	Timeout to use for determining if we have lost communication with a robot.
	nonAttackerPenalty	float	Penalty, in seconds, to give to robots that are not the current attacker in determing roles.
	nonDefenderPenalty	float	Penalty, in meters, to give to robots that are not the current defender in determing roles.
head	Head parameters including camera positions and neck limits.
	camOffsetZ	float	TODO
	pitchMin	float	Min pitch of the neck, in radians
	pitchMax	float	Max pitch of the neck, in radians
	yawMin	float	Min yaw of the neck, in radians
	yawMax	float	Max yaw of the neck, in radians
	cameraPos	arraycam_pos	TODO
	cameraAngle	arraycam_angle	TODO
	neckX	float	Distance from the robot center of mass to the neck joint along the robot x-axis.
	neckZ	float	Distance from the robot center of mass to the neck joint along the robot z-axis.
	bodyTilt	float	Normal tilt of the robot while standing, in radians.
km	Names of keyframe files.
	kick_right	string	Filename of the right kick keyframe.
	kick_left	string	Filename of the left kick keyframe.
	standup_front	string	Filename of the standup from front keyframe.
	standup_back	string	Filename of the standup from back keyframe.
sit	Parameters relevant to the sit module.
	bodyHeight	float	Target body height for the robot to sit to, in meters.
	supportX	float	The distance the ankles rest behind the torso, in meters.
	dpLimit	array	The max speed at which the torso can move in meters/second.
stance	Parameters relevant to the stance module.
	dpLimit	array	The max speed at which the torso can move in meters/second.
	delay	float	Amount of time, in milliseconds, to stand still after standing to regain balance.
kick	Parameters relevant to the IK kick engine module.
	tSensorDelay	float	The delay between sending an actuator command and sensing the movement.
	torsoSensorParamX	array	The gain for join encoder feedback in the x direction.
	torsoSensorParamY	array	The gain for join encoder feedback in the y direction.
	gyroFactor	float	Ratio to normalize gyro gains into units of degree/second
	ankleImuParamX	array	This is used to apply torque in the X-direction from the ankles.
	kneeImuParamX	array	This is used to apply torque in the X-direction from the knees.
	ankleImuParamY	array	This is used to apply torque in the y-direction on the ankles.
	hipImuParamY	array	This is used to apply torque in the y-direction on the hip.
	armImuParamX	array	Gain in x direction for using arms to stabilize.
	armImuParamY	array	Gain in y direction for using arms to stabilize.
	qLArm	array	Kick arm pose for left arm
	qRArm	array	Kick arm pose for right arm
	armGain	float	Controls amount of arm swinging during kick. Smaller value = larger swing.
	supportCompL	array	Change in (x,y,z) coordinates of left foot from calculated position for better stabilization during kick.
	supportCompR	array	Change in (x,y,z) coordinates of right foot from calculated position for better stabilization during kick.
	kickLeft	array	Kick states for left-forward kick.
	kickRight	array	Kick states for right-forward kick.
	kickSideLeft	array	Kick states for left-side kick.
	kickSideRight	array	Kick states for right-side kick.
walk	Parameters relevant to the ZMP walk engine module.
	tStep	float	The tStep defines how long it will take for a robot to take its next step, in seconds.
	bodyHeight	float	The body height of the robot, in meters; changing this will alter how high the robot's natural stance is.
	stepHeight	float	The height to which the robot raises its foot at each step. This parameter is very sensitive in terms of balance.
	footY	float	The width of the robot's rest stance in meters.
	supportX	float	The distance the ankles rest behind the torso, in meters.
	supportY	float	How far from the center of the foot the center of mass is placed during each step.
	phSingle	array	The ratio of double support time: single support time (standing on two feet vs. balancing on one foot).
	maxX	array	{min, max} walk velocity (m/s) in the x-axis of the robot, in the robot frame.
	maxY	array	{min, max} walk velocity (m/s) in the y-axis of the robot, in the robot frame.
	maxZ	array	{min, max} walk velocity (m/s) in the z-axis of the robot, in the robot frame.
	delay	float	The amount of seconds to delay walking after standing from fall.
	ankleImuParamX	arraygyro_stab	This is used to apply torque in the X-direction from the ankles.
	kneeImuParamX	arraygyro_stab	This is used to apply torque in the X-direction from the knees.
	ankleImuParamY	arraygyro_stab	This is used to apply torque in the y-direction on the ankles.
	hipImuParamY	arraygyro_stab	This is used to apply torque in the y-direction on the hip.
	imuOn	bool	Flag to enable/disable the gyro based stabilization.
	fsrOn	bool	Flag to enable/disable the foot sensor based stabilization.
	jointFeedbackOn	bool	Flag to enable/disable the joint encoder based feedback.

