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NOTE: The process of uploading the Bagel packages is not finished yet. Thus, the links to some documented packages may still be unavailable.
Bagel is a graph-based programming language, which allows to graphically design a control algorithm and optimize or evolve an algorithm by utilizing learning methods such as genetic algorithms. The general concept is shown in the following figure:
The Bagel project includes a collection of tools allowing to design, execute, test, and validate Bagel graphs. The graphs can be defined in yaml files, see Bagel-Format. The single components can either be build from source (see install from source) or be installed via a precompiled package (precompiled package).
Bagel Magic Bagel-Magic
The BagelMagic GUI is a wizard to easily create a Bagel graph
for a selected robot model and to configure the
simulation to test the graph with the model in a selected simulation scenario
(office, outdoor, etc.). In the default use-case the user starts BagelMagic
to design and test Bagel graphs.
Bagel GUI Bagel-GUI
BagelGui is an application to graphically visualize and edit Bagel graphs.
c_bagel c_bagel
The c_bagel is a pure C implementation to load, execute, and save Bagel graphs.
cpp_bagel_wrapper (link)
This library provides a comfortable interface to load and execute Bagel graphs from within C++ projects.
bagel_db bagel_db
A file system-based database to manage Bagel graphs.
bagel_unit_testing (link)
A small program that can be used to define desired input-output mapping of Bagel graphs and test them.
xrock_bagel_tools (link)
Command line tools to organize Bagel graphs of bagel_db.
Bagel MARS (link)
An interface to the 3D-simulation tool MARS.
The Bagel graphs can be executed in the simulation tool to
test, plot, and export their output even if no robot is used. A robot model
can be generated with Phobos.
Install dependencies for Ubuntu:
Ubuntu 18.04:
sudo apt install python-yaml git python-qt4
Ubuntu 20.04:
sudo apt install python-is-python3 python3-yaml git python3-pyqt5
If you have a minimal installation of Ubuntu you also have to install a c++ compiler:
sudo apt install g++ make
The following bootstrap script will use PyBob to install the Bagel components:
wget https://raw.githubusercontent.com/dfki-ric/bagel_wiki/master/bootstrap_magic.sh
bash bootstrap_magic.sh
Note: Run the script with bash bootstrap_magic.sh.
To start Bagel Magic type:
cd bob-magic-dev
source env.sh
cd bagel/bagel_magic
python gui.py