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Installation

Requirements

  • Python 3.12 (the 0.1.0 release does not claim support for other versions).
  • A platform supported by the selected Drake wheel and its dependencies.
  • Network access on the first run if Drake or manipulation needs model assets.

Create an isolated environment from the repository root:

python3.12 -m venv .venv
source .venv/bin/activate
python -m pip install --upgrade pip

Install the library

An editable install is convenient for the source checkout:

python -m pip install -e .

Confirm that the package and CLI are visible:

python -c "import online_gcs; print(online_gcs.__version__)"
online-gcs --help
python -m online_gcs --help

Optional extras

Install development and documentation tools when contributing:

python -m pip install -e '.[dev,docs]'

The experiments extra adds plotting and tabular-analysis dependencies; it is not needed for the library, CLI, or examples.

python -m pip install -e '.[experiments]'

Solver and model notes

IRIS and GCS use the solver support provided by Drake. Trajectory optimization also depends on a compatible mathematical-program solver being available. A missing solver is an environment capability issue, not proof that a query has no path. Consult Troubleshooting for diagnosis.