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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: 2 months ago
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A CLI tool to generate a Webots world with a random line follower track.

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# pyLineFollowerTrackGenerator 

A CLI tool to generate a Webots world with a random line follower track.



[![License](https://img.shields.io/badge/license-MIT-blue.svg)](http://choosealicense.com/licenses/mit/)

[![Repo Status](https://www.repostatus.org/badges/latest/wip.svg)](https://www.repostatus.org/#wip)

![CI Status](https://github.com/BlueAndi/pyLineFollowerTrackGenerator/actions/workflows/test.yml/badge.svg)



* [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 [email protected] -mg cardboard -mr rubber -mp dry etrack

```

![example_etrack](./doc/examples/etrack/example_etrack.png)

Files:

* [etrack.wbt](./doc/examples/etrack/etrack.wbt)

* [etrack.png](./doc/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 [email protected] -mg cardboard -mr rubber -mp dry -s 3 grid.wbt grid_points.json

```

![example_grid](./doc/examples/grid/example_grid.png)

Files:

* [grid_points.json](./doc/examples/grid/grid_points.json)

* [grid.wbt](./doc/examples/grid/grid.wbt)

* [grid.png](./doc/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

```

![example_simple](./doc/examples/simple/example_simple.png)

Files:

* [simple.wbt](./doc/examples/simple/simple.wbt)

* [simple.png](./doc/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.