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octaexon edited this page Jan 10, 2020
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muleAI is a lightweight python library that facilitates research and development in autonomous mobility at RC-scale.
mule /ˈmjuːl/: the forbidden love-child issuing from a male donkey (a jack) and a mare. Sure footed. Even tempered. Ok, maybe your friends laugh at you from their prancing show-ponies, their thoroughbreds, their imported Arabians; but we'll see who gets the last laugh!
muleAI was inspired by the DonkeyCar project. muleAI is a systematic ground-up re-implementation of some core functionality with some priorities in mind:
- A project for more experienced developers
- Simplicity and consistency in modular design
- Lean implementation
- Extended configuration YAML file
- As much as possible is exposed to configuration, allowing rapid changing of parameters during racing days
- Command line interface using click
- Modular part classes inherit from Abstract Base Class
- Enforce proper interface for all new parts
- Include default behaviors such as class strings
- Extensive logging messages throughout the project, for faster debugging
- New adjustment method for PS3 controller, DPad selects a value, and up/down to change the value allowing performance changes as the car is driving
- Images are saved directly to numpy arrays
- No support for any installation or setup method - project is run directly from the git directory.
- Linux and Mac OS are tested, not Windows
- Training of models is left up to the user, in a separate module