Humanoid Path Planner



HPP is a C++ Software Developement Kit implementing path planning for kinematic chains in environments cluttered with obstacles. Collision checking is performed by the Flexible Collision Library developed at University of North Carolina.

A bridge woth ROS/rviz is provided to visualize obstacles, robot configurations and paths. URDF model can also be parsed to build robots.

python scripting is implemented via CORBA servers and idl interfaces in a seamless way.

It is a collection of software packages handled by cmake and pkg-config. You can download a short presentation of the software


To install HPP under ubuntu, follow the instruction provided by the following file.


The documentation generated by doxygen is automatically installed with each software package.


A tutorial is proposed at the bottom of the documentation page to help you get familiar with the software.