Console Variables¶

Console Variables are part of the developer build. They allow the developer to test, diagnose, and tweak (inject data into) the various modules.

This note is to help gather a description of each of console variables. This format lets us gather information on them, and help understand where they fit in.

These tables are not suitable for the TRM at this time; they may go better in the software design description in the future.

Note: the k seems to be dropped or optional in matching

A/B Testing console variables¶

Variable	Type	Units	Description
kForceDisableABTesting

AIWhiteboard console variables¶

Variable	Type	Default	Description
kAI_MaxExtraExploringCooldown_s	float	800.0
kBW_DebugRenderPossibleObjects	bool	true
kBW_DebugRenderPossibleObjectsZ	float	35.0
kBW_MaxHeightForPossibleObject_mm	float	30.0
kBW_MaxPossibleObjects	unsigned	10
kBW_PossibleObjectClose_mm	float	50.0
kBW_PossibleObjectClose_rad	float	3.141592653	Current objects flip due to distance
kExploringCooldownUpdatePeriod_s	float	60.0
kFlatPosisbleObjectTol_deg	float	10.0

Animation¶

Animation console variables¶

Variable	Type	Default
kEyeDartFocusValue_pix	float	1.0
kIgnoreAnimWhitelist	bool	false
kShouldPreCacheSprites	bool	false

AnimationStreamer console variables¶

Variable	Type	Default	Description
kEnableBackpackLightsTrack	bool	false
kShouldDisplayPlaybackTime	bool	false
kDisplayCPUThrottling	bool	false	Whether or not to display CPU throttling. This is disabled by default since current OS doesn't throttle for thermal reasons and sporadic idle throttling is not worth alerting the dev about.
kDisplayHighTemperature	bool	true	Whether or not to display high temperature indicator on face

AnimationStreamer.System console variables¶

Variable	Type	Default	Description
kDisplayCPUThrottling
kDisplayHighTemperature
kDisplayMemoryPressure	bool	true
kThermalAlertTemp_C	unsigned	90	Temperature beyond which the thermal indicator is displayed on face.

ManualAnimationPlayback console variables¶

Variable	Type	Default	Description
kNumberOfFramesToIncrement	unsigned	1
kShouldDisplayKeyframeNumber	bool	false

BackpackLights console variables¶

Variable	Type	Default	Description
kOfflineCheckFreq_ms	unsigned	5000
kOfflineTimeBeforeLights_ms	unsigned	120000

DevViewLights console variables¶

Variable	Type	Default	Description
kBackpackTriggerIdx	unsigned	0
kCubeTriggerIdx	unsigned	0

GlitchLights console variables¶

Variable	Type	Default	Description
kGlitchLightDelay_ms	unsigned	200	How long to wait before the lights should start glitching.
kGlitchLightDuration_ms	unsigned	60	Duration of each glitchy backpack light keyframe.

Face.KeepAlive console variables¶

Notes: The Medium distance eye dart params are used when the dart's length is larger than threshold. These darts have a single interpolation frame (with associated dart distance and squash fractions)

The Long distance eye dart params (when dart's length is larger than threshold). These darts have two interpolation frames (with associated dart distance and squash fractions).

Variable	Type	Default [Min .. Max]	Description
kKeepAliveBlink_SpacingMaxTime_ms	int	10000 [0 .. 30000]
kKeepAliveBlink_SpacingMinTime_ms	int	3000 [0 .. 30000]
kKeepAliveEyeDart_DownMinScale	float	0.9 [0.5 .. 1.0]
kKeepAliveEyeDart_HotSpotPositionMultiplier	float	1.5 [0.5 .. 10.0]
kKeepAliveEyeDart_LongDistanceThresh_pix	int	10 [0 .. 92]
kKeepAliveEyeDart_LongShiftFraction1	float	0.2 [0.0 .. 1.0]
kKeepAliveEyeDart_LongShiftFraction2	float	0.4 [0.0 .. 1.0]
kKeepAliveEyeDart_LongSquashFraction1	float	0.7 [0.5 .. 1.0]
kKeepAliveEyeDart_LongSquashFraction2	float	0.85 [0.5 .. 1.0]
kKeepAliveEyeDart_MaxDistFromCenter_pix	int	15 [0 .. 92]
kKeepAliveEyeDart_MaxDistFromCenterFocused_pix	int	1 [0 .. 92]
kKeepAliveEyeDart_MediumDistanceThresh_pix	int	5 [0 .. 92]
kKeepAliveEyeDart_MediumShiftFraction	float	0.2 [0.0 .. 1.0]
kKeepAliveEyeDart_MediumSquashFraction	float	0.85 [0.5 .. 1.0]
kKeepAliveEyeDart_OuterEyeScaleIncrease	float	0.03 [0.0 .. 0.2]
kKeepAliveEyeDart_ShiftLagFraction	float	0.4 [0.0 .. 1.0]
kKeepAliveEyeDart_SpacingMaxTime_ms	int	2250 [0 .. 10000]
kKeepAliveEyeDart_SpacingMinTime_ms	int	1000 [0 .. 10000]	Global keep-alive eye dart params (spacing, distance, scaling)
kKeepAliveEyeDart_UpMaxScale	float	1.05 [1.0 .. 1.2]
kMaxBlinkSpacingTimeForScreenProtection_ms	float	30000

Face.ParameterizedFace console variables¶

Variable	Type	Default [Min .. Max]	Description
kProcFace_AntiAliasingFilter		Filter	Box Filter
kProcFace_AntiAliasingSigmaFraction	float	0.5 [0.0 .. 1.0]
kProcFace_AntiAliasingSize	int	3 [0 .. 15]	full image antialiasing, 3 will use NEON
kProcFace_DefaultScanlineOpacity	float	1.0 [0.0..1.0]
kProcFace_Display	FaceDisplayType	Normal	This overrides whatever faces we're sending with a with ConsoleVars edited parameters. The FaceDisplayType for values and their meaning.
kProcFace_EllipseDelta	int	10 [1 .. 90]
kProcFace_EnableAntiAliasing	bool	true
kProcFace_EyeLightnessMultiplier	float	1.0 [0.0 .. 2.0]
kProcFace_Gamma	float	1.0 [1.0 .. 4.0]
kProcFace_GammaType	FaceGammaType	None
kProcFace_GlowFilter	Filter	Box Filter
kProcFace_GlowLightnessMultiplier	float	1.0 [0.0 .. 10.0]
kProcFace_GlowSizeMultiplier	float	1.0 [0.0 .. 1.0]
kProcFace_HotspotFalloff	float	0.48 [0.05 .. 1.0]
kProcFace_HotspotRender	bool	true	If true, the glow is rendered
kProcFace_InterpolationType	unsigned	1	Nearest, Linear, Cubic, Area, Lanczos, LinearExact, Max, WarpFillOutliers
kProcFace_LineType	unsigned	1
kProcFace_NoiseMaxLightness	float	1.14 [0.0 .. 2.0]
kProcFace_NoiseMinLightness	float	0.92 [0.0 .. 2.0]
kProcFace_NoiseNumFrames	int	5 [0 .. 7]
kProcFace_NominalEyeSpacing	int	92 [-184 .. 184]
kProcFace_Scanlines	bool	false

enum Filter¶

Name	Value	Description
None	0
Box Filter	1
Gaussian Filter	2

enum FaceDisplayType¶

Name	Value	Description
Normal	0
Test	1	Displays pattern showcasing RGB at different intensities
Full White	2	Displays a completely white image
Override Individually	3	each eyes parameters operate on their respective eye
Override Together	4	left eye parameters drive both left and right eyes

enum FaceGammaType¶

Name	Value	Description
None	0
FromLinear	1
ToLinear	2
AddGamma	3	Use value of kProcFace_Gamma
RemoveGamma	4	Use value of kProcFace_Gamma
Custom	5

Face.ScanlineDistortion console variables¶

Variable	Type	Default [Min .. Max]	Description
kProcFaceScanline_MaxShiftNoise	int	3	Max amount to randomly shift control-point distortion shifts left and right, per scanline.
kProcFaceScanline_OffNoiseMaxWidth	int	3	Max width of each "off" noise bar.
kProcFaceScanline_OffNoiseProb	float	0.1 [0.0 ..1.0]	Fraction of (nominal) eye area to be off (note: does not consider "Width" parameter below).

