mink

Getting a robot arm's end effector to a target with joint limits and collisions is error-prone to code yourself. mink is a Python inverse kinematics library based on MuJoCo.

It handles multi-task, multi-constraint differential IK for arms, humanoids and quadrupeds.

Features

IK:Differential.

Constraints:Limits and collisions.

MuJoCo:Physics models.

Robots:Arms to humanoids.