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Merged
florent-lamiraux merged 3 commits into from
Mar 25, 2026
Merged

Improve tutorial 1 and 2. #161

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dec980f
[tutorial_2] Import Viewer in init.py
florent-lamiraux Mar 24, 2026
1285327
[tutorial_1] Install viser by pip in docker image.
florent-lamiraux Mar 24, 2026
f012b62
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 24, 2026
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2 changes: 2 additions & 0 deletions tutorial_1/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -40,3 +40,5 @@ RUN mkdir /home/user/devel
ENV DEVEL_HPP_DIR=/home/user/devel

RUN echo "source $DEVEL_HPP_DIR/config.sh" >> /home/user/.bashrc
RUN python3 -m venv /home/user/install-pip
RUN /home/user/install-pip/bin/pip install "numpy==1.26.4" trimesh pycollada viser
7 changes: 4 additions & 3 deletions tutorial_1/config.sh
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@@ -1,12 +1,13 @@
export INSTALL_HPP_DIR=$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
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