FaceInfoScreenManager console variables¶

Variable	Type	Default [Min .. Max]	Description
kAlexaNotificationTimeout_s	float	2.0 [0.001 .. 3.0]
kButtonPressDurationForShutdown_ms	unsigned	500	How long the button needs to be pressed for before it should trigger shutdown animation.
kFakeButtonPressType	int	0	Fake one of several types of button presses. This value will get reset immediately, so to run it again from the web interface, first set it to NoOp. NoOp, singlePressDetected, doublePressDetected
kToggleMuteTimeout_s	float	1.2 [0.001 .. 3.0]

FaceSelection console variables¶

Variable	Type	Default	Description
kFaceSelectionDebugging	bool	false

Audio Input¶

MicData console variables¶

Variable	Type	Default [Min .. Max]	Description
kBeatDetectorUseProcessedAudio	bool	true
kDevForceProcessState	MicProcessingState	NormalOperation	See enumeration below
kMicData_ClipRecordTime_ms	unsigned	4000 [500 ..15000]
kMicData_CollectRawTriggers	bool	false
kMicData_ForceDisableMicDataProc	bool	false
kMicData_ForceEnableMicDataProc	bool	false
kMicData_QuietTimeCooldown_ms	unsigned	1000 [500 .. 10000]	Time necessary for the VAD logic to wait when there's no activity, before we begin skipping processing forperformance. Note that this probably needs to at least be as long as the trigger, which is ~ 500-750ms.
kMicData_SaveRawFullIntent	bool	false
kMicData_SaveRawFullIntent_WakeWordless	bool	false
kMicData_SpeakerNoiseDisablesMics	bool	true
kSaveNotches	bool	false
kTempoCorrectionScaleFactor	float	0.988

enum MicProcessingState¶

Name	Value	Description
None	0	Raw single mic data
NoProcessingSingleMic	1	Cheap single mic processing
SigEsBeamformingOff	2	Signal Essence fall back policy, clean & mix mics
SigEsBeamformingOn	3	Signal Essence beamforming processing

Audio.Microphone console variables¶

Variable	Type	Default [Min .. Max]	Description
kNoiseFloorMin	float	1.5 [0.0 .. 10.0]
kNoiseFloorRange	float	5.5 [0.0 .. 10.0]

Alexa console variables¶

Variable	Type	Default [Min .. Max]
kAcousticTestMode	bool	false
kAlexaEnabledInAU	bool	true
kAlexaEnabledInUK	bool	true
kAlexaHackCheckForSystemClockSyncPeriod_s	float	5.0
kAlexaIdleDelay_s	float	2.0 [0.0 .. 10.0
kAlexaMaxIdleDelay_s	float	3.0 [0.0 .. 10.0]
kAllowAudioOnCharger	bool	true
kDEV_ONLY_EnableAlexaTemplateRendererStub	bool	false
kLogAlexaDirectives	bool	false
kNotchPower	float	-0.41 [-1 .. 0]
kSaveAlexaAudio	bool	false

Alexa.Init console variables¶

Variable	Type	Default	Description
kDumpAlexaTriggerAudio	bool	false

Alexa.Messaging console variables¶

Variable	Type	Default	Description
kLogAlexaMessages
kStealAlexaWakewordAudio	bool	false

BeatDetectorComponent¶

Variable	Type	Default [Min .. Max]
kBeatHistoryWindowSize_sec	float	10. [1 .. 60]
kConfidenceThreshold	float	0.18 [0.01 .. 1.]
kFakeBeat_bpm	float	-1. [-1. .. 200.]
kFakeBeatConfidence	float	0.50 [0. .. 100.]
kHighConfidenceThreshold	float	0.75 [0.01 .. 20.]
kMinNumBeatsInHistory	int	6 [2 .. 50]
kPossibleBeatWindow_sec	float	9. [1. .. 10.]
kTempoSteadyThreshold_bpm	float	5 [1 .. 25]

SoundReaction console variables¶

Variable	Type	Default [Min .. Max]	Description
kRTS_AbsolutePowerThreshold_display	float	2.9
kRTS_MaxReactionTime_s	float	1.00	"Wwe have this much time to respond to a sound
kRTS_MinPowerThreshold_display	float	1.5
kRTS_PowerAvgNumSamples	unsigned	100 1 .. 250]
kRTS_ReReactionCooldown_s	float	0.25	we have this much time to respond to a sound
kRTS_WebVizUpdateInterval	float	0.2 [0 .. 1]

SpeechRecognizer console variables¶

Variable	Type	Default	Description
kSuppressTriggerResponse	bool	false

SpeechRecognizer.Alexa console variables¶

Variable	Type	Default [Min .. Max]	Description
kAlexaRecognizerModel	int		enUS, enUK, enAU, frFR, deDE
kDefaultDetectThreshold	int	250 [0 .. 1000]
kForceRunNotchDetector	unsigned int	0 [0 .. 2]
kSaveRawMicInput	bool	false

SpeechRecognizer.AlexPlayback console variables¶

Variable	Type	Default [Min .. Max]	Description
kAlexaPlaybackRecognizerModel	int
kPlaybackRecognizerSampleCountThreshold	unsigned	5000 [1000 .. 10000]

SpeechRecognizer.Vector console variables¶

Variable	Type	Units	Description
kVectorRecognizerModel
kVectorRecognizerModelSensitivity

TriggerWord console variables¶

Variable	Type	Default [Min .. Max]	Description
kDirStreamingConfToIgnore	int	500 [0 .. 10000]	Confidence levels below this will be ignored.
kDirStreamingTimeToIgnoreBegin	float	0.5 [0 .. 2]	When our streaming begins/ends there is a high chance that we will record some non-intent sound, these values allow us to chop off the front and back of the streaming window when determining the intent direction
kDirStreamingTimeToIgnoreEnd	float	1.25 [0 .. 2]	Ignore mic direction with confidence below this when trying to determine streaming direction.
kMaxStreamingDuration_s	float	10.0 [0.0 .. 20.0]	This is the maximum duration we'll wait from streaming begin.
kMinListeningTimeout_s	float	5.0 [0.0 .. 30.0]	The behavior will always "listen" for at least this long once it hears the wakeword, even if we receive an error sooner than this. Note that the behavior will also consider the intent to be an error if the stream doesn't open within this amount of time, so don't lower this number too much.
kRecentDirFallbackTime	real	1 [0 .. 10]	If we cannot determine the mic direction, we fall back to the most recent direction this allows you to specify how far back we sample for the most recent direction.
kRespondsToTriggerWord	bool	true
kTriggerWord_FakeError	bool	false	Pretend all responses are errors: NOTE intents may still get processed with this set true, recommendation is to use silence or a known mismatch intent (my favorite happens to be "potatoes").
kTriggerWord_FakeError_HasWifi	bool	false

Audio Output¶

Audio.AnimationStream console variables¶

Variable	Type	Default [Min .. Max]	Description
kAudioAnimationOffset_ms	unsigned	200 [0 .. 300]

Audio.Controller¶

Variable	Type	Default [Min .. Max]
kWriteAudioOutputCapture	bool	false
kWriteAudioOutputMaxLogCount	unsigned	1 [1 .. 5]
kWriteAudioProfilerCapture	bool	false
kWriteAudioProfilerMaxLogCount	unsigned	3 [1 .. 5]

Audio.KeepAlive console variables¶

Variable	Type	Default
kEnableKeepAliveEyeBlinkAudioEvents	bool	true
kEnableKeepAliveEyeDartAudioEvents	bool	true
kEnableKeepAliveEyeSquintAudioEvents	bool	true

Audio.Procedural console variables¶

Variable	Type	Default [Min .. Max]	Description
kEnableHeadProceduralMovement	bool	false
kEnableLiftProceduralMovement	bool	false
kEnableRobotStateLog	bool	false
kEnableTreadProceduralMovement	bool	true
kHeadCoolDown_ms	unsigned	65 [0 .. 250]
kHeadMovementThreshold_rpms	float	0.0 [0.0 .. 0.01]
kLiftCoolDown_ms	unsigned	65 [0 .. 250]
kLiftMovementThreshold_rpms	float	0.0 [0.0 .. 0.01]
kMaxHeadAccel_rpms2	float	0.0001 [0.0 .. 0.001]
kMaxHeadSpeed_rpms	float	0.005 [0.0 .. 0.025]
kMaxLiftAccel_rpms2	float	0.0001 [0.0 .. 0.001]
kMaxLiftSpeed_rpms	float	0.0025 [0.0 .. 0.05]
kMaxTreadAccel_mmpms2	float	5.0 [0.0 .. 10.0]
kMaxTreadSpeed_mmps	float	220.0	The maximum allowed speed (in mm/sec) a wheel can spin.
kMaxTurnSpeed_mmps	float	220.0	The maximum allowed speed (in mm/sec) a wheel can spin.
kTreadCoolDown_ms	unsigned	65 [0 .. 250]
kTreadMovementThreshold_mmps	float	0.0 [0.0 .. 0.01]

SayNameProbability console variables¶

Variable	Type	Default [Min .. Max]
kSayNameMinProb	float	0.1 [0.0 .. 1.0]
kSayNameProbDecayFactor	float	0.75 [0.0 .. 1.0]
kSayNameSpacing_sec	float	10.0

TextToSpeech console variables¶

Variable	Type	Default [Min .. Max]
kEnablePausePrams	bool	TTS_ENABLEPAUSEPARAMS
kLeadingSilence_ms	unsigned	TTS_LEADINGSILENCE_MS [0 .. 5000]
kMinPlayableFrames	unsigned	8192 [0 .. 65536]
kPauseBracket_ms	unsigned	TTS_PAUSEBRACKET_MS [50 .. 4000]
kPauseComma_ms	unsigned	TTS_PAUSECOMMA_MS [50 .. 4000]
kPausePunctuation_ms	unsigned	TTS_PAUSEPUNCTUATION_MS [50 .. 4000]
kPauseSemicolon_ms	unsigned	TTS_PAUSESEMICOLON_MS [50 .. 4000]
kPauseSpelling_ms	unsigned	TTS_PAUSESPELLING_MS [50 .. 4000]
kTrailingSilence_ms	unsigned	TTS_TRAILINGSILENCE_MS [0 .. 5000]
kVoicePitch	int	100 [70 .. 160]
kVoiceShaping	int	100 [70 .. 140]
kVoiceSpeed	int	100 [30 .. 300]
kWriteTTSFile	bool	false

kTextToSpeechPath console variables¶

Variable	Type	Default [Min .. Max]
kDurationScalar	float	1.0 [0.25 .. 4.0]
kPitchScalar	float	0.0 [-1.0 .. 1.0]
kVoiceStyle	unsigned	0

UserIntentComponent console variables¶

Variable	Type	Default	Description
kPlayGetInAfterDevWakeWord	bool	false
kStreamAfterDevWakeWord	bool	false

Behaviors¶

DevBaseBehavior console variables¶

Variable	Type	Default [Min .. Max]	Description
kDevDispatchAfterShake	unsigned int	0
kShakeTime	float	0.1 [0.01 .. 2.0]

BehaviorCountingAnimation console variables¶

Variable	Type	Default	Description
kSlowLoopBeginSize_loops	int	-1
kSlowLoopEndSize_loops	int	-1

BehaviorDanceToTheBeatCoordinator console variables¶

Variable	Type	Default [Min .. Max]
kDancingCooldown_sec	float	20.0 [0.0 .. 3600.0]
kListeningCooldown_sec	float	20.0 [0.0 .. 3600.0]
kMinIntraDancingPeriod_sec	float	10.0 [0.0 .. 3600.0]

Behavior.PuzzleMaze console variables¶

Variable	Type	Default [Min .. Max]	Description
kPuzzleTimeout_sec	float	24000.0 [0.0 .. 24000.0]

BehaviorHighLevelAI console variables¶

Variable	Type	Default [Min .. Max]	Description
kHLAI_MinObservingBeforeExploring_s	float	10.0
kTimeMultiplier	float	1.0 [1.0 .. 300.0]

BehaviorPlannerTest console variables¶

Variable	Type	Default [Min .. Max]
kCubeDistance_mm	float	25.0 [0.0 .. 100.0]
kDistance_mm	float	1000.0 [0.0 .. 2000.0]
kOnlyUseOriginalGoal	bool	true

BehaviorReactToMotion console variables¶

Variable	Type	Default	Description
kTurnFirst	bool	true

Behaviors.ActivationState console variables¶

Variable	Type	Default	Description
kDebugActivationState	bool	false

Behaviors.BehaviorSystemManager console variables¶

Variable	Type	Default	Description
kDebugBehaviorStack	bool	false

Behaviors.CheckForAndReactToSalientPoint console variables¶

Variable	Type	Default	Description
kCFARTSP_CooldownOverride_sec	float	0.0

Behaviors.ConditionFactory console variables¶

Variable	Type	Default	Description
kDebugConditionFactory	bool	false

Behaviors.InternalStatesBehavior console variables¶

Variable	Type	Default	Description
kDebugInternalStatesBehavior	bool	false

Behaviors.RobustChargerObservation console variables¶

Variable	Type	Default	Description
kFakeLowlightCondition	bool	false
kRobustChargerObservation_SaveImages	bool	false

Behaviors.TakeAPhoto console variables¶

Variable	Type	Default
kHeadAngleDeg	float	25
kReadyToTakePhotoTimeout_sec	float	3.0
kTakingPhotoTimeout_sec	float	6.0

Habitat console variables¶

Variable	Type	Default	Description
kDevForceBeginConfirmHabitat	bool	false

Photography console variables¶

Variable	Type	Default	Description
kDevIsStorageFull	bool	false
kTakePhoto_UseRawPhotos	bool	false

StimFace console variables¶

Variable	Type	Default [Min .. Max]
kStimFace_ema_N	int	20 [0 .. 100]
kStimFace_enabled	bool	false
kStimFace_minSaturation	float	0.25 [0.0 .. 1.0]
kStimFace_sendThresh	float	0.01 [0.0 .. 1.0]

TimerUtility.AdvanceAnticSeconds console variables¶

Variable	Type	Default	Description
kAdvanceAnticSeconds	unsigned	10

TimerUtility.AdvanceTimerAndAnticSeconds console variables¶

Variable	Type	Default	Description
kAdvanceTimerAndAnticSeconds	unsigned	60

TimerUtility.AdvanceTimerSeconds console variables¶

Variable	Type	Default	Description
kAdvanceTimerSeconds	unsigned	60

UserDefinedBehaviorTree console variables¶

Variable	Type	Default	Description
kEnableUserDefinedBehaviorTree	bool	false

VoiceMessage console variables¶

Variable	Type	Default	Description
kRequireKnownUser	bool	true

Interacting with people and faces¶

AcknowledgementBehaviors console variables¶

Variable	Type	Default [Min .. Max]
kDistanceToConsiderClose_gap_mm	float	100.0 [0.0 .. 1000.0]
kDistanceToConsiderClose_mm	float	300.0 [0.0 .. 1000.0]
kFaceReactCooldown_s	float	4.0 [0.0 .. 60.0]

BasicActions.TurnInPlace console variables¶

Variable	Type	Default [Min .. Max]	Description
kMaxUnexpectedMoveCountHeldInPalm	unsigned	11 [1 .. 200]

BasicActions.TurnTowardsFace console variables¶

Variable	Type	Default	Description
kMaxTimeToWaitForRecognition_sec	float	3.0

BasicActions.TurnTowardsObject console variables¶

Variable	Type	Default	Description
kInsertWaitsInTurnTowardsObjectVerify	bool	false

BasicActions.WaitForImages console variables¶

Variable	Type	Default	Description
kDefaultNumFramesToWait	unsigned	3

BehaviorBigGreeting console variables¶

Variable	Type	Default	Description
kBigGreetingDriveOffCharger	bool	true

Behavior.EnrollFace console variables¶

Variable	Type	Default [Min .. Max]	Description
kEnrollFace_DefaultMaxFacesVisible	int	1	If Vector sees more than this number of faces, it is is "too many" and will not enroll the face.
kEnrollFace_DefaultTooManyFacesRecentTime_sec	float	0.5
kEnrollFace_DefaultTooManyFacesTimeout_sec	float	2.0
kEnrollFace_DriveForwardIntentDist_mm	float	14.0	Amount to drive forward once face is found to signify intent
kEnrollFace_DriveForwardIntentSpeed_mmps	float	75.0
kEnrollFace_FailOnWrongFace	bool	true
kEnrollFace_MaxBackup_mm	float	15.0	Max distance to backup while looking for a face, up to max total amount
kEnrollFace_MaxInterruptionBeforeReset_ms	unsigned	10000
kEnrollFace_MaxTotalBackup_mm	float	50.0	Max total distance to backup while looking for a face, up to max total amount
kEnrollFace_MaxTurnTowardsFaceAngle_rad	float	3.141592653	Max angle to turn while looking for a face
kEnrollFace_MinBackup_mm	float	5.0	Min distance to backup while looking for a face, up to max total amount
kEnrollFace_MinTrackingPanAngle_deg	float	4.0	Minimum angles to turn during tracking to keep the robot moving and looking alive
kEnrollFace_MinTrackingTiltAngle_deg	float	4.0
kEnrollFace_NumImagesToWait	int	5
kEnrollFace_NumImagesToWaitInPlace	int	25
kEnrollFace_SayWrongNameMode	SayWrongNameMode	Long	This only matters if kEnrollFace_FailOnWrongFace==false
kEnrollFace_ScoreThresholdToFailOnWrongFace	int	800	If the max score for any observation of a "wrong face" is above this threshold, we will fail enrollment. If, however, it is below this threshold, we will go ahead and enroll this named face as a new person with the new name. Set to 0 to always fail when wrong face is seen.
kEnrollFace_TicksForKnownNameBeforeFail	unsigned	15	Number of times to see a named "wrong face" before either failing or going ahead and enrolling it.
kEnrollFace_Timeout_sec	float	25.0
kEnrollFace_TimeoutForReLookForFace_ms	TimeStamp_t	3000
kEnrollFace_TimeoutMax_sec	float	45.0
kEnrollFace_UpdateFaceAngleThreshold_deg	float	45.0
kEnrollFace_UpdateFacePositionThreshold_mm	float	100.0	Thresholds for when to update face ID based on pose

enum SayWrongNameMode¶

Name	Value	Description
Off	0	Don't say name at all, just go back to looking for faces
Short	1	Just say the name
Long	2	You are "X" not "Y"

Behavior.InteractWithFaces console variables¶

Variable	Type	Default [Min .. Max]	Description
kInteractWithFaces_DoGlanceDown	bool	false	If true, do a glance down before the memory map check (only valid if we are doing the check)
kInteractWithFaces_DoMemoryMapCheckForDriveForward	bool	true	If false, always drive the "ideal" distance without checking anything. If true, check memory map to determine which distance to drive
kInteractWithFaces_DriveForwardIdealDist_mm	float	40.0 [0.0 .. 200.0]	How far forward to check and ideally drive.
kInteractWithFaces_DriveForwardMinDist_mm	float	-15.0 [-100.0 .. 100.0]	How far forward to move in case the check fails.
kInteractWithFaces_DriveForwardSpeed_mmps	float	40.0 [0.0 .. 200.0]
kInteractWithFaces_MinTrackingPanAngle_deg	float	4.0 [0.0 .. 30.0]	Minimum angle to turn during tracking to keep the robot moving and looking alive.
kInteractWithFaces_MinTrackingTiltAngle_deg	float	4.0 [0.0 .. 30.0]	Minimum angle to turn during tracking to keep the robot moving and looking alive.
kInteractWithFaces_VizMemoryMapCheck	bool	false
kWiggle_BackupDist_mm	float	15.0 [0.0 .. 20.0]
kWiggle_BackupSettleTime_s	float	0.4 [0.0 .. 2.0]
kWiggle_BackupSpeed_mmps	float	100.0 [0.0 .. 200.0]
kWiggle_ForwardDist_mm	float	6.0 [0.0 .. 20.0]
kWiggle_ForwardSpeed_mmps	float	120 [0.0 .. 200.0]
kWiggle_VerifyWaitTime_s	float	0.25 [0.0 .. 2.0]

