Robot Skill Hub by Superfast Robotics

Collision filtering in headless procedural simulation

Collision filtering in headless procedural simulation. Parameterized bounded JSON adapter; synthetic DIRECT simulation, no physical robot.

pybullet-collision-filter-skill | Record version: 1.0.0

Record JSON | Markdown recipe | Complete search index

Fetch and prepare

curl -fsSL https://hub.superfastrobotics.com/skills/pybullet-collision-filter-skill/skill.json
curl -fsSL https://hub.superfastrobotics.com/skills/pybullet-collision-filter-skill/README.md
python /PATH_TO_SKILL/scripts/rsh.py inspect pybullet-collision-filter-skill --json
python /PATH_TO_SKILL/scripts/rsh.py prepare pybullet-collision-filter-skill --project ./experiment --expected-source-commit 2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5 --expected-record-version 1.0.0 --plan --json

Inspect the requirements, then remove --plan to prepare a project. Preparation verifies the archive SHA256 and preserves exact source pins. --install-deps explicitly installs dependencies. Run the returned simulation command separately.

Environment

Runtime
pybullet 3.2.7
Robot
synthetic-seven-axis-or-procedural-scene
Controller
json-contract-v1
Observation
explicit-json-input
OS / architecture
linux / x86_64
Python
>=3.10,<3.11

Compatibility status: hub_verified

All inputs and outputs follow interface v1. Simulation adapters query exact synthetic simulator state; no perception or physical sensor compatibility.

Requirements

No display. Matplotlib Agg for numerical imports; PyBullet DIRECT for simulation.

Packages: numpy==1.26.4, pybullet==3.2.7

Runtime dependency versions are pinned for the supported Python 3.10 x86_64 CPU environments and checked against execution receipts. Platform-specific wheel hashes are not represented as a universal artifact lock; prepare captures pip freeze.

External API keys: none.

Invocation

Executable interface

{
  "version": "1",
  "kind": "algorithm",
  "abstraction_level": 0,
  "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": "not_used",
    "quaternion_order": "not_used"
  },
  "input_schema": {
    "type": "object",
    "required": [
      "offset"
    ],
    "additionalProperties": false,
    "properties": {
      "offset": {
        "type": "number",
        "minimum": 0.01,
        "maximum": 0.15,
        "x-unit": "m",
        "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
        "description": "offset; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
      }
    }
  },
  "output_schema": {
    "type": "object",
    "required": [
      "contacts_enabled",
      "contacts_disabled"
    ],
    "additionalProperties": false,
    "properties": {
      "contacts_enabled": {
        "type": "integer",
        "minimum": 0,
        "maximum": 100,
        "x-unit": "dimensionless",
        "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
        "description": "contacts_enabled; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
      },
      "contacts_disabled": {
        "type": "integer",
        "minimum": 0,
        "maximum": 100,
        "x-unit": "dimensionless",
        "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
        "description": "contacts_disabled; units=dimensionless; 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-collisionfilter"
  ],
  "origin_relationship": "adapted_from; inspect declared model and inputs, not original robot compatibility"
}

Entrypoint: python run.py

{
  "argv": [
    "{python}",
    "{recipe_dir}/run.py",
    "--source-dir",
    "{source_dir}",
    "--example"
  ],
  "inputs": {
    "offset": 0.05
  },
  "outputs": {
    "format": "single JSON object on stdout",
    "payload_selector": "outputs",
    "schema": {
      "type": "object",
      "required": [
        "contacts_enabled",
        "contacts_disabled"
      ],
      "additionalProperties": false,
      "properties": {
        "contacts_enabled": {
          "type": "integer",
          "minimum": 0,
          "maximum": 100,
          "x-unit": "dimensionless",
          "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
          "description": "contacts_enabled; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
        },
        "contacts_disabled": {
          "type": "integer",
          "minimum": 0,
          "maximum": 100,
          "x-unit": "dimensionless",
          "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin",
          "description": "contacts_disabled; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin"
        }
      }
    }
  }
}

Success: Exit 0, status=task_complete, success=true, finite outputs satisfying interface.output_schema and all declared numerical/model checks. This is not a physical robot or general task-success claim.

Timeout: 30 seconds. Caller must terminate the separate adapter process after 30 seconds; adapters bound iterations/scene steps and close simulation clients.

Failure modes

Source and license

Repository
https://github.com/bulletphysics/bullet3
Authors
Erwin Coumans and Bullet Physics contributors
Commit
2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5
Archive SHA256
f7c486f10b9f645d0577249d02855e076e8368babaa3d31ced6095e7162baee9
License
Zlib
Hub commit
39b06d7a6016edcea27e348e49ffd86f29ec1811

Evidence

Runtime: task_complete / task_complete

Three frozen positive cases passed against this exact adapter; see per-case receipts. This does not estimate general accuracy.

Reviewer: Hub maintainer runtime harness | 2026-10-19

Submitter reports and hub verification remain separate. Source review does not establish task success.