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
- Dump solver status
- Handling loop closures
- Position, orientation and frame tasks
- Joints task
- CoM task
- Wheel task
- Axis-align task
- Gear task
- CoM polygon constraint
- Avoid self collisions constraint
- Cone constraint
- Examples gallery
- Code reference
- Methods
- Module placo_utils
- placo::dynamics
AvoidSelfCollisionsDynamicsConstraintContactContact6DDynamicsCoMTaskDynamicsConstraintDynamicsFrameTaskDynamicsGearTaskDynamicsJointsTaskDynamicsOrientationTaskDynamicsPositionTaskDynamicsReactionRatioConstraintDynamicsRelativeFrameTaskDynamicsRelativeOrientationTaskDynamicsRelativePositionTaskDynamicsSolverDynamicsSolverResultDynamicsTaskDynamicsTorqueTaskExternalWrenchContactPointContactPuppetContactRelative6DContactRelativePointContactTaskContact
- placo::kinematics
AvoidSelfCollisionsKinematicsConstraintAxisAlignTaskCentroidalMomentumTaskCoMPolygonConstraintCoMTaskConeConstraintDistanceTaskFrameTaskGearTaskJointsTaskKinematicsConstraintKinematicsSolverKineticEnergyRegularizationTaskOrientationTaskPositionTaskRegularizationTaskRelativeFrameTaskRelativeOrientationTaskRelativePositionTaskTaskWheelTask
- placo::tools
- placo::model
- placo::problem
- placo::humanoid