Introduction

HPP (Humanoid Path Planner) is a collection of software packages implementing manipulatoin planning functionalities for diverse types of robots, including humanoid robot.

Installation

Installation instructions can be found on github.

Overview of the architecture

The software is composed of C++ libraries implementing the algorithms. Python bindings built on boost python are provided to help user easily define and solve problems. Visualization of the scene if done in a web browser using viser.

The algorithmic part, built on hpp-manipulation is embedded in several python modules by hpp-python

From a python script, users can define scenes containing robots and environments, they can also define and solve motion planning problems.

Results of path planning requests as well as individual configurations can be displayed in a web browser via package hpp-gepetto-viewer.

Overview of the old architecture

We describe here the former architecture that is deprecated, but still in use in some projects.

The packages are distributed into the following categories:

Algorithms implementing path planning functionalities
Corba communication facilities to control algorithms
Graphical user interface to display configurations and paths.

The algorithmic part, built on hpp-manipulation-corba. The corba servers are linked to executable hppcorbaserver.

From a python terminal, clients to the corba servers can be created in order to control the executable. The control of the application is performed via idl interfaces and python classes available in Corba interfaces.

Results of path planning requests as well as individual configurations can be displayed in gepetto-gui via package hpp-gepetto-viewer.

Getting started

Package hpp_tutorial provides some examples of how to use this project.