mink: Python Differential Inverse Kinematics Library on MuJoCo Hits 1.5k Stars
tom_doerr · x · 2026-08-11
mink is a Python library for differential inverse kinematics built on top of the MuJoCo physics engine, recently surpassing 1.5k stars on GitHub.
Key features include:
- Task specification in configuration or operational space;
- Joint position and velocity limits;
- Collision avoidance between any geom pair;
- Support for closed-chain kinematics (loop closures) via equality constraints;
- A Lie group interface for rigid body transformations, utilizing native C optimization for IK hot paths to boost performance.
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