mink: Python Inverse Kinematics based on MuJoCo

mink is a Python library for differential inverse kinematics (IK) built on top of the MuJoCo physics engine. Key capabilities include:

• Task Specification: Define tasks in either configuration or operational space.
• Constraints: Support for joint position and velocity limits.
• Collision Avoidance: Avoid collisions between any pair of geoms.
• Closed-Chain Kinematics: Support for loop closures via MuJoCo equality constraints.
• Lie Group Interface: Native C-optimized Lie group interface for rigid body transformations, optimized for IK hot paths.

This package provides a simplified robot description in MJCF format for the Franka Emika Panda robot. It is derived from the official Franka Emika URDF description.

Requirements:

• MuJoCo 2.3.3 or later.

This package provides modular MJCF (MuJoCo XML) descriptions for a mobile manipulator consisting of a Kinova Gen 3 arm mounted on a holonomic base. It is designed to allow for easy swapping of end-effectors, such as replacing the default 2F85 Robotiq gripper with a Leap Hand.

XML File Variations

• tidybot.xml: Uses a nested class naming convention.
• mobile_kinova.xml: Uses a flattened naming convention for better compatibility (recommended for most use cases).

Usage Examples

• Robotiq Gripper: To load the robot with the default 2F85 Robotiq gripper, use tidybot.xml as shown in mobile_tidybot.py.
• Custom End-Effectors: To load the mobile Kinova robot with different hands (e.g., Leap Hand), use mobile_kinova.xml as shown in mobile_kinova.py or mobile_kinova_leap.py.

This package provides a simplified MuJoCo MJCF description for the UFACTORY xArm7 robot. It is derived from the official URDF description and is optimized for MuJoCo simulation.

Requirements:

• MuJoCo version 2.3.3 or later.

This package provides simplified MuJoCo (MJCF) descriptions for the Wonik Allegro Hand v3, supporting both right-handed and left-handed configurations. These models are derived from publicly available URDF descriptions and are optimized for use in MuJoCo simulations.

Requirements:

• MuJoCo 2.2.2 or later.

This package provides a simplified MuJoCo XML (MJCF) description of the Unitree G1 Humanoid Robot. It is a derivation of the official Unitree ROS description, optimized for MuJoCo by extracting common properties into <default> sections and adding essential sensors and visual elements.

Requirements:

• MuJoCo version 2.3.4 or later.

This package provides the MuJoCo (MJCF) robot description for the Hello Robot Stretch 3. It is intended for use in MuJoCo simulations.

Requirements:

• MuJoCo version 2.3.3 or later.

This package provides a simplified MuJoCo (MJCF) robot description for the Boston Dynamics Spot Quadruped. It is a derivation of the publicly available MJCF description from the spot_ros2 repository, optimized for use in MuJoCo simulations.

Requirements:

• MuJoCo 3.1.3 or later is required to run this model correctly.

This package provides a simplified MJCF (MuJoCo XML) description of the Unitree Go1 Quadruped Robot. It is derived from the official Unitree ROS URDF description but optimized for MuJoCo simulation.

Requirements:

• MuJoCo version 2.2.2 or later.

Key Simulation Features:

• Optimized Contacts: Foot contacts are softened to approximate rubber material, and the impratio has been increased to reduce slippage during simulation.
• Custom Collision Geometry: Collision geometries have been manually designed for better simulation stability.
• Scene Setup: Includes a scene.xml file that provides a complete simulation environment containing the robot, a textured groundplane, a skybox, and haze.

This package provides MuJoCo XML (MJCF) assets for the 'E3M5' version of the Shadow Hand robot, supporting both right-handed and left-handed configurations.

Requirements:

• MuJoCo 2.2.2 or later.