{
  "id": "ur5e-cartesian-servo",
  "title": "Move a UR5e tool with Cartesian IK servo",
  "query": "UR5e Cartesian servo",
  "runtime": "mink",
  "robot": "ur5e",
  "skill_id": "mink-ur5e-cartesian-servo",
  "start_url": "https://api.superfastrobotics.com/v1/start?q=UR5e+Cartesian+servo&runtime=mink&hub_commit=f97266a5cdd2c600cd376397a54892f08290df20&robot=ur5e",
  "exact_start_url": "https://api.superfastrobotics.com/v1/start?q=mink-ur5e-cartesian-servo&query_mode=all_terms&hub_commit=f97266a5cdd2c600cd376397a54892f08290df20",
  "hub_commit": "f97266a5cdd2c600cd376397a54892f08290df20",
  "record_version": "1.0.0",
  "source_commit": "ae6759602593113ed7e5431ac7c65726ea27dc29",
  "environment": [
    {
      "runtime": "mink",
      "runtime_version": "1.3.0",
      "robot": "ur5e",
      "controller": "cartesian-servo",
      "observation": "privileged_simulator_state",
      "os": "linux",
      "architecture": "x86_64",
      "python": "3.11",
      "status": "hub_verified"
    }
  ],
  "requirements": {
    "python": ">=3.11,<3.12",
    "packages": [
      "mink==1.3.0",
      "mujoco==3.10.0",
      "numpy==1.26.4",
      "qpsolvers==4.12.0",
      "daqp==0.8.6"
    ],
    "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.",
    "api_keys": [],
    "network": [
      "Pinned source archive during preparation",
      "PyPI dependencies during explicit installation"
    ],
    "dependency_lock": "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."
  },
  "example_input": {
    "target_offset_m": [
      0.03,
      0,
      0
    ]
  },
  "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-ur5e-py"
    ],
    "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred"
  },
  "completion": {
    "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.",
    "timeout_seconds": 180,
    "failure_modes": [
      "Invalid input or source checksum",
      "Different pinned package version",
      "Unavailable runtime/driver",
      "Goal not reached within bounded steps"
    ],
    "stop_condition": "Terminate the adapter at the recorded timeout. No physical hardware is opened."
  },
  "evidence": {
    "level": "task_complete",
    "verified_by": "Hub finite-case Lambda execution harness",
    "date": "2026-10-20",
    "environment": {
      "scope": "simulation",
      "physical_robot": false,
      "platforms": [
        "linux"
      ]
    },
    "commands": [
      "python tools/verify_runtime_expansion.py --backend mink --source-cache SOURCE_CACHE --output OUTPUT"
    ],
    "result": "All 3 frozen cases completed against this exact adapter and source.",
    "artifacts": [
      "https://raw.githubusercontent.com/Superfast-Robotics/robot-skill-hub/f97266a5cdd2c600cd376397a54892f08290df20/evidence/runtime/diverse-sim-v1/mink-ur5e-cartesian-servo.json"
    ],
    "runtime_verification": "task_complete",
    "contributor_reported": null,
    "hub_verification": {
      "runtime": "task_complete",
      "scope": "simulation",
      "adapter_sha256": "f685555a9e69720398aa91e3433f6df0d35511f572e3eb7c465c02930adb650e",
      "source_commit": "ae6759602593113ed7e5431ac7c65726ea27dc29",
      "record_version": "1.0.0",
      "case_count": 3,
      "retained_failed_cases": 0
    }
  },
  "current_execution_state": "completed",
  "sample_url": "https://hub.superfastrobotics.com/samples/mink-ur5e-cartesian-servo/",
  "execution_performed": false,
  "sharing_performed": false
}