Getting Started¶

Prerequisites¶

Linux (x86_64, glibc 2.28+) on a CPU with AVX2 (Intel Haswell / AMD Zen or newer)
Python 3.10–3.14

Installation¶

Pre-built wheels are available for Python 3.10–3.14 on Linux x86_64. No local compilation required:

pip install drone-planning

Verify installation¶

from drone_planning.planning import create_planner
from drone_planning.x500 import HOME_JOINTS

planner = create_planner("x500")
goal = planner.sample_valid()
result = planner.plan(HOME_JOINTS.copy(), goal)
print(f"Planning {'succeeded' if result.success else 'failed'}")

Building Wheels from Source¶

Wheels are built with cibuildwheel inside the manylinux Docker images (configured under [tool.cibuildwheel] in pyproject.toml). To build one locally:

pipx run cibuildwheel --platform linux --only cp312-manylinux_x86_64

The output goes to wheelhouse/. Requirements: Docker must be installed and running.

Releasing¶

Pushing a v* tag runs .github/workflows/release.yml, which builds manylinux_2_34 and manylinux_2_28 wheels for every supported Python and publishes them to PyPI via Trusted Publishing:

# after bumping `version` in pyproject.toml on main
git tag v0.1.0
git push origin v0.1.0

Trusted Publishing needs a (pending) publisher registered once on pypi.org for project drone-planning: owner H-tr, repository Drone-Planning, workflow release.yml, environment pypi.

Development Setup¶

For contributing or rebuilding C++ dependencies from source, use pixi:

git clone --recursive https://github.com/H-tr/Drone-Planning.git
cd Drone-Planning
bash scripts/setup.sh

Or manually:

git clone --recursive https://github.com/H-tr/Drone-Planning.git
cd Drone-Planning
pixi install
pixi run cricket-build
pixi run foam-build

pixi run test runs the test suite; pixi run generate-fk rebuilds the robot model end to end (see Robot Model).