.gitlab-ci.yml

+include: http://rainboard.laas.fr/project/hpp-rbprm-corba/.gitlab-ci.yml

.yapfignore

+script
+profile
+affordance-tests

CMakeLists.txt

-# Copyright (c) 2012 CNRS
-# Author: Florent Lamiraux
+# Copyright (c) 2012, 2020, CNRS
+# Authors: Florent Lamiraux, Guilhem Saurel
 #
 # This file is part of hpp-rbprm-corba.
 # hpp-rbprm-corba is free software: you can redistribute it
@@ -15,45 +15,36 @@
 # hpp-rbprm-corba.  If not, see
 # <http://www.gnu.org/licenses/>.
 
-# Requires at least CMake 2.6 to configure the package.
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-
-SET(CXX_DISABLE_WERROR true)
-
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/idl.cmake)
-INCLUDE(cmake/python.cmake)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
 SET(PROJECT_NAME hpp-rbprm-corba)
 SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
-SET(PROJECT_URL "")
-
-# Set to 1 for profiling
-#add_definitions(-DPROFILE)
 
 SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+SET(CXX_DISABLE_WERROR true)
 
-SETUP_PROJECT ()
+INCLUDE(cmake/hpp.cmake)
+INCLUDE(cmake/idl.cmake)
+INCLUDE(cmake/python.cmake)
 
-SET(${PROJECT_NAME}_HEADERS
-  include/hpp/corbaserver/rbprm/server.hh
-)
+COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
+PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-# Activate hpp-util logging if requested
-SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
-IF (HPP_DEBUG)
-  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
-ENDIF()
+LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
 
-ADD_DOC_DEPENDENCY("hpp-core >= 4.2")
-ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.2")
-ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
+FINDPYTHON()
+
+ADD_PROJECT_DEPENDENCY("hpp-rbprm" REQUIRED)
+ADD_PROJECT_DEPENDENCY("hpp-affordance-corba" REQUIRED)
+ADD_PROJECT_DEPENDENCY("hpp-gepetto-viewer")
 ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
-ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
-ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
+ADD_REQUIRED_DEPENDENCY("octomap >= 1.8")
+
+set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/CDD")
+ADD_PROJECT_DEPENDENCY(CDD REQUIRED)
 
-add_required_dependency("octomap >= 1.8")
-if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
+if(OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
         include_directories(${OCTOMAP_INCLUDE_DIRS})
         link_directories(${OCTOMAP_LIBRARY_DIRS})
   string(REPLACE "." ";" VERSION_LIST ${OCTOMAP_VERSION})
@@ -62,341 +53,30 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
   list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
   add_definitions (-DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
                    -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
-                   -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
+                   -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}  -DHPP_FCL_HAVE_OCTOMAP=1)
         message(STATUS "FCL uses Octomap" ${OCTOMAP_MINOR_VERSION})
 else()
         message(STATUS "FCL does not use Octomap")
 endif()
 
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-ADD_SUBDIRECTORY(src)
-
-CONFIG_FILES (include/hpp/corbaserver/rbprm/doc.hh)
-
-SET(CATKIN_PACKAGE_SHARE_DESTINATION
-  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
-
-install(FILES
-  data/package.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-install(FILES
-  data/urdf/hrp2_trunk.urdf
-  data/urdf/hrp2_trunk_flexible.urdf
-  data/urdf/hrp2_trunk_lowBody_flexible.urdf
-  data/urdf/hrp2_trunk_arms_flexible.urdf
-  data/urdf/hrp2_rom.urdf
-  data/urdf/hrp2_larm_rom.urdf
-  data/urdf/hrp2_rarm_rom.urdf
-  data/urdf/hrp2_lleg_rom.urdf
-  data/urdf/hrp2_rleg_rom.urdf
-  data/urdf/hyq/hyq_trunk.urdf
-  data/urdf/hyq/hyq_trunk_large.urdf
-  data/urdf/hyq/hyq_trunk_large_realist.urdf
-  data/urdf/hyq/hyq_rhleg_rom.urdf
-  data/urdf/hyq/hyq_rfleg_rom.urdf
-  data/urdf/hyq/hyq_lhleg_rom.urdf
-  data/urdf/hyq/hyq_lfleg_rom.urdf
-  data/urdf/hyq/hyq_rom.urdf
-  data/urdf/box_rom.urdf
-  data/urdf/box.urdf
-  data/urdf/scene.urdf
-  data/urdf/scene_wall.urdf
-  data/urdf/truck.urdf
-  data/urdf/stair_bauzil.urdf
-  data/urdf/climb.urdf
-  data/urdf/stepladder.urdf
-  data/urdf/ground.urdf
-  data/urdf/groundcrouch.urdf
-  data/urdf/darpa.urdf
-  data/urdf/darpa_no_mid.urdf
-  data/urdf/darpa_no_ctc_mid.urdf
-  data/urdf/car.urdf
-  data/urdf/polaris.urdf
-  data/urdf/siggraph_asia/chair.urdf
-  data/urdf/siggraph_asia/down.urdf
-  data/urdf/siggraph_asia/scale.urdf
-  data/urdf/siggraph_asia/scale_spidey.urdf
-  data/urdf/siggraph_asia/grasp.urdf
-  data/urdf/siggraph_asia/plane_hole.urdf
-  data/urdf/siggraph_asia/stairs_lower.urdf
-  data/urdf/siggraph_asia/wall.urdf
-  data/urdf/siggraph_asia/twister.urdf
-  data/urdf/siggraph_asia/overview.urdf
-  data/urdf/siggraph_asia/mount.urdf
-  data/spiderman/urdf/SpidermanLFootSphere.urdf
-  data/spiderman/urdf/SpidermanLHandSphere.urdf
-  data/spiderman/urdf/SpidermanRFootSphere.urdf
-  data/spiderman/urdf/SpidermanRHandSphere.urdf
-  data/spiderman/urdf/spiderman_trunk.urdf
-  data/spiderman/urdf/spiderman.urdf
-
-  #~ data/urdf/scene2.urdf
-  data/urdf/robot_test/robot_test_lleg_rom.urdf
-  data/urdf/robot_test/robot_test_rleg_rom.urdf
-  data/urdf/robot_test/robot_test_trunk.urdf
-	data/urdf/ground_bigStep.urdf
-	data/urdf/ground_jump_easy.urdf
-	data/urdf/ground_jump_low.urdf
-	data/urdf/ground_jump_bar.urdf
-	data/urdf/ground_jump_med.urdf
-	data/urdf/ground_with_bridge.urdf
-	data/urdf/roomWall.urdf
-    data/urdf/sideWall.urdf
-    data/urdf/sideWall_long.urdf
-	data/urdf/downSlope.urdf
-	data/urdf/downSlope_easy.urdf
-	data/urdf/downSlope_easy20.urdf
-	data/urdf/slalom.urdf
-	data/urdf/bauzil_stairs.urdf
-	data/urdf/bauzil_stairs_10cm.urdf
-	data/urdf/bauzil_stairs_collision.urdf
-	data/urdf/flat_step.urdf
-	data/urdf/flat_hole.urdf
-	data/urdf/cross_gap.urdf
-  data/urdf/floor_bauzil.urdf
-  data/urdf/floor_bauzil_obstacles.urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
+SET(${PROJECT_NAME}_HEADERS
+  include/${CUSTOM_HEADER_DIR}/server.hh
   )
-install(FILES
-  data/srdf/hrp2_trunk.srdf
-  data/srdf/hrp2_trunk_flexible.srdf
-  data/srdf/hrp2_trunk_lowBody_flexible.srdf
-  data/srdf/hrp2_trunk_arms_flexible.srdf
-  data/srdf/hrp2_rom.srdf
-  data/srdf/hrp2_larm_rom.srdf
-  data/srdf/hrp2_rarm_rom.srdf
-  data/srdf/hrp2_lleg_rom.srdf
-  data/srdf/hrp2_rleg_rom.srdf
-  data/srdf/hyq/hyq_trunk.srdf
-  data/srdf/hyq/hyq_trunk_large.srdf
-  data/srdf/hyq/hyq_trunk_large_realist.srdf
-  data/srdf/hyq/hyq_rhleg_rom.srdf
-  data/srdf/hyq/hyq_rfleg_rom.srdf
-  data/srdf/hyq/hyq_lhleg_rom.srdf
-  data/srdf/hyq/hyq_lfleg_rom.srdf
-  data/srdf/hyq/hyq_rom.srdf
-  data/srdf/box_rom.srdf
-  data/srdf/box.srdf
-  data/srdf/scene.srdf
-  data/srdf/scene_wall.srdf
-  data/srdf/truck.srdf
-  data/srdf/stair_bauzil.srdf
-  data/srdf/climb.srdf
-  data/srdf/stepladder.srdf
-  data/srdf/ground.srdf
-  data/srdf/groundcrouch.srdf
-  data/srdf/darpa.srdf
-  data/srdf/darpa_no_ctc_mid.srdf
-  data/srdf/darpa_no_mid.srdf
-  data/srdf/car.srdf
-  data/srdf/polaris.srdf
-  data/srdf/siggraph_asia/chair.srdf
-  data/srdf/siggraph_asia/down.srdf
-  data/srdf/siggraph_asia/scale.srdf
-  data/srdf/siggraph_asia/scale_spidey.srdf
-  data/srdf/siggraph_asia/grasp.srdf
-  data/srdf/siggraph_asia/wall.srdf
-  data/srdf/siggraph_asia/plane_hole.srdf
-  data/srdf/siggraph_asia/stairs_lower.srdf
-  data/srdf/siggraph_asia/overview.srdf
-  data/srdf/siggraph_asia/twister.srdf
-  data/srdf/siggraph_asia/mount.srdf
-  data/spiderman/srdf/SpidermanLFootSphere.srdf
-  data/spiderman/srdf/SpidermanLHandSphere.srdf
-  data/spiderman/srdf/SpidermanRFootSphere.srdf
-  data/spiderman/srdf/SpidermanRHandSphere.srdf
-  data/spiderman/srdf/spiderman.srdf
-  data/spiderman/srdf/spiderman_trunk.srdf
 
-  #~ data/srdf/scene2.srdf
-  data/srdf/robot_test/robot_test_lleg_rom.srdf
-  data/srdf/robot_test/robot_test_rleg_rom.srdf
-  data/srdf/robot_test/robot_test_trunk.srdf
-	data/srdf/ground_bigStep.srdf
-	data/srdf/ground_jump_easy.srdf
-	data/srdf/ground_jump_low.srdf
-	data/srdf/ground_jump_bar.srdf
-	data/srdf/ground_jump_med.srdf
-	data/srdf/ground_with_bridge.srdf
-	data/srdf/roomWall.srdf
-	data/srdf/sideWall.srdf
-	data/srdf/sideWall_long.srdf
-	data/srdf/downSlope.srdf
-	data/srdf/downSlope_easy.srdf
-	data/srdf/downSlope_easy20.srdf
-	data/srdf/slalom.srdf
-	data/srdf/bauzil_stairs.srdf
-	data/srdf/bauzil_stairs_10cm.srdf
-	data/srdf/bauzil_stairs_collision.srdf
-	data/srdf/flat_step.srdf
-	data/srdf/flat_hole.srdf
-	data/srdf/cross_gap.srdf
-  data/srdf/floor_bauzil.srdf
-  data/srdf/floor_bauzil_obstacles.srdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
-  )
-install(FILES
-	data/meshes/darpa.stl
-	data/meshes/darpa_no_mid.stl
-	data/meshes/darpa_no_ctc_mid.stl
-	data/meshes/darpa_no_ctc_mid_collision.stl
-	data/meshes/darpareduced.stl
-	data/meshes/car.stl
-	data/meshes/car_simple.stl
-	data/meshes/ground.stl
-	data/meshes/ground_table.stl
-	data/meshes/hrp2_trunk.stl
-	data/meshes/hrp2_trunk_body.stl
-	data/meshes/hrp2_trunk_body_low.stl
-	data/meshes/hrp2_trunk_torso.stl
-	data/meshes/hrp2_trunk_torso_arms.stl
-	data/meshes/hrp2_trunk_body_view.dae
-	data/meshes/hrp2_trunk_body_low_view.dae
-	data/meshes/hrp2_trunk_torso_arms_view.dae
-	data/meshes/hrp2_trunk_torso_view.dae
-	data/meshes/hrp2_rom.stl
-	data/meshes/hrp2_larm_rom.stl
-	data/meshes/hrp2_rarm_rom.stl
-	data/meshes/hrp2_lleg_rom.stl
-	data/meshes/hrp2_rleg_rom.stl
-	data/meshes/ground.stl
-	data/meshes/box.stl
-	data/meshes/box_rom.stl
-	data/meshes/robot_box.stl
-	data/meshes/chair_simple.stl
-	data/meshes/ground.stl
-	data/meshes/groundcrouch.stl
-	data/meshes/truck.stl
-	data/meshes/truck_vision.stl
-	data/meshes/stair_bauzil.stl
-	data/meshes/stair_bauzil_reduced.stl
-	data/meshes/climb.stl
-	data/meshes/stepladder.stl
-	data/meshes/car.stl
-  data/meshes/polaris.stl
-  data/meshes/polaris_reduced.stl
-	data/meshes/ground_bigStep.stl
-	data/meshes/ground_jump_easy.stl
-	data/meshes/ground_jump_easyStart.stl
-	data/meshes/ground_jump_easyStart2.stl
-	data/meshes/ground_jump_easyGoal.stl
-	data/meshes/ground_jump_lowGoal.stl
-	data/meshes/ground_jump_bar.stl
-	data/meshes/ground_jump_med.stl
-	data/meshes/ground_with_bridge.stl
-	data/meshes/roomWall.stl
-	data/meshes/sideWall.stl
-	data/meshes/sideWall_long.stl
-	data/meshes/downSlope.stl
-	data/meshes/downSlope_easy.stl
-	data/meshes/downSlope_easy20.stl
-	data/meshes/downSlope2.stl
-	data/meshes/slalom.stl
-	data/meshes/bauzil_stairs.stl
-	data/meshes/bauzil_stairs_10cm.stl
-	data/meshes/bauzil_stairs_noRamp.stl
-	data/meshes/bauzil_walk_stairs.stl
-	data/meshes/flat_step.stl
-	data/meshes/polaris.stl
-	data/meshes/polaris_reduced.stl
-	data/meshes/siggraph_asia/twister.stl
-	data/meshes/siggraph_asia/overview.stl
-	data/meshes/siggraph_asia/down.stl
-	data/meshes/siggraph_asia/scale.stl
-    data/meshes/siggraph_asia/chair.stl
-    data/meshes/siggraph_asia/scale_spidey.stl
-    data/meshes/siggraph_asia/mountain.stl
-    data/meshes/siggraph_asia/grasp.stl
-    data/meshes/siggraph_asia/plane_hole.stl
-    data/meshes/siggraph_asia/wall.stl
-    data/meshes/siggraph_asia/stairs_lower.stl
-  data/meshes/flat_hole.stl
-  data/meshes/cross_gap.stl
-  data/meshes/cross_gap2.stl
-  data/meshes/floor_bauzil.stl
-  data/meshes/floor_bauzil_obstacles.stl
-  data/meshes/bauzil_stairs_noRamp_simplified.stl
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
+SET(${PROJECT_NAME}_SOURCES
+  src/${PROJECT_NAME}.cc
   )
 
+# Stand alone corba server
+ADD_EXECUTABLE(hpp-rbprm-server ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+TARGET_INCLUDE_DIRECTORIES(hpp-rbprm-server PUBLIC $<INSTALL_INTERFACE:include>)
+TARGET_LINK_LIBRARIES(hpp-rbprm-server hpp-corbaserver::hpp-corbaserver)
+INSTALL(TARGETS hpp-rbprm-server EXPORT ${TARGETS_EXPORT_NAME} DESTINATION bin)
 
-install(FILES
-        data/spiderman/meshes/spiderman-LFoot.stl
-        data/spiderman/meshes/spiderman-LFootToe.stl
-        data/spiderman/meshes/spiderman-LForearm.stl
-        data/spiderman/meshes/spiderman-LHand.stl
-        data/spiderman/meshes/spiderman-LHumerus.stl
-        data/spiderman/meshes/spiderman-LShank.stl
-        data/spiderman/meshes/spiderman-LThigh.stl
-        data/spiderman/meshes/spiderman-pelvis_box.stl
-        data/spiderman/meshes/spiderman-pelvis.stl
-        data/spiderman/meshes/spiderman-RFoot.stl
-        data/spiderman/meshes/spiderman-RFootToe.stl
-        data/spiderman/meshes/spiderman-RForearm.stl
-        data/spiderman/meshes/spiderman-RHand.stl
-        data/spiderman/meshes/spiderman-RHumerus.stl
-        data/spiderman/meshes/spiderman-RShank.stl
-        data/spiderman/meshes/spiderman-RThigh.stl
-        data/spiderman/meshes/spiderman-skull_box.stl
-        data/spiderman/meshes/spiderman-skull.stl
-        data/spiderman/meshes/spiderman-thorax_box.stl
-        data/spiderman/meshes/spiderman-thorax.stl
-        data/spiderman/meshes/lfoot_rom.stl
-        data/spiderman/meshes/lhand_rom.stl
-        data/spiderman/meshes/rfoot_rom.stl
-        data/spiderman/meshes/rhand_rom.stl
-
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/spiderman
-  )
-
-install(FILES
-	data/meshes/hyq/hyq_all.stl
-	data/meshes/hyq/hyq_all_realist.stl
-	data/meshes/hyq/hyq_trunk.stl
-	data/meshes/hyq/hyq_trunk_large.stl
-	data/meshes/hyq/hyq_trunk_large2.stl
-	data/meshes/hyq/hyq_trunk_large3.stl
-	data/meshes/hyq/hyq_trunk_large4.stl
-	data/meshes/hyq/hyq_rom.stl
-	data/meshes/hyq/hyq_rhleg_rom.stl
-	data/meshes/hyq/hyq_rfleg_rom.stl
-	data/meshes/hyq/hyq_lhleg_rom.stl
-	data/meshes/hyq/hyq_lfleg_rom.stl
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/hyq
-  )
-
-install(FILES
-	data/meshes/robot_test/robot_trunk_view.stl
-	data/meshes/robot_test/robot_trunk.stl
-	data/meshes/robot_test/Lleg_rom.stl
-	data/meshes/robot_test/Rleg_rom.stl
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/robot_test
-  )
+ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(tests)
 
-install(FILES
-	data/com_inequalities/LLEG_JOINT0_com_constraints.obj
-	data/com_inequalities/RLEG_JOINT0_com_constraints.obj
-	data/com_inequalities/RARM_JOINT0_com_constraints.obj
-	data/com_inequalities/LARM_JOINT0_com_constraints.obj
-	data/com_inequalities/rf_haa_joint_com_constraints.obj
-	data/com_inequalities/rh_haa_joint_com_constraints.obj
-	data/com_inequalities/lf_haa_joint_com_constraints.obj
-	data/com_inequalities/lh_haa_joint_com_constraints.obj
-  data/com_inequalities/arm_left_1_joint_com_constraints.obj
-  data/com_inequalities/arm_right_1_joint_com_constraints.obj
-  data/com_inequalities/leg_left_1_joint_com_constraints.obj
-  data/com_inequalities/leg_right_1_joint_com_constraints.obj
-  data/com_inequalities/LLEG_JOINT0_com_constraints.dae
-	data/com_inequalities/RLEG_JOINT0_com_constraints.dae
-	data/com_inequalities/LLEG_LINK5_Kinematics.dae
-	data/com_inequalities/RLEG_LINK5_Kinematics.dae
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/com_inequalities
-  )
-  
-#~ install(DIRECTORY data/hyq_description
-  #~ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
-  #~ )
-  
-SETUP_PROJECT_FINALIZE()
+CONFIG_FILES (include/${CUSTOM_HEADER_DIR}/doc.hh)
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 
+INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})

NEWS

+                                                                -*- outline -*-
+New in 4.6.0
+* Update installation instructions in README.
+* Update to API change of configuration shooters.
+

README.md

 #  Humanoid Path Planner - RBPRM-CORBA module
 
-Copyright 2015 LAAS-CNRS
+[![Pipeline status](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-rbprm-corba/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-rbprm-corba/commits/master)
+[![Coverage report](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-rbprm-corba/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/humanoid-path-planner/hpp-rbprm-corba/master/coverage/)
 
-Author: Steve Tonneau
+Copyright 2015-2020 LAAS-CNRS
 
-##Description
+Authors: Steve Tonneau, Pierre Fernbach
+
+## Description
 hpp-rbprm-corba implements python bindings for hpp-rbprm, and presents a few example files.
-Please refer to this [link](https://github.com/stonneau/hpp-rbprm) for information on hpp-rbprm.
+Please refer to this [link](https://github.com/humanoid-path-planner/hpp-rbprm) for information on hpp-rbprm.
 
-##Installation on ubuntu-14.04 64 bit with ros-indigo
+## Installation from binary package repository
 
-To install hpp-rbprm-corba:
+1. Add robotpkg/wip to your apt configuration: http://robotpkg.openrobots.org/robotpkg-wip.html
+2. `sudo apt update && sudo apt install robotpkg-pyXX-hpp-rbprm-corba` (replace pyXX with your python version)
+3. Then, you will need to export some variables to allow you system to find the executables:
 
-  1. Install HPP-RBPRM and its dependencies
-	- see https://github.com/stonneau/hpp-rbprm
+`export PATH=${PATH:+$PATH:}/opt/openrobots/bin:/opt/openrobots/sbin`
 
-  2. Install HPP-AFFORDANCE-CORBA along with its dependencies
-  - see https://github.com/anna-seppala/hpp-affordance-corba
+`export MANPATH=${MANPATH:+$MANPATH:}/opt/openrobots/man`
 
-  3. Use CMake to install the library. For instance:
+`export PYTHONPATH=/opt/openrobots/lib/pythonXX/site-packages:$PYTHONPATH`(replace XX with your python version)
 
-			mkdir $HPP_RBPRM_CORBA_DIR/build
-			cd $HPP_RBPRM_CORBA_DIR/build
-			cd cmake ..	
-			make install
-	
+`export ROS_PACKAGE_PATH="$ROS_PACKAGE_PATH:/opt/openrobots/share"`
 
+`export DEVEL_HPP_DIR=/opt/openrobots/`
 
-##Documentation
+(you may want to add these to your .bashrc file)
 
-  Open $DEVEL_DIR/install/share/doc/hpp-rbprm-corba/doxygen-html/index.html in a web brower and you
-  will have access to the code documentation. If you are using ipython, the documentation of the methods implemented
-  is also directly available in a python console.
+## Installation From source on ubuntu-16.04 64 bit with ros-kinetic
+
+1. Follow this instructions : http://humanoid-path-planner.github.io/hpp-doc/download.html (select 'Devellopement" in the list)
+2. Once this installation is complete, run `make rbprm`
 
-##Example
+## Optional: installing viewer and python bindings for dependencies
 
-  To see the planner in action, two examples from our IJRR submission with HyQ are available. Examples with HRP-2 are also provided,
-  though they can only be executed if you have access to HRP-2 model.
+If you are planning to use the visualization tools used by the Gepetto team, along with python examples, you may need a few extra steps:
 
+1. Install the gepetto-viewer server
 
-  - First of all, retrieve and build the HyQ model from its github repository:
-	https://github.com/iit-DLSLab/hyq-description
+`sudo apt install -qqy robotpkg-pyXX-qt4-gepetto-viewer-corba`
 
+`sudo apt install -qqy robotpkg-pyXX-qt4-hpp-gepetto-viewer`
 
-    ```$ rosrun xacro xacro.py  hyq_description/robots/hyq_model.urdf.xacro -o  hyq.urdf```
+2. Install the pinocchio bindings
 
-  - Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
+`sudo apt install -qqy robotpkg-pyXX-pinocchio`
 
-  - The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios/demos.
+3. Install the dae extension for osg
 
-  - To see the different steps of the process run
+`sudo apt install -qqy robotpkg-osg-dae`
 
-    ```$ ./run.sh darpa_hyq_path.py```
+## Documentation
+
+  Open $DEVEL_DIR/install/share/doc/hpp-rbprm-corba/doxygen-html/index.html in a web brower and you
+  will have access to the code documentation. If you are using ipython, the documentation of the methods implemented
+  is also directly available in a python console.
 
-  The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.
+## Example
+
+  To see the planner in action, one example from our IJRR submission with HyQ is available. Examples with HRP-2 are also provided, though they can only be executed if you have access to HRP-2 model.
+
+  - You can find the scripts in your install directory, in `lib/pythonXX/dist-packages/hpp/corbaserver/rbprm/scenarios/demos` folder.
+
+  - The planning is decomposed in two phases / scripts. First, a root path is computed (`\*_path.py files`). Then, the contacts are generated along the computed path.
+
+  - In order to start a scenario, run:
+  
+  `python -im hpp.corbaserver.rbprm demos.hyq_darpa`
+  
+   Replace demos.hyq_darpa with the name of any file in the demos or memmo folder to try different scenarios.
+  
+  - Once the script have been executed, you can display the results in the viewer (if you installed it):
+  
+      - If it was a `\*_path.py` script, you can run:
+      
+          - `planner.play_path()` to display the computed guide path
+          
+          - `planner.v(planner.q_init)` or `planner.v(planner.q_goal)` to put the robot at the initial / goal position of the planning
+          
+      - If it was a a contact generation script, you can run:
+      
+          - `cg.display_sequence()` to display the sequence of configurations in contact computed
+          
+          - `cg.display_init_config()` or `cg.display_end_config()` to put the robot at the initial / final whole body configuration
+          
+          - `cg.v(cg.configs[i])` to display the i-th wholebody configuration of the sequence
+          
+          - `cg.play_guide_path()` to display the guide path
+
+
+## Creating a new scenario script
+
+Start from one of the scripts in the scenarios/demos folder, eg `talos_flatGround.py`. 
+
+* All the `\*_path.py` scripts must define a class called `PathPlanner` that inherit from one of the `{robot}_path_planner` classes defined in the scenarios folder.
+    
+    * In the run() method, define the environment used and the initial/goal position
+    
+    * If further customization is needed, override the required methods from the parent class.
+    
+* All the contact generation scripts must define a class called `ContactGenerator` that inherit from one of the `{robot}_contact_generator` classes defined in the scenarios folder.
+
+    * In the constructor of this class, the parent constructor must be called with an instance of the desired `PathPlanner` class, defining the environment and the guide trajectory. 
+    
+    * This class may override any method from the parent class in order to change the default settings/choices regarding the contact generation

cmake @ ee7a773c

-Subproject commit 320c636960b03b3bad7c7a08bd2e104951f42bc3
+Subproject commit ee7a773c5c23f83dd21eb0ccfa96277e068b0456