PlaCo: a QP-based robot planning and control framework

Abstract

This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that abstracts away the low-level mathematical formulation of QP problems, allowing users to specify tasks and constraints in a modular and intuitive manner. The framework supports both Python bindings for rapid prototyping and a C++ implementation for real-time performance.