GCS* Implicit Graph Whole Body Motion Planning

Pydrake implementation of whole body motion planning with implicit graphs of convex sets.

Installation

This package requires specific conda dependencies before installation. Set up your environment as follows:

# Create and activate conda environment
conda create -n gcs python=3.10 libstdcxx-ng>=12.2.0 -c conda-forge
conda activate gcs

# Install the package
pip install --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly .

Note: Drake requires Python 3.10/3.11 and a recent version of libstdcxx-ng. We tested with 3.11 and libstdcxx-ng==14.2.0