Configuration Files

Configuration Files#

Configuration files are essential for customizing competition trials and team setups in ARIAC. There are two main configuration file types: trial configuration files that define the competition scenario parameters, and team configuration files that specify team-specific settings like sensors and conveyor parameters.

The configuration system uses YAML files with strict validation to ensure all parameters meet competition requirements. Both configuration files are necessary to start runs.

Trial Configuration#

The trial configuration file defines the competition scenario, including timing, defect rates, required deliverables, and challenges that will occur during the run.

Core Parameters#

Trial Configuration Parameters#

Parameter

Type

Description

ID

string

Unique 8-character alphanumeric identifier for the trial

SEED

int

Random seed for reproducible trial generation (minimum: 0)

DEFECT_RATE

number

Rate of defective cells in the trial (0.0 to 1.0)

TIME_LIMIT

int

Maximum trial duration in seconds (minimum: 100)

NUM_KITS

int

Number of kits to be completed (minimum: 0)

NUM_MODULES

int

Number of modules to be completed (minimum: 0)

Optional Parameters#

Optional Trial Configuration Parameters#

Parameter

Type

Description

POSSIBLE_DEFECTS

array

List of defect types that can occur (integers ≥ 1, see defect definitions)

CHALLENGES

array

Challenge configuration section (see challenges page)

Note

The defect types included in the current version of ARIAC are only for training purposes. The final competition version of the defects will be modified.

Example#

Here is an example trial configuration file with all main parameters:

# Trial Configuration Example
ID: "LHAF9835"
SEED: 12345
DEFECT_RATE: 0.15
TIME_LIMIT: 900
NUM_KITS: 3
NUM_MODULES: 2

POSSIBLE_DEFECTS: [1, 2, 3, 4, 5]

CHALLENGES:
  # Conveyor malfunction example
  CONVEYOR_MALFUNCTIONS:
    - START_TIME: 120
      DURATION: 30

  # Voltage tester malfunction example
  VOLTAGE_TESTER_MALFUNCTIONS:
    - START_TIME: 180
      DURATION: 45
      TESTER: 1
    - START_TIME: 300
      DURATION: 25
      TESTER: 2

  # Vacuum tool malfunction example
  VACUUM_TOOL_MALFUNCTIONS:
    - TOOL: 1
      GRASP_OCCURRENCE: 3
    - TOOL: 2
      GRASP_OCCURRENCE: 5

  # High priority order example
  HIGH_PRIORITY_ORDERS:
    - START_TIME: 240
      ID: "K7R3M8"
    - START_TIME: 420
      ID: "N2F9X5"

Team Configuration#

The team configuration file specifies team-specific settings including competitor information, conveyor parameters, and sensor configurations.

Core Parameters#

Team Configuration Parameters#

Parameter

Type

Description

COMPETITOR_NAME

string

Name of the competing team

CONVEYOR_SPEED

float

Speed of the inspection conveyor (\(0 < \text{speed} \leq 0.1\))

CELL_FEED_RATE

float

Rate at which cells are fed onto the conveyor (\(\text{rate} \leq 2 \cdot \text{speed}\))

SENSORS

array

List of sensor configurations (see sensors page)

Sensor Configuration#

Each sensor in the SENSORS array requires specific parameters depending on its type. For complete sensor specifications and parameter details, see the sensors page.

Example#

Here is an example team configuration file:

# Team Configuration Example
COMPETITOR_NAME: "example_team"
CONVEYOR_SPEED: 0.1 # m/s
CELL_FEED_RATE: 0.1 # One cell every ten seconds

SENSORS:
  # Break beam sensor example
  - NAME: "conveyor_break_beam"
    TYPE: "break_beam"
    POSE:
      XYZ: [1.0, 2.0, 0.5]
      RPY: [0, 0, 1.57]
    UPDATE_RATE: 30

  # Distance sensor example
  - NAME: "proximity_sensor"
    TYPE: "distance"
    POSE:
      XYZ: [0.5, 1.5, 0.8]
      RPY: [0, 0, 0]
    UPDATE_RATE: 10

  # RGB camera example
  - NAME: "inspection_camera"
    TYPE: "camera"
    POSE:
      XYZ: [2.0, 1.0, 1.2]
      RPY: [0, 0, 0]
    UPDATE_RATE: 30
    RESOLUTION: "1080p"
    FOV: 1.57

  # Lidar sensor example (must be within bounding boxes)
  - NAME: "inspection_lidar"
    TYPE: "lidar"
    POSE:
      XYZ: [0.8, 0.825, 0.52]  # Within Box A limits
      RPY: [0, 0, 0]
    UPDATE_RATE: 20
    HORIZONTAL:
      SAMPLES: 50
      MIN_ANGLE: -1.57
      MAX_ANGLE: 1.57
    VERTICAL:
      SAMPLES: 8
      MIN_ANGLE: -0.5
      MAX_ANGLE: 0.5
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