devagent-physical-engine 0.10.0__tar.gz → 0.11.3__tar.gz

devagent_physical_engine-0.11.3/PKG-INFO

@@ -0,0 +1,338 @@
+Metadata-Version: 2.4
+Name: devagent-physical-engine
+Version: 0.11.3
+Summary: Verification-first agentic planning runtime for robotic and industrial automation.
+Author: Tom Ha
+License: All Rights Reserved
+Project-URL: Homepage, https://github.com/tomha85/devagent-physical-engine
+Project-URL: Repository, https://github.com/tomha85/devagent-physical-engine
+Project-URL: Issues, https://github.com/tomha85/devagent-physical-engine/issues
+Keywords: robotics,industrial-automation,agentic-ai,ros2,verification
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: NOTICE
+Requires-Dist: PyYAML<7,>=6.0
+Provides-Extra: openai
+Requires-Dist: openai<4,>=3.0; extra == "openai"
+Provides-Extra: anthropic
+Requires-Dist: anthropic<2,>=1.0; extra == "anthropic"
+Provides-Extra: gemini
+Requires-Dist: google-genai<3,>=2.0; extra == "gemini"
+Provides-Extra: ai
+Requires-Dist: openai<4,>=3.0; extra == "ai"
+Requires-Dist: anthropic<2,>=1.0; extra == "ai"
+Requires-Dist: google-genai<3,>=2.0; extra == "ai"
+Provides-Extra: dev
+Requires-Dist: build==1.6.0; extra == "dev"
+Requires-Dist: twine==7.0.0; extra == "dev"
+Requires-Dist: coverage[toml]<8,>=7.6; extra == "dev"
+Requires-Dist: ruff<1,>=0.12; extra == "dev"
+Requires-Dist: pip-audit<3,>=2.9; extra == "dev"
+Dynamic: license-file
+
+# DevAgent Smart Physical Engine
+
+**Verification-first agentic engineering, planning, optimization, simulation, and evidence runtime for robotic and industrial automation.**
+
+> **AI proposes. Deterministic engines validate, compile, verify, simulate, measure, and gate promotion. Existing certified controllers remain authoritative.**
+
+DevAgent Smart Physical Engine adds AI-assisted engineering to existing automation without replacing robot controllers, PLCs, safety controllers, or real-time servo loops. The core is provider-neutral and keeps engineering authority separated from model output.
+
+## Current version
+
+**v0.11.3 — Beta software / evidence-gated physical runtime**
+
+The Python software stack is regression-tested on Python 3.11, 3.12, and 3.13 with separate static/coverage, package-install, and runtime dependency security gates. The UR5e Gazebo/MoveIt path now contains production-candidate continuous-clearance, tool-collision, and workpiece-lifecycle capabilities, but those physical-simulation scopes remain **EXPERIMENTAL until the executable target-workstation v0.11 campaign passes**.
+
+v0.11.3 also normalizes provider-neutral agent schemas at the OpenAI transport boundary so strict Structured Outputs can represent DevAgent optional fields without changing Anthropic/Gemini or deterministic core semantics.
+
+Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
+
+## v0.11 capability status
+
+| Area | Status |
+| --- | --- |
+| Provider-neutral Agent Core | Implemented |
+| OpenAI / Anthropic / Gemini structured adapters | Implemented |
+| Planner / Critic / Recovery | Implemented |
+| Natural-language engineering request front door | Implemented |
+| Deterministic compiler / semantic / verification gates | Implemented |
+| Multi-vendor robot profile registry | Implemented |
+| UR5e / FANUC CRX / KUKA KR / ABB IRB abstraction | Implemented; physical qualification is vendor-specific |
+| Evidence-aware canonical TwinSpec | Implemented |
+| Canonical Twin → Gazebo + MoveIt materialization | Implemented |
+| Gazebo / TF / MoveIt world read-back | Implemented |
+| Runtime-owned tool collision binding + read-back | Implemented; target qualification required |
+| Runtime-owned workpiece attach/detach + read-back | Implemented; target qualification required |
+| Discrete MoveIt state-validity precheck | Implemented; simulation/debug only |
+| Measured MoveIt collision distance | Implemented in production-candidate verifier |
+| Adaptive conservative continuous-path proof | Implemented; qualified bound required |
+| Measured minimum clearance + safety margin | Implemented; target qualification required |
+| Measured joint-state trajectory runtime | Implemented |
+| MoveIt FK TCP path / final TCP error | Implemented |
+| Quantitative sim↔real qualification gate | Implemented; measured hardware dataset required |
+| Python package/release supply chain | Hardened CI + exact-green-main release + direct `release.yml` PyPI OIDC deployment |
+| UR5e production-candidate simulation evidence | **Requires executable v0.11 target campaign** |
+| Physical commissioning | **Not qualified by source/CI alone** |
+| Site qualification | **Not qualified** |
+| Real robot execution | **Locked** |
+| Functional-safety certification | Not claimed |
+
+## Trust chain
+
+```mermaid
+flowchart TD
+    USER[Engineer / customer application] --> REQUEST[Natural-language engineering request]
+    REQUEST --> AI[Provider-neutral AI / Planner / Critic / Recovery]
+    AI --> COMPILE[Deterministic compile + semantic policy]
+    COMPILE --> VERIFY[Verified plan artifact]
+    VERIFY --> TWIN[Canonical TwinSpec + SHA256]
+    TWIN --> MATERIALIZE[Canonical materialization]
+    MATERIALIZE --> GZ[Gazebo world]
+    MATERIALIZE --> MOVEIT[MoveIt PlanningScene]
+    MATERIALIZE --> TF[TF frames]
+    GZ --> READBACK[Backend read-back]
+    MOVEIT --> READBACK
+    TF --> READBACK
+    READBACK --> TOOL[Verified tool collision receipt]
+    TOOL --> WORKPIECE[Verified workpiece lifecycle receipt]
+    WORKPIECE --> MOTION[Exact PhysicalMotionPlan / Twin binding]
+    MOTION --> CLEAR[Measured clearance + continuous proof]
+    CLEAR --> SIM[ROS 2 / Gazebo execution]
+    SIM --> MEASURE[Measured joint states + MoveIt FK]
+    MEASURE --> EVIDENCE[Replayable evidence]
+    EVIDENCE --> PROMOTION[Scope-specific promotion gate]
+    PROMOTION --> LOCKED[Real execution remains separately locked]
+```
+
+The model never owns collision policy, minimum-clearance truth, dynamic scene state, qualification promotion, or real-hardware authorization.
