Source code for the motion-planning part of the paper Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing.

• CVXOPT for quadratic programming
• OpenRAVE for forward kinematics and visualization (installation instructions)
• HRP4R.dae COLLADA model for HRP4 (md5sum: bb009f37a1783e3b029a77acb6b92a28)
• pymanoid/hrp4.py (md5sum: 82298e46b4d30106aff942dc6e867dfc)

Unfortunately it is unclear whether we can release the last two files due to copyright.

Run python plan_motion.py from the top-level directory.

See also this work (2018) for some dynamic stair climbing.