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Package symbol

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

Package symbol

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

Package symbol

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

Package symbol

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

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

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

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

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

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

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

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

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange

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

roboplan_oink package from roboplan repo

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
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

Authors

No additional authors.
roboplan_oink/README.md

TODO

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

Acknowledgments

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

  • Pink by Stéphane Caron.
  • 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
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
roboplan

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
roboplan_bindings

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboplan_oink at Robotics Stack Exchange