This repository contains an implementation of the Ergodic Control using Model Predictive Path Integral (MPPI) method. The code is designed to facilitate research and experimentation in the field of ergodic control for robotic systems.
This repository relies on uv package manager. You can install uv using the following command:
sudo apt-get install curl # if curl is not already installed
curl -LsSf https://astral.sh/uv/install.sh | shAfter installing uv, you can clone this repository and install the required dependencies using:
uv syncNote
Make sure to select the correct Python venv in your IDE after installing the dependencies.
If you do not wish to use uv, you can manually install the required dependencies using pip. First, create a virtual environment and activate it:
python3 -m venv venv
source venv/bin/activate
pip install .