Behavior.LookAroundInPlace console variables¶

Variable	Type	Default	Description
kVizConeOfFocus	bool	false

Behavior.ReactToHand console variables¶

Variable	Type	Default [Min .. Max]
kHandReaction_DriveForwardSpeed_mmps	float	100.0 [0.0 .. MAX_SAFE_WHEEL_SPEED_MMPS]
kReactToHand_DriveDistanceFraction	float	1.0 [0.0 .. 1.0]
kReactToHand_PitchAngleThresh_deg	float	2.0 [0.0 .. 10.0]

Behavior.ReactToPalmEdge console variables¶

Variable	Type	Default	Description
kMaxNumInitialReactAttemptsBeforeGivingUp	unsigned	2	If the behavior encounters this many failures with the initial animation/action while activated, then just give up and go to ForceStuckOnPalmEdge.

Behaviors.ConditionEyeContact console variables¶

Variable	Type	Default	Description
kMaxTimeSinceTrackedFaceUpdated_ms	unsigned	500

Behaviors.FindFaceAndThen console variables¶

Variable	Type	Default [Min .. Max]	Description
kMinTimeLookInMicDirection_s	float	0.5 [0.0 .. 2.0]

Vision.EyeContact console variables¶

Variable	Type	Default
kBlinkAmountThreshold	float	.73
kDistanceFromCameraThresholdSq_mm	float	2590
kExpireThreshold	unsigned	50
kEyeContactDistanceSq	float	64.0
kHistorySize	unsigned	6
kInlierDistanceSq	float	100.0
kMinNumberOfInliers	unsigned	3
kPitchAngleThreshold_rad	float	1.5707963265
kYawAngleThreshold_rad	float	1.5707963265

Vision.FaceDetection console variables¶

These give loose constraints on how fast Vector can move and still trust the tracker (which has no knowledge of or access to camera movement). Rough means of deciding the angles below:

look at angle created by distance between two faces seen close together at the max distance we care about seeing them from.
If robot turns by that angle between two consecutve frames, it is possible the tracker will be confused and jump from one to the other.

Variable	Type	Default [Min .. Max]	Description
kFaceTrackingCropWidthFraction	float	0.66667 [0.0 .. 1.0]	The percentage of the width of the image that will remain after cropping.
kFaceTrackingMaxBodyAngleChange_deg	float	8.0
kFaceTrackingMaxHeadAngleChange_deg	float	8.0
kFaceTrackingMaxPoseChange_mm	float	10.0

Vision.FaceDetectorCommon console variables¶

Variable	Type	Default [Min .. Max]	Description
kAdjustEyeDistByYaw	bool	true
kDetectionMode	DetectionMode	Movie
kFaceDetectionThreshold	int	500 [1 .. 1000]
kKeepUndistortedFaceFeatures	bool	false
kMaxDetectedFaces	int	10 [1 .. 1023]
kMaxFaceSize	int	640 [20 .. 8192]
kMinFaceSize	int	48 [20 .. 8192]
kPoseAngle	PoseAngle	Front
kReinitDetector	bool	false	Use this to trigger a reinitialization on next Update()
kRollAngle	RollAngle	UpperPm45
kSearchDensity	SearchDensity	Normal
kUseUndistortionForFacePose	bool	true

Vision.FaceDetectorMovie console variables¶

Variable	Type	Default [Min .. Max]	Description
kDelayCount	int	1 [0 .. 10]
kDirectionMask	bool	false
kEnableAngleExtension	bool	false
kEnablePoseExtension	bool	true
kLostMaxHold	int	2 [0 .. 300]
kLostMaxRetry	int	2 [0 .. 300]
kSearchInitialCycle	int	2 [1 .. 45]
kSearchNewCycle	int	2 [1 .. 45]
kSearchNewInterval	int	5 [-1 .. 45]
kSteadinessPosition	int	10 [0 .. 30]
kSteadinessSize	int	10 [0 .. 30]
kTrackingAccuracy	int	Okao::TrackingAccuracy	High
kTrackingSwapRatio	int	400 [100 .. 10000]
kUseHeadTracking	bool	false	When setting this to true, we were seeing worse part detection performance while tracking. The nPose field in the DetectionInfo struct was sometimes "HEAD" (meaning back of head). From the Omron team: "It returned "Head" because you set bUseHeadTracking as TRUE of OKAO_DT_MV_SetPoseExtension(). (It's default value is FALSE.) Face Detection engine output "Head" only by tracking, not from the first frame or Still Mode. It is good for keeping tracking, but not good for Facial Parts Detection. If you give priority to Facial Parts Detection over tracking, you should turn bUseHeadTracking off or skip the face." So I'm defaulting this to false, and it seems to help in testing.

Vision.FaceRecognition console variables¶

Variable	Type	Default [Min .. Max]
kDisplayDebugEnrollmentImages	bool	false
kEnableEnrollmentAfterFull	bool	false
kEnableMergingOfSessionOnlyAlbumEntries	bool	false
kEnrollmentThumbnailSize	int	64
kFaceRecMaxDebugResults	unsigned	3 [2 .. 10]
kFaceRecognitionExtraDebug	bool	false
kFaceRecognitionGuessThreshold	int	350 [0 .. 1000]
kFaceRecognitionSimulatedDelay_ms	unsigned	0
kFaceRecognitionThreshold	int	575 [0 .. 1000]
kFaceRecognitionThresholdMarginForAdding	int	200 [0 .. 1000]
kFaceRecognitionThresholdMarginForUsing2ndBest	int	50 [0 .. 1000]
kGatherDebugEnrollmentImages	bool	false
kGetEnrollmentTimeFromImageTimestamp	bool	false
kTimeBetweenFaceEnrollmentUpdates_sec	float	0.5

Vision.FaceTracker console variables¶

Variable	Type	Default	Description
kCloseDistanceBetweenEyesMax	float	128.0
kCloseDistanceBetweenEyesMin	float	64.0
kFaceDetectionDelay_ms	int	100
kFaceDetectionDelayDuringEnrollment_ms	int	1000
kFaceRecognitionDelay_ms	int	0
kFarDistanceBetweenEyesMax	float	32.0
kFarDistanceBetweenEyesMin	float	16.0
kFramesToCompleteEnrollment	int	50
kFramesToLoseFaceAfterEnrollment	int	2000
kLookingDownMaxAngle_deg	float	-25.0
kLookingDownMinAngle_deg	float	-10.0
kLookingLeftRightMaxAngle_deg	float	20.0
kLookingLeftRightMinAngle_deg	float	10.0
kLookingStraightMaxAngle_deg	float	25.0
kLookingUpMaxAngle_deg	float	45.0
kLookingUpMinAngle_deg	float	25.0
kMinDetectionConfidence	int	500	Faces are not enrollable unless the tracker is above this confidence. NOTE: It appears the returned track confidence is set to the fixed value of whatever the OKAO detection threshold is set to when in default tracking accuracy mode, so this parameter will have no effect unless the high-accuracy tracker is used.
kNumberOfFramesBeforeUpdatedFace	int	200

Vision.FaceWorld console variables¶

Variable	Type	Default
kDeletionTimeout_ms	unsigned	600000
kHeadCenterPointThreshold_mm	float	220.0
kIgnoreFacesBelowRobot	bool	true
kNumTimesToSeeFrontalToBeStable	unsigned	30
kTimeUnobservedBeforeReLoggingToDAS_ms	unsigned	10000

Vision.GazeDirection console variables¶

Variable	Type	Default	Description
kConeFor180TurnForFaceSearch_deg	float	40.0
kFaceDirectedAtRobotMaxXThres_mm	float	20.0
kFaceDirectedAtRobotMaxYThres_mm	float	100.0
kFaceDirectedAtRobotMinXThres_mm	float	-25.0
kFaceDirectedAtRobotMinYThres_mm	float	-100.0
kGazeDirectionExpireThreshold_ms	unsigned	1000
kGazeDirectionHistorySize	unsigned	6
kGazeDirectionInlierXThreshold_mm	float	300.0
kGazeDirectionInlierYThreshold_mm	float	100.0
kGazeDirectionInlierZThreshold_mm	float	20.0
kGazeDirectionMinNumberOfInliers	unsigned	2
kGazeDirectionSecondPointTranslationY_mm	float	1500.0	"This value was chosen to be sufficiently large that the difference in the z coordinates of the two points used to find the intersection with the ground plane weren't too close as to cause numerical instabilities. 500 was too small."
kGazeDirectionShiftOutputPointX_mm	float	100.0
kMaxPanAccel_radPerSec2	float	10.0
kMaxPanSpeed_radPerSec	float	MAX_BODY_ROTATION_SPEED_RAD_PER_SEC
kMaxTimeSinceTrackedFaceUpdated_ms	unsigned	500
kNumberOfTurnsForSurfacePoint	int	1
kRenderGazeDirectionPoints	bool	false
kSearchForFaceNumberOfImagesToWait	int	5
kSearchForFaceTurnAroundAngle_deg	float	180.0
kSearchForFaceTurnSideAngle_deg	float	-90.0
kSleepTimeAfterActionCompleted_s	float	2.0
kTurnWaitAfterFinalTurn_s	float	1.0
kUseExistingFacesWhenSearchingForFaces	bool	false
kUseEyeContact	bool	true

