Install

python -m venv venv && source venv/bin/activate
pip install -e .

Dependencies: mujoco >= 3.6, numpy >= 1.23, cma >= 3.3, ribs >= 0.12, matplotlib >= 3.6, numba >= 0.58. Optional extras:

pip install -e ".[video]"      # video recording (imageio + ffmpeg)
pip install -e ".[cad]"        # STL parts in the export (build123d)
pip install -e ".[gpu]"        # MJX backend (jax with CUDA 12)

Tests

pip install pytest
pytest tests/ -q

Shortcuts and Docker

The Makefile wraps the common commands (make help lists them):

make install
make test
make train BATCHES=30 WORKERS=3
make list ARCHIVE=checkpoints/steer/archive.pkl
make replay TYPE=12servos-low-belly
make export TYPE=12servos-low-belly

The Dockerfile builds a CPU image with the video and CAD extras, rendering offscreen through EGL:

docker build -t darwinbot .
docker run --rm -v "$PWD/checkpoints:/app/checkpoints" darwinbot make train