Mink ur5e differential IK and actuator servo: robotics skill example

Mink ur5e differential IK and actuator servo. Bounded, source-pinned simulation with an explicit task contract and retained fixed-case outcomes.

Markdown | JSON example and evidence | Canonical contract | All examples

Task and environment

mink | 1.3.0 | ur5e | cartesian-servo | linux | 3.11

Example input

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

Retrieve without installation

curl -fsSL 'https://api.superfastrobotics.com/v1/skills/mink-ur5e-cartesian-servo?hub_commit=d800c48cfd84f618a5c6ab84f8f7feec74ab0b56&record_version=1.0.0&include=experience'

Inspect source, license, environment and execution evidence before preparing. Preparation and execution are separate actions.

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.

Source commit: ae6759602593113ed7e5431ac7c65726ea27dc29. Record version: 1.0.0. This page performs no execution.