Tutorial fixes and additions: build deps, path optimization, Gazebo execution by psardin001 · Pull Request #165 · humanoid-path-planner/hpp-tutorial

psardin001 · 2026-04-14T12:02:33Z

tutorial_1 : build fixes

Add qttools5-dev dependency and fix hpp-plot dependency chain
Add --system-site-packages to the python venv
Use qgv from robotpkg instead of building from source
Avoid mixing robotpkg and source-built headers (was causing
compilation failures in hpp-python)

tutorial_5 : path optimization

New tutorial: path optimization and time parameterization
Fix obstacle position, add path optimization and slow acceleration
Set constraint graph on problem before optimization

tutorial_6 : Gazebo execution (new)

Execute HPP-generated motions on a simulated robot via hpp_exec

…celeration - Move obstacle to [0.5, -0.2, 1.2] so it blocks the straight-line path - Add RandomShortcut path optimization before time parameterization - Use maxAcceleration=0.5 for slower, more visible motions - Document that effortScale requires mass/inertia data (disabled for Staubli)

- tutorial_6: Dockerfile, controllers, init.py, launch_sim.py - CMakeLists: install rules for tutorial_6 and tutorial_7 - Makefile: add hpp-core, hpp-manipulation, hpp-exec build targets - README: update tutorial 6 description, add tutorial 7 - tutorial_5: remove duplicate graph.initialize() - run_docker.sh: fix executable permission

robotpkg hpp-core/hpp-manipulation headers were shadowing the devel versions built from source, causing compilation failures in hpp-python. Remove robotpkg packages that overlap with source-built ones from the Dockerfile and add hpp-manipulation-urdf to the Makefile with proper dependency chain, so each package comes from exactly one source. Test build — to be validated.

qgv has no hpp dependency, safe to keep from robotpkg binary. Remove qgv source build from Makefile, add robotpkg-qt5-qgv to Dockerfile.

[tutorial_5] Set constraint graph on problem before optimization

for more information, see https://pre-commit.ci

florent-lamiraux · 2026-04-14T14:42:55Z

+TOPPRA typically produces shorter execution times than `SimpleTimeParameterization` because it
+computes the time-optimal solution rather than a conservative polynomial approximation.


Actually, TOPPRA does not stop at waypoint, making the velocity discontinuous. We need to better understand how those algorithms work.
Probably, TOPPRA should be used after SplineGradientBased_bezier3.

florent-lamiraux · 2026-04-15T06:26:49Z

In tutorial_1/README.md we need to add a "Troubleshooting" section explaining that on some machines, id -u returns 1000 and that this index is already used in the docker image, making command adduser fail.

In this case in Dokerfile, replace

RUN addgroup --gid $DOCKER_GROUP user
RUN adduser --uid $DOCKER_USER --gid $DOCKER_GROUP user

by

RUN adduser user

florent-lamiraux · 2026-04-15T06:17:28Z

+```
+cd <your devel directory>
+docker run --gpus all --env DISPLAY --env QT_X11_NO_MITSHM=1 \
+    --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw --net host --privileged \
+    -v .:/home/user/devel --rm --name hpp -it hpp-tutorial-ros2
+```


For consistency, I would provide a run_ros_docker.sh script either in the root directory or in this directory.

Co-authored-by: Florent Lamiraux <florent@laas.fr>

for more information, see https://pre-commit.ci

nim65s · 2026-04-15T07:21:08Z

on some machines, id -u returns 1000

that is on virtually all machines, except corporate ones.

For consistency, I would provide a run_ros_docker.sh

If you are going to re-invent dev-containers, please try those that already exist first : https://containers.dev/

(IMHO, the right class of tool for this problem is a package manager, not a piece of the cloud stack)

nim65s · 2026-04-15T07:30:02Z

 hpp-toppra_repository=${HPP_REPO}
 hpp-toppra_branch=main
 hpp-toppra_extra_flags=
+toppra_repository=${HPP_REPO}


Please explain why do you need to fork

i approved a commit suggestion by @florent-lamiraux but i must admit i'm not sure why this change was needed. there was also an error in the suggestion so the lines were duplicated. I can clean up and revert the changes.

