OInK: Optimal Inverse Kinematics

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.4.0
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	2026-06-17
Dev Status	DEVELOPED
Released	RELEASED
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
kilted

Package Summary

Version	0.4.0
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	2026-06-17
Dev Status	DEVELOPED
Released	RELEASED
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
lyrical

Package Summary

Version	0.4.0
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	2026-06-17
Dev Status	DEVELOPED
Released	RELEASED
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
rolling

Package Summary

Version	0.4.0
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	2026-06-17
Dev Status	DEVELOPED
Released	RELEASED
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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 roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Package Summary

Version	0.4.0
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	2026-06-17
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

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

Changelog for package roboplan_oink

0.4.0 (2026-06-02)

Fix failing OInK test due to dimension mismatch (#225)
Add Ubuntu 26.04 and ROS 2 Lyrical to CI (#215)
Add missing gtest and gmock deps in package.xmls (#223)
Modularize Python bindings (#221)
OInK self-collision barrier (#207)
Support priorities and nullspace projection in OInK tasks (#206)
Support planar joints (#209)
Contributors: Ola Ghattas, Sebastian Castro

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
	ament_cmake_python
	ament_cmake_gmock
	roboplan_example_models
	roboplan
	osqp_vendor

System Dependencies

Name
libgmock-dev
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples

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