ARIEL: Autonomous Robots through Integrated Evolution and Learning

Requirements

• vscode

  • containers ext
  • container tools ext

• Container manager:

  • podman desktop
  • docker desktop

• vscode containers tut

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Installation and Running

This project uses uv.

To run the code examples please do

uv venv
uv sync
uv run examples/0_render_single_frame.py

TODO: Installation

Notes

This project is managed using uv

Python Code Style Guide

This repository uses the numpydoc documentation standard. For more information checkout: numpydoc-style guide

MuJoCo

Attachments

Robot parts should be attached using the site functionality (from body to body), while robots should be added to a world using the frame functionality (from spec to spec).

• Python → Attachment
• mjsFrame

NOTE: when attaching a body, only the contents of worldbody get passed, meaning that, for example, compiler options are not!

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IMPORTANT!!

Change the default configuration of vscode dev containers to accept podman!

Either by the settings gui:

Running the code

• In general you can run the currently open python script via the command palette (cmd+shift+p):
  • Tasks: Run Task -> Run script: uv run {$file}

Run GUI:

• via terminal

uv run src/ariel/gui_code/litegraph/main.py

Run EA Example

uv run src/ariel/ec/a004.py

Run MuJoCo Example(s)a

Any from the examples/ folder

For example (pun intended):

uv run examples/_hi_prob_dec.py

Neat commands!

Grab requirements.tex automatically

uv add tool pipreqs
pipreqs path/to/parse --mode no-pin --force
uv add -r requirements.txt