# Controlled stop jerk-limited trajectory Controlled stop jerk-limited trajectory. Parameterized bounded JSON adapter; numerical operation, no hardware execution. Record version: `1.0.0` · Hub commit: `39b06d7a6016edcea27e348e49ffd86f29ec1811` ## Executable interface ```json { "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", "stop_time" ], "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" }, "stop_time": { "type": "number", "minimum": 0.1, "maximum": 2, "x-unit": "s", "x-frame": "independent_axes_in_input_array_order", "description": "stop_time; 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-06-stop-py" ], "origin_relationship": "adapted_from; inspect declared model and inputs, not original robot compatibility" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | ruckig 0.19.4 | independent-axes | 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/pantor/ruckig - Source commit: `a8db97a4e9c55e5160a3855f739fa3b270df8e4c` (no tag) - Original authors: Lars Berscheid and Ruckig contributors - License: [MIT](https://github.com/pantor/ruckig/blob/a8db97a4e9c55e5160a3855f739fa3b270df8e4c/LICENSE) - Source archive SHA256: `2a935bfbe02f9236ecd138aee13b52fef2a43e67853179b727d394508ef98b08` - Upstream files: `LICENSE`, `examples/06_stop.py` - Upstream contribution rules: https://github.com/pantor/ruckig ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "trajectory_generator" --runtime ruckig --runtime-version 0.19.4 --robot independent-axes --json python /PATH_TO_SKILL/scripts/rsh.py inspect ruckig-stop-trajectory --json python /PATH_TO_SKILL/scripts/rsh.py prepare ruckig-stop-trajectory --project ./experiment --expected-source-commit a8db97a4e9c55e5160a3855f739fa3b270df8e4c --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: `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. 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": { "current_position": [ 0, 0, 0.5 ], "current_velocity": [ 0.3, -0.2, 0.1 ], "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", "stop_time": 0.5 }, "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. 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 ruckig 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. # Controlled stop jerk-limited trajectory Parameterized adaptation of `examples/06_stop.py` from https://github.com/pantor/ruckig at `a8db97a4e9c55e5160a3855f739fa3b270df8e4c`. Original authors: Lars Berscheid and Ruckig 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.