Special Parameter Formats

Param Type	Decription
tablecam_param	A cam_param table is an array of tables that have two entries: key and val. Where key is the string name of the camera parameter and val is the value to set. The following is a simple example of a cam_param table to set the camera brightness and gain: cam_param = {{key='brightness', val=100}, {key='gain', val=64}};
arraycam_pos	The cam_pos parameter is an array of position vectors, {x, y, z}, indicating the position of the camera.
arraycam_angle	The cam_angle parameter is an array of Euler angles, {x, y, z}, indicating the rotation of the camera.
arraygyro_stab	The gyro_stab, gyro stability, parameter format is an array with the following format: {alpha, gain, xxx, deadband} alpha - Alters how quickly the torque is applied in response to perturbation. gain - Alters how much torque is applied in response to perturbation. xxx - TODO deadband - Defines the range of values that will not be considered as perturbation.

Example

The following is an example of a complete Config file:

module(..., package.seeall);

require('vector')
require('parse_hostname')


-- Color Label Indexes
color = {};
color.orange = 1;
color.yellow = 2;
color.cyan = 4;
color.field = 8;
color.white = 16;


-- Platform Parameters
platform = {};
platform.name = 'nao'


-- Devive Interface Libraries
dev = {};
dev.body = 'NaoBody'; 
dev.camera = 'NaoCam';
dev.kinematics = 'NaoKinematics';
dev.comm = 'NaoComm';
dev.monitor_comm = 'NaoMonitorComm';
dev.game_control = 'NaoGameControl';
dev.walk = 'NaoWalk';
dev.kick = 'NaoKick';


-- Game Parameters
game = {};
game.teamNumber = 26;
game.playerID = parse_hostname.get_player_id();
game.robotID = game.playerID;
game.teamColor = parse_hostname.get_team_color();
game.nPlayers = 4;


-- FSM Parameters
fsm = {};
fsm.game = 'RoboCup';
if (game.playerID == 1) then
  fsm.body = {'NaoGoalie'};
  fsm.head = {'NaoGoalie'};
else
  fsm.body = {'NaoDribble'};
  fsm.head = {'NaoPlayer'};
end


-- Team Parameters
team = {};
team.msgTimeout = 5.0;
team.nonAttackerPenalty = 6.0;
team.nonDefenderPenalty = 0.5;


--Head Parameters
head = {};
head.camOffsetZ = 0.41;
head.pitchMin = -35*math.pi/180;
head.pitchMax = 30*math.pi/180;
head.yawMin = -120*math.pi/180;
head.yawMax = 120*math.pi/180;
head.cameraPos = {{0.05390, 0.0, 0.06790},
                  {0.04880, 0.0, 0.02381}}; 
head.cameraAngle = {{0.0, 0.0, 0.0},
                    {0.0, 40*math.pi/180, 0.0}};
head.neckZ = 0.14;
head.neckX = 0;  
head.bodyTilt = 0;


-- Keyframe Files
km = {};
km.kick_right = 'km_Nao_KickForwardRight.lua';
km.kick_left = 'km_Nao_KickForwardLeft.lua';
km.standup_front = 'km_Nao_StandupFromFrontFaster.lua';
km.standup_back = 'km_Nao_StandupFromBackFasterNew.lua';


-- Sitting Parameters
sit = {};
sit.bodyHeight = 0.22;
sit.supportX = 0;
sit.dpLimit = vector.new({.1,.01,.03,.1,.3,.1});


-- Standing Parameters
stance = {};
stance.dpLimit = vector.new({.04, .03, .04, .05, .4, .1});
stance.delay = 80;


