{ "schema_version": "1", "id": "pybullet-raycast-skill", "name": "Ray intersection in headless procedural simulation", "summary": "Ray intersection in headless procedural simulation. Parameterized bounded JSON adapter; synthetic DIRECT simulation, no physical robot.", "capabilities": [ "sensing", "raycast", "executable-json", "source-adaptation" ], "aliases": [ "raycast", "Ray intersection in headless procedural simulation" ], "source": { "repository": "https://github.com/bulletphysics/bullet3", "commit": "2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5", "paths": [ "LICENSE.txt", "examples/pybullet/examples/batchRayCast.py" ], "archive_url": "https://codeload.github.com/bulletphysics/bullet3/tar.gz/2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5", "archive_sha256": "f7c486f10b9f645d0577249d02855e076e8368babaa3d31ced6095e7162baee9", "archive_bytes": 139813655, "authors": [ "Erwin Coumans and Bullet Physics contributors" ] }, "license": { "spdx": "Zlib", "url": "https://github.com/bulletphysics/bullet3/blob/2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5/LICENSE.txt", "verified": true, "scope": "Example source code. Robot models, textures, logs, and third-party assets retain their own upstream licenses." }, "compatibility": [ { "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" } ], "observation": { "required": [ "explicit_json_task_input" ], "privileged_state": true, "description": "All inputs and outputs follow interface v1. Simulation adapters query exact synthetic simulator state; no perception or physical sensor compatibility." }, "requirements": { "python": ">=3.10,<3.11", "packages": [ "numpy==1.26.4", "pybullet==3.2.7" ], "hardware": [ "x86_64 CPU; no GPU or robot required" ], "rendering": "No display. Matplotlib Agg for numerical imports; PyBullet DIRECT for simulation.", "api_keys": [], "network": [ "Pinned source archive once during preparation", "PyPI for declared dependency installation" ], "dependency_lock": "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." }, "invocation": { "entrypoint": "python run.py", "argv": [ "{python}", "{recipe_dir}/run.py", "--source-dir", "{source_dir}", "--example" ], "inputs": { "box_center": [ 0, 0, 1 ], "ray_from": [ 0, 0, 2 ], "ray_to": [ 0, 0, 0 ] }, "outputs": { "format": "single JSON object on stdout", "payload_selector": "outputs", "schema": { "type": "object", "required": [ "hit", "hit_fraction", "hit_xyz_m", "normal_xyz" ], "additionalProperties": false, "properties": { "hit": { "type": "boolean", "x-unit": "dimensionless", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "description": "hit; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin" }, "hit_fraction": { "type": "number", "minimum": 0, "maximum": 1, "x-unit": "dimensionless", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "description": "hit_fraction; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin" }, "hit_xyz_m": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -10, "maximum": 10 }, "x-unit": "m", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "hit_xyz_m; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" }, "normal_xyz": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -1, "maximum": 1 }, "x-unit": "dimensionless", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "normal_xyz; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" } } } }, "example": "After prepare, replace --example in next_command with --input /absolute/path/task.json; use --describe for the exact contract without execution." }, "interface": { "version": "1", "kind": "sensing", "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": [ "box_center", "ray_from", "ray_to" ], "additionalProperties": false, "properties": { "box_center": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -10, "maximum": 10 }, "x-unit": "m", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "box_center; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" }, "ray_from": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -10, "maximum": 10 }, "x-unit": "m", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "ray_from; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" }, "ray_to": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -10, "maximum": 10 }, "x-unit": "m", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "ray_to; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" } } }, "output_schema": { "type": "object", "required": [ "hit", "hit_fraction", "hit_xyz_m", "normal_xyz" ], "additionalProperties": false, "properties": { "hit": { "type": "boolean", "x-unit": "dimensionless", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "description": "hit; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin" }, "hit_fraction": { "type": "number", "minimum": 0, "maximum": 1, "x-unit": "dimensionless", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "description": "hit_fraction; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin" }, "hit_xyz_m": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -10, "maximum": 10 }, "x-unit": "m", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "hit_xyz_m; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" }, "normal_xyz": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number", "minimum": -1, "maximum": 1 }, "x-unit": "dimensionless", "x-frame": "right_handed_world_xyz; +z_up; procedural_arm_base=world_origin", "x-order": [ "x", "y", "z" ], "description": "normal_xyz; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z" } } }, "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-batchraycast" ], "origin_relationship": "adapted_from; inspect declared model and inputs, not original robot compatibility" }, "completion": { "success_condition": "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_seconds": 30, "failure_modes": [ "Invalid or oversized JSON", "Source checksum mismatch", "Unavailable pinned dependency", "No valid path or postcondition failure", "Execution exceeding the declared bounded algorithm budget" ], "stop_condition": "Caller must terminate the separate adapter process after 30 seconds; adapters bound iterations/scene steps and close simulation clients." }, "preparation": { "recipe_path": "recipes/pybullet-raycast-skill", "requirements_file": "recipes/pybullet-raycast-skill/requirements.txt", "source_selection": "declared_paths", "install_argv": [ "{python}", "-m", "pip", "install", "--only-binary=:all:", "-r", "{recipe_dir}/requirements.txt" ], "execution_separate": true, "files": { "run.py": "# Generated from tools/recipe_adapters and catalog/executable-conversions.json.\n# Hub adapter: MIT. Adapted upstream example retains its original license and authors.\n\"\"\"Source template for standalone, bounded JSON recipe adapters (MIT, Hub authors).\n\nThe generator embeds this template and a reviewed backend in each published\nrecipe. Importing this template does not import or execute upstream source.\n\"\"\"\nimport argparse\nimport contextlib\nimport hashlib\nimport importlib.util\nimport io\nimport json\nimport math\nimport os\nfrom pathlib import Path\nimport random\nimport sys\n\n\nclass ContractError(ValueError):\n pass\n\n\ndef validate_data(value, schema, path='$'):\n \"\"\"Supported, published JSON Schema subset; bool is never a number.\"\"\"\n kind = schema.get('type')\n checks = {'object': lambda: isinstance(value, dict), 'array': lambda: isinstance(value, list),\n 'number': lambda: type(value) in (int, float) and math.isfinite(value),\n 'integer': lambda: type(value) is int, 'string': lambda: isinstance(value, str),\n 'boolean': lambda: isinstance(value, bool), 'null': lambda: value is None}\n if kind and (kind not in checks or not checks[kind]()):\n raise ContractError(path + ': expected ' + str(kind))\n if 'enum' in schema and value not in schema['enum']:\n raise ContractError(path + ': unsupported value')\n if type(value) in (int, float):\n if not math.isfinite(value) or value < schema.get('minimum', value) or value > schema.get('maximum', value):\n raise ContractError(path + ': outside numeric bounds')\n if isinstance(value, dict):\n if len(value) > 32: raise ContractError(path + ': too many keys')\n for name in schema.get('required', []):\n if name not in value: raise