"WasRotatingTooFast.Dock.Body_deg/s" console variables¶

Variable	Type	Default	Description
kDockingRotatingTooFastThresh_degPerSec	float	RAD_TO_DEG	0.4
kBodyTurnSpeedThreshFace_degs	float	30.0

"WasRotatingTooFast.Face.Head_deg/s" console variables¶

Variable	Type	Default	Description
kHeadTurnSpeedThreshFace_degs	float	10.0

"WasRotatingTooFast.Face.NumToLookBack" console variables¶

Variable	Type	Default	Description
kNumImuDataToLookBackFace	unsigned	5

"WasRotatingTooFast.Pet.Body_deg/s" console variables¶

Variable	Type	Default	Description
kBodyTurnSpeedThreshPet_degs	float	30.0

"WasRotatingTooFast.Pet.Head_deg/s" console variables¶

Variable	Type	Default	Description
kHeadTurnSpeedThreshPet_degs	float	10.0

"WasRotatingTooFast.Pet.NumToLookBack" console variables¶

Variable	Type	Default	Description
kNumImuDataToLookBackPet	unsigned	5

Cube interaction¶

Behavior.PutDownBlock console variables¶

Variable	Type	Default
kBPDB_finalHeadAngle_deg	float	-20.0
kBPDB_kBackupDistanceMax_mm	float	-75
kBPDB_kBackupDistanceMin_mm	float	-45
kBPDB_putDownBackupSpeed_mm	float	100.0
kBPDB_verifyBackupDist_mm	float	-30.0

CubeAccelComponent console variables¶

Variable	Type	Default	Description
kCanAccelDirtyPoses	bool	false

CubeLightDesign console variables¶

Variable	Type	Default [Min .. Max]
kLED1_s1_alpha	unsigned	255 [0 .. 255]
kLED1_s1_blue	unsigned	0 [0 .. 255]
kLED1_s1_green	unsigned	0 [0 .. 255]
kLED1_s1_hold_ms	unsigned	0 [0 .. 7650]
kLED1_s1_hold_offset_ms	unsigned	0 [0 .. 30600]
kLED1_s1_red	unsigned	0 [0 .. 255]
kLED1_s1_transition_s2_ms	unsigned	0 [0 .. 7650]
kLED1_s2_alpha	unsigned	255 [0 .. 255]
kLED1_s2_blue	unsigned	0 [0 .. 255]
kLED1_s2_green	unsigned	0 [0 .. 255]
kLED1_s2_hold_ms	unsigned	0 [0 .. 7650]
kLED1_s2_red	unsigned	0 [0 .. 255]
kLED1_s2_transition_s1_ms	unsigned	0 [0 .. 7650]
kLED2_s1_alpha	unsigned	255 [0 .. 255]
kLED2_s1_blue	unsigned	0 [0 .. 255]
kLED2_s1_green	unsigned	0 [0 .. 255]
kLED2_s1_hold_ms	unsigned	0 [0 .. 7650]
kLED2_s1_hold_offset_ms	unsigned	0 [0 .. 30600]
kLED2_s1_red	unsigned	0 [0 .. 255]
kLED2_s1_transition_s2_ms	unsigned	0 [0 .. 7650]
kLED2_s2_alpha	unsigned	255 [0 .. 255]
kLED2_s2_blue	unsigned	0 [0 .. 255]
kLED2_s2_green	unsigned	0 [0 .. 255]
kLED2_s2_hold_ms	unsigned	0 [0 .. 7650]
kLED2_s2_red	unsigned	0 [0 .. 255]
kLED2_s2_transition_s1_ms	unsigned	0 [0 .. 7650]
kLED3_s1_alpha	unsigned	255 [0 .. 255]
kLED3_s1_blue	unsigned	0 [0 .. 255]
kLED3_s1_green	unsigned	0 [0 .. 255]
kLED3_s1_hold_ms	unsigned	0 [0 .. 7650]
kLED3_s1_hold_offset_ms	unsigned	0 [0 .. 30600]
kLED3_s1_red	unsigned	0 [0 .. 255]
kLED3_s1_transition_s2_ms	unsigned	0 [0 .. 7650]
kLED3_s2_alpha	unsigned	255 [0 .. 255]
kLED3_s2_blue	unsigned	0 [0 .. 255]
kLED3_s2_green	unsigned	0 [0 .. 255]
kLED3_s2_hold_ms	unsigned	0 [0 .. 7650]
kLED3_s2_red	unsigned	0 [0 .. 255]
kLED3_s2_transition_s1_ms	unsigned	0 [0 .. 7650]
kLED4_s1_alpha	unsigned	255 [0 .. 255]
kLED4_s1_blue	unsigned	0 [0 .. 255]
kLED4_s1_green	unsigned	0 [0 .. 255]
kLED4_s1_hold_ms	unsigned	0 [0 .. 7650]
kLED4_s1_hold_offset_ms	unsigned	0 [0 .. 30600]
kLED4_s1_red	unsigned	0 [0 .. 255]
kLED4_s1_transition_s2_ms	unsigned	0 [0 .. 7650]
kLED4_s2_alpha	unsigned	255 [0 .. 255]
kLED4_s2_blue	unsigned	0 [0 .. 255]
kLED4_s2_green	unsigned	0 [0 .. 255]
kLED4_s2_hold_ms	unsigned	0 [0 .. 7650]
kLED4_s2_red	unsigned	0 [0 .. 255]
kLED4_s2_transition_s1_ms	unsigned	0 [0 .. 7650]
kRotate	bool	false

CubeSpinner console variables¶

Variable	Type	Default
kAdjustHeightOfSpinnerLift	int	81
kDedupTimeAfterLock_ms	int	1000
kIReallyReallyWantToBreakCubeSpinner	bool	false
kShouldLockPulseTargetColor	bool	true

DoubleTap console variables¶

Variable	Type	Default	Description
kCanDoubleTapDirtyPoses	bool	false
kIgnoreMovementWhileWaitingForDoubleTap	bool	false

TapFilter.DoubleTapTime console variables¶

Variable	Type	Default	Description
kDoubleTapTime_ms	unsigned	500

TapFilter.IgnoreMoveTimeAfterDoubleTap console variables¶

Variable	Type	Default	Description
kIgnoreMoveTimeAfterDoubleTap_ms	unsigned	500

TapFilter.IntesityMin console variables¶

Variable	Type	Default	Description
kTapIntensityMin	int16_t	60

TapFilter.WaitOffsetTime console variables¶

Variable	Type	Default	Description
kTapWaitOffset_ms	Anki::TimeStamp_t	75

Emotion and Mood¶

Mood.Emotion console variables¶

Variable	Type	Default	Description
kMaxEmotionHistorySamples	unsigned	128

MoodManager console variables¶

Variable	Type	Default
kMoodManager_AppPeriod_s	float	1.0
kMoodManager_AudioSendPeriod_s	float	0.5
kMoodManager_WebVizPeriod_s	float	1.0

Exploring¶

Behavior.BehaviorGoHome console variables¶

Variable	Type	Default	Description
kGoHome_VisualVerification_SaveImages	bool	false

Behavior.ReactToCliff console variables¶

Variable	Type	Default
kEnableVisualCliffExtension	bool	true
kMaxNumCliffReactAttemptsBeforeGivingUp	unsigned	2
kMaxNumRobotStopsBeforeGivingUp	unsigned	5
kMinViewingDistanceToCliff_mm	float	80.0

BehaviorExploring console variables¶

Variable	Type	Default [Min .. Max]	Description
kExploringPostBumpReferenceProb	float	1.0 [0.0 .. 1.0]
kMaxObjectWidthToBump_rad	float	1.39626 [0 .. 6.2831853]
kMinObjectWidthToBump_rad	float	0.01745 [0 .. 3.141592653]	For bumping an object. The robot is usually around 5-8cm from the object at this point, but may not be facing it perfectly, so only bump if the object seems to have an appropriate width. The delegated behavior decides if it is close enough.
kMoveLiftAboveProx	bool	false
kProbReferenceBeforeBump	float	0.0 [0.0 .. 1.0]	This is disabled because it looks much nicer when he bumps right after the scan, so instead it is set to reference after the bump from within the bump behavior.
kProbReferenceOnResume	float	1.0 [0.0 .. 1.0]
kResumeReferenceCooldown_s	float	20.0 [0.0 .. 60.0]

Motion control¶

Robot console variables¶

Variable	Type	Default
kCreateUnexpectedMovementObstacles	bool	true
kDebugTrackLocking	bool	false
kMaxUnexpectedMovementCountWhileHeldInPalm	unsigned	200

