From cee5f7b44b3ac827739403623b379b0e8db239e0 Mon Sep 17 00:00:00 2001
From: Paul Sardin <paulsardin123@gmail.com>
Date: Wed, 11 Feb 2026 09:11:31 +0100
Subject: [PATCH 1/2] Fix constraint graph problem getter

---
 src/pyhpp/manipulation/problem.cc | 5 ++---
 src/pyhpp/manipulation/problem.hh | 1 +
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pyhpp/manipulation/problem.cc b/src/pyhpp/manipulation/problem.cc
index 30582044..df03e2a4 100644
--- a/src/pyhpp/manipulation/problem.cc
+++ b/src/pyhpp/manipulation/problem.cc
@@ -55,12 +55,11 @@ Problem::Problem(const hpp::manipulation::ProblemPtr_t& object)
 
 void Problem::constraintGraph(const PyWGraphPtr_t& graph) {
   asManipulationProblem()->constraintGraph(graph->obj);
+  graph_ = graph;
 }
 
 PyWGraphPtr_t Problem::constraintGraph() const {
-  pyhpp::manipulation::PyWGraph* graph =
-      new PyWGraph(asManipulationProblem()->constraintGraph());
-  return std::shared_ptr<PyWGraph>(graph);
+  return graph_;
 }
 
 void Problem::checkProblem() const { asManipulationProblem()->checkProblem(); }
diff --git a/src/pyhpp/manipulation/problem.hh b/src/pyhpp/manipulation/problem.hh
index ae8df708..e04c165c 100644
--- a/src/pyhpp/manipulation/problem.hh
+++ b/src/pyhpp/manipulation/problem.hh
@@ -49,6 +49,7 @@ namespace manipulation {
 // Wrapper class for hpp::manipulation::Problem
 struct Problem : public pyhpp::core::Problem {
   hpp::core::Container<JointAndShapes_t> jointAndShapes;
+  PyWGraphPtr_t graph_;
 
   Problem(const PyWDevicePtr_t& robot);
   Problem(const hpp::manipulation::ProblemPtr_t& object);

From 7679e426aa2e6b095c516235374e6871e32a45f9 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 11 Feb 2026 08:14:05 +0000
Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 src/pyhpp/manipulation/problem.cc | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/pyhpp/manipulation/problem.cc b/src/pyhpp/manipulation/problem.cc
index df03e2a4..498daf70 100644
--- a/src/pyhpp/manipulation/problem.cc
+++ b/src/pyhpp/manipulation/problem.cc
@@ -58,9 +58,7 @@ void Problem::constraintGraph(const PyWGraphPtr_t& graph) {
   graph_ = graph;
 }
 
-PyWGraphPtr_t Problem::constraintGraph() const {
-  return graph_;
-}
+PyWGraphPtr_t Problem::constraintGraph() const { return graph_; }
 
 void Problem::checkProblem() const { asManipulationProblem()->checkProblem(); }