Usage

• Startup
• Settings
• Important notes

Startup

After starting the built project, small black window of Unity application should appear. It will show info regarding configuration file config.yaml. Follow instructions on the screen. Simulation is now running and clients can connect. Make sure that in config.yaml mode is equal to simulation

Settings file

During startup, simulation checks for config.yaml file. If not found it uses default values and creates file config.yaml
important config options:

• mode simulation or dataset
• loggingEnabled if set to true logs every Debug.Log() to debug.log file
• simulationOptions
  • selectedRobot selected Okon model
  • selectedRandomObjects objects that will be put in water
  • fixedDeltaTime delta time between physics update
  • depthMapQuality JPG quality of depth map
  • depthMapScale base 1280x720px scaled of depth map
  • videoFeedQuality JPG quality of video feed
  • videoFeedScalebase 1280x720px scaled of video feed

More info about config file

Important notes

• JSON must use " character, not '.
• Data length is in little endian
• Not all packets data are JSON (string), some have binary data