Waypoints

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Waypoints#

Pass by a sequence of points. Use Path instead when points are dense and you want to just pass by.

Example#

The video has been recorded using

$ navground_py record_video waypoints.yaml waypoints.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
      task:
        type: Waypoints
        waypoints: [[1, 1], [1, -1], [-1, -1], [-1, 1]]
        tolerance: 0.25
        loop: true
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