humanoid path planner · i path optimizers (random shortcut), i steering methods (straight...
TRANSCRIPT
![Page 1: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/1.jpg)
IntroductionDescription of the software
Manipulation planning
Humanoid Path Planner
Florent Lamiraux
CNRS-LAAS, Toulouse, France
HPP
![Page 2: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/2.jpg)
IntroductionDescription of the software
Manipulation planning
Humanoid Path Planner
Introduction
Description of the software
Manipulation planning
HPP
![Page 3: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/3.jpg)
IntroductionDescription of the software
Manipulation planning
Outline
Introduction
Description of the software
Manipulation planning
HPP
![Page 4: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/4.jpg)
IntroductionDescription of the software
Manipulation planning
Path Planning
GivenI A robot (kinematic chain),I obstacles,I constraints,I an initial configuration andI goal configurations,
Compute a collision-free path satisfying the constraints fromthe initial configuration to a goal configuration.
HPP
![Page 5: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/5.jpg)
IntroductionDescription of the software
Manipulation planning
Path Planning
GivenI A robot (kinematic chain),I obstacles,I constraints,I an initial configuration andI goal configurations,
Compute a collision-free path satisfying the constraints fromthe initial configuration to a goal configuration.
HPP
![Page 6: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/6.jpg)
IntroductionDescription of the software
Manipulation planning
Path Planning
GivenI A robot (kinematic chain),I obstacles,I constraints,I an initial configuration andI goal configurations,
Compute a collision-free path satisfying the constraints fromthe initial configuration to a goal configuration.
HPP
![Page 7: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/7.jpg)
IntroductionDescription of the software
Manipulation planning
Path Planning
GivenI A robot (kinematic chain),I obstacles,I constraints,I an initial configuration andI goal configurations,
Compute a collision-free path satisfying the constraints fromthe initial configuration to a goal configuration.
HPP
![Page 8: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/8.jpg)
IntroductionDescription of the software
Manipulation planning
Path Planning
GivenI A robot (kinematic chain),I obstacles,I constraints,I an initial configuration andI goal configurations,
Compute a collision-free path satisfying the constraints fromthe initial configuration to a goal configuration.
HPP
![Page 9: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/9.jpg)
IntroductionDescription of the software
Manipulation planning
Historical perspective
I 1998: Move3D,I 2001: Creation of Kineo-CAM, transfer of Move3D,I 2006: Release of KineoWorks-2, development of HPP
based on KineoWorks-2,I 2013: kineo-CAM is bought by Siemens,I December 2013: development of HPP open-source.
HPP
![Page 10: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/10.jpg)
IntroductionDescription of the software
Manipulation planning
Historical perspective
I 1998: Move3D,I 2001: Creation of Kineo-CAM, transfer of Move3D,I 2006: Release of KineoWorks-2, development of HPP
based on KineoWorks-2,I 2013: kineo-CAM is bought by Siemens,I December 2013: development of HPP open-source.
HPP
![Page 11: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/11.jpg)
IntroductionDescription of the software
Manipulation planning
Historical perspective
I 1998: Move3D,I 2001: Creation of Kineo-CAM, transfer of Move3D,I 2006: Release of KineoWorks-2, development of HPP
based on KineoWorks-2,I 2013: kineo-CAM is bought by Siemens,I December 2013: development of HPP open-source.
HPP
![Page 12: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/12.jpg)
IntroductionDescription of the software
Manipulation planning
Historical perspective
I 1998: Move3D,I 2001: Creation of Kineo-CAM, transfer of Move3D,I 2006: Release of KineoWorks-2, development of HPP
based on KineoWorks-2,I 2013: kineo-CAM is bought by Siemens,I December 2013: development of HPP open-source.
HPP
![Page 13: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/13.jpg)
IntroductionDescription of the software
Manipulation planning
Historical perspective
I 1998: Move3D,I 2001: Creation of Kineo-CAM, transfer of Move3D,I 2006: Release of KineoWorks-2, development of HPP
based on KineoWorks-2,I 2013: kineo-CAM is bought by Siemens,I December 2013: development of HPP open-source.
