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florent-lamiraux merged 2 commits into from
Mar 31, 2026
Merged

[tutorial 3] Import missing symbol. #163

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3d5aad2
[tutorial 3] Import missing symbol.
florent-lamiraux Mar 31, 2026
28b152d
nix: switch to flakoboros
nim65s Mar 31, 2026
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126 changes: 85 additions & 41 deletions flake.lock
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3 changes: 2 additions & 1 deletion flake.nix
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Expand Up @@ -3,6 +3,7 @@

inputs = {
gepetto.url = "github:gepetto/nix";
flakoboros.follows = "gepetto/flakoboros";
gazebros2nix.follows = "gepetto/gazebros2nix";
flake-parts.follows = "gepetto/flake-parts";
nixpkgs.follows = "gepetto/nixpkgs";
Expand All @@ -20,7 +21,7 @@
imports = [
inputs.gepetto.flakeModule
{
gazebros2nix.overrides.hpp-tutorial = _final: {
flakoboros.overrideAttrs.hpp-tutorial = _: {
src = lib.fileset.toSource {
root = ./.;
fileset = lib.fileset.unions [
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1 change: 1 addition & 0 deletions tutorial_3/README.md
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Expand Up @@ -180,6 +180,7 @@ You can visualize `qpg` and `qg` in the graphical interface.

We now need to plan a motion between `q_init` and `qpg` and between `qpg` and `qg`, keeping the relevant constraints satisfied. Here the only relevant constraint is that the part should not move. To do so, we will use the `TransitionPlanner` class. This class plans motions along a transition, keeping the constraints of the transition satisfied. The right hand side of the parameterizable constraints of the transition is initialized with the initial configuration. The code below shows how to use this class.
```
from pyhpp.manipulation import TransitionPlanner
planner = TransitionPlanner(problem)
planner.maxIterations(1000)
for i in range(10):
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