Path

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Path#

Follow a path defined by a list of points. Use Waypoints instead when points are sparse and you want to reach them, not just pass by.

Example#

The video has been recorded using

$ navground_py record_video path.yaml path.mp4 --factor 5

with the following configuration

steps: 300
time_step: 0.0333
scenario:
  groups:
    - type: thymio
      color: darkcyan
      number: 1
      radius: 0.1
      control_period: 0.1
      orientation: 1
      kinematics:
        type: 2WDiff
        max_speed: 1
        max_angular_speed: 3.14
        wheel_axis: 0.2
      behavior:
        type: Dummy
        path_tau: 0.5
        path_look_ahead: 0.25
      task:
        type: Path
        tolerance: 0.25
        points: [[0.000, -1.000], [0.342, -0.940], [0.643, -0.766], [0.866, -0.500],
          [0.985, -0.174], [0.985, 0.174], [0.866, 0.500], [0.643, 0.766],
          [0.342, 0.940], [0.000, 1.000], [0.000, 1.000], [-0.325, 1.054],
          [-0.614, 1.211], [-0.837, 1.453], [-0.969, 1.755], [-0.997, 2.083],
          [-0.916, 2.402], [-0.736, 2.677], [-0.476, 2.879], [-0.165, 2.986],
          [0.165, 2.986], [0.476, 2.879], [0.736, 2.677], [0.916, 2.402],
          [0.997, 2.083], [0.969, 1.755], [0.837, 1.453], [0.614, 1.211],
          [0.325, 1.054], [0.000, 1.000], [0.000, 1.000], [-0.342, 0.940],
          [-0.643, 0.766], [-0.866, 0.500], [-0.985, 0.174], [-0.985, -0.174],
          [-0.866, -0.500], [-0.643, -0.766], [-0.342, -0.940], [-0.000, -1.000]]
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