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Merge pull request #119 from kevinzakka/revamp
Switch to uv + various fixups.
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‎.github/workflows/ci.yml‎

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push:
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branches: [ main ]
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paths-ignore:
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- "**/README.md"
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- '**.md'
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- 'Makefile'
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- 'LICENSE'
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pull_request:
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branches: [ main ]
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paths-ignore:
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- "**/README.md"
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- '**.md'
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- 'Makefile'
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- 'LICENSE'
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env:
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UV_FROZEN: "1"
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jobs:
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run-mink-tests:
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lint-format:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Setup uv
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uses: astral-sh/setup-uv@v6
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with:
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enable-cache: true
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version: "0.9.14"
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- name: Run lint
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run: uvx ruff@0.14.7 check --diff
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- name: Run format
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run: uvx ruff@0.14.7 format --diff
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pyright:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.8", "3.9", "3.10", "3.11", "3.12", "3.13"]
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python-version: ["3.10", "3.11", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v4
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- name: Setup uv
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uses: astral-sh/setup-uv@v6
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with:
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python-version: ${{ matrix.python-version }}
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enable-cache: true
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version: "0.9.14"
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- name: Test with python ${{ matrix.python-version }}
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run: uv run pyright
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ty:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.10", "3.11", "3.12", "3.13"]
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steps:
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- name: Checkout mink
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uses: actions/checkout@v4
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v5
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- uses: actions/checkout@v4
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- name: Setup uv
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uses: astral-sh/setup-uv@v6
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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pip install uv
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uv pip install --system -e ".[test]"
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- name: Run tests
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run: |
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pytest .
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enable-cache: true
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version: "0.9.14"
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- name: Test with python ${{ matrix.python-version }}
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run: uv run ty check
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run-mink-coverage:
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tests:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.10", "3.11", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v4
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- name: Setup uv
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uses: astral-sh/setup-uv@v6
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with:
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python-version: ${{ matrix.python-version }}
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enable-cache: true
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version: "0.9.14"
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- name: Test with python ${{ matrix.python-version }}
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run: uv run pytest
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coverage:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout mink
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uses: actions/checkout@v4
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- name: Set up Python 3.13
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uses: actions/setup-python@v5
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- uses: actions/checkout@v4
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- name: Setup uv
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uses: astral-sh/setup-uv@v6
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with:
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python-version: 3.13
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- name: Install dependencies
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run: |
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pip install uv
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uv pip install --system -e ".[test]"
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- name: Run tests
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run: |
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coverage run --source=mink -m pytest .
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- name: "Coveralls"
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python-version: "3.13"
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enable-cache: true
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version: "0.9.14"
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- name: Run coverage
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run: uv run coverage run --source=src -m pytest .
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- name: Coveralls
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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run: |
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coveralls --service=github
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run: uv run coveralls --service=github

‎.github/workflows/docs.yml‎

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name: Documentation
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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push:
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branches: [main]
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pull_request:
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branches: [main]
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defaults:
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run:
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# See https://github.com/mamba-org/provision-with-micromamba#important
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shell: bash -l {0}
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env:
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UV_FROZEN: "1"
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jobs:
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docs:
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name: "GitHub Pages"
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runs-on: ubuntu-latest
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permissions:
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contents: write
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steps:
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- name: "Checkout Git repository"
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uses: actions/checkout@v4
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- name: Set up Python 3.12
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Set up dependencies
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run: |
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pip install uv
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uv pip install --system -e ".[dev]"
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uv pip install --system -r docs/requirements.txt
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- name: "Build documentation"
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run: |
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sphinx-build docs _build -W
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- name: "Deploy to GitHub Pages"
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uses: peaceiris/actions-gh-pages@v4
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if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
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with:
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publish_branch: gh-pages
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_dir: _build/
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force_orphan: true
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docs:
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name: "GitHub Pages"
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runs-on: ubuntu-latest
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permissions:
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contents: write
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steps:
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- uses: actions/checkout@v4
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- name: Setup uv
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uses: astral-sh/setup-uv@v6
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with:
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python-version: "3.13"
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enable-cache: true
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version: "0.9.14"
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- name: Build documentation
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run: uv run --group doc sphinx-build docs _build -W
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- name: Deploy to GitHub Pages
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uses: peaceiris/actions-gh-pages@v4
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if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
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with:
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publish_branch: gh-pages
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_dir: _build/
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force_orphan: true

‎.gitignore‎

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_static/
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_templates/
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htmlcov/
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*.pyc

‎.python-version‎

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3.13

‎CHANGELOG.md‎

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## Unreleased
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### Changed
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* Switch to `uv`.
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* Deprecate Python 3.8 and 3.9 support.
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### Added
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* Associate loggers with the name "mink".
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* Improve test coverage.
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* Add more tests to `test_configuration_limit.py` and `test_velocity_limit.py`.
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### Bugfix
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* Fix pyright type errors on Python 3.10 by explicitly casting numpy scalars to Python floats.
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## [0.0.13] - 2025-09-12
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### Bugfix

‎CITATION.cff‎

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cff-version: 1.2.0
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message: "If you find this code helpful, please cite it as below."
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title: "Mink: Python inverse kinematics based on MuJoCo"
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version: 0.0.11
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date-released: 2025-05-22
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version: 1.0.0
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date-released: 2025-12-19
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url: "https://github.com/kevinzakka/mink"
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license: "Apache-2.0"
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authors:

