Humanoid Path Planner

Software for Motion and Manipulation Planning

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Acknowledgement

This work has been partially supported by:

FP7 Factory in a Day
Euroc project
ERC Actanthrope
PSPC Romeo 2
ANR Entracte
ROB4FAM
RoboCom++

Manipulation planning for assembling objects

Complex assembly problems can be defined and solved.

Factory In A Day - Full sequence

The robot grasp each of 8 parts, move them to the caroussel where they are processed, put them back to the initially empty tray, and finally stacks the empty tray on top of the full tray.

Manipulation planning with tool use inference

HPP demonstration

Differents features that can be achieved using the Humanoid Path Planner

Motion and Manipulation planning in C++

HPP is a C++ Software Developement Kit implementing path planning for kinematic chains in environments cluttered with obstacles. Collision checking is performed by a modified version of the Flexible Collision Library developed at University of North Carolina. Robots can be loaded from URDF model. It is a collection of software packages handled by cmake and pkg-config.

Python interface for quick prototyping of problems

Python scripting is implemented via CORBA servers and idl interfaces in a seamless way. A few lines of Python code allows users to solve motion planning problems or design an planning algorithm.

Shipped with a graphical user interface

A visualization tool is provided to visualize obstacles, robot configurations and paths. It is extendible and allows to program manipulation motion, such as the Factory in a Day use case.