This package provides 2 scripts that generate wholebody motion for Pyrène

• simple-wholebody.py generates a collision free motion from an initial configuration to a randomly generated goal configuration,
• manipulation.py generates a manipulation motion where the robot grasps an object lying on a table, flips the object and put it back on the table.

Follow the instructions provided in file instructions:

• install hpp via robotpkg,
• make sure omniNames is running, otherwise start it,
• run hpp-manipulation-server, run the desired python script,
• to display the resulting path, run gepetto-gui and follow the instructions commented out at the end of both scripts.

The resulting motion is sampled at .1 second in /tmp/traj.yaml.