Troubleshooting
Import or command not found
Confirm Python 3.12 and install the checkout into the active environment:
python --version
python -m pip install -e .
python -c "import online_gcs; print(online_gcs.__version__)"
python -m online_gcs --help
If python -m online_gcs works but online-gcs does not, reactivate the virtual
environment and check that its bin directory is on PATH.
Model downloads or scene construction
The first Drake/manipulation run may retrieve model assets. Check network access
and retry after the download completes. A scene-construction exception should be
reported with the scene name, platform, Drake version, and full error message.
Slow IRIS construction
IRIS can be computationally expensive; runtime grows with scene geometry, seed placement, and solver behavior. Start with one query and two keypoints:
Do not terminate a healthy process solely because its runtime differs from another
machine. Use --verbose when collecting a reproducible bug report.
Solver unavailable
Trajectory optimization depends on a compatible solver in the installed Drake
environment. Try the standard online mode to distinguish an --opt-only solver
problem from scene construction or RRT*. Include the exact capability error in an
issue; installing a different solver may involve separate licensing terms.
Meshcat is not visible
Run with --visualize, copy the printed URL into a browser on the same machine,
and keep the Python process alive. Remote, containerized, or firewalled environments
may require port forwarding that this project does not configure automatically.
Invalid arguments
iterations must be at least 1, keypoints at least 2, pruning non-negative,
worker and path counts at least 1, and animation speed positive. Use the built-in
reference before filing an issue: