Examples

Examples#

Runnable scripts ship under examples/ (numbered by increasing complexity). Assets are vendored from Mink.

Visualization (mjviser)#

Script

Description

examples/01_panda_ik.py

Panda EE tracking, JointLimitTask (soft), CUDA graph

examples/02_constrained_ur5e.py

Hard limits: ConfigurationLimit, CollisionAvoidanceLimit, VelocityLimit

examples/03_equality_cassie.py

Closed-chain EqualityConstraintTask; feet pinned, COM bob

examples/04_self_collision_dual_iiwa.py

Dual Kuka arms; inter-arm CollisionAvoidanceLimit

examples/05_relative_frame_g1.py

G1 humanoid: RelativeFrameTask, squat, hand motion, collision

 
uv sync --extra examples
uv run examples/01_panda_ik.py
uv run examples/05_relative_frame_g1.py

Walkthrough by complexity#

#

Script

Highlights

01

01_panda_ik.py

FrameTask, soft limits, IKSolver, mjviser grid

02

02_constrained_ur5e.py

ConstrainedSolver + collision — see Constrained IK (hard limits)

03

03_equality_cassie.py

EqualityConstraintTask on Cassie closed chain

04

04_self_collision_dual_iiwa.py

Dual Kuka iiwa14; inter-arm collision (Mink arm_dual_iiwa)

05

05_relative_frame_g1.py

G1: RelativeFrameTask + collision — see Tasks and limits

Documentation examples#

Scripts in examples/docs/ are tested by tests/test_docs.py and included in the Sphinx tutorials via literalinclude.

Benchmarks#

See Benchmarks and benchmarks/README.md.