DockingMethod(B:0 T:1 H:2) console variables¶

Variable	Type	Default
kDefaultDockingMethod	DockingMethod	BLIND_DOCKING
kPickupDockingMethod	DockingMethod	HYBRID_DOCKING_BEELINE
kRollDockingMethod	DockingMethod	BLIND_DOCKING
kStackDockingMethod	DockingMethod	BLIND_DOCKING

DriveToActions console variables¶

Variable	Type	Default
kDriveToPoseTimeout	float	30.0
kEnablePredockDistanceCheckFix	bool	true
kEnableDrivingAnimations	bool	true

PlaceRelObjectAction console variables¶

Variable	Type	Default	Description
kPlaceRelUseMaxOffset	bool	true

PoseConfirmation console variables¶

Variable	Type	Default [Min .. Max]	Description
kDefaultMaxObservationDistance_mm	float	500.0 [50.0 .. 1000.0]

MapComponent console variables¶

Variable	Type	Default	Description
kCliffTimeout_ms	float	1200000	20 minutes
kMapRenderRate_sec	float	0.25
kMergeOldMaps	bool	false
kObjectPositionChangeToReport_mm	float	5.0
kObjectRotationChangeToReport_deg	float	10.0
kProxExploredTriangleHalfWidth_mm	float	50.0
kProxExploredTriangleLength_mm	float	300.0
kProxTimeout_ms	float	600000
kRobotPositionChangeToReport_mm	float	8.0
kRobotRotationChangeToReport_deg	float	20.0
kTimeoutUpdatePeriod_ms	float	5000
kUnrecognizedTimeout_ms	float	20000
kVisionTimeout_ms	float	120000

MapComponent.VisualEdgeDetection console variables¶

Variable	Type	Default	Description
kEdgeLineLengthToInsert_mm	float	200.0
kHoughAccumThreshold	int	20
kHoughAngleResolution_deg	float	2
kHoughMaxLineGap_mm	float	10
kHoughMinLineLength_mm	float	40
kMaxPixelsUsedForHoughTransform	int	160000	400 x 400 max size
mapComponent	kVisionCliffPadding_mm	float	20.0

Planner console variables¶

Variable	Type	Default	Description
kXYTPlanner_PointTurnTolOverride_deg	float	2.0

XYPlanner console variables¶

Variable	Type	Default [Min .. Max]	Description
kArtificialPlanningDelay_ms	int	0 [0 .. 3900]

QuadTreeProcessor console variables¶

Variable	Type	Default	Description
kDebugFindBorders	bool	false	Enables printing debug information in console
kRenderBorder3DLines	bool	false	Enables rendering borders returned as 3D lines instead of quads
kRenderBordersFrom	bool	false	Enables rendering detected borders, origin quad
kRenderBordersToDot	bool	false	Enables rendering detected borders, border center as dots
kRenderBordersToQuad	bool	false	Enables rendering detected borders, destination quad
kRenderSeeds	bool	false	Renders seeds differently for debugging purposes
kRenderZOffset	float	20.0	Adds Z offset to all quads

Power management¶

Charger console variables¶

Variable	Type	Default	Description
kChargerMaxObservationDistance_mm	float	500.0

BatteryComponent console variables¶

Variable	Type	Default [Min .. Max]	Description
kFakeDisconnectedBattery	bool	false
kFakeLowBattery	bool	false
kFakeLowBatteryAfterOffChargerTimeout_sec	unsigned	0
kPeriodicDebugDASLogging	bool	false
kRequiredChargeTime_s	float	300.0 [10.0 .. 9999.0]	Must be set before low battery and then not changed

PowerSave console variables¶

Variable	Type	Default
kForceCalmMode	bool	false
kPowerSave_CalmMode	bool	true
kPowerSave_Camera	bool	true
kPowerSave_CameraStopCameraStream	bool	false
kPowerSave_LCDBacklight	bool	true
kPowerSave_ProxSensorMap	bool	true
kPowerSave_ThrottleCPU	bool	true

Sleeping.Behavior console variables¶

Variable	Type	Default [Min .. Max]
kSleepingBoutNumStirs_max	unsigned	10 [1 .. 10]
kSleepingBoutNumStirs_min	unsigned	5 [1 .. 10]
kSleepingBoutSpacing_max_s	float	5.0 [0.0 .. 7200.0]
kSleepingBoutSpacing_min_s	float	1.5 [0.0 .. 30.0]
kSleepingStirSpacing_max_s	float	5400.0 [0.0 .. 7200.0]
kSleepingStirSpacing_min_s	float	2700.0 [0.0 .. 7200.0]

Sleeping.SleepCycle console variables¶

Variable	Type	Default
kSleepCycle_ComatoseLength_s	float	30.0
kSleepCycle_DeepSleep_PersonCheckInterval_s	float	14400.0
kSleepCycle_EnableWiggleWhileSleeping	bool	true
kSleepCycle_LightSleep_PersonCheckInterval_s	float	3600.0
kSleepCycle_MinSleepDebt_s	float	3000.0
kSleepCycle_RecentSleepLength_s	float	600.0
kSleepCycle_TooLongOnChargerNotChargingDuration_sec	float	300.0
kSleepCycleForceLightSleep	bool	false
kSleepCycleForceSleep	bool	false

Sleeping.SleepTracker console variables¶

Variable	Type	Default [Min .. Max]	Description
kSleepTracker_awakeSleepDebtRate	float	5.0
kSleepTracker_debtToConsiderSleepy_awake	float	3600.0
kSleepTracker_debtToConsiderSleepy_fromSleep	float	1800.0
kSleepTracker_maxSleepDebt_hours	float	20
kSleepTracker_moning_hour	int	7 [0 .. 23]	The hour portion of the time of day to wake up.
kSleepTracker_moning_minute	int	0 [0 .. 59]	The minute portion of the time of day to wake up.
kSleepTracker_night_hour	int	21 [0 .. 23]	The hour portion of the time of day to return to the charger to sleep.
kSleepTracker_night_minute	int	0 [0 .. 59]	The minute portion of the time of day to return to the charger to sleep.
kSleepTracker_updatePeriod_s	float	60

StayOnCargerUntilCharged console variables¶

Variable	Type	Default	Description
kCooldown_s	float	1200.0
kMinTimeAtNominal_s	float	4.0	>= time for any drive-off-charger anim to clear charger platform
kSafeguardTimeout_s	float	1800

Sensing¶

HeldInPalm.Coordinator console variables¶

Variable	Type	Default [Min .. Max]	Description
kMaxTimeForInitialHeldInPalmReaction_ms	unsigned	1000 [0 .. 5000]
kCliffValHeldInPalmSurface	float	500.0 [0.0 .. 1000.0]
kEnableDebugTransitionPrintouts	bool	false
kMinTimeToConfirmRobotHeldInPalm_ms	unsigned	500 [0 .. 10000]	If no cliffs have been detected since the robot was picked up, but the robot has been reporting that it has been picked up and held upright for this amount of time, go ahead and declare the robot to be held in a palm anyways. This is essentially a fallback for the normal detection mechanism for the tracker.
kTrackerWebVizUpdatePeriod_s	float	60

ProxSensorComponent console variables¶

Variable	Type	Default
kMapPerformanceTestsEnabled	bool	false
kMapPerformanceTestsSampleWindow	int	128
kMaxObstacleWidth_mm	float	18.0
kMaxObsThreshold_mm	unsigned	400
kMinObsThreshold_mm	unsigned	30
kMinQualityThreshold	float	0.01
kObsPadding_x_mm	float	6.0
kObsPadding_y_mm	float	0.0
kRenderProxBeliefs	bool	false
kSensorAperture	float	0.4

Touch console variables¶

Variable	Type	Default	Description
kTestOnlyLoggingEnabled	bool	false

Profiling (low level information)¶

Console console variables¶

Variable	Type	Default	Description
kSaveModifiedConsoleVarsOnly	bool	false

CpuProfiler console variables¶

Variable	Type	Default [Min .. Max]
kAnimEngine_TimeLogging	unsigned	0
kAnimEngine_TimeMax_ms	float	33 [2 .. 33]
kCozmoEngine_Logging	unsigned	0
kDrawFace_Logging	unsigned	0
kMessageProfilerDuration	float	0.0 [0.0 .. 3600.0]
kMicDataProcessorRaw_Logging	unsigned	0
kMicDataProcessorTrigger_Logging	unsigned	0
kProfilerLogOutput	int	0
kProfilerLogSlowTicks	bool	false
kVisionComponent_Logging	unsigned	0
maxDrawTime_ms	float	5 [5 .. 32]
maxProcessingTimePerDrop_ms	float	5 [5 .. 32]
maxTriggerProcTime_ms	float	10 [10 .. 32]

Dev console variables¶

Variable	Type	Default	Description
kForceDisableAnkiDevFeatures	bool	false

DevLogging console variables¶

Variable	Type	Default	Min	Max	Description
kSaveImageFrequency	unsigned	0	0	75

FeatureGate console variables¶

Variable	Type	Default	Description
kFeatureToEdit	unsigned	0

Firmware console variables¶

Variable	Type	Default	Description
kAlwaysDoFirmwareUpdate	bool	false
kSkipFirmwareAutoUpdate	bool	false

