Welcome to PlaCo’s documentation#
Whas it it?
Example code: kinematics/6axis_trajectory.py
PlaCo is an implementation for whole-body inverse kinematics and dynamics based on Quadratic Programming solver.
Written in C++, it exposes Python bindings for easy prototyping, and can still be used as a standalone library for embedded applications.
Outline#
- Basics
- Kinematics
- Getting started
- Tasks and constraints
- Regularization
- Joint and velocity limits
- Masking joints
- Solver status
- Handling loop closures
- Hard equalities elimination
- Position, orientation and frame tasks
- Joints task
- Distance task
- CoM task
- Wheel task
- Axis-align task
- Gear task
- CoM polygon constraint
- Avoid self collisions constraint
- Cone constraint
- Yaw constraint
- Distance constraint
- Joint-space Half-spaces constraint
- Examples gallery
- Dynamics
- Introduction
- Getting started
- Tasks and constraints
- Joint, velocity and torque limits
- Regularization
- Solver status
- Handling loop closures
- Hard equalities elimination
- Position, orientation and frame tasks
- Joints task
- Torque task
- CoM task
- Gear task
- Contacts
- Fixed and planar contacts
- Point contacts
- Puppet contact
- External wrench contact
- Task contact
- Weighting, activation/deactivating contacts
- Examples gallery
- Code reference
- Methods
- Module placo_utils
- placo::dynamics
AvoidSelfCollisionsDynamicsConstraintContactContact6DDynamicsCoMTaskDynamicsConstraintDynamicsFrameTaskDynamicsGearTaskDynamicsJointsTaskDynamicsOrientationTaskDynamicsPositionTaskDynamicsRelativeFrameTaskDynamicsRelativeOrientationTaskDynamicsRelativePositionTaskDynamicsSolverDynamicsSolverResultDynamicsTaskDynamicsTorqueTaskExternalWrenchContactLineContactPointContactPuppetContactTaskContact
- placo::kinematics
AvoidSelfCollisionsKinematicsConstraintAxisAlignTaskCentroidalMomentumTaskCoMPolygonConstraintCoMTaskConeConstraintDistanceConstraintDistanceTaskFrameTaskGearTaskJointSpaceHalfSpacesConstraintJointsTaskKinematicsConstraintKinematicsSolverKineticEnergyRegularizationTaskManipulabilityTaskOrientationTaskPositionTaskRegularizationTaskRelativeFrameTaskRelativeOrientationTaskRelativePositionTaskTaskWheelTaskYawConstraint
- placo::tools
- placo::model
- placo::humanoid
DummyWalkFootstepFootstepsPlannerFootstepsPlannerNaiveFootstepsPlannerRepetitiveHumanoidParametersHumanoidRobotLIPMLIPMTrajectorySupportSwingFootSwingFootCubicSwingFootCubicTrajectorySwingFootQuinticSwingFootQuinticTrajectorySwingFootTrajectoryWPGTrajectoryWPGTrajectoryPartWalkPatternGeneratorWalkTasks
- placo::problem
Acknowledgements#
PlaCo’s rigid body model (kinematics, dynamics, URDF and MJCF loading) is a lighter, standalone implementation written with pinocchio as its reference, on top of which PlaCo was first built: it follows pinocchio’s conventions and formulas, and was validated against it. Collisions and distances are computed with coal.