This package containts a problem for motion planning: a 6-DoF universal robot arm that should move its end effector (holding a cylinder object) through a window and between two cylinders.
The package contains:
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URDF/SRDF/class files describing the objects,
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Some Python scripts going along with HPP software (github.com/humanoid-path-planner) for motion planning,
The problem can be vizualised with HPP-gepetto-viewer (github.com/humanoid-path-planner) or with RViz (must create .launch files).
To install the package with cmake, simply:
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Create a 'build' directory in the source package,
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in the created /build, configure the package - particularly the 'install path variable' - and install it with 'ccmake ..' and 'make install'.