-- Camera Parameters
camera = {};
camera.ncamera = 2;
camera.switchFreq = 5;
camera.width = 320;
camera.height = 240;
camera.x_center = 160;
camera.y_center = 120;
camera.focal_length = 383;
camera.focal_base = 320;
camera.auto_param = {};
camera.auto_param[1] = {key='auto_exposure',      val={0, 0}};
camera.auto_param[2] = {key='auto_white_balance', val={0, 0}};
camera.auto_param[3] = {key='autogain',           val={0, 0}};
camera.param = {};
camera.param[1] = {key='exposure',      val={150, 150}};
camera.param[2] = {key='gain',          val={113, 113}};
camera.param[3] = {key='brightness',    val={89, 89}};
camera.param[4] = {key='contrast',      val={64, 64}};
camera.param[5] = {key='saturation',    val={215, 215}};
camera.param[6] = {key='red_balance',   val={67, 67}};
camera.param[7] = {key='blue_balance',  val={160, 160}};
camera.param[8] = {key='hue',           val={0, 0}};
camera.lut_file = 'lut_grasp_green_lines.raw';


-- Vision Parameters
vision = {};
vision.maxFPS = 30;
vision.scaleB = 4;
vision.ball_diameter = 0.065;
vision.ball_height_max = -0.20;
vision.yellow_goal_count_thres = 150;
vision.enable_line_detection = 1;
vision.enable_spot_detection = 0;
vision.enable_midfield_landmark_detection = 0;
vision.enable_velocity_detection = 0;
vision.copy_image_to_shm = 1;
vision.store_all_images = 1;
vision.store_goal_detections = 0;
vision.store_ball_detections = 0;
vision.check_for_ground = 1;
vision.use_point_goal = 0;
vision.ballColor = color.orange;
vision.goal1Color = color.yellow;
vision.goal2Color = color.cyan;


-- World Parameters 
world = {};
world.n = 100;
world.xLineBoundary = 3.0;
world.yLineBoundary = 2.0;
world.xMax = 3.2;
world.yMax = 2.2;
world.goalWidth = 1.40;
world.ballYellow= {{3.0,0.0}};
world.ballCyan= {{-3.0,0.0}};
world.postYellow = {};
world.postYellow[1] = {3.0, 0.70};
world.postYellow[2] = {3.0, -0.70};
world.postCyan = {};
world.postCyan[1] = {-3.0, -0.70};
world.postCyan[2] = {-3.0, 0.70};
world.spot = {};
world.spot[1] = {-1.20, 0};
world.spot[2] = {1.20, 0};
world.landmarkCyan = {0.0, -2.4};
world.landmarkYellow = {0.0, 2.4};
world.cResample = 10;
world.odomScale = {1.06, 1.0, 0.97};
world.rGoalFilter = 0.02;
world.aGoalFilter = 0.05;
world.rPostFilter = 0.02;
world.aPostFilter = 0.20;


-- Walk Parameters
walk = {};
walk.tStep = 0.45;
walk.tZmp = 0.17;
walk.bodyHeight = 0.31;
walk.stepHeight = 0.018;
walk.footY = 0.0475;
walk.supportX = 0.020;
walk.supportY = 0.003;
walk.hipPitchCompensation = 0;
walk.anklePitchCompensation = -3*math.pi/180;
walk.anklePitchComp = {0, 0};
walk.tSensorDelay = 0.035;
walk.torsoSensorGainX = 0.0;
walk.torsoSensorGainY = 0.01;
walk.phSingle = {0.16, 0.84};
walk.maxX = {-.06, .06};
walk.maxY = {-.045, .045};
walk.maxZ = {-.3, .3};
walk.fsr_threshold = 0.3;
walk.tDelayBalance = .6;
walk.gyroFactor = 0.001;
walk.ankleImuParamX = {0.15, -0.40*walk.gyroFactor, 1*math.pi/180, 5*math.pi/180};
walk.kneeImuParamX = {0.1, -0.3*walk.gyroFactor, .5*math.pi/180, 5*math.pi/180};
walk.ankleImuParamY = {0.10, -2.5*walk.gyroFactor, .5*math.pi/180, 5*math.pi/180};
walk.hipImuParamY = {0.1, -0.3*walk.gyroFactor, .5*math.pi/180, 5*math.pi/180};
walk.delay = 2;
walk.imuOn = true;
walk.fsrOn = true;
walk.jointFeedbackOn = false;
walk.qLArm = math.pi/180*vector.new({105, 12, -85, -30});
walk.qRArm = math.pi/180*vector.new({105, -12, 85, 30});


