{"categories":[{"label":"Scientific/Engineering","url":"https://skillfed.io/packages/category/scientific-engineering/4"}],"enrichment":{"capability":"mink solves inverse kinematics problems for robot manipulators using MuJoCo, supporting task specification in configuration or operational space with collision avoidance and closed-chain constraints.","skillfed_tags":["robotics","kinematics","mujoco"],"use_cases":["Real-time motion planning for robotic arms to reach target poses while avoiding obstacles.","Humanoid robot control where multiple kinematic chains and balance constraints must be satisfied simultaneously.","Dexterous manipulation tasks requiring hand and arm coordination with collision avoidance.","Legged robot locomotion planning with closed-chain constraints from ground contact.","Research prototyping of inverse kinematics algorithms on diverse robot morphologies."],"what_it_does":"mink is a Python library for solving inverse kinematics (IK) problems on robot manipulators using the MuJoCo physics engine. It computes joint angles that move a robot's end-effector to a desired position and orientation while respecting joint limits, velocity bounds, and collision constraints. The library supports both single-arm and multi-arm systems, dexterous hands, humanoids, and legged robots, and can handle closed-chain kinematics through equality constraints.\n\nThe package depends on mujoco as its core physics backend, qpsolvers for quadratic programming, and typing_extensions for type hints. It provides a Lie group interface for rigid body transformations with native C optimization for performance-critical IK computations. Installation is straightforward across Linux, macOS, and Windows with pre-built wheels, though you will need a valid MuJoCo model and understanding of task specification to use it effectively.","worth_installing":"Yes, if you are working with MuJoCo-based robot simulation or control. mink is actively maintained, has no known vulnerabilities, uses a permissive license, and solves a well-defined problem (differential IK) with broad robot support. Install friction is moderate but manageable. Not suitable if you need IK for non-MuJoCo simulators or if your robot morphology is not covered by existing examples."},"id":"mink","links":{"html":"https://skillfed.io/packages/mink","md":"https://skillfed.io/packages/mink.md","pypi":"https://pypi.org/project/mink/"},"maintenance":{"status":"active"},"meta":{"latest_release":"2026-06-20","license_spdx":"Apache-2.0","license_treatment":"permissive","name":"mink","python_support":"supports_current","summary":"Python inverse kinematics based on MuJoCo"},"popularity":{"monthly_downloads":337911,"position":7442,"tier":"top_15000"},"security":{"n_vulnerabilities":0},"version":"1.2.0"}