{ "schema_version": "1", "id": "ruckig-offline-trajectory", "name": "Offline position jerk-limited trajectory", "summary": "Offline position jerk-limited trajectory. Parameterized bounded JSON adapter; numerical operation, no hardware execution.", "capabilities": [ "trajectory_generator", "offline", "executable-json", "source-adaptation" ], "aliases": [ "offline", "Offline position jerk-limited trajectory" ], "source": { "repository": "https://github.com/pantor/ruckig", "commit": "a8db97a4e9c55e5160a3855f739fa3b270df8e4c", "paths": [ "LICENSE", "examples/02_position_offline.py" ], "archive_url": "https://codeload.github.com/pantor/ruckig/tar.gz/a8db97a4e9c55e5160a3855f739fa3b270df8e4c", "archive_sha256": "2a935bfbe02f9236ecd138aee13b52fef2a43e67853179b727d394508ef98b08", "archive_bytes": 882738, "authors": [ "Lars Berscheid and Ruckig contributors" ] }, "license": { "spdx": "MIT", "url": "https://github.com/pantor/ruckig/blob/a8db97a4e9c55e5160a3855f739fa3b270df8e4c/LICENSE", "verified": true, "scope": "Selected Ruckig Community example source code only; preserve the upstream MIT copyright and permission notice. This selection excludes cloud-dependent intermediate-waypoint examples and Ruckig Pro-only tracking/speed features. Third-party dependencies and separately licensed products retain their own terms." }, "compatibility": [ { "runtime": "ruckig", "runtime_version": "0.19.4", "robot": "independent-axes", "controller": "json-contract-v1", "observation": "explicit-json-input", "os": "windows", "architecture": "x86_64", "python": "3.10", "status": "hub_verified" }, { "runtime": "ruckig", "runtime_version": "0.19.4", "robot": "independent-axes", "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": false, "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": [ "ruckig==0.19.4" ], "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": { "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" }, "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" } } } }, "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": "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" ], "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" } } }, "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-02-position-offline-py" ], "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/ruckig-offline-trajectory", "requirements_file": "recipes/ruckig-offline-trajectory/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\"\"\"Parameterized local-only Ruckig Community example adaptations (MIT).\"\"\"\n\n\ndef ruckig_backend(root, d, spec):\n from importlib.metadata import version\n if version('ruckig')!='0.19.4': raise ContractError('Requires the tested ruckig==0.19.4 binding')\n from ruckig import InputParameter, OutputParameter, Result, Ruckig, Trajectory, ControlInterface, Synchronization\n n=len(d['current_position'])\n fields=['current_position','current_velocity','current_acceleration','target_position','target_velocity','target_acceleration','max_velocity','max_acceleration','max_jerk']\n if any(len(d[key])!=n for key in fields): raise ContractError('All axis arrays must have the same length')\n if any(v<=0 for key in ['max_velocity','max_acceleration','max_jerk'] for v in d[key]): raise ContractError('Kinematic limits must be positive')\n if any(abs(v)>lim for key,limit in [('current_velocity','max_velocity'),('target_velocity','max_velocity'),('current_acceleration','max_acceleration'),('target_acceleration','max_acceleration')] for v,lim in zip(d[key],d[limit])):\n raise ContractError('Boundary state exceeds declared limits')\n inp=InputParameter(n)\n for key in fields: setattr(inp,key,d[key])\n op=spec['operation']\n if op=='velocity': inp.control_interface=ControlInterface.Velocity\n if op=='minimum_duration': inp.minimum_duration=d['minimum_duration']\n generator=Ruckig(n,d['dt'])\n time_values=[]; positions=[]; velocities=[]; accelerations=[]\n stopped=False\n if op=='offline':\n trajectory=Trajectory(n)\n result=generator.calculate(inp,trajectory)\n if result!