Computes the minimum Euclidean distance from each circular obstacle center to every path s
Computes the minimum Euclidean distance from each circular obstacle center to every path segment, then subtracts obstacle radius and robot radius. It detects planar static clearance only; it does not model robot shape beyond a circle, dynamics, uncertainty or moving obstacles.
4000 (raw units)
price
1
calls / 30d
1
unique payers
2026-09-01
updated
Provider
iot.halowerk.com · discovered, not yet claimed by its owner
Payment (x402 accepts[])
[
{
"scheme": "exact",
"network": "eip155:8453",
"payTo": "0x2880EdfFF13100677Bf97A3CBdF3Bc34771C4E5E",
"asset": "0x833589fCD6eDb6E08f4c7C32D4f71b54bdA02913",
"amount": "4000",
"maxTimeoutSeconds": 300
}
]Output schema
{
"bazaar": {
"info": {
"input": {
"body": {
"obstacles": [
{
"id": "rack-7",
"radius": 0.5,
"x": 5,
"y": 1.5
},
{
"id": "post-2",
"radius": 0.4,
"x": 8,
"y": 4
}
],
"path": [
{
"x": 0,
"y": 0
},
{
"x": 5,
"y": 0
},
{
"x": 10,
"y": 5
}
],
"required_margin": 0.2,
"robot_radius": 0.6
},
"bodyType": "json",
"method": "POST",
"type": "http"
}
},
"schema": {
"$schema": "https://json-schema.org/draft/2020-12/schema",
"properties": {
"input": {
"additionalProperties": false,
"properties": {
"body": {
"additionalProperties": false,
"properties": {
"obstacles": {
"items": {
"additionalProperties": false,
"properties": {
"id": {
"maxLength": 128,
"minLength": 1,
"type": "string"
},
"radius": {
"maximum": 1000000000,
"minimum": 0,
"type": "number"
},
"x": {
"maximum": 1000000000,
"minimum": -1000000000,
"type": "number"
},
"y": {
"maximum": 1000000000,
"minimum": -1000000000,
"type": "number"
}
},
"required": [
"id",
"x",
"y",
"radius"
],
"type": "object"
},
"maxItems": 10000,
"type": "array"
},
"path": {
"items": {
"additionalProperties": false,
"properties": {
"x": {
"maximum": 1000000000,
"minimum": -1000000000,
"type": "number"
},
"y": {
"maximum": 1000000000,
"minimum": -1000000000,
"type": "number"
}
},
"required": [
"x",
"y"
],
"type": "object"
},
"maxItems": 10000,
"minItems": 2,
"type": "array"
},
"required_margin": {
"maximum": 1000000000,
"minimum": 0,
"type": "number"
},
"robot_radius": {
"maximum": 1000000000,
"minimum": 0,
"type": "number"
}
},
"required": [
"path",
"obstacles",
"robot_radius"
],
"type": "object"
},
"bodyType": {
"enum": [
"json",
"form-data",
"text"
],
"type": "string"
},
"method": {
"enum": [
"POST",
"PUT",
"PATCH"
],
"type": "string"
},
"type": {
"const": "http",
"type": "string"
}
},
"required": [
"type",
"method",
"bodyType",
"body"
],
"type": "object"
}
},
"required": [
"input"
],
"type": "object"
}
}
}Use it
curl
curl "https://iot.halowerk.com/v1/robotic-path-clearance" # -> 402 Payment Required, accepts[] lists how to pay # retry with a PAYMENT-SIGNATURE (or PAYMENT header) once paid
JavaScript
const res = await fetch("https://iot.halowerk.com/v1/robotic-path-clearance");
if (res.status === 402) {
const { accepts } = await res.json();
// pay one of accepts[] via an x402 client, then retry with the payment header
}Python
import httpx
res = httpx.get("https://iot.halowerk.com/v1/robotic-path-clearance")
if res.status_code == 402:
accepts = res.json()["accepts"]
# pay one of accepts[] via an x402 client, then retry with the payment headerMachine-readable
Everything on this page is also available as clean JSON at /resources/15222.json, and this resource appears in /discovery/resources and /discovery/search.