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)

  • Expose oink solver regularization as argument (#136)

  • Simplify FrameTask interface and allow modifying target transforms at runtime (#131)

  • Remove lambdas from oink python bindings and use Eigen::Ref (#119)

  • Optimal differential IK solver (#110)

  • Contributors: Sebastian Castro, Sebastian Jahr