‎CONTRIBUTING.md‎

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# Contributing
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Thanks for your interest in contributing to **mink**! Here are a few great ways to get involved:
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Thanks for your interest in contributing to **mink**! Here are a few great ways
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to get involved:
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- Try out the [examples](examples) and report any issues.
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- Pick something you'd like to do with one of the many [robot descriptions](https://github.com/robot-descriptions/robot_descriptions.py) and write a new example.
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- Pick something you'd like to do with one of the many [robot
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descriptions](https://github.com/robot-descriptions/robot_descriptions.py) and
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write a new example.
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- Find a use case that isn’t covered yet and write a unit test for it.
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- Improve the documentation.
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- Implement new tasks or constraints.
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If any of those sound interesting, open an [issue](https://github.com/kevinzakka/mink/issues) and let us know you're on it!
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If any of those sound interesting, open an
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[issue](https://github.com/kevinzakka/mink/issues) and let us know you're on it!
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## Pull Requests
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pytest .
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```
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If you’re adding new functionality, consider adding corresponding tests and updating the docs if applicable.
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If you’re adding new functionality, consider adding corresponding tests and
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updating the docs if applicable.
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## Documentation
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If you’re adding new functionality to mink and want to update the documentation, you can build it and preview it locally like this:
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If you’re adding new functionality to mink and want to update the documentation,
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you can build it and preview it locally like this:
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```bash
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uv pip install -r docs/requirements.txt

‎Makefile‎

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.PHONY: sync
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sync:
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uv sync --all-extras --all-packages --group dev
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.PHONY: format
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format:
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uv run ruff format
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uv run ruff check --fix
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.PHONY: type
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type:
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uv run ty check
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uv run pyright
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.PHONY: check
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check: format type
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.PHONY: test
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test:
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uv run pytest
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.PHONY: test-all
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test-all: check test
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.PHONY: coverage
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coverage:
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uv run coverage run --source=src -m pytest .
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uv run coverage report
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.PHONY: doc
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doc:
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uv run --group doc sphinx-build docs _build -W
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.PHONY: build
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build:
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rm -rf dist/
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uv build
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uv run --isolated --no-project --with pytest --with robot_descriptions --with dist/*.whl pytest tests/
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uv run --isolated --no-project --with pytest --with robot_descriptions --with dist/*.tar.gz pytest tests/
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@ls -lh dist/*.whl | awk '{print "Wheel size: " $$5}'
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@echo "Build and test successful"

‎README.md‎

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author = {Zakka, Kevin},
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title = {{Mink: Python inverse kinematics based on MuJoCo}},
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year = {2025},
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month = may,
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version = {0.0.11},
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month = dec,
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version = {1.0.0},
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url = {https://github.com/kevinzakka/mink},
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license = {Apache-2.0}
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}
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```
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## Installation
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You can install `mink` using `pip`:
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Install from PyPI:
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```bash
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pip install mink
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uv add mink
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```
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To include the example dependencies:
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Or clone and run locally:
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```bash
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pip install "mink[examples]"
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git clone https://github.com/kevinzakka/mink.git && cd mink
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uv sync
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```
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## Examples
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To run an example:
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```bash
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# Linux
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uv run examples/arm_ur5e.py
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# macOS
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./fix_mjpython_macos.sh # So that mjpython works with uv.
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uv run mjpython examples/arm_ur5e.py
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```
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mink works with a variety of robots, including:
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* Arms: [UR5e](https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e_actuators.py), [iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/arm_iiwa.py), [bimanual iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/dual_iiwa.py)
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* Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py), [Unitree H1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_h1.py)
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* Quadrupeds: [Unitree Go1](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_go1.py), [Boston Dynamics Spot](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_spot.py)
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* Hands: [Shadow Hand](https://github.com/kevinzakka/mink/blob/main/examples/hand_shadow.py), [Allegro Hand](https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_iiwa_allegro.py)
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* Mobile manipulators: [Stanford TidyBot](https://github.com/kevinzakka/mink/blob/main/examples/mobile_tidybot.py), [Hello Robot Stretch](https://github.com/kevinzakka/mink/blob/main/examples/mobile_stretch.py)
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* **Single arms**: [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)
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* **Dual arms**: [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)
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* **Arm + hand**: [iiwa14 + Allegro](https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_iiwa_allegro.py), [xArm + LEAP](https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_xarm_leap.py)
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* **Dexterous hands**: [Shadow Hand](https://github.com/kevinzakka/mink/blob/main/examples/hand_shadow.py)
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* **Humanoids**: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py), [Unitree H1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_h1.py), [Apptronik Apollo](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_apollo.py)
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* **Legged robots**: [Unitree Go1](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_go1.py), [Boston Dynamics Spot](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_spot.py), [Agility Cassie](https://github.com/kevinzakka/mink/blob/main/examples/biped_cassie.py)
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* **Mobile manipulators**: [TidyBot](https://github.com/kevinzakka/mink/blob/main/examples/mobile_tidybot.py), [Hello Robot Stretch](https://github.com/kevinzakka/mink/blob/main/examples/mobile_stretch.py), [Kinova Gen3 + LEAP](https://github.com/kevinzakka/mink/blob/main/examples/mobile_kinova_leap.py)
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Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
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Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more.
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## How can I help?
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‎docs/requirements.txt‎

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