HPP
![Page 14: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/14.jpg)
IntroductionDescription of the software
Manipulation planning
Outline
Introduction
Description of the software
Manipulation planning
HPP
![Page 15: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/15.jpg)
IntroductionDescription of the software
Manipulation planning
Overview of the architecture
Modular: collection of packagesI package dependencies tracked by pkg-config,I installation managed by cmake and a git submodule:
git://github.com/jrl-umi3218/jrl-cmakemodules.git,I programmed in C++,I controlled via python
HPP
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IntroductionDescription of the software
Manipulation planning
Overview of the architecture
Modular: collection of packagesI package dependencies tracked by pkg-config,I installation managed by cmake and a git submodule:
git://github.com/jrl-umi3218/jrl-cmakemodules.git,I programmed in C++,I controlled via python
HPP
![Page 17: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/17.jpg)
IntroductionDescription of the software
Manipulation planning
Overview of the architecture
Modular: collection of packagesI package dependencies tracked by pkg-config,I installation managed by cmake and a git submodule:
git://github.com/jrl-umi3218/jrl-cmakemodules.git,I programmed in C++,I controlled via python
HPP
![Page 18: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/18.jpg)
IntroductionDescription of the software
Manipulation planning
Overview of the architecture
Modular: collection of packagesI package dependencies tracked by pkg-config,I installation managed by cmake and a git submodule:
git://github.com/jrl-umi3218/jrl-cmakemodules.git,I programmed in C++,I controlled via python
HPP
![Page 19: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/19.jpg)
IntroductionDescription of the software
Manipulation planning
Overview of the architecture
Modular: collection of packagesI package dependencies tracked by pkg-config,I installation managed by cmake and a git submodule:
git://github.com/jrl-umi3218/jrl-cmakemodules.git,I programmed in C++,I controlled via python
HPP
![Page 20: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/20.jpg)
IntroductionDescription of the software
Manipulation planning
Overview of the architecture
HPP
![Page 21: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/21.jpg)
IntroductionDescription of the software
Manipulation planning
Software Development KitPackages implementing the core infrastructure
I Kinematic chain with geometryI hpp-model: implementation of kinematic chain with
geometry,I tree of joints (Rotation, Translation, SO3: unit-quaternions),I moving fcl::CollisionObjects,I forward kinematics,I joint Jacobians,I center of mass and Jacobian.
I Path planningI hpp-core: definition of basic classes,
I path planning problems,I path planning solvers (RRT),I constraints (locked dofs, numerical constraints)I path optimizers (random shortcut),I steering methods (straight interpolation)
HPP
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IntroductionDescription of the software
Manipulation planning
Software Development KitPackages implementing the core infrastructure
I Kinematic chain with geometryI hpp-model: implementation of kinematic chain with
geometry,I tree of joints (Rotation, Translation, SO3: unit-quaternions),I moving fcl::CollisionObjects,I forward kinematics,I joint Jacobians,I center of mass and Jacobian.
I Path planningI hpp-core: definition of basic classes,
I path planning problems,I path planning solvers (RRT),I constraints (locked dofs, numerical constraints)I path optimizers (random shortcut),I steering methods (straight interpolation)
HPP
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IntroductionDescription of the software
Manipulation planning
Extensions
Packages implementing other algorithmsI hpp-model-urdf: construction of robots and objects by
parsing urdf/srdf files.I hpp-wholebody-step: whole-body and walk planning
using sliding path approximation,I hpp-manipulation: manipulation planning (see next
section)
HPP
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IntroductionDescription of the software
Manipulation planning
Extensions
Packages implementing other algorithmsI hpp-model-urdf: construction of robots and objects by
parsing urdf/srdf files.I hpp-wholebody-step: whole-body and walk planning
using sliding path approximation,I hpp-manipulation: manipulation planning (see next
section)
HPP
![Page 25: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/25.jpg)
IntroductionDescription of the software
Manipulation planning
Extensions
Packages implementing other algorithmsI hpp-model-urdf: construction of robots and objects by
parsing urdf/srdf files.I hpp-wholebody-step: whole-body and walk planning
using sliding path approximation,I hpp-manipulation: manipulation planning (see next
section)
HPP
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IntroductionDescription of the software
Manipulation planning
Python control
hpp-corbaserver: python scripting through CORBAI embed hpp-core into a CORBA server and expose
services through 3 idl interfaces:I Robot load and initializes robot,I Obstacle load and build obstacles,I Problem define and solve problem.
I Implement python classes to help user call CORBAservices
I Robot automatize robot loading,I ProblemSolver definition problem helper.
HPP
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IntroductionDescription of the software
Manipulation planning
Python control
hpp-corbaserver: python scripting through CORBAI embed hpp-core into a CORBA server and expose
services through 3 idl interfaces:I Robot load and initializes robot,I Obstacle load and build obstacles,I Problem define and solve problem.
I Implement python classes to help user call CORBAservices
I Robot automatize robot loading,I ProblemSolver definition problem helper.
HPP
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IntroductionDescription of the software
Manipulation planning
Python control
ExtensionsI hpp-wholebody-step-corba: control of humanoid
specific constraints and algorithms,I hpp-manipulation-corba: control of manipulation
planning specific classes and algorithms.
HPP
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IntroductionDescription of the software
Manipulation planning
Python control
ExtensionsI hpp-wholebody-step-corba: control of humanoid
specific constraints and algorithms,I hpp-manipulation-corba: control of manipulation
planning specific classes and algorithms.
HPP
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IntroductionDescription of the software
Manipulation planning
Visualization through ROS/rviz
Implemented by package hpp ros.
HPP
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IntroductionDescription of the software
Manipulation planning
Demonstration
HPP
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IntroductionDescription of the software
Manipulation planning
Outline
Introduction
Description of the software
Manipulation planning
HPP
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IntroductionDescription of the software
Manipulation planning
Manipulation
Class of problem containing:I A robot: actuated DOFsI Objects: unactuated DOFs
A solution will be a succession of motion of two types:I The robot moves without constraints. Objects do not move.I The robot moves while grasping the object.
HPP
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IntroductionDescription of the software
Manipulation planning
Manipulation
Class of problem containing:I A robot: actuated DOFsI Objects: unactuated DOFs
A solution will be a succession of motion of two types:I The robot moves without constraints. Objects do not move.I The robot moves while grasping the object.
HPP
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IntroductionDescription of the software
Manipulation planning
Manipulation
2 states:
Not holding
Objectfixed
Holding
Grasp
Ungrasp
Keep thegrasp
HPP
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IntroductionDescription of the software
Manipulation planning
Manipulation
4 transitions:
Not holdingObjectfixed
Holding
Grasp
Ungrasp
Keep thegrasp
HPP
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IntroductionDescription of the software
Manipulation planning
Manipulation
4 transitions:
Not holdingObjectfixed
Holding
Grasp
Ungrasp
Keep thegrasp
HPP
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IntroductionDescription of the software
Manipulation planning
Manipulation
4 transitions:
Not holdingObjectfixed
Holding
Grasp
Ungrasp
Keep thegrasp
HPP
![Page 39: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/39.jpg)
IntroductionDescription of the software
Manipulation planning
Constraint
DefinitionA function f ∈ D1(C,Rm).
Level setA level set of a constraint f is:
Lf0(f ) = {q ∈ C|f (q) = f0}
ProjectionUsing a Newton Descent algorithm:
qrand |f (qrand) 6= f0 ⇒ qproj |f (qproj) = f0
HPP
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IntroductionDescription of the software
Manipulation planning
Constraint
DefinitionA function f ∈ D1(C,Rm).
Level setA level set of a constraint f is:
Lf0(f ) = {q ∈ C|f (q) = f0}
ProjectionUsing a Newton Descent algorithm:
qrand |f (qrand) 6= f0 ⇒ qproj |f (qproj) = f0
HPP
![Page 41: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/41.jpg)
IntroductionDescription of the software
Manipulation planning
Constraint
DefinitionA function f ∈ D1(C,Rm).
Level setA level set of a constraint f is:
Lf0(f ) = {q ∈ C|f (q) = f0}
ProjectionUsing a Newton Descent algorithm:
qrand |f (qrand) 6= f0 ⇒ qproj |f (qproj) = f0
HPP
![Page 42: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/42.jpg)
IntroductionDescription of the software
Manipulation planning
Constraint
Two types of constraints:
ConfigurationOnly one level set is interesting: L0(f ).
