# Halowerk Robotic Path Clearance Calculator

> Halowerk Robotic Path Clearance Calculator is a paid API for AI agents from iot.halowerk.com, paid per call via x402, $0.004/call, status unknown (last checked 2026-09-14).

Computes the minimum Euclidean clearance between each circular obstacle and every segment of a robot's planned path, accounting for both obstacle radius and robot radius.

## Facts

- Endpoint: POST https://iot.halowerk.com/v1/robotic-path-clearance
- Price: $0.004/call
- Payment: x402
- Status: unknown
- Last checked: 2026-09-14
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/halowerk-robotic-path-clearance-calculator-f55c604d
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_WEKCJipOAN1s7AoxNTLSJ

Status and success rate cover calls made through Zero and Zero's own probes. Third-party monitors may report differently.

## How to call it through Zero

Zero handles the 402 payment challenge and records the run. With the Zero CLI installed (`npm i -g @zeroxyz/cli`):

```sh
zero fetch --capability halowerk-robotic-path-clearance-calculator-f55c604d -d '<json body>'
```

Example prompt: Check if my robot path is clear of obstacles — the path goes through waypoints (0,0), (5,5), (10,0), and there's a circular obstacle at (5,3) with radius 1.5. My robot has a radius of 0.5 and I need at least 0.3 meters of clearance margin.

## When to prefer this

Use this endpoint when you need a fast, deterministic computation of static planar clearance between a robot path and circular obstacles. It is ideal for pre-flight or pre-execution path validation in 2D environments where obstacles are fixed circles and the robot can be approximated as a circle. It does not handle 3D environments, dynamic obstacles, non-circular robot shapes, uncertainty, or kinodynamic constraints — for those cases a full motion planning solver is needed.

## Known failure modes

- Path with fewer than 2 waypoints returns validation error
- Obstacle radius or robot radius out of allowed range (0 to 1e9) returns 400
- Path or obstacle arrays exceeding 10,000 items rejected
- Missing required fields (x, y for waypoints; id, x, y, radius for obstacles) return schema validation errors
- Obstacle ID strings exceeding 128 characters rejected

## How this service works

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.

## Output

Returns the computed clearance values (minimum Euclidean distance from obstacle center to nearest path segment, minus obstacle radius and robot radius) for each obstacle, along with pass/fail status against the required margin. Identifies which obstacles violate the margin threshold.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "path": {
   "type": "array",
   "items": {
    "type": "object",
    "required": [
     "x",
     "y"
    ],
    "properties": {
     "x": {
      "type": "number",
      "maximum": 1000000000,
      "minimum": -1000000000
     },
     "y": {
      "type": "number",
      "maximum": 1000000000,
      "minimum": -1000000000
     }
    },
    "additionalProperties": false
   },
   "maxItems": 10000,
   "minItems": 2
  },
  "obstacles": {
   "type": "array",
   "items": {
    "type": "object",
    "required": [
     "id",
     "x",
     "y",
     "radius"
    ],
    "properties": {
     "x": {
      "type": "number",
      "maximum": 1000000000,
      "minimum": -1000000000
     },
     "y": {
      "type": "number",
      "maximum": 1000000000,
      "minimum": -1000000000
     },
     "id": {
      "type": "string",
      "maxLength": 128,
      "minLength": 1
     },
     "radius": {
      "type": "number",
      "maximum": 1000000000,
      "minimum": 0
     }
    },
    "additionalProperties": false
   },
   "maxItems": 10000
  },
  "robot_radius": {
   "type": "number",
   "maximum": 1000000000,
   "minimum": 0
  },
  "required_margin": {
   "type": "number",
   "maximum": 1000000000,
   "minimum": 0
  }
 }
}
```

## More

- Live health (JSON, refreshed every minute): https://www.zero.xyz/c/halowerk-robotic-path-clearance-calculator-f55c604d/health.json
- [Zero catalog index](https://www.zero.xyz/llms.txt)
- [Other services from iot.halowerk.com](https://www.zero.xyz/host/iot.halowerk.com/llms.txt)