-- Kick Parameters
kick={}
kick.tSensorDelay = 0.10;
kick.torsoSensorParamX = {1-math.exp(-.010/0.2), 0} 
kick.torsoSensorParamY = {1-math.exp(-.010/0.2), 0}
gyroFactor = 0.001;
kick.ankleImuParamX = {0.1, -0.3*gyroFactor, 1*math.pi/180, 5*math.pi/180};
kick.kneeImuParamX  = {0.1, -0.4*gyroFactor, .5*math.pi/180, 5*math.pi/180};
kick.ankleImuParamY = {0.1, -0.7*gyroFactor, .5*math.pi/180, 5*math.pi/180};
kick.hipImuParamY   = {0.1, -0.3*gyroFactor, .5*math.pi/180, 5*math.pi/180};
kick.armImuParamX   = {0.0, -10*gyroFactor, 20*math.pi/180, 45*math.pi/180};
kick.armImuParamY   = {0.0, -10*gyroFactor, 20*math.pi/180, 45*math.pi/180};
kick.qLArm = math.pi/180*vector.new({105, 20, -85, -30});
kick.qRArm = math.pi/180*vector.new({105, -20, 85, 30});
kick.armGain = 0.20;
kick.supportCompL = vector.new({0, 0, 0}); 
kick.supportCompR = vector.new({0, 0, 0} ); 
kick.kickLeft = { {1, 0.6, {0,0,0}}, --Stabilize
                  {1, 0.6, {0,-0.06,0}}, --COM slide
                  {2, 0.3, {0,-0.06,0}, {-0.07,-0.03,0}, 0.07, 20*math.pi/180}, --Lifting
                  {4, 0.3, {0,-0.06,0}, {0.20,0,0}, 0.04, -10*math.pi/180}, --Kicking
                  {2, 0.6, {0,-0.06,0}, {-0.13,0.03,0}, 0, 0}, --Landing
                  {1, 0.6, {0.00,-0.0, 0}}, --COM slide
                  {1, 0.6, {0.00,-0.0, 0}}} --Stabilize
kick.kickRight = {{1, 0.6, {0,0,0}}, --Stabilize
                  {1, 0.6, {0,0.060,0}}, --COM slide
                  {3, 0.3, {0,0.060,0}, {-0.07,0.03,0}, 0.07, 20*math.pi/180}, --Lifting
                  {5, 0.3, {0,0.060,0}, {0.20,0,0},  0.04, -10*math.pi/180}, --Kicking
                  {3, 0.6, {0,0.060,0}, {-0.13,-0.03,0}, 0, 0}, --Landing
                  {1, 0.6, {0.00, 0.0, 0}}, --COM slide
                  {1, 0.6, {0.00, 0.0, 0}}} --Stabilize
kick.kickSideLeft = { {1, 1, {0,0,0}}, --Stabilize
                      {1, 0.6, {0,-0.06,0}}, --COM slide
                      {2, 0.6, {0,-0.06,0}, {-0.07,-0.03,0}, 0.07, 20*math.pi/180}, --Lifting
                      {4, 0.3, {0,-0.06,0}, {0.20,0,0},  0.04, -10*math.pi/180}, --Kicking
                      {2, 0.6, {0,-0.06,0}, {-0.07,0.030,0}, 0, 0}, --Landing
                      {1, 0.6, {0.03,0, 0}}, --COM slide
                      {1, 0.6, {0.03,0, 0}}} --Stabilize
kick.kickSideRight = {{1, 1, {0,0,0}}, --Stabilize
                      {1, 0.6, {0,0.060,0}}, --COM slide
                      {3, 0.6, {0,0.060,0}, {-0.07,0.03,0}, 0.07, 20*math.pi/180}, --Lifting
                      {5, 0.3, {0,0.060,0}, {0.20,0,0},  0.04, -10*math.pi/180}, --Kicking
                      {3, 0.6, {0,0.060,0}, {-0.07,-0.030,0}, 0, 0}, --Landing
                      {1, 0.6, {0.03, 0, 0}}, --COM slide
                      {1, 0.6, {0.03, 0, 0}}} --Stabilize