{
  "id": "grid-path-planning",
  "title": "Plan a collision-checked grid path with A*",
  "query": "plan an A* grid path around obstacles",
  "runtime": "pythonrobotics",
  "skill_id": "pythonrobotics-astar-planner",
  "start_url": "https://api.superfastrobotics.com/v1/start?q=plan+an+A%2A+grid+path+around+obstacles&runtime=pythonrobotics&hub_commit=f97266a5cdd2c600cd376397a54892f08290df20",
  "exact_start_url": "https://api.superfastrobotics.com/v1/start?q=pythonrobotics-astar-planner&query_mode=all_terms&hub_commit=f97266a5cdd2c600cd376397a54892f08290df20",
  "hub_commit": "f97266a5cdd2c600cd376397a54892f08290df20",
  "record_version": "1.0.0",
  "source_commit": "cdd0cc888802b584c2d654ca85e3c5460973487d",
  "environment": [
    {
      "runtime": "pythonrobotics",
      "runtime_version": "cdd0cc888802",
      "robot": "mathematical-model",
      "controller": "json-contract-v1",
      "observation": "explicit-json-input",
      "os": "windows",
      "architecture": "x86_64",
      "python": "3.10",
      "status": "hub_verified"
    },
    {
      "runtime": "pythonrobotics",
      "runtime_version": "cdd0cc888802",
      "robot": "mathematical-model",
      "controller": "json-contract-v1",
      "observation": "explicit-json-input",
      "os": "linux",
      "architecture": "x86_64",
      "python": "3.10",
      "status": "hub_verified"
    }
  ],
  "requirements": {
    "python": ">=3.10,<3.11",
    "packages": [
      "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"
    ],
    "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."
  },
  "example_input": {
    "start": [
      2,
      2
    ],
    "goal": [
      18,
      18
    ],
    "bounds": [
      0,
      20
    ],
    "obstacles": [
      [
        10,
        1
      ],
      [
        10,
        2
      ],
      [
        10,
        3
      ],
      [
        10,
        4
      ],
      [
        10,
        5
      ],
      [
        10,
        6
      ],
      [
        10,
        7
      ],
      [
        10,
        8
      ],
      [
        10,
        9
      ],
      [
        10,
        10
      ],
      [
        10,
        11
      ],
      [
        10,
        12
      ]
    ],
    "robot_radius": 0.3
  },
  "interface": {
    "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": [
        "start",
        "goal",
        "bounds",
        "obstacles",
        "robot_radius"
      ],
      "additionalProperties": false,
      "properties": {
        "start": {
          "type": "array",
          "minItems": 2,
          "maxItems": 2,
          "items": {
            "type": "number",
            "minimum": 1,
            "maximum": 39
          },
          "x-unit": "m",
          "x-frame": "planar_map_xy",
          "x-order": [
            "x",
            "y"
          ],
          "description": "start; units=m; frame=planar_map_xy; component order=x,y"
        },
        "goal": {
          "type": "array",
          "minItems": 2,
          "maxItems": 2,
          "items": {
            "type": "number",
            "minimum": 1,
            "maximum": 39
          },
          "x-unit": "m",
          "x-frame": "planar_map_xy",
          "x-order": [
            "x",
            "y"
          ],
          "description": "goal; units=m; frame=planar_map_xy; component order=x,y"
        },
        "bounds": {
          "type": "array",
          "minItems": 2,
          "maxItems": 2,
          "items": {
            "type": "integer",
            "minimum": 0,
            "maximum": 40
          },
          "x-unit": "m",
          "x-frame": "planar_map_xy",
          "description": "bounds; units=m; frame=planar_map_xy"
        },
        "obstacles": {
          "type": "array",
          "minItems": 0,
          "maxItems": 200,
          "items": {
            "type": "array",
            "minItems": 2,
            "maxItems": 2,
            "items": {
              "type": "number",
              "minimum": 0,
              "maximum": 40
            }
          },
          "x-unit": "m",
          "x-frame": "planar_map_xy",
          "x-order": [
            "x",
            "y"
          ],
          "description": "obstacles; units=m; frame=planar_map_xy; component order=x,y"
        },
        "robot_radius": {
          "type": "number",
          "minimum": 0.1,
          "maximum": 0.6,
          "x-unit": "m",
          "x-frame": "planar_map_xy",
          "description": "robot_radius; units=m; frame=planar_map_xy"
        }
      }
    },
    "output_schema": {
      "type": "object",
      "required": [
        "path_xy",
        "length_m"
      ],
      "additionalProperties": false,
      "properties": {
        "path_xy": {
          "type": "array",
          "minItems": 2,
          "maxItems": 2048,
          "items": {
            "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": "path_xy; units=m; frame=planar_map_xy; component order=x,y"
        },
        "length_m": {
          "type": "number",
          "minimum": 0,
          "maximum": 100000,
          "x-unit": "m",
          "x-frame": "planar_map_xy",
          "description": "length_m; units=m; frame=planar_map_xy"
        }
      }
    },
    "preconditions": [
      "Inputs use the declared units and frame; no implicit transforms.",
      "This exact numerical/simulation model is not a physical robot configuration."
    ],
    "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-pathplanning-astar-a-star-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."
  },
  "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 pythonrobotics"
    ],
    "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/f97266a5cdd2c600cd376397a54892f08290df20/evidence/runtime/executable-conversions-v1/pythonrobotics-astar-planner.json"
    ],
    "runtime_verification": "task_complete",
    "contributor_reported": null,
    "hub_verification": {
      "runtime": "task_complete",
      "scope": "computation",
      "case_count": 3,
      "source_unchanged": true
    }
  },
  "current_execution_state": "completed",
  "sample_url": "https://hub.superfastrobotics.com/samples/pythonrobotics-astar-planner/",
  "execution_performed": false,
  "sharing_performed": false
}