Please explain why do you need to fork

For stability reasons. I do not want to depend on the develop branch of a third-party repository belonging to a private person.

then why not use a tag ?

… overwriting

florent-lamiraux · 2026-04-15T08:44:35Z

(IMHO, the right class of tool for this problem is a package manager, not a piece of the cloud stack)

Another solution is to create a docker image without sharing volumes, but I do not like this solution.
Will devcontainer allow to share volumes without the files created by the container belonging to a user unknown to the host machine ?

…ild-args

nim65s · 2026-04-15T09:25:07Z

Will devcontainer allow to share volumes without the files created by the container belonging to a user unknown to the host machine ?

I guess that is what they were made for, yes.
I don't use those, though, so I'm not the best person to answer this kind of questions.

…lt user

Co-authored-by: Florent Lamiraux <florent@laas.fr>

psardin001 and others added 10 commits April 14, 2026 13:55

Add tutorial 5: path optimization and time parameterization

2e32e6c

tutorial 7: WIP pick and place with gripper

1413d26

[tutorial_1] Use qgv from robotpkg instead of building from source

bb5aa29

qgv has no hpp dependency, safe to keep from robotpkg binary. Remove qgv source build from Makefile, add robotpkg-qt5-qgv to Dockerfile.

[tutorial_1] Add --system-site-packages to python venv

b8d3727

[tutorial_1] Add qttools5-dev dep, fix hpp-plot dependency

c6815d4

[tutorial_5] Set constraint graph on problem before optimization

[pre-commit.ci] auto fixes from pre-commit.com hooks

d6d66ac

for more information, see https://pre-commit.ci

CMakeLists: drop install rules for tutorial_6 and tutorial_7

ac69462

florent-lamiraux requested changes Apr 14, 2026

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florent-lamiraux reviewed Apr 15, 2026

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psardin001 and others added 5 commits April 15, 2026 09:02

Use HPP fork of toppra, switch hpp-toppra to devel

60483e9

Co-authored-by: Florent Lamiraux <florent@laas.fr>

Group SimpleTimeParameterization under Time parameterization

af453e0

Co-authored-by: Florent Lamiraux <florent@laas.fr>

Demote TOPPRA to subsection of Time parameterization

5fa8f80

Co-authored-by: Florent Lamiraux <florent@laas.fr>

Add plotTraj helper for trajectory visualization

7d2bfbc

Co-authored-by: Florent Lamiraux <florent@laas.fr>

[pre-commit.ci] auto fixes from pre-commit.com hooks

75a816a

for more information, see https://pre-commit.ci

florent-lamiraux requested changes Apr 15, 2026

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Comment thread tutorial_6/README.md

Comment thread tutorial_6/README.md

nim65s requested changes Apr 15, 2026

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psardin001 added 2 commits April 15, 2026 09:37

[tutorial_5] Keep init.py to problem setup, move plotTraj to plot.py

5fecac5

[tutorial_1] Append to AMENT_PREFIX_PATH/CMAKE_PREFIX_PATH instead of…

519b0fd

… overwriting

psardin001 added 3 commits April 15, 2026 10:53

[tutorial_6] Clarify docker build runs on host machine

b32a4e0

[tutorial_6,7] Sort imports (ruff I001)

7cf5043

[tutorial_1,6] Use default UID for docker user instead of host UID bu…

9317d16

…ild-args

psardin001 added 2 commits April 15, 2026 14:34

[tutorial_1,6] Match container UID to host; remove Ubuntu 24.04 defau…

4f4e9d6

…lt user

[tutorial_1] Remove dead toppra/hpp-toppra assignments

fba54e8

[tutorial_5] Switch pipeline to Bezier3 + TOPPRA

e1a8614

florent-lamiraux requested changes Apr 16, 2026

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Comment thread tutorial_1/Dockerfile Outdated

Update tutorial_1/Dockerfile

37b6b52

Co-authored-by: Florent Lamiraux <florent@laas.fr>

		TOPPRA typically produces shorter execution times than `SimpleTimeParameterization` because it
		computes the time-optimal solution rather than a conservative polynomial approximation.

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psardin001 commented Apr 14, 2026

tutorial_6 : Gazebo execution (new)

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florent-lamiraux commented Apr 15, 2026 •

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