ContractError(path + '.' + name + ': required')\n props = schema.get('properties', {})\n for name, item in value.items():\n if name not in props and schema.get('additionalProperties') is False:\n raise ContractError(path + '.' + name + ': unknown field')\n validate_data(item, props.get(name, {}), path + '.' + name)\n elif isinstance(value, list):\n if not schema.get('minItems', 0) <= len(value) <= schema.get('maxItems', 4096):\n raise ContractError(path + ': invalid array length')\n for i, item in enumerate(value): validate_data(item, schema.get('items', {}), path + '[' + str(i) + ']')\n elif isinstance(value, str) and len(value) > schema.get('maxLength', 4096):\n raise ContractError(path + ': string too long')\n\n\ndef verify_source(root, spec):\n root = Path(root).resolve()\n for name, expected in spec['source_hashes'].items():\n target = root / name\n if target.is_symlink() or not target.resolve().is_relative_to(root) or not target.is_file():\n raise ContractError('Pinned source missing or outside source root: ' + name)\n if hashlib.sha256(target.read_bytes()).hexdigest() != expected:\n raise ContractError('Pinned source checksum changed: ' + name)\n return root\n\n\ndef load_upstream(root, relative):\n \"\"\"Only a generator-pinned path is accepted; never a path from task input.\"\"\"\n target = root / relative\n for directory in [root, root / 'PathPlanning', target.parent]:\n sys.path.insert(0, str(directory))\n module_spec = importlib.util.spec_from_file_location('rsh_upstream', target)\n module = importlib.util.module_from_spec(module_spec)\n module_spec.loader.exec_module(module)\n if hasattr(module, 'show_animation'): module.show_animation = False\n return module\n\n\ndef clean_json(value):\n if hasattr(value, 'tolist'): return clean_json(value.tolist())\n if isinstance(value, dict): return {k: clean_json(v) for k,v in value.items()}\n if isinstance(value, (tuple, list)): return [clean_json(v) for v in value]\n if hasattr(value, 'item'): return clean_json(value.item())\n if isinstance(value, float) and not math.isfinite(value): raise ContractError('Non-finite output')\n return value\n\n\ndef adapter_main(spec, backend):\n parser = argparse.ArgumentParser(description=spec['name'])\n parser.add_argument('--source-dir')\n group = parser.add_mutually_exclusive_group(required=True)\n group.add_argument('--input', type=Path, help='UTF-8 JSON file; no code or paths inside task input')\n group.add_argument('--input-json', help='Inline JSON task input')\n group.add_argument('--example', action='store_true', help='Run the declared example input')\n group.add_argument('--describe', action='store_true', help='Read the contract without importing upstream code')\n args = parser.parse_args()\n try:\n if args.describe:\n print(json.dumps({'skill_id': spec['id'], 'interface': spec['interface'], 'example_input': spec['example']}, allow_nan=False))\n return 0\n if args.input:\n with args.input.open('rb') as stream: raw=stream.read(65537)\n else: raw=args.input_json.encode() if args.input_json else None\n if raw is not None and len(raw) > 65536: raise ContractError('Input exceeds 64 KiB')\n data = json.loads(raw) if raw is not None else spec['example']\n validate_data(data, spec['interface']['input_schema'])\n if not args.source_dir: raise ContractError('--source-dir is required for execution')\n root = verify_source(args.source_dir, spec)\n os.environ['MPLBACKEND'] = 'Agg'\n os.environ.setdefault('OMP_NUM_THREADS', '1')\n random.seed(data.get('seed', 0))\n # Upstream diagnostic prints do not contaminate the machine response.