PlaCo: Rhoban Planning and Control

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Project description

Planning & Control

PlaCo is Rhoban's planning and control library. It is built on the top of pinocchio, eiquadprog QP solver, and fully written in C++ with Python bindings, allowing fast prototyping with good runtime performances. It features task-space inverse kinematics and dynamics (see below) high-level API for whole-body control tasks.

Task-Space Inverse Kinematics

Quadruoped demo

High-level API to specify tasks for constrained inverse kinematics (IK).

Task-Space Inverse Dynamics

Megabot demo

High-level API to specify tasks for constrained inverse dynamics (ID).

Installing

PlaCo can be installed from pip

pip install placo

Or built from sources

Resources

Project details

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Release history Release notifications | RSS feed

0.9.20

0.9.19

0.9.18

0.9.17

0.9.16

0.9.15

0.9.14

0.9.13

0.9.12

0.9.11

0.9.10

0.9.9

0.9.8

0.9.7

0.9.6

0.9.5

0.9.4

0.9.3

0.9.2

0.9.1

0.9.0

0.8.10

0.8.9

0.8.8

0.8.7

0.8.6

0.8.5

0.8.3

0.8.0

0.7.20

0.7.17

0.7.15

0.7.10

0.7.6

0.7.5

0.7.4

0.7.3

0.7.2

This version

0.7.1

0.7.0

0.6.5

0.6.4

0.6.3

0.6.2

0.6.1

0.6.0

0.5.9

0.5.6

0.5.5

0.5.4

0.5.2

0.5.1

0.5.0

0.4.9

0.4.8

0.4.7

0.4.6

0.4.5

0.4.3

0.4.2

0.4.1

0.4.0

0.3.8

0.3.7

0.3.6

0.3.5

0.3.4

0.3.3

0.3.2

0.3.1

0.3.0

0.2.8

0.2.7

0.2.6

0.2.5

0.2.4

0.2.2

0.2.1

0.2.0

0.1.7

0.1.6

0.1.5

0.1.4

0.1.3

0.1.2

0.1.1

0.1.0

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