mink (MuJoCo inverse kinematics)

An open-source Python library for differential inverse kinematics, built on MuJoCo.

mink is an open-source Python library by Kevin Zakka that performs inverse kinematics (working backward from a desired end-effector position to joint angles) using a MuJoCo model. It uses differential inverse kinematics: at each step, requirements such as “get the end effector close to the target,” “hold the desired orientation,” “stay within joint limits,” and “avoid collisions” are written as a quadratic program, solved for joint velocities, which are then integrated forward — a design that draws on the Pinocchio-based Pink library. Because it reads an MJCF model directly, it works out of the box with robots from MuJoCo Menagerie, and it's commonly used for teleoperation retargeting, generating demonstration trajectories, and whole-body IK for humanoids.

ExampleUse mink to set an end-effector target pose for the Franka model in Menagerie and iteratively solve for a sequence of joint angles.

Related

Inverse Kinematics (IK) · Differential Kinematics · MuJoCo (Multi-Joint dynamics with Contact) · Pink (Python inverse kinematics based on Pinocchio) · MuJoCo Menagerie · Quadratic Programming

Sources

mink GitHub