https://github.com/kevinzakka/mink
Python inverse kinematics based on MuJoCo
https://github.com/kevinzakka/mink
inverse-kinematics mujoco python
Last synced: 4 months ago
JSON representation
Python inverse kinematics based on MuJoCo
- Host: GitHub
- URL: https://github.com/kevinzakka/mink
- Owner: kevinzakka
- License: apache-2.0
- Created: 2024-02-26T05:53:29.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-05-11T01:48:39.000Z (about 1 year ago)
- Last Synced: 2025-05-14T04:09:25.850Z (about 1 year ago)
- Topics: inverse-kinematics, mujoco, python
- Language: Python
- Homepage: https://kevinzakka.github.io/mink/
- Size: 155 MB
- Stars: 619
- Watchers: 12
- Forks: 44
- Open Issues: 8
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.md
- Funding: .github/FUNDING.yml
- License: LICENSE
- Citation: CITATION.cff
Awesome Lists containing this project
README
# mink
[](https://github.com/kevinzakka/mink/actions)
[](https://coveralls.io/github/kevinzakka/mink?branch=main)
[](https://pypi.org/project/mink/)
mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
Features include:
* Task specification in configuration or operational space;
* Limits on joint positions and velocities;
* Collision avoidance between any geom pair;
* Lie group interface for rigid body transformations.
For usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).
If you use mink in your research, please cite it as follows:
```bibtex
@software{Zakka_Mink_Python_inverse_2024,
author = {Zakka, Kevin},
license = {Apache-2.0},
month = jul,
title = {{Mink: Python inverse kinematics based on MuJoCo}},
url = {https://github.com/kevinzakka/mink},
version = {0.0.4},
year = {2024}
}
```
## Installation
You can install `mink` using `pip`:
```bash
pip install mink
```
To include the example dependencies:
```bash
pip install "mink[examples]"
```
## Examples
mink works with a variety of robots, including:
* 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)
* 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)
* 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)
* 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)
* 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)
Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
## How can I help?
Install 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.
## Acknowledgements
mink 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.
mink also heavily adapts code from the following libraries:
* The lie algebra library that powers the transforms in mink is adapted from [jaxlie](https://github.com/brentyi/jaxlie).
* The collision avoidance constraint is adapted from [dm_robotics](https://github.com/google-deepmind/dm_robotics/tree/main/cpp/controllers)'s LSQP controller.