2D Robotic Simulation Framework

Authors: Yuxuan Zhang, Adnan Abdullah

Basic Examples

Random Walk

Attempt 01	Attempt 02	Attempt 03	Attempt 04
python3 -m simulation.RandomWalk data/world -v

Bug0

Left Turn Variant	Right Turn Variant
simulation.Bug0L	simulation.Bug0R

Bug1

Left Turn Variant	Right Turn Variant
simulation.Bug1L	simulation.Bug1R

Bug2

Left Turn Variant	Right Turn Variant
simulation.Bug2L	simulation.Bug2R

WaveFront

python3 -m wavefront.WaveFront data/world -v

Detailed Usage

python3 -m <module> <world>
    [-h] [--prefix PREFIX] [--src SRC] [--dst DST]
    [-t THRESHOLD] [-r RADIUS] [-M MAX_TRAVEL]
    [-s SCALE] [--dpi-scale DPI_SCALE] [-v] [--no-wait]
    [--line-width LINE_WIDTH] [--line-color LINE_COLOR]
    [-R RESOLUTION] [-S SLICE] [--debug]

modules:
  simulation.RandomWalk
  simulation.Bug0L
  simulation.Bug0R
  simulation.Bug1L
  simulation.Bug1R
  simulation.Bug2L
  simulation.Bug2R
  wavefront.WaveFront

positional arguments:
  world                 Path to the map file

options:
  -h, --help            show this help message and exit
  --prefix PREFIX       Destination file or folder
  --src SRC             Simulation Starting Location
  --dst DST             Simulation Destination
  -t, --threshold THRESHOLD
                        Threshold distance near the target
  -r, --radius RADIUS   Collision radius for the robot, in meters
  -M, --max-travel MAX_TRAVEL
                        Max travel distance before aborting the simulation
  -s, --scale SCALE     Scale of viewport, relative to internal occupancy grid
  --dpi-scale DPI_SCALE
                        DPI Scale for UI elements (lines, markers, text)
  -v, --visualize       Enable visualization
  --no-wait             Do not wait for key stroke after simulation is complete, effective only with the -v flag
  --line-width LINE_WIDTH
                        Line Width for Visualization, in Meters
  --line-color LINE_COLOR
                        Color of the trajectory line, in "b,g,r" format
  -R, --resolution RESOLUTION
                        World pixel resolution in meters (m/px)
  -S, --slice SLICE     Output Image Slice in "x,y,w,h" format
  --debug               Toggle debug tools