# Mink panda differential IK and actuator servo: robotics skill example

Mink panda differential IK and actuator servo. Bounded, source-pinned simulation with an explicit task contract and retained fixed-case outcomes.

## Task and environment

mink | 1.3.0 | panda | cartesian-servo | linux | 3.11

## Example input

```json
{
  "target_offset_m": [
    0.03,
    0,
    0
  ]
}
```

## Retrieve and prepare

Read https://hub.superfastrobotics.com/skills/mink-panda-cartesian-servo/skill.json or https://api.superfastrobotics.com/v1/skills/mink-panda-cartesian-servo?hub_commit=f97266a5cdd2c600cd376397a54892f08290df20&record_version=1.0.0&include=experience without installing a client. Inspect the license, exact environment and evidence before preparation. Preparation and execution remain separate.

Source: https://github.com/kevinzakka/mink at ae6759602593113ed7e5431ac7c65726ea27dc29. Record version: 1.0.0.

## Success condition

All declared goal and finite-state checks pass; exit 0 with task_complete. Differential IK with configuration limits, followed by 3000 MuJoCo dynamics steps using position actuators; final position error below 15 mm and orientation error below 0.05 rad. No qpos teleport after reset.

## Recorded evidence

task_complete: All 3 frozen cases completed against this exact adapter and source.

This page is a data-only example and performs no execution.