# Extended Kalman localization update Extended Kalman localization update. Parameterized bounded JSON adapter; numerical operation, no hardware execution. Record version: `1.0.0` · Hub commit: `39b06d7a6016edcea27e348e49ffd86f29ec1811` ## Executable interface ```json { "version": "1", "kind": "algorithm", "abstraction_level": 0, "execution_domain": "computation", "language": "python", "input_transport": "json_file_or_inline", "output_transport": "json_stdout", "conventions": { "linear_unit": "m", "angular_unit": "rad", "time_unit": "s", "coordinate_frame": "planar_map_xy", "joint_order": "not_used", "quaternion_order": "not_used" }, "input_schema": { "type": "object", "required": [ "state", "covariance", "measurement_xy", "control_v_yawrate" ], "additionalProperties": false, "properties": { "state": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "number", "minimum": -100, "maximum": 100 }, "x-unit": "mixed", "x-frame": "planar_map_xy", "x-order": [ "x_m", "y_m", "yaw_rad", "speed_m_s" ], "description": "state; units=mixed; frame=planar_map_xy; component order=x_m,y_m,yaw_rad,speed_m_s" }, "covariance": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "number", "minimum": -100, "maximum": 100 } }, "x-unit": "state_units_outer_product", "x-frame": "planar_map_xy", "x-order": [ "x_m", "y_m", "yaw_rad", "speed_m_s" ], "description": "covariance; units=state_units_outer_product; frame=planar_map_xy; component order=x_m,y_m,yaw_rad,speed_m_s" }, "measurement_xy": { "type": "array", "minItems": 2, "maxItems": 2, "items": { "type": "number", "minimum": -100.0, "maximum": 100.0 }, "x-unit": "m", "x-frame": "planar_map_xy", "x-order": [ "x", "y" ], "description": "measurement_xy; units=m; frame=planar_map_xy; component order=x,y" }, "control_v_yawrate": { "type": "array", "minItems": 2, "maxItems": 2, "items": { "type": "number", "minimum": -10, "maximum": 10 }, "x-unit": "mixed", "x-frame": "planar_map_xy", "x-order": [ "speed_m_s", "yaw_rate_rad_s" ], "description": "control_v_yawrate; units=mixed; frame=planar_map_xy; component order=speed_m_s,yaw_rate_rad_s" } } }, "output_schema": { "type": "object", "required": [ "state_xy_yaw_v", "covariance" ], "additionalProperties": false, "properties": { "state_xy_yaw_v": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "number", "minimum": -10000, "maximum": 10000 }, "x-unit": "mixed", "x-frame": "planar_map_xy", "x-order": [ "x_m", "y_m", "yaw_rad", "speed_m_s" ], "description": "state_xy_yaw_v; units=mixed; frame=planar_map_xy; component order=x_m,y_m,yaw_rad,speed_m_s" }, "covariance": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "number", "minimum": -10000, "maximum": 10000 } }, "x-unit": "state_units_outer_product", "x-frame": "planar_map_xy", "x-order": [ "x_m", "y_m", "yaw_rad", "speed_m_s" ], "description": "covariance; units=state_units_outer_product; frame=planar_map_xy; component order=x_m,y_m,yaw_rad,speed_m_s" } } }, "preconditions": [ "State order [x_m,y_m,yaw_rad,speed_m_s]; dt=0.1 s and pinned upstream process/noise model.", "Input covariance must be symmetric positive definite.", "Output covariance consistency does not establish estimation accuracy on real sensor data." ], "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": [ "pythonrobotics-localization-extended-kalman-filter-extended-kalman-filter-py" ], "origin_relationship": "adapted_from; inspect declared model and inputs, not original robot compatibility" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | pythonrobotics cdd0cc888802 | mathematical-model | json-contract-v1 | explicit-json-input | windows 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/AtsushiSakai/PythonRobotics - Source commit: `cdd0cc888802b584c2d654ca85e3c5460973487d` (no tag) - Original authors: Atsushi Sakai and PythonRobotics contributors - License: [MIT](https://github.com/AtsushiSakai/PythonRobotics/blob/cdd0cc888802b584c2d654ca85e3c5460973487d/LICENSE) - Source archive SHA256: `6d3ccf43be4ae770a9e8dffd463c2561665847df5b7ddf693b01130004dbcee5` - Upstream files: `ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py`, `ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py`, `InvertedPendulum/inverted_pendulum_lqr_control.py`, `LICENSE`, `Localization/extended_kalman_filter/ekf_with_velocity_correction.py`, `Localization/extended_kalman_filter/extended_kalman_filter.py`, `Localization/unscented_kalman_filter/unscented_kalman_filter.py`, `PathPlanning/AStar/a_star.py`, `PathPlanning/BSplinePath/bspline_path.py`, `PathPlanning/BezierPath/bezier_path.py`, `PathPlanning/BidirectionalAStar/bidirectional_a_star.py`, `PathPlanning/BidirectionalBreadthFirstSearch/bidirectional_breadth_first_search.py`, `PathPlanning/BreadthFirstSearch/breadth_first_search.py`, `PathPlanning/Catmull_RomSplinePath/catmull_rom_spline_path.py`, `PathPlanning/CubicSpline/cubic_spline_planner.py`, `PathPlanning/DepthFirstSearch/depth_first_search.py`, `PathPlanning/Dijkstra/dijkstra.py`, `PathPlanning/DubinsPath/dubins_path_planner.py`, `PathPlanning/DynamicWindowApproach/dynamic_window_approach.py`, `PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py`, `PathPlanning/PotentialFieldPlanning/potential_field_planning.py`, `PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py`, `PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py`, `PathPlanning/RRT/rrt.py`, `PathPlanning/RRT/rrt_with_pathsmoothing.py`, `PathPlanning/RRTStar/rrt_star.py`, `PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py`, `PathTracking/pure_pursuit/pure_pursuit.py`, `PathTracking/stanley_control/stanley_control.py`, `utils/__init__.py`, `utils/angle.py`, `utils/plot.py`, `ArmNavigation/n_joint_arm_to_point_control/__init__.py`, `ArmNavigation/__init__.py`, `__init__.py`, `Localization/__init__.py`, `PathPlanning/__init__.py`, `PathPlanning/CubicSpline/__init__.py`, `PathPlanning/DubinsPath/__init__.py`, `PathPlanning/RRT/__init__.py`, `PathPlanning/RRTStar/__init__.py`, `PathTracking/__init__.py` - Upstream contribution rules: https://github.com/AtsushiSakai/PythonRobotics ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "algorithm" --runtime pythonrobotics --runtime-version cdd0cc888802 --robot mathematical-model --json python /PATH_TO_SKILL/scripts/rsh.py inspect pythonrobotics-ekf-update --json python /PATH_TO_SKILL/scripts/rsh.py prepare pythonrobotics-ekf-update --project ./experiment --expected-source-commit cdd0cc888802b584c2d654ca85e3c5460973487d --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: `contourpy==1.3.2`, `cycler==0.12.1`, `fonttools==4.65.0`, `kiwisolver==1.5.1`, `matplotlib==3.9.4`, `numpy==1.26.4`, `packaging==26.3`, `pillow==12.3.0`, `pyparsing==3.3.3`, `python-dateutil==2.9.0.post0`, `scipy==1.13.1`, `six==1.17.0`. 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": { "state": [ 0, 0, 0, 1 ], "covariance": [ [ 0.1, 0.0, 0.0, 0.0 ], [ 0.0, 0.1, 0.0, 0.0 ], [ 0.0, 0.0, 0.1, 0.0 ], [ 0.0, 0.0, 0.0, 0.1 ] ], "measurement_xy": [ 0.15, 0.02 ], "control_v_yawrate": [ 1, 0.1 ] }, "outputs": { "format": "single JSON object on stdout", "payload_selector": "outputs", "schema": { "type": "object", "required": [ "state_xy_yaw_v", "covariance" ], "additionalProperties": false, "properties": { "state_xy_yaw_v": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "number", "minimum": -10000, "maximum": 10000 }, "x-unit": "mixed", "x-frame": "planar_map_xy", "x-order": [ "x_m", "y_m", "yaw_rad", "speed_m_s" ], "description": "state_xy_yaw_v; units=mixed; frame=planar_map_xy; component order=x_m,y_m,yaw_rad,speed_m_s" }, "covariance": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "array", "minItems": 4, "maxItems": 4, "items": { "type": "number", "minimum": -10000, "maximum": 10000 } }, "x-unit": "state_units_outer_product", "x-frame": "planar_map_xy", "x-order": [ "x_m", "y_m", "yaw_rad", "speed_m_s" ], "description": "covariance; units=state_units_outer_product; frame=planar_map_xy; component order=x_m,y_m,yaw_rad,speed_m_s" } } } } } ``` 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 pythonrobotics 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. # Extended Kalman localization update Parameterized adaptation of `Localization/extended_kalman_filter/extended_kalman_filter.py` from https://github.com/AtsushiSakai/PythonRobotics at `cdd0cc888802b584c2d654ca85e3c5460973487d`. Original authors: Atsushi Sakai and PythonRobotics contributors. Upstream license: MIT. 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.