Kinematics and control utilities for OpenArm
Project description
OpenArm Control
Reusable kinematics and control utilities for OpenArm, backed by MuJoCo and mink.
Install
uv sync
Usage
Kinematics
from 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]
IKParams
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 |
velocity_limits |
None |
Per-joint velocity limits (applied in rad/s from config.py); None = disabled |
Build from CLI args with register_ik_args + ik_params_from_args:
Related links
- 💬 Join the community on Discord
- 📬 Contact us through openarm@enactic.ai
License
Licensed under the Apache License 2.0. See LICENSE.txt for details.
Copyright 2026 Enactic, Inc.
Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
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