Mink iiwa differential IK and actuator servo

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

mink-iiwa-cartesian-servo | Record version: 1.0.0

Record JSON | Markdown recipe | Complete search index

Fetch and prepare

curl -fsSL https://hub.superfastrobotics.com/skills/mink-iiwa-cartesian-servo/skill.json
curl -fsSL https://hub.superfastrobotics.com/skills/mink-iiwa-cartesian-servo/README.md
python /PATH_TO_SKILL/scripts/rsh.py inspect mink-iiwa-cartesian-servo --json
python /PATH_TO_SKILL/scripts/rsh.py prepare mink-iiwa-cartesian-servo --project ./experiment --expected-source-commit ae6759602593113ed7e5431ac7c65726ea27dc29 --expected-record-version 1.0.0 --plan --json

Inspect the requirements, then remove --plan to prepare a project. Preparation verifies the archive SHA256 and preserves exact source pins. --install-deps explicitly installs dependencies. Run the returned simulation command separately.

Environment

Runtime: mink 1.3.0
Robot: iiwa
Controller: cartesian-servo
Observation: privileged_simulator_state
OS / architecture: linux / x86_64
Python: >=3.11,<3.12

Compatibility status: hub_verified

Privileged simulator observations and goal/state feedback. No physical sensor validation.

Requirements

Linux x86_64; CPU simulation; see retained receipt for the exact host environment

Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.

Packages: mink==1.3.0, mujoco==3.10.0, numpy==1.26.4, qpsolvers==4.12.0, daqp==0.8.6

Direct runtime versions are pinned and measured. The receipt retains the complete environment freeze; prepare records the installed environment. System drivers are separate host requirements.

External API keys: none.

Invocation

Executable interface

{
  "version": "1",
  "kind": "controller",
  "abstraction_level": 1,
  "execution_domain": "simulation",
  "language": "python",
  "input_transport": "json_file_or_inline",
  "output_transport": "json_stdout",
  "output_selector": "outputs",
  "conventions": {
    "linear_unit": "m",
    "angular_unit": "rad",
    "time_unit": "s",
    "coordinate_frame": "right_handed_world_xyz; +z_up",
    "joint_order": "not_used",
    "quaternion_order": "not_used"
  },
  "input_schema": {
    "type": "object",
    "required": [
      "target_offset_m"
    ],
    "properties": {
      "target_offset_m": {
        "type": "array",
        "minItems": 3,
        "maxItems": 3,
        "items": {
          "type": "number",
          "minimum": -0.06,
          "maximum": 0.06
        },
        "x-unit": "m",
        "x-frame": "right_handed_world_xyz; +z_up"
      }
    },
    "additionalProperties": false
  },
  "output_schema": {
    "type": "object",
    "required": [
      "final_xyz_m",
      "target_xyz_m",
      "error_m",
      "movement_m",
      "orientation_error_rad",
      "steps"
    ],
    "properties": {
      "final_xyz_m": {
        "type": "array",
        "minItems": 3,
        "maxItems": 3,
        "items": {
          "type": "number",
          "minimum": -20,
          "maximum": 20
        },
        "x-unit": "m",
        "x-frame": "right_handed_world_xyz; +z_up"
      },
      "target_xyz_m": {
        "type": "array",
        "minItems": 3,
        "maxItems": 3,
        "items": {
          "type": "number",
          "minimum": -20,
          "maximum": 20
        },
        "x-unit": "m",
        "x-frame": "right_handed_world_xyz; +z_up"
      },
      "error_m": {
        "type": "number",
        "minimum": 0,
        "maximum": 50,
        "x-unit": "m"
      },
      "movement_m": {
        "type": "number",
        "minimum": 0,
        "maximum": 50,
        "x-unit": "m"
      },
      "orientation_error_rad": {
        "type": "number",
        "minimum": 0,
        "maximum": 10,
        "x-unit": "rad"
      },
      "steps": {
        "type": "integer",
        "minimum": 1,
        "maximum": 3000
      }
    },
    "additionalProperties": false
  },
  "preconditions": [
    "Use the exact recorded source, Linux Python 3.11 environment and pinned direct packages.",
    "No physical robot, network actuation or external robot credentials."
  ],
  "postconditions": [
    "All reported checks must be true and all output numbers finite.",
    "Success covers the declared goal and frozen cases, not arbitrary tasks or physical hardware."
  ],
  "failure_codes": [
    "invalid_input_or_environment",
    "execution_failed",
    "task_failed"
  ],
  "composition": {
    "depends_on": [],
    "automatic_frame_conversion": false,
    "automatic_hardware_execution": false
  },
  "origin_reference_ids": [
    "mink-examples-arm-iiwa-py"
  ],
  "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred"
}

Entrypoint: python run.py

{
  "argv": [
    "{python}",
    "{recipe_dir}/run.py",
    "--source-dir",
    "{source_dir}",
    "--example"
  ],
  "inputs": {
    "target_offset_m": [
      0.03,
      0,
      0
    ]
  },
  "outputs": {
    "format": "single JSON object",
    "payload_selector": "outputs",
    "schema": {
      "type": "object",
      "required": [
        "final_xyz_m",
        "target_xyz_m",
        "error_m",
        "movement_m",
        "orientation_error_rad",
        "steps"
      ],
      "properties": {
        "final_xyz_m": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {
            "type": "number",
            "minimum": -20,
            "maximum": 20
          },
          "x-unit": "m",
          "x-frame": "right_handed_world_xyz; +z_up"
        },
        "target_xyz_m": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {
            "type": "number",
            "minimum": -20,
            "maximum": 20
          },
          "x-unit": "m",
          "x-frame": "right_handed_world_xyz; +z_up"
        },
        "error_m": {
          "type": "number",
          "minimum": 0,
          "maximum": 50,
          "x-unit": "m"
        },
        "movement_m": {
          "type": "number",
          "minimum": 0,
          "maximum": 50,
          "x-unit": "m"
        },
        "orientation_error_rad": {
          "type": "number",
          "minimum": 0,
          "maximum": 10,
          "x-unit": "rad"
        },
        "steps": {
          "type": "integer",
          "minimum": 1,
          "maximum": 3000
        }
      },
      "additionalProperties": false
    }
  }
}

Success: 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.

Timeout: 180 seconds. Terminate the adapter at the recorded timeout. No physical hardware is opened.

Failure modes

Invalid input or source checksum
Different pinned package version
Unavailable runtime/driver
Goal not reached within bounded steps

Source and license

Repository: https://github.com/kevinzakka/mink
Authors: Original mink contributors; preserve all pinned source and asset notices
Commit: ae6759602593113ed7e5431ac7c65726ea27dc29
Archive SHA256: 119a412fcf985756ea1f5fea5a0d856627c7d98771de73f9ac4e65a6c5de0580
License: Apache-2.0
Hub commit: d800c48cfd84f618a5c6ab84f8f7feec74ab0b56

Evidence

Runtime: task_complete / task_complete

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

Reviewer: Hub finite-case Lambda execution harness | 2026-10-20

python tools/verify_runtime_expansion.py --backend mink --source-cache SOURCE_CACHE --output OUTPUT

Submitter reports and hub verification remain separate. Source review does not establish task success.