mink

Project notes

Use the UR5e example to inspect the constraints

Check out v1.3.0, commit 14625beca2ce0918f88d1fc84a3c0cdb591e0729, and run uv sync. This release requires Python 3.10+, MuJoCo 3.10.0+ and qpsolvers 4.12.0+ with the DAQP extra. On Linux, start uv run examples/arm_ur5e.py; on macOS, upstream first asks you to run ./fix_mjpython_macos.sh, then uv run mjpython examples/arm_ur5e.py. A graphical MuJoCo viewer is part of this example. [1] [2] [3] [6]

The script combines an end-effector frame task with a posture task, joint-position limits and joint-velocity limits of pi radians per second. It uses a 200 Hz rate limiter to solve velocities and integrate configurations. That is the example's configured update rate, not a measured real-time performance guarantee. [3]

Collision avoidance is explicitly limited to the configured pairs: in this example, wrist_3_link against the floor and wall. It does not automatically cover every link or every possible collision. In the general solver, omitting limits supplies only a configuration limit; an empty list disables those limits. Choose the relevant geometry pairs and limits for your own model. [3] [4]

Another important default is safety_break=False: if the starting configuration is already outside its limits, execution continues. Setting it to true requests an exception for that condition. Neither setting replaces physical robot control and safety validation. [4]

The library's root license is Apache-2.0; the included UR5e model has separate BSD-3-Clause terms. Other bundled robot descriptions and dependencies need their own license review. This profile is based on preserved source and release metadata; the example, solver performance and physical control have not been tested by us. [5] [7]