OInK: Optimal Inverse Kinematics
The OInK solver uses Quadratic Programming (QP) to compute joint displacements that achieve multiple objectives while respecting constraints and safety barriers.
For more information, refer to the documentation.
Acknowledgments
This project is inspired by, and adapts code and concepts from, the following fantastic open-source libraries:
- Pink by Stéphane Caron.
- OSCBF by Daniel Morton and Marco Pavone.
- PlaCo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.
A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!
1 maintainer
Metadata
1 maintainer
Release files for roboplan-oink 0.7.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| roboplan_oink-0.7.0.tar.gz | 49.0 MB | With provenance | Details for roboplan_oink-0.7.0.tar.gz |
Built distributions (wheels)
Total release size: 55.7 MB
Release files / roboplan_oink-0.7.0.tar.gz
| Download URL | roboplan_oink-0.7.0.tar.gz |
|---|---|
| Size | 49.0 MB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
b0db558aad98988b507ab9b108ee202f145f8023d2dcc9813b1d41133a56157b
|
|
BLAKE2b-256 checksum How to use checksums |
fd0ccdb72ec6cf9a1a1b4a4619d462bdacec6a2c662c7a22a35a7b85cdcce10b
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp314-cp314-manylinux_2_28_x86_64.whl
| Download URL | roboplan_oink-0.7.0-0-cp314-cp314-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 509.2 kB |
| Tags | CPython 3.14 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
8c62cc5e41f3e8440852b9c605a4e55b90c15e9afb433a0f44dcd62defa8f9f7
|
|
BLAKE2b-256 checksum How to use checksums |
53782cae4589371f9fab57564d2c7ba2c3c2fa0cdc156599e8141f0461c6d156
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp314-cp314-manylinux_2_28_aarch64.whl
| Download URL | roboplan_oink-0.7.0-0-cp314-cp314-manylinux_2_28_aarch64.whl |
|---|---|
| Size | 463.5 kB |
| Tags | CPython 3.14 Linux glibc 2.28+ ARM64 |
|
SHA-256 checksum How to use checksums |
00f32af5b5c7ba44bef8b790b35a3e6274ee80e19b97a1389ac9b17f1e15db5e
|
|
BLAKE2b-256 checksum How to use checksums |
ff9338cf31a4e686b3ea95bfbc4f6629113355f11321d9bfeb542cf95dedb337
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp314-cp314-macosx_11_0_arm64.whl
| Download URL | roboplan_oink-0.7.0-0-cp314-cp314-macosx_11_0_arm64.whl |
|---|---|
| Size | 370.2 kB |
| Tags | CPython 3.14 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
d01f0bfcb98f8c3d09747bbd4a752bd8c24b07955ac9fa367c9ef318eb4c5213
|
|
BLAKE2b-256 checksum How to use checksums |
6248f95a9fae42abaab206ec4d87b984d694d3b4838519b74341636772486391
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp313-cp313-manylinux_2_28_x86_64.whl
| Download URL | roboplan_oink-0.7.0-0-cp313-cp313-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 509.2 kB |
| Tags | CPython 3.13 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
5928d043f3a265a883fc795dc7009f200b6666e5ff03bb9d5b901166fe9433c0
|
|
BLAKE2b-256 checksum How to use checksums |
324c78a7d3bb9dfa6bd35d0077e77df4edcf19234e2aa7c4d739f4dffa9549e9
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp313-cp313-manylinux_2_28_aarch64.whl
| Download URL | roboplan_oink-0.7.0-0-cp313-cp313-manylinux_2_28_aarch64.whl |
|---|---|
| Size | 463.5 kB |
| Tags | CPython 3.13 Linux glibc 2.28+ ARM64 |
|
SHA-256 checksum How to use checksums |
90eaaaf1384bf41d85c17d96b2bd4331f415739849d23ce4b8b8481cb66e9003
|
|
BLAKE2b-256 checksum How to use checksums |
6fb5636312b8aeb527e5c3cf248c88d7225a80af171442adfa76a6a4cf849426
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp313-cp313-macosx_11_0_arm64.whl
| Download URL | roboplan_oink-0.7.0-0-cp313-cp313-macosx_11_0_arm64.whl |
|---|---|
| Size | 370.2 kB |
| Tags | CPython 3.13 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
3f43cb22ea80d6665ef0a892303e854f143cad26be0510705bf9c453becde437
|
|
BLAKE2b-256 checksum How to use checksums |
bc46b303c8ee54986384b0b3129c124155a9c4583588242e2437d2add9828b38
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp312-cp312-manylinux_2_28_x86_64.whl
| Download URL | roboplan_oink-0.7.0-0-cp312-cp312-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 509.1 kB |
| Tags | CPython 3.12 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
580fde3d5f84737aefdf9ac35e9818657ea3a4727e1c0336864bf6ab33df401f
|
|
BLAKE2b-256 checksum How to use checksums |
25a6cd428beb4250753240b8cb1ed69a5a83a68912fbce923b5c07fdc2fcee5b
