IK alone can take you pretty far.
I put together a really cute demo to demonstrate this. Watch this Panda robot CNC engrave the MuJoCo logo into a curved dome using mink.
8:42 PM · Jun 21, 2026 · 4.8K Views
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Kevin Zakka@kevin_zakka
This demo was built using mink's new `AxisAlignTask`, which lets you align any robot axis with a target direction. Here, it keeps the engraving tool perpendicular to the dome surface the whole way.
Code: https://github.com/kevinzakka/mink/blob/main/examples/arm_panda_engrave.py
Kevin Zakka@kevin_zakka
IK alone can take you pretty far.
I put together a really cute demo to demonstrate this. Watch this Panda robot CNC engrave the MuJoCo logo into a curved dome using mink.
2hViews 472Likes 11Bookmarks 2