kevinzakka/mink

Health v2 · maintenance only

Adoption not part of the score

1509 stars · 116 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

mink is a Python library for differential inverse kinematics built on the MuJoCo physics engine. It solves task-space objectives as a quadratic program at each control step, respecting joint limits, velocity limits, collision avoidance, and loop-closure constraints.

Use cases

• compute inverse kinematics for a robot arm in mujoco
• control a humanoid robot end effector to reach a target pose
• retarget human motion to a robot in real time
• avoid collisions while solving IK for a dual-arm setup
• teleoperate a robot with task-space objectives
• solve whole-body IK for a quadruped foot placement

When to choose

• you already use MuJoCo for simulation and need IK at control rate
• you need composable task-space objectives with joint limits and collision avoidance
• you work with arms, humanoids, dexterous hands, or closed-chain mechanisms

When to avoid

• you need global IK solutions rather than fast local differential IK
• your robot model is not in MuJoCo MJCF format
• you need a physics-agnostic IK solver independent of MuJoCo

Facets

library · maturity active

simulation robotics math robotics simulation python windows cross-platform inverse-kinematics mujoco quadratic-programming motion-planning real-time-control robot-control algorithms linux macos

Member repositories

For agents

markdown · JSON · MCP: product_card(name="kevinzakka/mink")