PlaCo

PlaCo is Rhoban's planning and control library. Its main features are:

• Task-space Inverse Kinematics with constraints,
• Task-space Inverse Dynamics with constraints,
• QP problem formulation,
• Built on the top of pinocchio
• Written in C++ with Python bindings

Inverse Kinematics Example: a quadruped robot hitting targets with a leg while keeping its three legs on the ground

source code (quadruped_targets.py) / more kinematics examples

Inverse Dynamics Example: a quadruped with many loop closure joints

source code (megabot.py) / more dynamics examples

Installing

PlaCo is available from pip, or can be built from sources.

Documentation

Here is the official documentation

You can also find many examples in the placo-examples repository.