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp312-cp312-manylinux_2_28_aarch64.whl
| Download URL | roboplan_oink-0.7.0-0-cp312-cp312-manylinux_2_28_aarch64.whl |
|---|---|
| Size | 463.5 kB |
| Tags | CPython 3.12 Linux glibc 2.28+ ARM64 |
|
SHA-256 checksum How to use checksums |
cdd34d82e2b541e0e95b12518d279f093b123eee64b086302f7d5e15f00b5380
|
|
BLAKE2b-256 checksum How to use checksums |
69252206953115eabb61103bff97a2d9be832b225c5493e280a9a04dc3867576
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp312-cp312-macosx_11_0_arm64.whl
| Download URL | roboplan_oink-0.7.0-0-cp312-cp312-macosx_11_0_arm64.whl |
|---|---|
| Size | 370.2 kB |
| Tags | CPython 3.12 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
877a464792875cb1149be0ec866a510d978e9fa397d816def0867a57511b053d
|
|
BLAKE2b-256 checksum How to use checksums |
5e5a80ebadca9093e0b032b79d97560bc66b602df0d90fe96415a4de12ff4dcf
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp311-cp311-manylinux_2_28_x86_64.whl
| Download URL | roboplan_oink-0.7.0-0-cp311-cp311-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 513.7 kB |
| Tags | CPython 3.11 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
ca813b16b4e2117439acb7f810ecb34f276181ea3315831420da8d169af5e61e
|
|
BLAKE2b-256 checksum How to use checksums |
2bebb6881773f578ecbb9898fbb46bc9db2f85720f59acea886e5f3631fef77a
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp311-cp311-manylinux_2_28_aarch64.whl
| Download URL | roboplan_oink-0.7.0-0-cp311-cp311-manylinux_2_28_aarch64.whl |
|---|---|
| Size | 467.9 kB |
| Tags | CPython 3.11 Linux glibc 2.28+ ARM64 |
|
SHA-256 checksum How to use checksums |
eb1e76806a4efdd7ef3754196cc0a13eb479fe7d67383c2900e1d1ab33c812f5
|
|
BLAKE2b-256 checksum How to use checksums |
dd53cc51d30d1257feef9bfcb8f2db83d8d48dd2fa7a0566a05071c9a9c6fb0d
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp311-cp311-macosx_11_0_arm64.whl
| Download URL | roboplan_oink-0.7.0-0-cp311-cp311-macosx_11_0_arm64.whl |
|---|---|
| Size | 372.4 kB |
| Tags | CPython 3.11 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
e0df4102323d59265e7111afa07fa9fdbace3bcd9d8ddc80e5ceea483773e9d8
|
|
BLAKE2b-256 checksum How to use checksums |
b4add81c3827776e4e456d1e60becaeed53a9ac63416f59a25f7f3bd6673a408
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp310-cp310-manylinux_2_28_x86_64.whl
| Download URL | roboplan_oink-0.7.0-0-cp310-cp310-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 514.1 kB |
| Tags | CPython 3.10 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
a627253402d689ba859d38b4155abec49d8917bdb05887fd745ca077c2b73d59
|
|
BLAKE2b-256 checksum How to use checksums |
ff2d916a0955b71c63a83ffba1702f940d57121abf2b5efea3713ef630afc5c8
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp310-cp310-manylinux_2_28_aarch64.whl
| Download URL | roboplan_oink-0.7.0-0-cp310-cp310-manylinux_2_28_aarch64.whl |
|---|---|
| Size | 468.3 kB |
| Tags | CPython 3.10 Linux glibc 2.28+ ARM64 |
|
SHA-256 checksum How to use checksums |
d385bd53b07e941c26bcc3f688476c1c0f145b3d01b4cdca57f2b020bfdf5da8
|
|
BLAKE2b-256 checksum How to use checksums |
5aff7a19acf1f95adeb707478169cf259398bc146cde2c34fa3dd71104c2c6e1
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logRelease files / roboplan_oink-0.7.0-0-cp310-cp310-macosx_11_0_arm64.whl
| Download URL | roboplan_oink-0.7.0-0-cp310-cp310-macosx_11_0_arm64.whl |
|---|---|
| Size | 372.9 kB |
| Tags | CPython 3.10 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
7793f3ccd3fa69fd2b7291b2457d50b2dd6704559ca0acc90eb9c30d957bc9a4
|
|
BLAKE2b-256 checksum How to use checksums |
a2b0ebda8c854e407351c5a2982781fd2c9e77ab95d203b29a9d679d401d3210
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logSecurity for roboplan-oink 0.7.0
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
Full provenance
All 16 files in this release have been uploaded with provenance metadata.
Attestation for roboplan_oink-0.7.0.tar.gz
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Sep 20, 2026.
Transparency logA note on package security
PyPI is a repository for distributing packages, not a service for auditing them. While third-party security researchers and our staff do their best to detect and remove malicious packages, PyPI cannot guarantee the quality, security or suitability of any given package.
To learn more about protecting yourself from malicious actors, visit our package security documentation.