MotionA level set also represents reachability space.
HPP
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IntroductionDescription of the software
Manipulation planning
Foliation
In the configuration space:
2 constraints on motionI f : position of the object.I g: grasp of the object.
HPP
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IntroductionDescription of the software
Manipulation planning
Constraint graph
Lf
f
Lg
f
f
g
HPP
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IntroductionDescription of the software
Manipulation planning
Constraint graph
Lff Lg
f
f
g
HPP
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IntroductionDescription of the software
Manipulation planning
Rapidly exploring Random Tree
qrand = shoot random config()qnear = nearest neighbor(qrand , tree)fe, fp = select next state(qnear )qproj = project(qrand , fe)qnew = extend(qnear , qproj , fp)tree.insert node( (qnear , qnew , fp) )
HPP
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IntroductionDescription of the software
Manipulation planning
Rapidly exploring Random Tree
qrand = shoot random config()qnear = nearest neighbor(qrand , tree)fe, fp = select next state(qnear )qproj = project(qrand , fe)qnew = extend(qnear , qproj , fp)tree.insert node( (qnear , qnew , fp) )
HPP
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IntroductionDescription of the software
Manipulation planning
Rapidly exploring Random Tree
qrand = shoot random config()qnear = nearest neighbor(qrand , tree)fe, fp = select next state(qnear )qproj = project(qrand , fe)qnew = extend(qnear , qproj , fp)tree.insert node( (qnear , qnew , fp) )
HPP
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IntroductionDescription of the software
Manipulation planning
Rapidly exploring Random Tree
qrand = shoot random config()qnear = nearest neighbor(qrand , tree)fe, fp = select next state(qnear )qproj = project(qrand , fe)qnew = extend(qnear , qproj , fp)tree.insert node( (qnear , qnew , fp) )
HPP
![Page 50: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/50.jpg)
IntroductionDescription of the software
Manipulation planning
Rapidly exploring Random Tree
qrand = shoot random config()qnear = nearest neighbor(qrand , tree)fe, fp = select next state(qnear )qproj = project(qrand , fe)qnew = extend(qnear , qproj , fp)tree.insert node( (qnear , qnew , fp) )
HPP
![Page 51: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/51.jpg)
IntroductionDescription of the software
Manipulation planning
Rapidly exploring Random Tree
qrand = shoot random config()qnear = nearest neighbor(qrand , tree)fe, fp = select next state(qnear )qproj = project(qrand , fe)qnew = extend(qnear , qproj , fp)tree.insert node( (qnear , qnew , fp) )
HPP
![Page 52: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/52.jpg)
IntroductionDescription of the software
Manipulation planning
hpp-manipulation-corba
There are tools to:I read URDF files of robots and objects;I create grasp contraints between a end-effector (robot) and
a handle (object);I build the graph of constraints;
HPP
![Page 53: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/53.jpg)
IntroductionDescription of the software
Manipulation planning
hpp-manipulation-corba
There are tools to:I read URDF files of robots and objects;I create grasp contraints between a end-effector (robot) and
a handle (object);I build the graph of constraints;
HPP
![Page 54: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/54.jpg)
IntroductionDescription of the software
Manipulation planning
hpp-manipulation-corba
There are tools to:I read URDF files of robots and objects;I create grasp contraints between a end-effector (robot) and
a handle (object);I build the graph of constraints;
HPP
![Page 55: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/55.jpg)
IntroductionDescription of the software
Manipulation planning
DocumentationEntry point on Gepetto home page:
HPP
![Page 56: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/56.jpg)
IntroductionDescription of the software
Manipulation planning
Installation
Go tohttps://github.com/humanoid-path-planner/hpp-docand follow the installation instructions.
HPP
![Page 57: Humanoid Path Planner · I path optimizers (random shortcut), I steering methods (straight interpolation) HPP. Introduction Description of the software Manipulation planning Extensions](https://reader034.vdocuments.site/reader034/viewer/2022043016/5f3880c3d46d241c4a2627b5/html5/thumbnails/57.jpg)
IntroductionDescription of the software
Manipulation planning
Keep informed
I Mailing list [email protected] to discuss issues related to thesoftware,
I github notifications for issues related to individualpackages
HPP