Skip to content

Installation

OpenSCvx is published on PyPI as openscvx and requires Python 3.11 or newer. Its core depends on JAX and CVXPY; the optional extras below pull in plotting, additional solvers, dynamics backends, and modeling features only when you need them.

How to install OpenSCvx

uv pip install openscvx

# Optional: plotting, cvxpygen, stljax, jaxlie, mujoco-mjx extras
uv pip install "openscvx[plotting,cvxpygen,stl,lie,mjx]"

pip install openscvx

# Optional: plotting, cvxpygen, stljax, jaxlie, mujoco-mjx extras
pip install "openscvx[plotting,cvxpygen,stl,lie,mjx]"

git clone https://github.com/OpenSCvx/OpenSCvx.git
cd OpenSCvx
uv pip install -e .

# Optional: plotting, cvxpygen, stljax, jaxlie, mujoco-mjx extras
uv pip install -e ".[plotting,cvxpygen,stl,lie,mjx]"

Install from source if you want to modify the library or track the development branch. Running the examples needs the plotting extra as well, because those scripts import Plotly and Viser at startup.

Optional extras

Extras are installed with the openscvx[extra1,extra2] syntax shown above.

Extra Enables
plotting 2D plots and 3D scenes (matplotlib, plotly, viser).
cvxpygen Generated C solvers via cvxpygen + qocogen.
qpax The qpax differentiable QP backend.
moreau The moreau conic solver backend.
stl Signal Temporal Logic constraints via stljax.
lie Lie-group operators via jaxlie.
mjx MuJoCo MJX dynamics (mujoco, mujoco-mjx).
frax Fractal / frax dynamics support.

Next steps