From dec980f8e1937c073ee6972b42a00cd4076e0816 Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Tue, 24 Mar 2026 18:29:48 +0100 Subject: [PATCH 1/3] [tutorial_2] Import Viewer in init.py --- tutorial_2/init.py | 1 + 1 file changed, 1 insertion(+) diff --git a/tutorial_2/init.py b/tutorial_2/init.py index 7b079a5..77b46fe 100644 --- a/tutorial_2/init.py +++ b/tutorial_2/init.py @@ -1,5 +1,6 @@ from pinocchio import SE3, neutral from pyhpp.manipulation import Device, urdf +from pyhpp_viser import Viewer robot = Device("tuto") From 1285327c355dddc159c8d75a5dd9e101fbc91b94 Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Tue, 24 Mar 2026 18:52:05 +0100 Subject: [PATCH 2/3] [tutorial_1] Install viser by pip in docker image. --- tutorial_1/Dockerfile | 2 ++ tutorial_1/config.sh | 7 ++++--- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/tutorial_1/Dockerfile b/tutorial_1/Dockerfile index c379dc5..9e19398 100644 --- a/tutorial_1/Dockerfile +++ b/tutorial_1/Dockerfile @@ -40,3 +40,5 @@ RUN mkdir /home/user/devel ENV DEVEL_HPP_DIR=/home/user/devel RUN echo "source $DEVEL_HPP_DIR/config.sh" >> /home/user/.bashrc +RUN python3 -m venv /home/user/install-pip +RUN /home/user/install-pip/bin/pip install "numpy==1.26.4" trimesh pycollada viser diff --git a/tutorial_1/config.sh b/tutorial_1/config.sh index 3677c4b..dbdc4f2 100644 --- a/tutorial_1/config.sh +++ b/tutorial_1/config.sh @@ -1,12 +1,13 @@ export INSTALL_HPP_DIR=$DEVEL_HPP_DIR/install +export INSTALL_PIP_DIR=$HOME/install-pip export ROBOTPKG=/opt/openrobots -export PATH=$INSTALL_HPP_DIR/sbin:$INSTALL_HPP_DIR/bin:$ROBOTPKG/bin:$ROBOTPKG/sbin:$PATH +export PATH=$INSTALL_HPP_DIR/bin:$ROBOTPKG/bin:$PATH export PKG_CONFIG_PATH=$INSTALL_HPP_DIR/lib/pkgconfig/:$ROBOTPKG/lib/pkgconfig -export PYTHONPATH=$INSTALL_HPP_DIR/lib/python3.12/site-packages:$ROBOTPKG/lib/python3.12/site-packages:$PYTHONPATH +export PYTHONPATH=$INSTALL_HPP_DIR/lib/python3.12/site-packages:$INSTALL_PIP_DIR/lib/python3.12/site-packages:$ROBOTPKG/lib/python3.12/site-packages:$PYTHONPATH -export LD_LIBRARY_PATH=$INSTALL_HPP_DIR/lib:$ROBOTPKG/lib:$INSTALL_HPP_DIR/lib64:$LD_LIBRARY_PATH +export LD_LIBRARY_PATH=$INSTALL_HPP_DIR/lib:$INSTALL_PIP_DIR/lib:$ROBOTPKG/lib:$INSTALL_HPP_DIR/lib64:$LD_LIBRARY_PATH export AMENT_PREFIX_PATH=$INSTALL_HPP_DIR:$ROBOTPKG export CMAKE_PREFIX_PATH=$INSTALL_HPP_DIR:$ROBOTPKG:/usr From f012b62f23a8050fc406cdaeaf46f10d2ec3f665 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 24 Mar 2026 20:12:05 +0000 Subject: [PATCH 3/3] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- tutorial_2/init.py | 1 - 1 file changed, 1 deletion(-) diff --git a/tutorial_2/init.py b/tutorial_2/init.py index 77b46fe..7b079a5 100644 --- a/tutorial_2/init.py +++ b/tutorial_2/init.py @@ -1,6 +1,5 @@ from pinocchio import SE3, neutral from pyhpp.manipulation import Device, urdf -from pyhpp_viser import Viewer robot = Device("tuto")