hpp-wholebody-step 4.12.0 Path planning for humanoid robot by sliding on the groud. Joseph Mirabel LGPL Joseph Mirabel Florent Lamiraux et al. catkin hpp-walkgen hpp-walkgen hpp-walkgen eigen3 eigen3 eigen3 urdfdom urdfdom urdfdom hpp-fcl hpp-fcl hpp-fcl romeo_description roboptim-trajectory