JdocsManager console variables¶

Variable	Type	Default	Description
kJdocType	unsigned	0

Logging console variables¶

Variable	Type	Default	Description
kEnableCladLogger	bool	true

Network console variables¶

Variable	Type	Default [Min .. Max]
kEnableVerboseNetworkLogging	bool	false
kMaxPingTimesToTrackOverride	unsigned	0 [0 .. 1000]
kPrintNetworkStats	bool	false
kPrintNetworkStatsTimeSpacingMS	unsigned	1000 [0 .. 10000]

Network.Emulator console variables¶

Variable	Type	Default [Min .. Max]
gUDPMaxLatency	unsigned	0 [0 .. 5000]
gUDPMinLatency	unsigned	0 [0 .. 5000]
gUDPNetEmulatorEnabled	bool	false
gUDPNetEmulatorRuntimeToggling	bool	false
gUDPRandomPacketLossPercentage	float	-1.0 [-1.0 .. 101.0]

Network.Stats console variables¶

Variable	Type	Default
gNetStat1NumConnections	int
gNetStat2LatencyAvg	float
gNetStat3LatencySD	float
gNetStat4LatencyMin	float
gNetStat5LatencyMax	float
gNetStat6PingArrivedPC	float
gNetStat7ExtQueuedAvg_ms	float
gNetStat8ExtQueuedMin_ms	float
gNetStat9ExtQueuedMax_ms	float
gNetStatAQueuedAvg_ms	float
gNetStatBQueuedMin_ms	float
gNetStatCQueuedMax_ms	float
kLogMessageLatencyOnce	bool	false
kNetConnStatsUpdate	bool	true

OSState.Boot console variables¶

Variable	Type	Default	Description
kFakeIsReboot	bool	false

OSState.DiskInfo console variables¶

Variable	Type	Default [Min .. Max]	Description
kHighDiskPressureMultiple	unsigned	10 [0 .. 100]
kMediumDiskPressureMultiple	unsigned	5 [0 .. 100]

OSState.MemoryInfo console variables¶

Variable	Type	Default [Min .. Max]	Description
kHighMemPressureMultiple	unsigned	10 [0 .. 100]
kMediumMemPressureMultiple	unsigned	5 [0 .. 100]

OSState.Temperature console variables¶

Variable	Type	Default	Description
kFakeCpuTemperature_degC	unsigned	20
kSendFakeCpuTemperature	bool	false

OSState.Timezone console variables¶

Variable	Type	Default	Description
kOSState_FakeNoTime	bool	false
kOSState_FakeNoTimezone	bool	false

OSState.Webviz console variables¶

Variable	Type	Default [Min .. Max]	Description
kWebvizUpdatePeriod	int	0 [0 .. ]	The duration, in milliseconds, between successive updates to the web visualization

OSState.WifiInfo console variables¶

Variable	Type	Default [Min .. Max]	Description
kHighWifiErrorRate	unsigned	2 [0 .. 100]
kMediumWifiErrorRate	unsigned	1 [0 .. 100]

Robot console variables¶

Variable	Type	Default
kDebugPossibleBlockInteraction	bool	false
kEnableTestFaceImageRGBDrawing	bool	false
kUseVisionOnlyWhileOnTreads	bool	false

RobotDataLoader console variables¶

Variable	Type	Default	Description
kStressTest_numThreads	int	5
kStressTestThreadedPrintsDuringLoad	bool	false

RobotStats console variables¶

Variable	Type	Default	Description
kRobotStats_AliveUpdatePeriod_s	float	60.0
kRobotStats_OverrideAliveHours	float	-1.0

Settings.Debug console variables¶

Variable	Type	Default	Description
kHttpRequestTimeOutMSec	int	10000	0

"unit tests" console variables¶

Variable	Type	Default	Description
kTestBEIConsoleVar	unsigned	0

UiComms console variables¶

Variable	Type	Default	Description
kAcceptMessagesFromUI	bool	true
kPingSendFreq_ms	double	1000	0 = never
kPrintUiMessageLatency	bool	false
kSdkStatusSendFreq	unsigned	1	0 = never

VizDebug console variables¶

Variable	Type	Default	Description
kSendAnythingToViz	bool	true

WallTime console variables¶

Variable	Type	Default	Description
kFakeWallTimeIsSynced	bool	false

Factory Test¶

DevSquawkBoxBehavior console variables¶

Variable	Type	Default [Min .. Max]	Description
kHeadMovementDuration_s	float	0.5 [0.1 .. 2.5]
kLiftMovementDuration_s	float	0.5 [0.1 .. 2.5]
kLoopingAnimationState	unsigned	0	NONE, Move Head, Move Lift
kTreadMovementSpeed_mmps	float	200.0 [20.0 .. 220.0]
kUseRestrictedMotionAnim	bool	true

DockingTest console variables¶

Variable	Type	Default
kAlignInsteadOfPickup	bool	false
kDoDeepRoll	bool	false
kDriveToAndPickupBlockOneAction	bool	true
kJustPickup	bool	false
kMaxAngleAwayFromPreDock_deg	float	10
kMaxConsecFails	unsigned	3
kMaxNumAttempts	unsigned	30
kMaxXAwayFromPreDock_mm	float	50
kMaxYAwayFromPreDock_mm	float	250
kNumRandomObstacles	unsigned	10
kRollInsteadOfPickup	bool	false
kTestDockingMethod	DockingMethod	HYBRID_DOCKING
kUseClosePreActionPose	bool	false

LiftLoadTest console variables¶

Variable	Type	Default	Description
kNumLiftRaises	unsigned	50

Playpen console variables¶

Variable	Type	Default	Description
kCalibMarkerCubeSize_mm	float
kCalibMarkerSize_mm	float
kCenterTolerance	unsigned
kCheckFirmwareVersion	bool
kCliffSensorThreshold	unsigned
kCliffSpeed_mmps	float
kDefaultTimeout_ms	float
kDisconnectAtEnd	bool
kDistanceSensorBiasAdjustment_mm	float
kDistanceSensorReadingThresh_mm	float
kDistanceToDriveOverCliff_mm	float
kDistanceToTriggerBackCliffs_mm	float
kDistanceToTriggerFrontCliffs_mm	float
kDurationOfAudioToRecord_ms	unsigned
kDurationOfTouchToRecord_ms	unsigned
kExpectedCubePoseAngleThresh_rad	float
kExpectedCubePoseDistThresh_mm	float
kExpectedCubePoseHeightThresh_mm	float
kExpectedCubePoseX_mm	float
kExpectedCubePoseY_mm	float
kExposure_ms	unsigned
kFFTExpectedFreq_hz	unsigned
kFFTFreqTolerance_hz	unsigned
kFocalLengthTolerance	unsigned
kGain	float
kHeadAngleForDriftCheck	float
kHeadAngleToPlaySound	float
kHeadAngleToSeeTarget_rad	float
kIgnoreFailures	bool
kIMUDriftAngleThreshDeg	float
kIMUDriftDetectPeriod_ms	unsigned
kMarkerToTriggerCalibration	CustomObjectMarker
kMaxExpectedTouchValue	unsigned
kMaxRobotAngleChangeDuringBackup_rad	float
kMfgIDTimeout_ms	unsigned
kMinBatteryVoltage	float
kMinExpectedTouchValue	unsigned
kMinFirmwareVersion	unsigned
kMinHardwareVersion	int
kMotorCalibrationTimeout_ms	unsigned
kNumDistanceSensorReadingsToRecord	unsigned
kPlaypenCalibTarget	unsigned
kRadialDistortionTolerance	float
kSkipActiveObjectCheck	bool
kSoundVolume	float
kTangentialDistortionTolerance	float
kTimeoutForCalibration_ms	unsigned
kTimeoutWaitingForTarget_ms	unsigned
kTimeToDisplayResultOnFace_ms	float
kTimeToWaitForCliffEvent_ms	float
kTouchDurationToStart_ms	unsigned
kUseButtonToStart	bool
kUseTouchToStart	bool
kVisualDistanceToDistanceSensorObjectThresh_mm	float
kWriteToStorage	bool

SelfTest console variables¶

Variable	Type	Default	Description
kChargerMarkerLastObservedTimeThresh_ms	unsigned
kDefaultTimeout_ms	float
kDistanceSensorBiasAdjustment_mm	float
kDistanceSensorReadingThresh_mm	float
kDistanceToDriveForwards_mm	float
kDriveBackwardsDist_mm	unsigned
kDriveBackwardsSpeed_mmps	unsigned
kDriveSpeed_mmps	float
kDurationOfAudioToRecord_ms	unsigned
kFFTExpectedFreq_hz	unsigned
kFFTFreqTolerance_hz	unsigned
kHeadAngleForDriftCheck	float
kHeadAngleToPlaySound	float
kIgnoreFailures	bool
kIMUDriftAngleThreshDeg	float
kIMUDriftDetectPeriod_ms	unsigned
kMaxExpectedTouchValue	unsigned
kMinBatteryVoltage	float
kMinExpectedTouchValue	unsigned
kMotorCalibrationTimeout_ms	unsigned
kNumDistanceSensorReadingsToRecord	unsigned
kSoundVolume	float
kTimeToBeUpsideDown_ms	unsigned
kTimeToDisplayResultOnFace_ms	float
kVisualDistanceToDistanceSensorObjectThresh_mm	float

