MINK Compatible with MJX?

[AlexS28]

I was wondering whether MINK can work with MJX or if there's compatibility or other unforeseen issues if using MINK within the step function of a typical MJX environment. Ideally I'd like to do IK control for my RL environment.

Any help or info on this would be appreciated.
Sincerely,
Alex

[ShahhhVihaan]

Another group made a mink equivalent for mjx https://github.com/based-robotics/mjinx/tree/main

[kevinzakka]

Thanks @ShahhhVihaan!

@AlexS28 You'll probably want a batched IK implementation that can solve for all MJX environments in parallel, so might be a good idea to check mjinx out.

[AlexS28]

thank you for the swift reply, yes what you mentioned is what I am trying to do. Much appreciated @ShahhhVihaan and @kevinzakka