# Collision filtering in headless procedural simulation Collision filtering in headless procedural simulation. Parameterized bounded JSON adapter; synthetic DIRECT simulation, no physical robot. Record version: `1.0.0` · Hub commit: `39b06d7a6016edcea27e348e49ffd86f29ec1811` ## Executable interface ```json { "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" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | pybullet 3.2.7 | synthetic-seven-axis-or-procedural-scene | json-contract-v1 | explicit-json-input | linux x86_64 | >=3.10,<3.11 | task_complete | All inputs and outputs follow interface v1. Simulation adapters query exact synthetic simulator state; no perception or physical sensor compatibility. Compatibility status: **hub_verified**. An environment match does not establish task completion. Runtime verification: **task_complete**. ## Source and license - Repository: https://github.com/bulletphysics/bullet3 - Source commit: `2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5` (no tag) - Original authors: Erwin Coumans and Bullet Physics contributors - License: [Zlib](https://github.com/bulletphysics/bullet3/blob/2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5/LICENSE.txt) - Source archive SHA256: `f7c486f10b9f645d0577249d02855e076e8368babaa3d31ced6095e7162baee9` - Upstream files: `LICENSE.txt`, `examples/pybullet/examples/collisionFilter.py` - Upstream contribution rules: https://github.com/bulletphysics/bullet3 ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "algorithm" --runtime pybullet --runtime-version 3.2.7 --robot synthetic-seven-axis-or-procedural-scene --json 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 ``` Remove `--plan` to download the checksum-verified pinned source and create an isolated project environment. Preparation returns the remaining configuration. Dependency installation is an explicit `--install-deps` step; it can execute package build hooks. Robot simulation is a separate command returned by prepare, never run by find/inspect. Direct package pins: `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. Hardware: x86_64 CPU; no GPU or robot required. Rendering: No display. Matplotlib Agg for numerical imports; PyBullet DIRECT for simulation.. External API keys: none. ## Invocation contract Entrypoint: `python run.py`. ```json { "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. Failures: Invalid or oversized JSON; Source checksum mismatch; Unavailable pinned dependency; No valid path or postcondition failure; Execution exceeding the declared bounded algorithm budget. ## Actual evidence 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. Commands/checks actually performed: - python tools/verify_executable_recipes.py --source-cache SOURCE_CACHE --output OUTPUT --backend pybullet Submitted evidence and hub verification remain separate. A schema check, PR creation or merge does not establish task success or publication. ## Reusable fixes Preserve upstream origin/license and interface semantics. Edit the finite manifest/templates and regenerate; record new exact-byte evidence for behavior changes. # Collision filtering in headless procedural simulation Parameterized adaptation of `examples/pybullet/examples/collisionFilter.py` from https://github.com/bulletphysics/bullet3 at `2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5`. Original authors: Erwin Coumans and Bullet Physics contributors. Upstream license: Zlib. Source license and all notices remain in the prepared checkout; the Hub adapter is MIT. Use the record interface for input/output schemas, units, frames, prerequisites and failures. `--describe` reads the contract; `--example` runs the declared case. Replace `--example` with `--input TASK.json` for a different input. This adapter does not command physical hardware.