Vision.Calibration console variables¶

Variable	Type	Default
kCalibTargetType	CalibTargetType	CHECKERBOARD
kCheckerboardHeight	unsigned	4
kCheckerboardSquareSize_mm	float	0.05
kCheckerboardWidth	unsigned	11
kDrawCalibImages	bool	false
kMaxCalibBlobPixelArea	float	800.0
kMinCalibBlobPixelArea	float	20.0
kMinCalibPixelDistBetweenBlobs	float	5.0
kMinNumCalibImages	unsigned	1
kNumMarkersNeededForCalibration	unsigned	10
kSingleTargetReprojErr_pix	float	1.5

RobotSettings console variables¶

Variable	Type	Description
kButtonWakeWord	unsigned	kButtonWakeWords
kDebugDemoLocaleIndex	int
kEyeColor	unsigned	kEyeColors
kMasterVolumeLevel	unsigned	kMasterVolumeLevels

Vision Processing¶

NeuralNets console variables¶

Variable	Type	Default [Min .. Max]	Description
kNeuralNets_MaxNumSceneDescriptionTags	int	5 [3 .. 10]

TrackingActions console variables¶

Variable	Type	Default [Min .. Max]
kOverride_ClampSmallAngles	bool	false
kOverride_ClampSmallAnglesMaxPeriod_s	float	-1.0 [0.0 .. 5.0]
kOverride_ClampSmallAnglesMinPeriod_s	float	-1.0 [0.0 .. 5.0]
kOverride_PanDuration_s	float	-1.0 [0.0 .. 1.0]
kOverride_PanTolerance_deg	float	-1.0 [0.0 .. 20.0]
kOverride_TiltDuration_s	float	-1.0 [0.0 .. 1.0]
kOverride_TiltTolerance_deg	float	-1.0 [0.0 .. 20.0]

Vision.Benchmark console variables¶

Variable	Type	Default	Description
kVisionBenchmark_DisableAllModes	bool	false
kVisionBenchmark_DisplayImages	bool	false	Only works if running synchronously
kVisionBenchmark_EnableAllModes	bool	false
kVisionBenchmark_PrintFrequency_ms	int	3000
kVisionBenchmark_ScaleMultiplier	int	2
kVisionBenchmark_ToggleMode	Benchmark::Mode	0

Vision.CropScheduler console variables¶

Variable	Type	Default [Min .. Max]	Description
kCropScheduler_MaxMarkerDetectionDist_mm	float	500.0 [1.0 .. 1000.0]

Vision.General console variables¶

Variable	Type	Default [Min .. Max]	Description
kDisplayEyeContactInMirrorMode	bool	false
kDisplayMarkerNames	bool	false
kDisplayUndistortedImages	bool	false
kKeepDrawingSalientPointsFor_ms	unsigned	0
kMaxExpectedTimeBetweenCapturedFrames_ms	unsigned	500
kSendDebugImages	bool	true
kSendUndistortedImages	bool	false
kSimulateDroppedFrameFraction	float	0.0 [0.0 .. 1.0]
kVisionSystemSimulatedDelay_ms	unsigned	0	For testing artificial slowdowns of the vision thread
kVisualizeObservedMarkersIn3D	bool	false

Vision.IAsyncRunner console variables¶

Variable	Type	Default [Min .. Max]	Description
kIAsyncRunner_OrigImageSubsample	int	1 [1 .. 2]
kIAsyncRunner_SaveImages	int	0	Off,Save Resized,Save Original Size

Vision.Illumination console variables¶

Variable	Type	Default	Description
kEnableExtraIlluminationDetectorDebug	bool	false

Vision.ImageCompositor console variables¶

Variable	Type	Default	Description
kImageHistogramSubsample	unsigned	4

Vision.LaserPointDetector console variables¶

Variable	Type	Default [Min .. Max]
kLaser_darkSurroundRadiusFraction	float	2.5
kLaser_darkThresholdFraction_darkExposure	float	0.7 [0.0 .. 1.0]
kLaser_darkThresholdFraction_normalExposure	float	0.9 [0.0 .. 1.0]
kLaser_DrawDetectionsInCameraView	bool	false
kLaser_highThreshold_darkExposure	unsigned	160
kLaser_highThreshold_normalExposure	unsigned	240
kLaser_lowThreshold_darkExposure	unsigned	128
kLaser_lowThreshold_normalExposure	unsigned	235
kLaser_maxRadius_pix	float	25.0
kLaser_MaxSurroundStdDev	int	25
kLaser_minRadius_pix	float	2.0
kLaser_saturationBoundingBoxFraction	float	1.25
kLaser_saturationThreshold_green	float	15.0
kLaser_saturationThreshold_red	float	30.0
kLaser_scaleMultiplier	int	2 [1 .. 8]
kLaserDetectionDebug	int	0

Vision.MarkerDetection console variables¶

Variable	Type	Default [Min .. Max]	Description
kBodyTurnSpeedThreshBlock_degs	float	30.0
kHeadTurnSpeedThreshBlock_degs	float	10.0
kMarkerDetector_CropWidthFraction	float	0.65 [0.5 .. 1.0]	This is fraction of full width we use with the CropScheduler to crop the image for marker detection.
kMarkerDetector_ScaleMultiplier	int	2
visionSystem	kMarkerDetector_VizCropScheduler	bool	false

Vision.MirrorMode console variables¶

Variable	Type	Default [Min .. Max]
kDisplayExposureInMirrorMode	bool	true
kDisplayFacesInMirrorMode	bool	true
kDisplayMarkerNamesScale	float	0.0 [0.0 .. 1.0]
kDisplayMarkersInMirrorMode	bool	true
kDisplaySalientPointsInMirrorMode	bool	true
kDrawMirrorModeSalientPointsFor_ms	int	0
kMirrorModeFaceDebugFontScale	float	0.5 [0.1 .. 1.0]
kMirrorModeGamma	float	1.0

Vision.MotionDetection console variables¶

Variable	Type	Default [Min .. Max]	Description
kMotionDetection_BlurFilterSize_pix	unsigned	21
kMotionDetection_CentroidPercentileX	float	0.5	In image coordinates
kMotionDetection_CentroidPercentileY	float	0.5	In image coordinates
kMotionDetection_DrawGroundDetectionsInCameraView	bool	false
kMotionDetection_GroundCentroidPercentileX	float	0.05	In robot coordinates. Most important for pounce: distance from robot
kMotionDetection_GroundCentroidPercentileY	float	0.50	In robot coordinates
kMotionDetection_LastMotionDelay_ms	unsigned	500
kMotionDetection_MaxBodyAngleChange_deg	float	0.1
kMotionDetection_MaxHeadAngleChange_deg	float	0.1
kMotionDetection_MaxPoseChange_mm	float	0.5
kMotionDetection_MinAreaForMotion_pix	unsigned	500
kMotionDetection_MinAreaFraction	float	1./225.	1/15 of each image dimension
kMotionDetection_MinBrightness	unsigned
kMotionDetection_MorphologicalSize_pix	unsigned	20
kMotionDetection_RatioThreshold	float
kMotionDetection_ScaleMultiplier	int	4 [1 .. 8]
kMotionDetectionDebug	bool	false

Vision.NeuralNetRunner console variables¶

Variable	Type	Default [Min .. Max]	Description
kNeuralNetRunner_PrintTimingFrequency	int	1
kFakeCatDetectionProbability	float	0. [0. .. 1.]	Fake pet detections for testing behaviors while we don't have reliable neural net models.
kFakeDogDetectionProbability	float	0. [0. .. 1.]	Fake pet detections for testing behaviors while we don't have reliable neural net models.
kFakeHandDetectionProbability	float	0. [0. .. 1.]	Fake hand for testing behaviors while we don't have reliable neural net models.
petTracker	kRuntimePetDetectionThreshold	int	-1 [-1 .. 1000]

Vision.PreProcessing console variables¶

Variable	Type	Default [Min .. Max]	Description
kClaheClipLimit	int	32
kClaheTileSize	int	4
kClaheWhenDarkThreshold	unsigned	80	In MarkerDetectionCLAHE::WhenDark mode. Only use CLAHE when image average is less than this
kExposure_TargetPercentile	float	0 [0 .. 1.0]	0 to disable
kExposure_TargetValue	int	128 [0 .. 255]
kLinearizeForAutoExposure	bool	false
kMaxFractionOverexposed	float	0.8 [0 .. 1]
kMeteringHoldTime_ms	unsigned	2000	How long to disable auto exposure after using detections to meter.
kMinCameraGain	float	0.1
kOverExposedAdjustmentFraction	float	0.5 [0 .. 1]
kOverExposedThreshold	unsigned	240
kPostClaheSmooth	int	-3	0: off, +ve: Gaussian sigma, -ve & odd: Box filter size
kRollingShutterCorrectionEnabled	bool	true
kUnderExposedThreshold	unsigned	15
kUseCenterWeightedMetering	bool	true
kUseCLAHE_u8	unsigned	0 [0 .. 4]	One of MarkerDetectionCLAHE enum

VisionSystem.Statistics console variables¶

Variable	Type	Default [Min .. Max]	Description
kImageMeanSampleInc	int	10 [1 .. 32]	Sample rate for estimating the mean of an image (increment in both X and Y)