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
PlaCo is available from pip, or can be built from sources.
Here is the official documentation
You can also find many examples in the placo-examples repository.