Minimum-duration jerk-limited trajectory

Minimum-duration jerk-limited trajectory. Parameterized bounded JSON adapter; numerical operation, no hardware execution.

ruckig-minimum-duration-trajectory | Record version: 1.0.0

Record JSON | Markdown recipe | Complete search index

Fetch and prepare

curl -fsSL https://hub.superfastrobotics.com/skills/ruckig-minimum-duration-trajectory/skill.json
curl -fsSL https://hub.superfastrobotics.com/skills/ruckig-minimum-duration-trajectory/README.md
python /PATH_TO_SKILL/scripts/rsh.py inspect ruckig-minimum-duration-trajectory --json
python /PATH_TO_SKILL/scripts/rsh.py prepare ruckig-minimum-duration-trajectory --project ./experiment --expected-source-commit a8db97a4e9c55e5160a3855f739fa3b270df8e4c --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: ruckig 0.19.4
Robot: independent-axes
Controller: json-contract-v1
Observation: explicit-json-input
OS / architecture: windows / x86_64
Python: >=3.10,<3.11

Compatibility status: hub_verified

Runtime: ruckig 0.19.4
Robot: independent-axes
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

x86_64 CPU; no GPU or robot required

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

Packages: ruckig==0.19.4

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": "trajectory_generator",
  "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": "independent_axes_in_input_array_order",
    "joint_order": "input_array_order",
    "quaternion_order": "not_used"
  },
  "input_schema": {
    "type": "object",
    "required": [
      "current_position",
      "current_velocity",
      "current_acceleration",
      "target_position",
      "target_velocity",
      "target_acceleration",
      "max_velocity",
      "max_acceleration",
      "max_jerk",
      "dt",
      "coordinate_type",
      "minimum_duration"
    ],
    "additionalProperties": false,
    "properties": {
      "current_position": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m_or_rad",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "current_position; units=coordinate_type:m_or_rad; frame=independent_axes_in_input_array_order"
      },
      "current_velocity": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s_or_rad/s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "current_velocity; units=coordinate_type:m/s_or_rad/s; frame=independent_axes_in_input_array_order"
      },
      "current_acceleration": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s^2_or_rad/s^2",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "current_acceleration; units=coordinate_type:m/s^2_or_rad/s^2; frame=independent_axes_in_input_array_order"
      },
      "target_position": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m_or_rad",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "target_position; units=coordinate_type:m_or_rad; frame=independent_axes_in_input_array_order"
      },
      "target_velocity": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s_or_rad/s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "target_velocity; units=coordinate_type:m/s_or_rad/s; frame=independent_axes_in_input_array_order"
      },
      "target_acceleration": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s^2_or_rad/s^2",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "target_acceleration; units=coordinate_type:m/s^2_or_rad/s^2; frame=independent_axes_in_input_array_order"
      },
      "max_velocity": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s_or_rad/s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "max_velocity; units=coordinate_type:m/s_or_rad/s; frame=independent_axes_in_input_array_order"
      },
      "max_acceleration": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s^2_or_rad/s^2",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "max_acceleration; units=coordinate_type:m/s^2_or_rad/s^2; frame=independent_axes_in_input_array_order"
      },
      "max_jerk": {
        "type": "array",
        "minItems": 1,
        "maxItems": 8,
        "items": {
          "type": "number",
          "minimum": -10,
          "maximum": 10
        },
        "x-unit": "coordinate_type:m/s^3_or_rad/s^3",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "max_jerk; units=coordinate_type:m/s^3_or_rad/s^3; frame=independent_axes_in_input_array_order"
      },
      "dt": {
        "type": "number",
        "minimum": 0.01,
        "maximum": 0.05,
        "x-unit": "s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "dt; units=s; frame=independent_axes_in_input_array_order"
      },
      "coordinate_type": {
        "type": "string",
        "enum": [
          "revolute_rad",
          "linear_m"
        ],
        "x-unit": "dimensionless",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "coordinate_type; units=dimensionless; frame=independent_axes_in_input_array_order"
      },
      "minimum_duration": {
        "type": "number",
        "minimum": 0.1,
        "maximum": 10,
        "x-unit": "s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "minimum_duration; units=s; frame=independent_axes_in_input_array_order"
      }
    }
  },
  "output_schema": {
    "type": "object",
    "required": [
      "time_s",
      "position",
      "velocity",
      "acceleration",
      "coordinate_type",
      "duration_s"
    ],
    "additionalProperties": false,
    "properties": {
      "time_s": {
        "type": "array",
        "minItems": 2,
        "maxItems": 3000,
        "items": {
          "type": "number",
          "minimum": 0,
          "maximum": 150
        },
        "x-unit": "s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "time_s; units=s; frame=independent_axes_in_input_array_order"
      },
      "position": {
        "type": "array",
        "minItems": 2,
        "maxItems": 3000,
        "items": {
          "type": "array",
          "minItems": 1,
          "maxItems": 8,
          "items": {
            "type": "number",
            "minimum": -10000,
            "maximum": 10000
          }
        },
        "x-unit": "coordinate_type:m_or_rad",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "position; units=coordinate_type:m_or_rad; frame=independent_axes_in_input_array_order"
      },
      "velocity": {
        "type": "array",
        "minItems": 2,
        "maxItems": 3000,
        "items": {
          "type": "array",
          "minItems": 1,
          "maxItems": 8,
          "items": {
