Installation

Installation#

mink-warp requires Python 3.10–3.13, MuJoCo, MuJoCo Warp, and Warp.

  • GPU recommended for batched throughput and CUDA graphs.

  • CPU supported for development and tests (including constrained ADMM via Warp LLVM).

From source (development)#

git clone https://github.com/simeon-ned/mink-warp.git && cd mink-warp
uv sync --extra dev --extra examples

git clone https://github.com/simeon-ned/mink-warp.git && cd mink-warp
pip install -e ".[dev,examples]"

Verification#

uv run python -c "import mink_warp as mw; print(mw.__version__)"

Optional extras#

Extra

Purpose

dev

pytest, ruff, mink (parity tests)

examples

mjviser + viser for Panda / G1 demos

docs

Sphinx site (make docs)

Build the documentation locally: see docs/BUILDING.md.