| Modified version of Flexible collision library | Collision detection and distance computation, |
| hpp-model | implementation of kinematic chain with dynamic computations, |
| hpp-model-urdf | construction of robots and objects by parsing urdf/srdf files, |
| hpp-constraints | definition of some nonlinear constraints, |
| hpp-core | definition of basic classes, path planning problems and solvers, |
| hpp-wholebody-step | whole-body and walk planning using sliding path approximation. |
| hpp-manipulation | Manipulation planning. |
| hpp-manipulation-urdf | Enhance hpp-model-urdf to support datas required by hpp-manipulation. |
Humanoid Path Planner documentation