README writing.

CONTRIBUTING.md

@@ -0,0 +1,11 @@
+# Contributing
+
+Some ways to contribute to mink:
+
+- Try out the [examples](examples) and report any issue.
+- Pick something you want to do with one of the many [robot descriptions](https://github.com/robot-descriptions/robot_descriptions.py) and write a new example.
+- Find a use case that is not covered and write a unit test for it.
+- Improve the documentation.
+- Implement new tasks or constraints.
+
+If any of those sound interesting, open an [issue](https://github.com/kevinzakka/mink/issues) and say you're on it!

README.md

@@ -2,26 +2,32 @@
 
 [![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mink/ci.yml?branch=main)](https://github.com/kevinzakka/mink/actions)
 
-A port of [pink](https://github.com/stephane-caron/pink) for MuJoCo.
+mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
 
 ## Installation
 
 ```bash
 pip install -e ".[examples]"
 ```
 
-## Usage
-
 ## Examples
 
-* Arms:
-* Humanoids:
-* Quadrupeds:
-* Hands:
-* Mobile manipulators:
+* 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)
+* Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py)
+* 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)
+* Hands: [Shadow Hand]()
+
+Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
+
+## How can I help?
+
+Install the library, use it and report any bugs in the [issue tracker](https://github.com/kevinzakka/mink/issues) if you find any. If you're feeling adventurous, you can also check out the contributing [guidelines](CONTRIBUTING.md) and submit a pull request.
 
 ## Acknowledgements
 
-* pink
-* jaxlie
-* dm_robotics
+mink is a direct port of [pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the original author of pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
+
+mink also heavily adapts code from the following libraries:
+
+* The lie algebra library that powers the transforms in mink is adapted from [jaxlie](https://github.com/brentyi/jaxlie).
+* The collision avoidance constraint is adapted from [dm_robotics](https://github.com/google-deepmind/dm_robotics/tree/main/cpp/controllers)'s LSQP controller.