            "type": "number",
            "minimum": -1000,
            "maximum": 1000
          }
        },
        "x-unit": "coordinate_type:m/s_or_rad/s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "velocity; units=coordinate_type:m/s_or_rad/s; frame=independent_axes_in_input_array_order"
      },
      "acceleration": {
        "type": "array",
        "minItems": 2,
        "maxItems": 3000,
        "items": {
          "type": "array",
          "minItems": 1,
          "maxItems": 8,
          "items": {
            "type": "number",
            "minimum": -1000,
            "maximum": 1000
          }
        },
        "x-unit": "coordinate_type:m/s^2_or_rad/s^2",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "acceleration; units=coordinate_type:m/s^2_or_rad/s^2; frame=independent_axes_in_input_array_order"
      },
      "coordinate_type": {
        "type": "string",
        "enum": [
          "revolute_rad",
          "linear_m"
        ],
        "x-unit": "dimensionless",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "coordinate_type; units=dimensionless; frame=independent_axes_in_input_array_order"
      },
      "duration_s": {
        "type": "number",
        "minimum": 0,
        "maximum": 150,
        "x-unit": "s",
        "x-frame": "independent_axes_in_input_array_order",
        "description": "duration_s; units=s; frame=independent_axes_in_input_array_order"
      }
    }
  },
  "preconditions": [
    "Ruckig Community 0.19.4; no cloud client, IK, collision or physical control.",
    "All axes share coordinate_type; m or rad and corresponding derivatives per second.",
    "Velocity/stop modes do not guarantee target position. Maximum 3000 online cycles or 30 s offline trajectory."
  ],
  "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": [
    "ruckig-examples-07-minimum-duration-py"
  ],
  "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": {
    "current_position": [
      0,
      0,
      0.5
    ],
    "current_velocity": [
      0,
      0,
      0
    ],
    "current_acceleration": [
      0,
      0,
      0
    ],
    "target_position": [
      1,
      -0.5,
      0.25
    ],
    "target_velocity": [
      0,
      0,
      0
    ],
    "target_acceleration": [
      0,
      0,
      0
    ],
    "max_velocity": [
      1,
      1,
      1
    ],
    "max_acceleration": [
      2,
      2,
      2
    ],
    "max_jerk": [
      4,
      4,
      4
    ],
    "dt": 0.01,
    "coordinate_type": "revolute_rad",
    "minimum_duration": 3.0
  },
  "outputs": {
    "format": "single JSON object on stdout",
    "payload_selector": "outputs",
    "schema": {
      "type": "object",
      "required": [
        "time_s",
        "position",
        "velocity",
        "acceleration",
        "coordinate_type",
        "duration_s"
      ],
      "additionalProperties": false,
      "properties": {
        "time_s": {
          "type": "array",
          "minItems": 2,
          "maxItems": 3000,
          "items": {
            "type": "number",
            "minimum": 0,
            "maximum": 150
          },
          "x-unit": "s",
          "x-frame": "independent_axes_in_input_array_order",
          "description": "time_s; units=s; frame=independent_axes_in_input_array_order"
        },
        "position": {
          "type": "array",
          "minItems": 2,
          "maxItems": 3000,
          "items": {
            "type": "array",
            "minItems": 1,
            "maxItems": 8,
            "items": {
              "type": "number",
              "minimum": -10000,
              "maximum": 10000
            }
          },
          "x-unit": "coordinate_type:m_or_rad",
          "x-frame": "independent_axes_in_input_array_order",
          "description": "position; units=coordinate_type:m_or_rad; frame=independent_axes_in_input_array_order"
        },
        "velocity": {
          "type": "array",
          "minItems": 2,
          "maxItems": 3000,
          "items": {
            "type": "array",
            "minItems": 1,
            "maxItems": 8,
            "items": {
              "type": "number",
              "minimum": -1000,
              "maximum": 1000
            }
          },
          "x-unit": "coordinate_type:m/s_or_rad/s",
          "x-frame": "independent_axes_in_input_array_order",
          "description": "velocity; units=coordinate_type:m/s_or_rad/s; frame=independent_axes_in_input_array_order"
        },
        "acceleration": {
          "type": "array",
          "minItems": 2,
          "maxItems": 3000,
          "items": {
            "type": "array",
            "minItems": 1,
            "maxItems": 8,
            "items": {
              "type": "number",
              "minimum": -1000,
              "maximum": 1000
            }
          },
          "x-unit": "coordinate_type:m/s^2_or_rad/s^2",
          "x-frame": "independent_axes_in_input_array_order",
          "description": "acceleration; units=coordinate_type:m/s^2_or_rad/s^2; frame=independent_axes_in_input_array_order"
        },
        "coordinate_type": {
          "type": "string",
          "enum": [
            "revolute_rad",
            "linear_m"
          ],
          "x-unit": "dimensionless",
          "x-frame": "independent_axes_in_input_array_order",
          "description": "coordinate_type; units=dimensionless; frame=independent_axes_in_input_array_order"
        },
        "duration_s": {
          "type": "number",
          "minimum": 0,
          "maximum": 150,
          "x-unit": "s",
          "x-frame": "independent_axes_in_input_array_order",
          "description": "duration_s; units=s; frame=independent_axes_in_input_array_order"
        }
      }
    }
  }
}

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

Invalid or oversized JSON
Source checksum mismatch
Unavailable pinned dependency
No valid path or postcondition failure
Execution exceeding the declared bounded algorithm budget

Source and license

Repository: https://github.com/pantor/ruckig
Authors: Lars Berscheid and Ruckig contributors
Commit: a8db97a4e9c55e5160a3855f739fa3b270df8e4c
Archive SHA256: 2a935bfbe02f9236ecd138aee13b52fef2a43e67853179b727d394508ef98b08
License: MIT
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

python tools/verify_executable_recipes.py --source-cache SOURCE_CACHE --output OUTPUT --backend ruckig

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