mink
- Software
- Robot arms and industry
- Library
A Python library for differential inverse kinematics on robot models, built on the MuJoCo physics engine. It is a port of the Pink library.
Source on GitHub: github.com/kevinzakka/mink (opens in a new tab). Facts read at commit ae67596 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit ae67596 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Specifies inverse kinematics tasks in configuration space or operational space.
- Enforces limits on joint positions and velocities.
- Avoids collisions between any pair of geoms.
- Supports closed-chain kinematics (loop closures) through MuJoCo equality constraints.
- Provides a Lie group interface for rigid body transforms, with native C optimization for IK hot paths.
- Ships examples for many robots, including single and dual arms, hands, humanoids, legged robots and mobile manipulators.
Written by Robotheca from the project's README (opens in a new tab) at commit ae67596.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 30 Sept 2026 on main
- Latest release
- v1.3.0 (18 Aug 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.