\n with contextlib.redirect_stdout(sys.stderr):\n outputs, checks = backend(root, data, spec)\n outputs, checks = clean_json(outputs), clean_json(checks)\n validate_data(outputs, spec['interface']['output_schema'])\n if not checks or not all(type(v) is bool for v in checks.values()): raise ContractError('Invalid postcondition report')\n ok = all(checks.values())\n print(json.dumps({'schema_version':'1','skill_id':spec['id'],'status':'task_complete' if ok else 'task_failed',\n 'success':ok,'outputs':outputs,'checks':checks,'execution_domain':spec['interface']['execution_domain'],\n 'source_commit':spec['source_commit'],'interface_version':'1','hardware_execution':False}, allow_nan=False, separators=(',',':')))\n return 0 if ok else 1\n except (ContractError, ValueError, OSError, ImportError) as error:\n print(json.dumps({'schema_version':'1','skill_id':spec['id'],'status':'failed','success':False,\n 'reason_code':'invalid_input_or_environment','message':str(error),'hardware_execution':False}, allow_nan=False))\n return 2\n except Exception as error:\n print(json.dumps({'schema_version':'1','skill_id':spec['id'],'status':'failed','success':False,\n 'reason_code':'execution_failed','message':str(error)[:1000],'hardware_execution':False}, allow_nan=False))\n return 1\n\n\n\"\"\"Headless bounded adaptations of official PyBullet examples (Hub MIT).\n\nUses only procedural geometry. No model downloads, asset licenses, GUI, robot\nservers or hardware calls are involved. The seven-axis arm is synthetic.\n\"\"\"\n\n\ndef pybullet_backend(root, d, spec):\n import numpy as np\n import pybullet as p\n from importlib.metadata import version\n if version('pybullet')!='3.2.7': raise ContractError('Requires the tested pybullet==3.2.7 binding')\n client=p.connect(p.DIRECT)\n if client<0: raise ContractError('DIRECT simulation unavailable')\n try:\n p.setPhysicsEngineParameter(deterministicOverlappingPairs=1,numSolverIterations=100)\n p.setTimeStep(1/240)\n def box(position,mass=1.,half=.1):\n shape=p.createCollisionShape(p.GEOM_BOX,halfExtents=[half]*3)\n return p.createMultiBody(baseMass=mass,baseCollisionShapeIndex=shape,basePosition=position)\n def arm():\n shape=p.createCollisionShape(p.GEOM_SPHERE,radius=.035)\n robot=p.createMultiBody(baseMass=0,basePosition=[0,0,0],\n linkMasses=[1.]*7,linkCollisionShapeIndices=[shape]*7,linkVisualShapeIndices=[-1]*7,\n linkPositions=[[0,0,.2]]*7,linkOrientations=[[0,0,0,1]]*7,\n linkInertialFramePositions=[[0,0,0]]*7,linkInertialFrameOrientations=[[0,0,0,1]]*7,\n linkParentIndices=list(range(7)),linkJointTypes=[p.JOINT_REVOLUTE]*7,\n linkJointAxis=[[0,0,1],[0,1,0],[0,1,0],[1,0,0],[0,1,0],[1,0,0],[0,0,1]])\n p.setJointMotorControlArray(robot,list(range(7)),p.VELOCITY_CONTROL,forces=[0.]*7)\n return robot\n op=spec['operation']\n if op in ['ik','jacobian','inverse_dynamics','position_control','torque_pd','force_torque']:\n robot=arm(); q=d['joint_angles']\n for j,v in enumerate(q): p.resetJointState(robot,j,v)\n if op=='ik':\n target=d['target_xyz']\n joints=p.calculateInverseKinematics(robot,6,target,maxNumIterations=1000,residualThreshold=1e-7)\n for j,v in enumerate(joints): p.resetJointState(robot,j,v)\n point=p.getLinkState(robot,6,computeForwardKinematics=1)[4]\n error=math.dist(point,target)\n return {'joint_angles_rad':joints,'end_effector_xyz_m':point,'position_error_m':error}, {'target_residual':error<.002}\n if op=='jacobian':\n linear,angular=p.calculateJacobian(robot,6,[0,0,0],q,[0.]*7,[0.]*7)\n finite_difference=np.zeros((3,7)); eps=1e-5\n for j in range(7):\n p.resetJointState(robot,j,q[j]+eps); plus=np.array(p.getLinkState(robot,6,computeForwardKinematics=1)[0])\n p.resetJointState(robot,j,q[j]-eps); minus=np.array(p.getLinkState(robot,6,computeForwardKinematics=1)[0])\n p.resetJointState(robot,j,q[j]); finite_difference[:,j]=(plus-minus)/(2*eps)\n error=float(np.max(np.abs(np.array(linear)-finite_difference)))\n return {'linear_jacobian':linear,'angular_jacobian':angular,'finite_difference_max_error':error}, {'matches_finite_difference':error<1e-5}\n if op=='inverse_dynamics':\n p.setGravity(0,0,-9.81)\n accel=d['joint_acceleration']; gravity=np.array(p.calculateInverseDynamics(robot,q,[0.]*7,[0.]*7))\n torque=np.array(p.calculateInverseDynamics(robot,q,[0.]