doc: add readme for bindings

Author: Meow404

.bazelrc

@@ -51,6 +51,4 @@ build --action_env=LD_LIBRARY_PATH=
 # use python3 by default
 build --python_path=python3
 
-build --define=WITH_GUROBI=ON
-
-build --local_resources=cpu=8
+build --define=WITH_GUROBI=ON

bindings/pyc3/README.md

@@ -0,0 +1,101 @@
+# pyc3 Python Bindings
+
+This directory contains the Bazel build configuration and source files for the `pyc3` Python bindings for C3 (Consensus Complementarity Control).
+
+The `pyc3` package provides Python bindings for the C3 algorithm, allowing you to work with Linear Complementarity Systems (LCS), solve Mixed-Integer Quadratic Programs (MIQP), and control systems using the C3 framework.
+
+---
+
+## Prerequisites
+
+Before building and installing pyc3, ensure you have:
+
+1. **Drake**: C3 depends on Drake for multibody dynamics and optimization
+2. **Gurobi**: Required for the MIQP solver (version 10.0 recommended)
+3. **Bazel**: For building the project
+4. **Python 3.8+**: With development headers
+
+For detailed setup instructions, see the main [C3 README](../../README.md).
+
+---
+
+## Building and Installing pyc3 in a Virtual Environment
+
+Follow these steps to build the `pyc3` Python wheel and install it into a virtual environment.
+
+### 1. Create and Activate a Python Virtual Environment
+
+```sh
+python3 -m venv venv
+source venv/bin/activate
+```
+
+### 2. Build the pyc3 Python Wheel
+
+From the root of the C3 repository, build the Python wheel using Bazel:
+
+```sh
+bazel build //bindings/pyc3:pyc3_wheel
+```
+
+This will create a wheel file in the Bazel output directory.
+
+### 3. Install the pyc3 Wheel
+
+Install the built wheel into your virtual environment:
+
+```sh
+pip install bazel-bin/bindings/pyc3/pyc3_wheel.whl
+```
+
+### 4. Verify Installation
+
+Test that pyc3 was installed correctly:
+
+```python
+python -c 'import pyc3; print("pyc3 installed successfully!")'
+```
+
+---
+
+## Examples
+
+Complete examples are available in the `examples/python/` directory:
+
+- **`c3_example.py`**: Basic C3 optimization example
+- **`c3_controller_example.py`**: Real-time controller with Drake integration
+- **`lcs_factory_example.py`**: LCS creation from multibody systems
+
+To run an example:
+
+```sh
+cd examples/python
+python c3_example.py
+```
+
+---
+
+## Troubleshooting
+
+### Common Issues
+
+1. **Import Error**: If you get import errors, ensure Drake is properly installed and your virtual environment is activated.
+
+2. **Gurobi License**: Make sure your Gurobi license is properly configured:
+   ```sh
+   export GUROBI_HOME=/opt/gurobi1000/linux64
+   export GRB_LICENSE_FILE=/path/to/your/gurobi.lic
+   ```
+
+3. **Build Errors**: Ensure all prerequisites are installed and Bazel can find Drake:
+   ```sh
+   bazel clean
+   bazel build //bindings/pyc3:pyc3_wheel
+   ```
+
+### Getting Help
+
+- Check the main [C3 repository issues](https://github.com/DAIRLab/c3/issues)
+- Review the [C3 paper](https://arxiv.org/abs/2304.11259) for algorithmic details
+- See [dairlib](https://github.com/DAIRLab/dairlib) for more comprehensive examples
+