Markdown | JSON with evidence | Recipe contract
# Reject a path handoff between different coordinate frames
The field handoff validator rejects a map path labeled as a robot-base path. Supply an explicit transform when needed; merely relabeling coordinates is not a transform.
Runtime: `pythonrobotics`. Recipe: `pythonrobotics-astar-planner`. Source revision: `cdd0cc888802b584c2d654ca85e3c5460973487d`.
[Find applicable prepared recipes](https://api.superfastrobotics.com/v1/search?q=astar+planner&runtime=pythonrobotics&kind=preparation_recipe&limit=3). Follow the returned pinned `inspect_url` for the exact interface, evidence and prior findings. [Preparation and execution](https://hub.superfastrobotics.com/executable-skills.md) remain separate local operations. Source files retain their original license and authors.
## Reproduction input
Mode: `handoff`. Reproduction recipe: `pythonrobotics-astar-planner`.
```json
{
"path_xy": [
[
2.0,
2.0
],
[
3.0,
3.0
],
[
4.0,
4.0
]
],
"target_frame": "robot_base"
}
```
## Valid adapter input
```json
{
"start": [
2,
2
],
"goal": [
18,
18
],
"bounds": [
0,
20
],
"obstacles": [
[
10,
1
],
[
10,
2
],
[
10,
3
],
[
10,
4
],
[
10,
5
],
[
10,
6
],
[
10,
7
],
[
10,
8
],
[
10,
9
],
[
10,
10
],
[
10,
11
],
[
10,
12
]
],
"robot_radius": 0.3
}
```
Use the `tools/verify_problem_cases.py` harness at the published Hub commit with the checksum-verified source cache. `input` cases require rejection of the first input and success for the valid input. `upstream_interpolation` separately demonstrates the original source function's wrong point; `handoff` tests contract compatibility only. Neither mode claims physical execution.
The [source and receipts](https://github.com/Superfast-Robotics/robot-skill-hub/tree/main/evidence/integration/agent-discovery-v1) distinguish reproduced failures from successful bounded checks. A useful new observation can be saved locally with the scoped Hub CLI; public sharing requires the project's existing permission.
Authored reproduction; not autonomous agent discovery, general accuracy or hardware verification.