OInK: Optimal Inverse Kinematics

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
kilted

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
rolling

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.3.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/open-planning/roboplan.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-18
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

OInK - Optimal Inverse Kinematics solver for RoboPlan.

Maintainers

Sebastian Jahr
Sebastian Castro

Authors

No additional authors.

OInK: Optimal Inverse Kinematics

TODO

Support floating base robots (nq != nv) in position limits
Hierarchical task prioritization via null-space projection
Adaptive LM damping near singularities
Constraint scaling for mixed constraint types
Self-collision avoidance barrier
Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

Pink by Stéphane Caron.
OSCBF by Daniel Morton and Marco Pavone.
Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!

CHANGELOG

Changelog for package roboplan_oink

0.3.0 (2026-04-18)

Incorporate scene and joint groups into OInK (#177)
Switch to OSQP v0.6.3 for OInK (#176)
Get toppra from binaries or FetchContent (#174)
[oink] Control Barrier Functions (#122)
Add scene methods to get joint limit vectors (#162)
Fix position limits oink constraint for models with continuous joints (#147)
Ensure oink tests run in all workflows (#145)
Simplify oink frame task and use model joint limits for velocity constraints (#143)
Fix roboplan_oink OSQP dependency resolution (#141)
Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng

0.2.0 (2026-02-16)

Expose oink solver regularization as argument (#136)
Simplify FrameTask interface and allow modifying target transforms at runtime (#131)
Remove lambdas from oink python bindings and use Eigen::Ref (#119)
Optimal differential IK solver (#110)
Contributors: Sebastian Castro, Sebastian Jahr

Package Dependencies

Deps	Name
	ament_cmake
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_oink` at Robotics Stack Exchange