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Platform & Dependencies Changes

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Change Date Impact Breaking Status
Conda → Pixi Migration Aug 2025 High ✅ Yes ✅ Complete
Python 3.10.x Requirement Aug 2025 Medium ⚠️ Potentially ✅ Complete
CARLA 0.9.15 Standardization Aug 2025 Medium ✅ Yes ✅ Complete
Enhanced Windows Support Aug 2025 Low ❌ No ✅ Complete
Documentation System Migration Aug 2025 Low ❌ No ✅ Complete

Package Management

What Changed: Replaced Conda/Anaconda with Pixi package manager

# Before (Conda)
conda env create -f environment.yml
conda activate opencda
conda install new-package

opencda conda install new-package

# After (Pixi)
pixi install
pixi shell  # or pixi run <command>
pixi add new-package
  1. Install Pixi: curl -fsSL https://pixi.sh/install.sh | bash
  2. Remove conda environment: conda env remove -n opencda
  3. Run: pixi install
  4. Use pixi shell or pixi run for commands
  • Performance: 10x faster environment creation
  • Reliability: Better dependency resolution
  • Features: Built-in task runner
  • Compatibility: Cross-platform support
  • Reproducibility: Lock files and consistent environments

Impact: Complete environment rebuild required
Files: pixi.toml replaces environment.yml

Python & Runtime

What Changed: Standardized on Python 3.10.x for Windows/CUDA compatibility

Component Version Notes
Python 3.10.11 Required
CUDA 12.8 For GPU support
CARLA 0.9.15 Fixed version
PyTorch 2.0+ CUDA 12.8 compatible
OS Python CUDA Status
Windows 11 3.10.11 12.8 ✅ Fully Supported
Windows 10 3.10.11 12.8 ✅ Fully Supported
Ubuntu 22.04 3.10.x 12.x ✅ Fully Supported
Ubuntu 20.04 3.10.x 11.x ⚠️ Limited Support
macOS 3.10.x N/A ❌ Not Supported

Impact: May require Python version upgrade Benefits: Consistent Windows support, CUDA 12.8 compatibility

CARLA Integration & Dependencies

What Changed:

  1. Fixed CARLA version to 0.9.15 with pre-built wheels
  2. Updated major packages for Python 3.10 and MARL support
  3. Migrated from Sphinx to MkDocs for documentation
# Automatic via Pixi (recommended) 
pixi install

# Manual installation
pip install dependencies/whl/carla-0.9.15-cp310-cp310-win_amd64.whl

dependencies/whl/ 
├── carla-0.9.15-cp310-cp310-win_amd64.whl 
├── carla-0.9.15-cp310-cp310-linux_x86_64.whl 
└── ...

docs/ # New MkDocs documentation 
├── opencda/ # OpenCDA core docs 
├── marl/ # MARL extension docs 
└── api/ # API references

Impact: All scenarios now use CARLA 0.9.15 consistently & documentation is now in MkDocs Benefits: Reduced compatibility issues, simplified deployment & better documentation

# pixi.toml 
[dependencies] 
python = "3.10.11" 
carla = "0.9.15" # via local wheel 
pytorch = ">=2.0" # CUDA 12.8 compatible 
numpy = "<2.0" # Compatibility constraint 
opencv-python = ">=4.8" 
omegaconf = ">=2.3" 
ray = ">=2.0" # For MARL
Impact: Automatic installation via Pixi
Benefits: MARL support, better GPU performance, modern tooling

# Old (Sphinx)
cd docs && make html

# New (MkDocs)
pixi run docs-serve    # Live preview at localhost:8000
pixi run docs-build    # Build static site
pixi run docs-deploy   # Deploy to GitHub Pages

Installation Guide

Clean Installation

Follow these steps for a fresh installation

# 1. Install 
Pixi curl -fsSL https://pixi.sh/install.sh | bash
# 2. Clone repository
git clone https://github.com/radar-lab/opencda-marl.git
cd opencda-marl

# 3. Install dependencies
pixi install

# 4. Activate environment
pixi shell

# 5. Verify installation
pixi run quick-test

# Build image 
docker build -t opencda-marl .

# Run with GPU support
docker run --gpus all opencda-marl

# 1. Install Pixi 
iwr -useb https://pixi.sh/install.ps1 | iex

# 2. Follow same steps as Quick Start
pixi install
pixi shell
pixi run quick-test

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