System dependencies

macOS:

xcode-select --install
brew install cmake ninja python@3.12

Python:

python3.12 -m venv .venv 
source .venv/bin/activate
python -m pip install -r requirements.txt
python python/train_ppo.py 
python python/evaluate_ppo.py 

To run the C++ main interface

./run_main.sh   

To run the python ML training interface

./compile.sh  
python python/train_ppo.py 
python python/evaluate_ppo.py 

Alternatively: Build the C++ simulator

Run:

cmake -S . -B build -G Ninja
cmake --build build

Then run:

./build/swarm_sim

You should see:

Simulation finished. Wrote trajectory.csv Now you should have: trajectory.csv in your project root.

python python/plot_trajectory.py