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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

Megabot demo

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

Megabot demo

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.