Reusable kinematics and control utilities for OpenArm, backed by MuJoCo and mink.
uv syncfrom openarm_control import Kinematics, IKParams, ArmSetup
# FK only
kin = Kinematics(setup)
pose = kin.fk("right", joints) # float32[7]
pose_r, pose_l = kin.fk_bimanual(r, l) # single mj_forward
# IK
kin = Kinematics(setup, IKParams(damping=0.25, posture_cost=0.01))
kin.set_target("right", pose_r)
kin.set_target("left", pose_l)
result = kin.solve(dt=0.1, n_iters=5) # float32[16] right[8]+left[8]Solver configuration passed to Kinematics. All fields have defaults.
| Field | Default | Description |
|---|---|---|
position_cost |
1.0 |
Position task weight |
orientation_cost |
1.0 |
Orientation task weight |
lm_damping |
0.01 |
Per-task Levenberg-Marquardt damping |
damping |
0.25 |
Global Tikhonov regularization |
solver |
"daqp" |
QP backend |
posture_cost |
0.01 |
Neutral posture task weight (0 = disabled) |
diag_reg |
0.0 |
QP diagonal regularization |
dt |
0.1 |
Integration timestep per iteration |
max_iters |
5 |
IK iterations per solve |
Build from CLI args with register_ik_args + ik_params_from_args:
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Licensed under the Apache License 2.0. See LICENSE.txt for details.
Copyright 2026 Enactic, Inc.
All participation in the OpenArm project is governed by our Code of Conduct.