roboplan-simple-ik

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
kilted

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
lyrical

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
rolling

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange

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

roboplan_simple_ik package from roboplan repo

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Package Summary

Version	0.5.0
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	2026-07-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple inverse kinematics solver for RoboPlan.

Maintainers

Sebastian Castro

Authors

No additional authors.

roboplan-simple-ik

Simple inverse kinematics solver for RoboPlan.

CHANGELOG

Changelog for package roboplan_simple_ik

0.5.0 (2026-07-07)

Add unit tests for roboplan_simple_ik package (#257)
Store list of link names in group info (#253)
Speed up collision checking and RRT (#232)
Fix the example IK python script (#233)
Minor improvements to SimpleIK and forward kinematics (#231)
Contributors: Erik Holum, Sebastian Castro

0.4.0 (2026-06-02)

Modularize Python bindings (#221)
Use native mimic joint functionality in Pinocchio (#214)
Support planar joints (#209)
Add Stretch4 model (#208)
Contributors: Ola Ghattas, Sebastian Castro

0.3.0 (2026-04-18)

return true only when a valid solution found (#160)
Contributors: Matteo Villani

0.2.0 (2026-02-16)

Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)
Support multiple tip frames in simple IK (#125)
Contributors: Sanjeev, Sebastian Castro

0.1.0 (2026-01-19)

Add argument names and basic docstrings to Python bindings (#114)
Add initial ReadTheDocs setup (#90)
Add collision checking, random restarts, and max time to simple IK solver (#86)
Support joint groups (#64)
Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)
Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)
Create map of frame names to IDs in Scene (#58)
Fix IK example (#49)
Interactive IK example (#29)
First vanilla RRT implementation with dynotree (#16)
Test all active ROS distros (#11)
Collision checking functionality (#10)
Move models to [roboplan_example_models]{.title-ref} package (#7)
Add basic unit testing pipeline (#5)
Add simple IK solver (#3)
Contributors: Catarina Pires, Erik Holum, Sebastian Castro

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	roboplan

System Dependencies

Name
nanobind-dev

Dependant Packages

Name	Deps
roboplan_examples
roboplan_ros_visualization

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `roboplan_simple_ik` at Robotics Stack Exchange