Trajectory Feasibility Gate

TRAJECTORY_PLANNING + INVERSE_KINEMATICS: planned → infeasible if a path violates reach, velocity, or collision limits before it ever executes.

Category	Robotics
Template ID	trajectory-feasibility-gate
Definition	trajectory_feasibility_gate v1.0
States	4 (initial: planned; terminal: completed)
Transitions	3
Operators composed	TRAJECTORY_PLANNING, INVERSE_KINEMATICS, KO42
Audit clock	on · tick rate 1

What it's for

• Autonomous path execution
• Pick-and-place validation
• Drone mission feasibility

States

State	Role
planned	initial
infeasible	intermediate
executing	intermediate
completed	terminal

Transitions

From	To	Operator	Fires when	Proof	Trigger / actions
planned	infeasible	INVERSE_KINEMATICS	input.reach_violation == true || input.max_velocity > input.velocity_limit	required	—
planned	executing	TRAJECTORY_PLANNING	input.feasible == true	required	—
executing	completed	KO42	input.goal_reached == true	required	—

Operators it composes

Each transition fires a registry operator through the master equation (compute → prove → verify). This template composes:

• TRAJECTORY_PLANNING
• INVERSE_KINEMATICS
• KO42

Browse the operators at /operators/; the building blocks a transition calls are the framework's protocols. KO42 is the always-on substrate operator; physics operators carry proof_required: true, so each fire runs the full compute → prove → verify path and lands a verifiable proof digest on your entangled state.

Deploy it

Inspect the full definition, then deploy it onto your state machine. Every fire is Zeqond-stamped onto your entangled state.

# 1. Inspect — the full definition (states, transitions, operators) as served
curl -sS https://zeqsdk.com/api/contracts/templates/trajectory-feasibility-gate

# 2. Deploy onto your machine (auth: session; body carries your machine slug)
curl -sS -X POST https://zeqsdk.com/api/contracts/templates/trajectory-feasibility-gate/deploy \
  -H "Content-Type: application/json" \
  -b "<your session cookie>" \
  -d '{"slug":"<your-machine>"}'
# → 201 { "ok": true, "contract": { "id": "…", "currentState": "planned", … },
#         "template_id": "trajectory-feasibility-gate" }

The deploy path runs the same two-stage validation as the canonical create route (ContractDefinitionSchema.parse + validateContractDefinition against the live registry), writes the creation row onto your entangled state, and schedules the first fire. From there, drive transitions with POST /api/chain/<your-machine>/contracts/<id>/transition or let any triggers fire them autonomously.

Next

• Contract IDE — author, preview, and deploy contracts (this template is in the Templates tab).
• State Contracts — the full contract model: conditions, triggers, pre/post actions, lifecycle.
• Templates Library — every ready-to-deploy contract, grouped by category.
• Protocols — the named building blocks a transition composes.