Science Score: 36.0%
This score indicates how likely this project is to be science-related based on various indicators:
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○CITATION.cff file
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✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
○DOI references
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○Academic publication links
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✓Committers with academic emails
1 of 9 committers (11.1%) from academic institutions -
○Institutional organization owner
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (15.0%) to scientific vocabulary
Keywords
Repository
Python inverse kinematics based on MuJoCo
Basic Info
- Host: GitHub
- Owner: kevinzakka
- License: apache-2.0
- Language: Python
- Default Branch: main
- Homepage: https://kevinzakka.github.io/mink/
- Size: 155 MB
Statistics
- Stars: 851
- Watchers: 13
- Forks: 63
- Open Issues: 9
- Releases: 10
Topics
Metadata Files
README.md
mink
mink is a library for differential inverse kinematics in Python, based on the MuJoCo physics engine.
Features include:
- Task specification in configuration or operational space;
- Limits on joint positions and velocities;
- Collision avoidance between any geom pair;
- Support for closed-chain kinematics (loop closures) via equality constraints;
- Lie group interface for rigid body transformations.
For usage and API reference, see the documentation.
If you use mink in your research, please cite it as follows:
bibtex
@software{Zakka_Mink_Python_inverse_2025,
author = {Zakka, Kevin},
title = {{Mink: Python inverse kinematics based on MuJoCo}},
year = {2025},
month = may,
version = {0.0.11},
url = {https://github.com/kevinzakka/mink},
license = {Apache-2.0}
}
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, iiwa14, bimanual iiwa14
- Humanoids: Unitree G1, Unitree H1
- Quadrupeds: Unitree Go1, Boston Dynamics Spot
- Hands: Shadow Hand, Allegro Hand
- Mobile manipulators: Stanford TidyBot, Hello Robot Stretch
Check out the examples directory for more code.
How can I help?
Install the library, use it and report any bugs in the issue tracker if you find any. If you're feeling adventurous, you can also check out the contributing guidelines and submit a pull request.
Acknowledgements
mink is a direct port of Pink which uses Pinocchio under the hood. Stphane 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.
- The collision avoidance constraint is adapted from dm_robotics's LSQP controller.
Owner
- Name: Kevin Zakka
- Login: kevinzakka
- Kind: user
- Website: kzakka.com
- Twitter: kevin_zakka
- Repositories: 24
- Profile: https://github.com/kevinzakka
PhD @ UC Berkeley.
GitHub Events
Total
- Create event: 28
- Release event: 7
- Issues event: 51
- Watch event: 489
- Delete event: 21
- Issue comment event: 97
- Push event: 140
- Pull request review comment event: 44
- Pull request review event: 47
- Pull request event: 68
- Fork event: 55
Last Year
- Create event: 28
- Release event: 7
- Issues event: 51
- Watch event: 489
- Delete event: 21
- Issue comment event: 97
- Push event: 140
- Pull request review comment event: 44
- Pull request review event: 47
- Pull request event: 68
- Fork event: 55
Committers
Last synced: 9 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| Kevin Zakka | k****a@g****m | 147 |
| Grant Tannert | g****0@g****m | 17 |
| Ashton Larkin | 4****n | 6 |
| Jonathan Zamora | 5****a | 4 |
| Jeff Bingham | b****f@g****m | 3 |
| nathanboyd | n****d@a****m | 3 |
| Zi-ang Cao | z****o@s****u | 2 |
| Emmanuel Ferdman | e****n@g****m | 1 |
| Debojit Das | 1****D | 1 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: 6 months ago
All Time
- Total issues: 40
- Total pull requests: 86
- Average time to close issues: about 1 month
- Average time to close pull requests: 3 days
- Total issue authors: 35
- Total pull request authors: 12
- Average comments per issue: 1.98
- Average comments per pull request: 1.03
- Merged pull requests: 76
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 31
- Pull requests: 76
- Average time to close issues: about 2 months
- Average time to close pull requests: 4 days
- Issue authors: 28
- Pull request authors: 12
- Average comments per issue: 1.77
- Average comments per pull request: 1.17
- Merged pull requests: 66
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- kevinzakka (4)
- gemcollector (3)
- IvyerS (2)
- zengweishuai (1)
- vidhiJain (1)
- Vittorio-Caggiano (1)
- giakhuyendihoc (1)
- aman-ga (1)
- yijing2050 (1)
- adlarkin (1)
- edwhu (1)
- Yingdong-Hu (1)
- Tadinu (1)
- wangcongrobot (1)
- shaashou (1)
Pull Request Authors
- kevinzakka (73)
- adlarkin (6)
- bingjeff (5)
- Proguranto (3)
- simeon-ned (2)
- jonzamora (2)
- aman-pandey23 (2)
- wayne-xyz (2)
- Debojit-D (2)
- NmBoyd (2)
- emmanuel-ferdman (2)
- Zi-ang-Cao (2)
Top Labels
Issue Labels
Pull Request Labels
Packages
- Total packages: 1
-
Total downloads:
- pypi 36,419 last-month
- Total dependent packages: 0
- Total dependent repositories: 0
- Total versions: 12
- Total maintainers: 1
pypi.org: mink
mink: MuJoCo inverse kinematics.
- Homepage: https://kevinzakka.github.io/mink/
- Documentation: https://kevinzakka.github.io/mink/
- License: Apache Software License
-
Latest release: 0.0.12
published 7 months ago
Rankings
Maintainers (1)
Dependencies
- tarides/changelog-check-action v2 composite
- actions/checkout v4 composite
- actions/setup-python v5 composite
- mujoco >= 3.1.6
- qpsolvers >= 4.3.1
- quadprog >= 0.1.11
- typing_extensions *
- actions/checkout v4 composite
- actions/setup-python v5 composite
- peaceiris/actions-gh-pages v4 composite
- sphinx ==7.2.6
- sphinx-favicon *
- sphinx-mathjax-offline *
- sphinx_rtd_theme *
- toml ==0.10.2