Technical tools

• hpp-util: technical tools for the HPP project (logging, benchmark, quality assurance tools),
• hpp-statistics: various tools to make statistics on motion planning algorithms,

Motion planning

Kinematic chain with geometry

• coal: Modified version of Flexible collision library, for collision detection and distance computation,
• pinocchio: implementation of kinematic chain with dynamic computations,
• hpp-pinocchio: Interface between pinocchio and hpp-core,

Non linear constraints

• hpp-constraints: definition of some nonlinear constraints,

Path planning

• hpp-core: definition of basic classes, path planning problems and solvers,

Manipulation Planning

• hpp-manipulation: Manipulation planning
• hpp-manipulation-urdf: SRDF parser for Manipulation planning (handles, grippers, contact surfaces)