README.md

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

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

• See documentation
• Examples

Task-Space Inverse Dynamics

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

• See documentation
• Examples

Installing

PlaCo can be installed from pip

pip install placo

Or built from sources

Resources

• Documentation
• Examples repository

Citation

If you use PlaCo in your research, please cite the following paper:

@misc{duclusaud2025placo,
      title={PlaCo: a QP-based robot planning and control framework}, 
      author={Marc Duclusaud and Grégoire Passault and Vincent Padois and Olivier Ly},
      year={2025},
      eprint={2511.06141},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2511.06141}, 
}