*7,accel)); mass=np.array(p.calculateMassMatrix(robot,q))\n residual=float(np.max(np.abs(torque-gravity-mass@np.array(accel))))\n return {'torque_nm':torque,'gravity_torque_nm':gravity,'mass_matrix':mass,'dynamics_residual_nm':residual}, {\n 'mass_matrix_symmetric':bool(np.allclose(mass,mass.T,atol=1e-9)), 'mass_matrix_positive_definite':bool(np.linalg.eigvalsh(mass).min()>0), 'inverse_dynamics_identity':residual<1e-7}\n if op=='force_torque':\n p.setGravity(0,0,-9.81); p.enableJointForceTorqueSensor(robot,3,enableSensor=1)\n p.setJointMotorControlArray(robot,list(range(7)),p.POSITION_CONTROL,targetPositions=q,forces=[200]*7)\n for _ in range(240): p.stepSimulation()\n force=p.getJointState(robot,3)[2]\n return {'reaction_force_torque':force}, {'sensor_has_six_components':len(force)==6,'finite_sensor':all(math.isfinite(v) for v in force),'load_observed':math.sqrt(sum(v*v for v in force))>1e-3}\n target=np.array(d['target_joint_angles'])\n if op=='position_control':\n p.setJointMotorControlArray(robot,list(range(7)),p.POSITION_CONTROL,targetPositions=target.tolist(),forces=[200.]*7)\n for _ in range(720): p.stepSimulation()\n else:\n for _ in range(1440):\n state=p.getJointStates(robot,list(range(7))); positions=np.array([s[0] for s in state]); velocities=np.array([s[1] for s in state])\n # The synthetic chain has widely different axis inertias;\n # mass-scaled PD uses inverse dynamics for those coordinates.\n acceleration=40*(target-positions)-12*velocities\n tau=p.calculateInverseDynamics(robot,positions.tolist(),velocities.tolist(),acceleration.tolist())\n p.setJointMotorControlArray(robot,list(range(7)),p.TORQUE_CONTROL,forces=tau)\n p.stepSimulation()\n achieved=[s[0] for s in p.getJointStates(robot,list(range(7)))]; error=max(abs(a-b) for a,b in zip(achieved,target))\n return {'joint_angles_rad':achieved,'maximum_joint_error_rad':error}, {'target_joint_residual':error<.02}\n if op in ['fall','friction']:\n p.setGravity(0,0,-9.81)\n plane=p.createMultiBody(baseMass=0,baseCollisionShapeIndex=p.createCollisionShape(p.GEOM_PLANE))\n body=box([0,0,d['height']],d['mass'])\n p.changeDynamics(plane,-1,lateralFriction=d['friction'],restitution=0)\n p.changeDynamics(body,-1,lateralFriction=d['friction'],restitution=0)\n if op=='friction':\n for _ in range(240): p.stepSimulation()\n p.resetBaseVelocity(body,linearVelocity=[1.,0,0])\n for _ in range(720): p.stepSimulation()\n position=p.getBasePositionAndOrientation(body)[0]; velocity=p.getBaseVelocity(body)[0]; contacts=p.getContactPoints(body,plane)\n checks={'settled_height':abs(position[2]-.1)<.005,'floor_contact':len(contacts)>0,'bounded_penetration':all(c[8]>-.005 for c in contacts)}\n if op=='friction': checks['sliding_stopped']=math.hypot(velocity[0],velocity[1])<.02\n return {'position_xyz_m':position,'velocity_xyz_m_s':velocity,'contact_count':len(contacts)},checks\n if op=='raycast':\n body=box(d['box_center'],mass=0)\n result=p.rayTest(d['ray_from'],d['ray_to'])[0]\n point=result[3]\n return {'hit':result[0]==body,'hit_fraction':result[2],'hit_xyz_m':point,'normal_xyz':result[4]}, {\n 'expected_body_hit':result[0]==body,'fraction_in_segment':0<=result[2]<=1,\n 'intersection_on_box_surface':abs(max(abs(a-b) for a,b in zip(point,d['box_center']))-.1)<1e-6}\n if op=='collision_filter':\n a=box([0,0,1],mass=0); b=box([d['offset'],0,1])\n p.performCollisionDetection(); before=len(p.getContactPoints(a,b))\n p.setCollisionFilterPair(a,b,-1,-1,enableCollision=0); p.performCollisionDetection(); after=len(p.getContactPoints(a,b))\n return {'contacts_enabled':before,'contacts_disabled':after}, {'overlap_detected':before>0,'filter_removed_contacts':after==0}\n if op=='constraint':\n p.setGravity(0,0,-9.81)\n a=box([0,0,1],mass=0); b=box([0,0,1.5],mass=d['mass'])\n p.createConstraint(a,-1,b,-1,p.JOINT_FIXED,[0,0,0],[0,0,.5],[0,0,0])\n for _ in range(720): p.stepSimulation()\n position=p.getBasePositionAndOrientation(b)[0]; error=math.dist(position,[0,0,1.5])\n return {'child_xyz_m':position,'anchor_error_m':error}, {'fixed_constraint_holds':error<.005}\n if op=='save_restore':\n body=box(d['position']); state=p.saveState()\n p.resetBasePositionAndOrientation(body,[3,2,1],[0,0,0,1]); p.restoreState(stateId=state)\n position=p.getBasePositionAndOrientation(body)[0]; p.removeState(state)\n return {'restored_xyz_m':position}, {'original_state_restored':math.dist(position,d['position'])<1e-10}\n raise ContractError('Unknown reviewed simulation operation')\n finally:\n p.disconnect(client)\n\nSPEC = json.loads('{\"id\":\"pybullet-raycast-skill\",\"name\":\"Ray intersection in headless procedural simulation\",\"operation\":\"raycast\",\"source_path\":\"examples/pybullet/examples/batchRayCast.py\",\"source_commit\":\"2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5\",\"source_hashes\":{\"LICENSE.txt\":\"885cd516a8420acb7c3e0b1a7119913b686495001ae564e3229740460e8cff59\",\"examples/pybullet/examples/batchRayCast.py\":\"d5331351922f6679d724a6c618827c60d127ae7dad14d239cf6064892cfc262e\"},\"interface\":{\"version\":\"1\",\"kind\":\"sensing\",\"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\":[\"box_center\",\"ray_from\",\"ray_to\"],\"additionalProperties\":false,\"properties\":{\"box_center\":{\"type\":\"array\",\"minItems\":3,\"maxItems\":3,\"items\":{\"type\":\"number\",\"minimum\":-10,\"maximum\":10},\"x-unit\":\"m\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"x-order\":[\"x\",\"y\",\"z\"],\"description\":\"box_center; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z\"},\"ray_from\":{\"type\":\"array\",\"minItems\":3,\"maxItems\":3,\"items\":{\"type\":\"number\",\"minimum\":-10,\"maximum\":10},\"x-unit\":\"m\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"x-order\":[\"x\",\"y\",\"z\"],\"description\":\"ray_from; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z\"},\"ray_to\":{\"type\":\"array\",\"minItems\":3,\"maxItems\":3,\"items\":{\"type\":\"number\",\"minimum\":-10,\"maximum\":10},\"x-unit\":\"m\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"x-order\":[\"x\",\"y\",\"z\"],\"description\":\"ray_to; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z\"}}},\"output_schema\":{\"type\":\"object\",\"required\":[\"hit\",\"hit_fraction\",\"hit_xyz_m\",\"normal_xyz\"],\"additionalProperties\":false,\"properties\":{\"hit\":{\"type\":\"boolean\",\"x-unit\":\"dimensionless\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"description\":\"hit; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\"},\"hit_fraction\":{\"type\":\"number\",\"minimum\":0,\"maximum\":1,\"x-unit\":\"dimensionless\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"description\":\"hit_fraction; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\"},\"hit_xyz_m\":{\"type\":\"array\",\"minItems\":3,\"maxItems\":3,\"items\":{\"type\":\"number\",\"minimum\":-10,\"maximum\":10},\"x-unit\":\"m\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"x-order\":[\"x\",\"y\",\"z\"],\"description\":\"hit_xyz_m; units=m; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z\"},\"normal_xyz\":{\"type\":\"array\",\"minItems\":3,\"maxItems\":3,\"items\":{\"type\":\"number\",\"minimum\":-1,\"maximum\":1},\"x-unit\":\"dimensionless\",\"x-frame\":\"right_handed_world_xyz; +z_up; procedural_arm_base=world_origin\",\"x-order\":[\"x\",\"y\",\"z\"],\"description\":\"normal_xyz; units=dimensionless; frame=right_handed_world_xyz; +z_up; procedural_arm_base=world_origin; component order=x,y,z\"}}},\"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\"},\"example\":{\"box_center\":[0,0,1],\"ray_from\":[0,0,2],\"ray_to\":[0,0,0]}}')\n\nif __name__ == \"__main__\":\n raise SystemExit(adapter_main(SPEC, pybullet_backend))\n", "requirements.txt": "numpy==1.26.4\npybullet==3.2.7\n" } }, "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/39b06d7a6016edcea27e348e49ffd86f29ec1811/evidence/runtime/executable-conversions-v1/pybullet-raycast-skill.json" ], "runtime_verification": "task_complete", "contributor_reported": null, "hub_verification": { "runtime": "task_complete", "scope": "simulation", "case_count": 3, "source_unchanged": true } }, "maintenance": { "record_version": "1.0.0", "last_checked": "2026-10-19", "upstream_status": "immutable_source_and_explicit_dependency_versions" }, "contribution": { "allowed_paths": [ "catalog/records/pybullet-raycast-skill.json", "docs/recipes/pybullet-raycast-skill.md", "recipes/pybullet-raycast-skill/run.py", "recipes/pybullet-raycast-skill/requirements.txt" ], "instructions": "Preserve upstream origin/license and interface semantics. Edit the finite manifest/templates and regenerate; record new exact-byte evidence for behavior changes." } }