{"id":17923877,"url":"https://github.com/kevinzakka/mink","last_synced_at":"2026-02-20T00:04:23.500Z","repository":{"id":250084351,"uuid":"763348154","full_name":"kevinzakka/mink","owner":"kevinzakka","description":"Python inverse kinematics based on 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mink\n\n[![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mink/ci.yml?branch=main)](https://github.com/kevinzakka/mink/actions)\n[![Coverage Status](https://coveralls.io/repos/github/kevinzakka/mink/badge.svg)](https://coveralls.io/github/kevinzakka/mink?branch=main)\n[![PyPI version](https://img.shields.io/pypi/v/mink)](https://pypi.org/project/mink/)\n![Banner for mink](https://github.com/kevinzakka/mink/blob/assets/banner.png?raw=true)\n\nmink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.\n\nFeatures include:\n\n* Task specification in configuration or operational space;\n* Limits on joint positions and velocities;\n* Collision avoidance between any geom pair;\n* Lie group interface for rigid body transformations.\n\nFor usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).\n\nIf you use mink in your research, please cite it as follows:\n\n```bibtex\n@software{Zakka_Mink_Python_inverse_2024,\n  author = {Zakka, Kevin},\n  license = {Apache-2.0},\n  month = jul,\n  title = {{Mink: Python inverse kinematics based on MuJoCo}},\n  url = {https://github.com/kevinzakka/mink},\n  version = {0.0.4},\n  year = {2024}\n}\n```\n\n## Installation\n\nYou can install `mink` using `pip`:\n\n```bash\npip install mink\n```\n\nTo include the example dependencies:\n\n```bash\npip install \"mink[examples]\"\n```\n\n## Examples\n\nmink works with a variety of robots, including:\n\n* Arms: [UR5e](https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e_actuators.py), [iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/arm_iiwa.py), [bimanual iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/dual_iiwa.py)\n* Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py), [Unitree H1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_h1.py)\n* Quadrupeds: [Unitree Go1](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_go1.py), [Boston Dynamics Spot](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_spot.py)\n* Hands: [Shadow Hand](https://github.com/kevinzakka/mink/blob/main/examples/hand_shadow.py), [Allegro Hand](https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_iiwa_allegro.py)\n* Mobile manipulators: [Stanford TidyBot](https://github.com/kevinzakka/mink/blob/main/examples/mobile_tidybot.py), [Hello Robot Stretch](https://github.com/kevinzakka/mink/blob/main/examples/mobile_stretch.py)\n\nCheck out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.\n\n## How can I help?\n\nInstall the library, use it and report any bugs in the [issue tracker](https://github.com/kevinzakka/mink/issues) if you find any. If you're feeling adventurous, you can also check out the contributing [guidelines](CONTRIBUTING.md) and submit a pull request.\n\n## Acknowledgements\n\nmink is a direct port of [Pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the author of Pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.\n\nmink also heavily adapts code from the following libraries:\n\n* The lie algebra library that powers the transforms in mink is adapted from [jaxlie](https://github.com/brentyi/jaxlie).\n* The collision avoidance constraint is adapted from [dm_robotics](https://github.com/google-deepmind/dm_robotics/tree/main/cpp/controllers)'s LSQP controller.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinzakka%2Fmink","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkevinzakka%2Fmink","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkevinzakka%2Fmink/lists"}