add_morphology.md

Adding a new morphology

1. Implementing the morphology's code
The first step is to code the morphology's body in a new file that will be placed in a folder corresponding to its type of morphology inside the bodies folder.
If the morphology to be added is of a new type, just create a new folder for this type in bodies and code its abstract class.

2. Adding policies
Create appropriate folders in policy_models and follow the add_policy_model tutorial to add some policies for your new morphology.

3. Handle morphology dependencies in the code

• multi_agents_continous_parkour.js: Add a case to handle your morphology inside the create_agent function.
• draw_p5.js: Add a case to handle your morphology inside the drawName, drawObservation and drawReward functions.
• i18n.js: Add an entry with a title and a description for your morphology to the morphologies entry for all languages.

4. [Optional] Set up for local launch
4.1. Convert the policy models of your new morphology to a web-friendly format

ls -d policy_models/<type>/<morphology>/*/ | xargs -I"{}" tensorflowjs_converter --input_format=tf_saved_model --saved_model_tags=serve --skip_op_check {}tf1_save web_demo/{}

4.2. Generate the list of policy models

python3 policies_to_json.py

5. Add a thumbnail for your morphology
Once all is set up and you can add an agent with your morphology to the simulation, you just need to take a screenshot of it and add it to agents_thumbnails with the name <morphology_name>_thumbnail.png.