=Result.Working or trajectory.duration>30: raise ContractError('Trajectory calculation failed or exceeded 30 s budget')\n count=min(3000,max(2,int(math.ceil(trajectory.duration/d['dt']))+1))\n for i in range(count):\n t=trajectory.duration*i/(count-1)\n p,v,a=trajectory.at_time(t)\n time_values.append(t); positions.append(p); velocities.append(v); accelerations.append(a)\n else:\n out=OutputParameter(n)\n for tick in range(3000):\n result=generator.update(inp,out)\n if result not in (Result.Working,Result.Finished): raise ContractError('Ruckig rejected the trajectory')\n time_values.append((tick+1)*d['dt']); positions.append(list(out.new_position)); velocities.append(list(out.new_velocity)); accelerations.append(list(out.new_acceleration))\n out.pass_to_input(inp)\n if op=='stop' and not stopped and (tick+1)*d['dt']>=d['stop_time']:\n inp.control_interface=ControlInterface.Velocity; inp.synchronization=Synchronization.No\n inp.target_velocity=[0.]*n; inp.target_acceleration=[0.]*n; stopped=True\n result=Result.Working\n if result==Result.Finished: break\n else: raise ContractError('Trajectory exceeded 3000-cycle budget')\n target_velocity=[0.]*n if op=='stop' else d['target_velocity']\n target_acceleration=[0.]*n if op=='stop' else d['target_acceleration']\n checks={'terminal_velocity':max(abs(a-b) for a,b in zip(velocities[-1],target_velocity))<1e-7,\n 'terminal_acceleration':max(abs(a-b) for a,b in zip(accelerations[-1],target_acceleration))<1e-7,\n 'acceleration_bounds':all(abs(a)<=lim+1e-7 for sample in accelerations for a,lim in zip(sample,d['max_acceleration'])),\n 'sampled_jerk_bounds':all(abs(a-b)/(t2-t1)<=lim+1e-5 for before,after,t1,t2 in zip(accelerations,accelerations[1:],time_values,time_values[1:]) for a,b,lim in zip(before,after,d['max_jerk']))}\n if op not in ['velocity','stop']:\n # Online mode reports the first control sample at/after completion. With\n # nonzero target velocity compare its analytic continuation, not zero drift.\n duration=out.trajectory.duration if op!='offline' else trajectory.duration\n extra=max(0.,time_values[-1]-duration)\n expected=[p+v*extra+.5*a*extra*extra for p,v,a in zip(d['target_position'],d['target_velocity'],d['target_acceleration'])]\n checks['terminal_position']=max(abs(a-b) for a,b in zip(positions[-1],expected))<1e-6\n checks['velocity_bounds']=all(abs(v)<=lim+1e-7 for sample in velocities for v,lim in zip(sample,d['max_velocity']))\n if op=='minimum_duration': checks['minimum_duration']=time_values[-1]+1e-8>=d['minimum_duration']\n if op=='stop': checks['stop_triggered']=stopped\n return {'time_s':time_values,'position':positions,'velocity':velocities,'acceleration':accelerations,\n 'coordinate_type':d['coordinate_type'],'duration_s':time_values[-1]},checks\n\nSPEC = json.loads('{\"id\":\"ruckig-offline-trajectory\",\"name\":\"Offline position jerk-limited trajectory\",\"operation\":\"offline\",\"source_path\":\"examples/02_position_offline.py\",\"source_commit\":\"a8db97a4e9c55e5160a3855f739fa3b270df8e4c\",\"source_hashes\":{\"LICENSE\":\"f0880ac5e5026c92e12c9e2859a7b338c593aaca1a435f29498bd96cbb64d7d3\",\"examples/02_position_offline.py\":\"448af28371b3fe96beae7905c567909d30087d9fc2a6dfc58d64ef880de9d3b8\"},\"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\"],\"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\"}}},\"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\"},\"example\":{\"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\"}}')\n\nif __name__ == \"__main__\":\n raise SystemExit(adapter_main(SPEC, ruckig_backend))\n", "requirements.txt": "ruckig==0.19.4\n" } }, "evidence": { "level": "task_complete", "verified_by": "Hub maintainer runtime harness", "date": "2026-10-19", "environment": { "scope": "computation", "platforms": [ "linux", "windows" ], "physical_robot": false }, "commands": [ "python tools/verify_executable_recipes.py --source-cache SOURCE_CACHE --output OUTPUT --backend ruckig" ], "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/ruckig-offline-trajectory.json" ], "runtime_verification": "task_complete", "contributor_reported": null, "hub_verification": { "runtime": "task_complete", "scope": "computation", "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/ruckig-offline-trajectory.json", "docs/recipes/ruckig-offline-trajectory.md", "recipes/ruckig-offline-trajectory/run.py", "recipes/ruckig-offline-trajectory/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." } }