基于 MuJoCo 的 Python 逆运动学。
@software{Zakka_Mink_Python_inverse_2026,
author = {Zakka, Kevin},
title = {{Mink: Python inverse kinematics based on MuJoCo}},
year = {2026},
month = feb,
version = {1.1.0},
url = {https://github.com/kevinzakka/mink},
license = {Apache-2.0}
}
安装从 PyPI 安装：bash
uv add mink
```bash
git clone https://github.com/kevinzakka/mink.git && cd mink
uv sync
``` ```bash
# Linux
uv run examples/arm_ur5e.py
# macOS
./fix_mjpython_macos.sh # So that mjpython works with uv.
uv run mjpython examples/arm_ur5e.py
``` 要运行示例: mink 可与各种机器人搭配使用,包括: * **单臂机器人**: [Franka Panda](https://github.com/kevinzakka/mink/blob/main/examples/arm_panda.py), [UR5e](https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e.py), [KUKA iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/arm_iiwa.py), [ALOHA 2](https://github.com/kevinzakka/mink/blob/main/examples/arm_aloha.py) * **双臂机器人**: [Dual Panda](https://github.com/kevinzakka/mink/blob/main/examples/dual_panda.py), [Dual iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/dual_iiwa.py), [Flying Dual UR5e](https://github.com/kevinzakka/mink/blob/main/examples/flying_dual_arm_ur5e.py) * **臂 + 手**: [iiwa14 + Allegro](https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_iiwa_allegro.py), [xArm + LEAP](https://github.com/kevinzakka/mink/bl)暂无开放 Issues，或尚未同步最近议题。