Metadata-Version: 2.4
Name: roboplan-oink
Version: 0.0.103
Summary: OInK - Optimal Inverse Kinematics solver for RoboPlan.
Requires-Python: >=3.10,<3.15
License-Expression: MIT
Author-Email: Sebastian Castro <sebas.a.castro@gmail.com>
Project-URL: Homepage, https://github.com/open-planning/roboplan
Requires-Dist: cmeel
Requires-Dist: roboplan-common ==0.0.103
Requires-Dist: roboplan-core ==0.0.103
Provides-Extra: build
Requires-Dist: cmeel[build] >=0.56; extra == "build"
Requires-Dist: libproxsuite[build] ==0.7.3; extra == "build"
Requires-Dist: nanobind >=1.3.2; extra == "build"
Classifier: License :: OSI Approved :: MIT License
Description-Content-Type: text/markdown

# 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](../docs/source/concepts/inverse_kinematics.rst).

## Acknowledgments

This project is inspired by, and adapts code and concepts from, the following fantastic open-source libraries:
- [Pink](https://github.com/stephane-caron/pink) by Stéphane Caron.
- [OSCBF](https://github.com/StanfordASL/oscbf) by Daniel Morton and Marco Pavone.
- [PlaCo](https://github.com/Rhoban/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!
