# Mink ur5e differential IK and actuator servo Mink ur5e differential IK and actuator servo. Bounded, source-pinned simulation with an explicit task contract and retained fixed-case outcomes. Record version: `1.0.0` · Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20` ## Executable interface ```json { "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-ur5e-py" ], "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | mink 1.3.0 | ur5e | cartesian-servo | privileged_simulator_state | linux x86_64 | >=3.11,<3.12 | task_complete | Privileged simulator observations and goal/state feedback. No physical sensor validation. Compatibility status: **hub_verified**. An environment match does not establish task completion. Runtime verification: **task_complete**. ## Source and license - Repository: https://github.com/kevinzakka/mink - Source commit: `ae6759602593113ed7e5431ac7c65726ea27dc29` (no tag) - Original authors: Original mink contributors; preserve all pinned source and asset notices - License: [Apache-2.0](https://github.com/kevinzakka/mink/blob/ae6759602593113ed7e5431ac7c65726ea27dc29/LICENSE) - Source archive SHA256: `119a412fcf985756ea1f5fea5a0d856627c7d98771de73f9ac4e65a6c5de0580` - Upstream files: `LICENSE`, `pyproject.toml`, `examples/arm_ur5e.py`, `examples/universal_robots_ur5e/scene.xml`, `examples/universal_robots_ur5e/scene_plain.xml`, `examples/universal_robots_ur5e/scene_wrist_cam.xml`, `examples/universal_robots_ur5e/ur5e.xml`, `src/mink/configuration.py`, `src/mink/tasks/frame_task.py`, `src/mink/tasks/posture_task.py`, `src/mink/solve_ik.py`, `src/mink/limits/configuration_limit.py` - Upstream contribution rules: https://github.com/kevinzakka/mink ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "simulation" --runtime mink --runtime-version 1.3.0 --robot ur5e --json python /PATH_TO_SKILL/scripts/rsh.py inspect mink-ur5e-cartesian-servo --json python /PATH_TO_SKILL/scripts/rsh.py prepare mink-ur5e-cartesian-servo --project ./experiment --expected-source-commit ae6759602593113ed7e5431ac7c65726ea27dc29 --expected-record-version 1.0.0 --plan --json ``` Remove `--plan` to download the checksum-verified pinned source and create an isolated project environment. Preparation returns the remaining configuration. Dependency installation is an explicit `--install-deps` step; it can execute package build hooks. Robot simulation is a separate command returned by prepare, never run by find/inspect. Direct package pins: `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. Hardware: Linux x86_64; CPU simulation; see retained receipt for the exact host environment. Rendering: Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.. External API keys: none. ## Invocation contract Entrypoint: `python run.py`. ```json { "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. Failures: Invalid input or source checksum; Different pinned package version; Unavailable runtime/driver; Goal not reached within bounded steps. ## Actual evidence All 3 frozen cases completed against this exact adapter and source. Reviewer: Hub finite-case Lambda execution harness · 2026-10-20. Commands/checks actually performed: - python tools/verify_runtime_expansion.py --backend mink --source-cache SOURCE_CACHE --output OUTPUT Submitted evidence and hub verification remain separate. A schema check, PR creation or merge does not establish task success or publication. ## Reusable fixes Change the runtime expansion manifest/template, regenerate, and rerun all frozen cases. Preserve source/model/checkpoint licenses and distinguish simulation from hardware. # Mink ur5e differential IK and actuator servo Mink ur5e differential IK and actuator servo. Bounded, source-pinned simulation with an explicit task contract and retained fixed-case outcomes. 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. Source and model terms: Apache-2.0. The Hub wrapper is MIT. See the record for input JSON, exact environment, frozen execution receipts and preparation requirements.