Technical tools

• hpp-util: technical tools for the HPP project (logging, benchmark, quality assurance tools),

Motion planning for humanoid systems

Kinematic chain with geometry

• hpp-fcl: 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,

Path Planning for humanoid robots

• hpp-wholebody-step: whole-body and walk planning using sliding path approximation.

Manipulation Planning

• hpp-manipulation: Manipulation planning
• hpp-manipulation-urdf: Manipulation planning