{
  "schema_version": "1",
  "interpretation": "data_only",
  "hub_commit": "ede75c00118e9808e5099da43c26f4619cc3bc37",
  "skill_id": "pybullet-position-control-skill",
  "name": "Joint position control in headless procedural simulation",
  "example_input": {
    "joint_angles": [
      0.1,
      -0.3,
      0.4,
      0.2,
      -0.2,
      0.1,
      0.1
    ],
    "target_joint_angles": [
      0.2,
      -0.2,
      0.3,
      0.1,
      -0.1,
      0.2,
      0
    ]
  },
  "environment": [
    {
      "runtime": "pybullet",
      "runtime_version": "3.2.7",
      "robot": "synthetic-seven-axis-or-procedural-scene",
      "controller": "json-contract-v1",
      "observation": "explicit-json-input",
      "os": "linux",
      "architecture": "x86_64",
      "python": "3.10",
      "status": "hub_verified"
    }
  ],
  "interface": {
    "version": "1",
    "kind": "controller",
    "abstraction_level": 1,
    "execution_domain": "simulation",
    "language": "python",
    "input_transport": "json_file_or_inline",
    "output_transport": "json_stdout",
    "conventions": {
      "linear_unit": "m",
      "angular_unit": "rad",
      "time_unit": "s",
      "coordinate_frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
      "joint_order": "input_array_order",
      "quaternion_order": "not_used"
    },
    "input_schema": {
      "type": "object",
      "required": [
        "joint_angles",
        "target_joint_angles"
      ],
      "additionalProperties": false,
      "properties": {
        "joint_angles": {
          "type": "array",
          "minItems": 7,
          "maxItems": 7,
          "items": {
            "type": "number",
            "minimum": -3,
            "maximum": 3
          },
          "x-unit": "rad",
          "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
          "description": "joint_angles; units=rad; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
        },
        "target_joint_angles": {
          "type": "array",
          "minItems": 7,
          "maxItems": 7,
          "items": {
            "type": "number",
            "minimum": -1,
            "maximum": 1
          },
          "x-unit": "rad",
          "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
          "description": "target_joint_angles; units=rad; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
        }
      }
    },
    "output_schema": {
      "type": "object",
      "required": [
        "joint_angles_rad",
        "maximum_joint_error_rad"
      ],
      "additionalProperties": false,
      "properties": {
        "joint_angles_rad": {
          "type": "array",
          "minItems": 7,
          "maxItems": 7,
          "items": {
            "type": "number",
            "minimum": -100,
            "maximum": 100
          },
          "x-unit": "rad",
          "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
          "description": "joint_angles_rad; units=rad; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
        },
        "maximum_joint_error_rad": {
          "type": "number",
          "minimum": 0,
          "maximum": 100,
          "x-unit": "rad",
          "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
          "description": "maximum_joint_error_rad; units=rad; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
        }
      }
    },
    "preconditions": [
      "PyBullet DIRECT CPU simulation with procedural shapes and a synthetic seven-axis arm where applicable; no downloaded models.",
      "This is an adaptation of the referenced API example, not verification of its original robot model or hardware.",
      "Simulation steps are fixed and bounded; force/torque order is Fx,Fy,Fz,Mx,My,Mz in the joint sensor frame."
    ],
    "postconditions": [
      "All declared checks must pass and all outputs must be finite.",
      "Success applies only to this operation and model, not higher-level task completion."
    ],
    "failure_codes": [
      "invalid_input_or_environment",
      "execution_failed",
      "task_failed"
    ],
    "composition": {
      "depends_on": [],
      "automatic_frame_conversion": false,
      "automatic_hardware_execution": false
    },
    "output_selector": "outputs",
    "origin_reference_ids": [
      "pybullet-robotcontrol"
    ],
    "origin_relationship": "adapted_from; inspect declared model and inputs, not original robot compatibility"
  },
  "source_commit": "2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5",
  "record_version": "1.0.0",
  "evidence": {
    "level": "task_complete",
    "verified_by": "Hub maintainer runtime harness",
    "date": "2026-10-19",
    "environment": {
      "scope": "simulation",
      "platforms": [
        "linux"
      ],
      "physical_robot": false
    },
    "commands": [
      "python tools/verify_executable_recipes.py --source-cache SOURCE_CACHE --output OUTPUT --backend pybullet"
    ],
    "result": "Three frozen positive cases passed against this exact adapter; see per-case receipts. This does not estimate general accuracy.",
    "artifacts": [
      "https://raw.githubusercontent.com/Superfast-Robotics/robot-skill-hub/ede75c00118e9808e5099da43c26f4619cc3bc37/evidence/runtime/executable-conversions-v1/pybullet-position-control-skill.json"
    ],
    "runtime_verification": "task_complete",
    "contributor_reported": null,
    "hub_verification": {
      "runtime": "task_complete",
      "scope": "simulation",
      "case_count": 3,
      "source_unchanged": true
    }
  },
  "record_url": "https://hub.superfastrobotics.com/skills/pybullet-position-control-skill/skill.json",
  "inspect_url": "https://api.superfastrobotics.com/v1/skills/pybullet-position-control-skill?hub_commit=ede75c00118e9808e5099da43c26f4619cc3bc37&record_version=1.0.0&include=experience",
  "execution_performed": false
}