OInK: Optimal Inverse Kinematics

The OInK solver uses Quadratic Programming (QP) to compute joint displacements that achieve multiple objectives while respecting constraints and safety barriers.

For more information, refer to the documentation.

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 for package roboplan_oink

0.7.0 (2026-09-19)

• Pre-0.7.0 docs and consistency passthrough (#324)
• Move YAML loading out of constructor (#348)
• Add group helpers, exercise them via new [importSrdf]{.title-ref} (#344)
• Move file I/O out of Scene constructor, support loading MJCF (#300)
• Add ruff check (#336)
• Fix dylib resolution for bindings on macOS with colcon (#306)
• Per package PyPi publishing and runtime path setting (#326)
• Rename roboplan-core's export target (#329)
• General CMake cleanup (#319)
• Use pixi-build to declare Conda dependencies for each package (#301)
• Remove cmake build-time package config hack (#316)
• Put the Python install logic back into its original CMake location (#315)
• Add Pixi ROS targets and CI (#308)
• Add [cmake-format]{.title-ref} to pre-commit, and run it (#317)
• Make cmeel packages independently buildable (#312)
• Drop [scikit-build]{.title-ref} in favor of direct usage of [cmeel]{.title-ref} (#304)
• Constrain scope of DLL loader manipulation (#302)
• Create CMake superbuild to consolidate build config (#295)
• Migrate to SceneContext class for thread-safe operation (#286)
• Contributors: Erik Holum, Ezra Brooks, Sebastian Castro

0.6.1 (2026-08-20)

• Optionally brake to target in OInK acceleration limit (#290)
• Fix OInK position barrier Jacobian (#288)
• fix missing braces warnings (#282)
• Depend on typing_extensions via rosdep (#283)
• Contributors: Matteo Villani, Sebastian Castro

0.6.0 (2026-07-31)

• Improve OInK build times (#273)
• Fix MacOS rpath issues (#275)
• Fix Python bindings installs for ROS + Windows (#272)
• Windows support through Pixi (#271)
• Switch OInK backend from OSQP to ProxQP (#259) Co-authored-by: Sebastian Castro <<sebas.a.castro@gmail.com>>
• Fixes for new Ubuntu 26.04 ROS Rolling docker (#269)
• Contributors: Erik Holum, Sebastian Castro, Sebastian Jahr

0.5.1 (2026-07-13)

• Make nanobind-dev and python3-dev build dependencies in package.xml (#264)
• Contributors: Sebastian Castro

0.5.0 (2026-07-07)

• Fix OInK instability with failures to converge (#256)
• Cartesian path planner (#240)
• Make [ConfigurationTask]{.title-ref} runtime tunable and add [AccelerationLimit]{.title-ref} (#250)
• Add broadphase culling to collision checking and self-collision barrier (#254)
• Add clang-tidy (#182)
• add base frame support to Jacobian (#238)
• Contributors: Muslim Alaran, Sebastian Castro, Sebastian Jahr

0.4.0 (2026-06-02)

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