https://github.com/blueandi/pylinefollowertrackgenerator
A CLI tool to generate a Webots world with a random line follower track.
https://github.com/blueandi/pylinefollowertrackgenerator
line-follower linefollower python webots zumo32u4
Last synced: 4 months ago
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A CLI tool to generate a Webots world with a random line follower track.
- Host: GitHub
- URL: https://github.com/blueandi/pylinefollowertrackgenerator
- Owner: BlueAndi
- License: mit
- Created: 2024-02-21T23:43:42.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-02-06T19:15:18.000Z (over 1 year ago)
- Last Synced: 2025-03-29T08:43:36.230Z (about 1 year ago)
- Topics: line-follower, linefollower, python, webots, zumo32u4
- Language: Python
- Homepage:
- Size: 954 KB
- Stars: 2
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# pyLineFollowerTrackGenerator
A CLI tool to generate a Webots world with a random line follower track.
[](http://choosealicense.com/licenses/mit/)
[](https://www.repostatus.org/#wip)
* [Installation](#installation)
* [Usage](#usage)
* [Track: ETrack](#track-etrack)
* [Track: Grid](#track-grid)
* [Track: Simple](#track-simple)
* [Track: \<...\>](#track-)
* [Friction](#friction)
* [Used Libraries](#used-libraries)
* [Issues, Ideas And Bugs](#issues-ideas-and-bugs)
* [License](#license)
* [Contribution](#contribution)
# Installation
```cmd
$ git clone https://github.com/BlueAndi/pyLineFollowerTrackGenerator.git
$ cd pyLineFollowerTrackGenerator
$ pip install .
```
# Usage
## Track: ETrack
Generate a line follower track like a 'E' with the "etrack" command.
Use ```./pyLineFollowerTrackGenerator etrack --help``` to see all possible parameters.
Example: A arena 2 x 2 m generated with splines through 30 points. The line width is 1.5 cm by default.
```bash
$ ./pyLineFollowerTrackGenerator Parameters: etrack -a "Andreas Merkle" -d "Line follower track along a 'E'." -e web@blue-andi.de -mg cardboard -mr rubber -mp dry etrack
```
Files:
* [etrack.wbt](./examples/etrack/etrack.wbt)
* [etrack.png](./examples/etrack/etrack.png)
## Track: Grid
Geneate a line follower track in a fixed grid by coordinates in a JSON file.
Use ```./pyLineFollowerTrackGenerator grid --help``` to see all possible parameters.
Example: A arena 3 x 3 m generated with quarter circles. The line width is 1.5 cm by default.
```bash
$ .pyLineFollowerTrackGenerator grid -a "Andreas Merkle" -d "Line follower grid track." -e web@blue-andi.de -mg cardboard -mr rubber -mp dry -s 3 grid.wbt grid_points.json
```
Files:
* [grid_points.json](./examples/grid/grid_points.json)
* [grid.wbt](./examples/grid/grid.wbt)
* [grid.png](./examples/grid/grid.png)
## Track: Simple
Generate a simple line follower track with the "simple" command.
Use ```./pyLineFollowerTrackGenerator simple --help``` to see all possible parameters.
Example: A arena 2 x 2 m generated with splines through 12 points. The line width is 1.5 cm by default.
```bash
$ ./pyLineFollowerTrackGenerator simple simple.wbt -s=2 -np=12
```
Files:
* [simple.wbt](./examples/simple/simple.wbt)
* [simple.png](./examples/simple/simple.png)
## Track: <...>
You are invited to extend it with more different kind of tracks. ;-)
## Friction
Get a list of available material pairs with their friction parameters by using
```bash
$ ./pyLineFollowerTrackGenerator friction
```
or get a filtered list e.g. for steel:
```bash
$ ./pyLineFollowerTrackGenerator friction steel
```
Specify the material for the ground and for the robot contact material, as well as the material property:
```bash
$ ./pyLineFollowerTrackGenerator simple simple.wbt -s=2 -np=12 -mg cardboard -mr rubber -mp dry
```
Notes:
* Static and dynamic friction are supported.
* Only symmetric friction is supported.
* If the friction has a range, the friction will be determined random (min <= friction <= max).
* Find the source for the friction parameters in [friction database](./database/friction.json).
* In the [Webots contact properties](https://www.cyberbotics.com/doc/reference/contactproperties) the friction parameters are configured.
* Details about the physical simulation are explained in the [Open Physics Engine manual](https://ode.org/wiki/index.php?title=Manual#Contact), which is used by Webots.
# Used Libraries
Used 3rd party libraries which are not part of the standard Python package:
| Library | Description | License |
| - | - | - |
| [matplotlib](https://github.com/matplotlib/matplotlib) | Matplotlib is a comprehensive library for creating static, animated, and interactive visualizations in Python. | Mixed |
| [numpy](https://github.com/numpy/numpy) | NumPy is the fundamental package for scientific computing with Python. | Mixed |
| [scipy](https://github.com/scipy/scipy) | SciPy is an open-source software for mathematics, science, and engineering. | BSD-3 |
| [toml](https://github.com/uiri/toml) | Parsing [TOML](https://en.wikipedia.org/wiki/TOML) | MIT License |
# Issues, Ideas And Bugs
If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/pyLineFollowerTrackGenerator/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.
# License
The whole source code is published under the [MIT license](http://choosealicense.com/licenses/mit/).
Consider the different licenses of the used third party libraries too!
# Contribution
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, shall be licensed as above, without any additional terms or conditions.