ROS Index
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
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.
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| roboplan_bindings |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged roboplan_oink at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
roboplan_oink package from roboplan reporoboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra |
ROS Distro
|
Package Summary
| Version | 0.3.0 |
| 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 | 2026-04-18 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
OInK - Optimal Inverse Kinematics solver for RoboPlan.
Maintainers
- Sebastian Jahr
- Sebastian Castro
Authors
No additional authors.
OInK: Optimal Inverse Kinematics
TODO
- Support floating base robots (
nq != nv) in position limits - Hierarchical task prioritization via null-space projection
- Adaptive LM damping near singularities
- Constraint scaling for mixed constraint types
- Self-collision avoidance barrier
- Singularity avoidance barrier
Acknowledgments
This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
CHANGELOG
Changelog for package roboplan_oink
0.3.0 (2026-04-18)
- Incorporate scene and joint groups into OInK (#177)
- Switch to OSQP v0.6.3 for OInK (#176)
- Get toppra from binaries or FetchContent (#174)
- [oink] Control Barrier Functions (#122)
- Add scene methods to get joint limit vectors (#162)
- Fix position limits oink constraint for models with continuous joints (#147)
- Ensure oink tests run in all workflows (#145)
- Simplify oink frame task and use model joint limits for velocity constraints (#143)
- Fix roboplan_oink OSQP dependency resolution (#141)
- Contributors: Sebastian Castro, Sebastian Jahr, Zhengyang Kris Weng
0.2.0 (2026-02-16)
Package Dependencies
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.