+
+## Continuous collision and clearance semantics
+
+The legacy/discrete verifier remains available for development and simulation but can never produce commissioning-usable evidence.
+
+The v0.11 production-candidate verifier synchronizes the authoritative MoveIt PlanningScene, measures minimum collision distance, and adaptively proves every joint interval using a conservative collision-distance Lipschitz bound. If the proof cannot be established within configured sample/depth limits, it fails closed. There is no automatic downgrade to a sampled “pass.”
+
+A commissioning-usable pre-execution receipt requires all of:
+
+```text
+verified=true
+continuous_collision_check=true
+clearance_measured=true
+minimum_clearance_m > 0
+materialization_hash=<exact Twin materialization>
+failure_codes=[]
+```
+
+The distance Lipschitz bound is itself qualification evidence and must be conservative for the exact robot/tool/collision model.
+
+## Tool and workpiece authority
+
+Customer motion metadata can no longer claim that a tool collision model or workpiece attachment is verified.
+
+`ToolCollisionBinding` is runtime configuration. The tool is applied as a MoveIt attached collision object and verified by geometry/link read-back before a receipt is accepted.
+
+Workpiece state uses verified transitions:
+
+```text
+WORLD → ATTACHED → WORLD
+```
+
+Attach/detach applies the PlanningScene change and verifies the resulting world/attached state. Missing or inconsistent read-back blocks the motion.
+
+## Installation
+
+Python 3.11+ is required.
+
+From PyPI after the corresponding release is published:
+
+```bash
+python -m pip install devagent-physical-engine
+```
+
+From source:
+
+```bash
+git clone https://github.com/tomha85/devagent-physical-engine.git
+cd devagent-physical-engine
+python -m venv .venv
+source .venv/bin/activate
+python -m pip install --upgrade pip
+python -m pip install -e .
+```
+
+Optional provider SDKs:
+
+```bash
+python -m pip install -e ".[openai]"
+python -m pip install -e ".[anthropic]"
+python -m pip install -e ".[gemini]"
+python -m pip install -e ".[ai]"
+```
+
+Development/qualification tooling:
+
+```bash
+python -m pip install -e ".[dev]"
+```
+
+`pip install` does not install ROS/Gazebo system packages or perform privileged OS changes.
+
+## AI providers
+
+Keep credentials outside WorldState/Twin data:
+
+```bash
+export OPENAI_API_KEY='...'
+export ANTHROPIC_API_KEY='...'
+export GEMINI_API_KEY='...'
+```
+
+Examples use the currently supported deterministic goal action `load`:
+
+```bash
+devagent-physical-ai doctor --provider openai
+devagent-physical-ai qualify --provider openai --model <model-id>
+devagent-physical-ai request \
+  "Use a UR5e to load BOX_101 from conveyor_a to cnc_04. Simulate and verify the plan." \
+  --provider openai --model <model-id>
+devagent-physical-ai engineer \
+  "Use a UR5e to load BOX_101 from conveyor_a to cnc_04. Simulate and verify the plan." \
+  --provider openai --model <model-id>
+```
+
+Equivalent routing supports Anthropic and Gemini. Live AI qualification does not unlock real robot execution.
+
+## Software production gates
+
+Repository CI now requires:
+
+```text
+Python 3.11 regression
+Python 3.12 regression
+Python 3.13 regression
+compileall
+Ruff correctness checks
+branch coverage threshold
+wheel + sdist build
+twine --strict
+clean wheel installation/version smoke
+runtime dependency vulnerability audit
+```
+
+Critical checkout/setup/artifact GitHub Actions are pinned to exact commits.
+
+A successful `main` CI run drives `release-on-ci.yml`, which validates the package version and creates a normal GitHub Release at the **exact CI-tested SHA**. It then dispatches `release.yml` with `workflow_dispatch` at the exact release tag. Running Trusted Publishing in the directly dispatched `release.yml` is intentional: PyPI binds the OIDC publisher identity to that workflow filename and does not currently support reusable workflows for Trusted Publishing. `release.yml` rebuilds and re-verifies the exact tag, attaches wheel/sdist/SBOM/checksum evidence to the GitHub Release, and publishes through the GitHub `pypi` environment using OIDC.
+
+## UR5e ROS 2 / Gazebo target
+
+Reference target:
+
+```text
+Ubuntu 24.04
+ROS 2 Jazzy
+Gazebo Harmonic
+gz_ros2_control
+Universal Robots ROS 2 driver
+ur_simulation_gz
+MoveIt 2
+```
+
+Setup/diagnostics:
+
+```bash
+devagent-physical setup --profile ur5e-sim --dry-run
+devagent-physical setup --profile ur5e-sim
+devagent-physical ros doctor
+devagent-physical ros demo
+devagent-physical ros qualify-trajectory-runtime
+```
+
+## v0.11 production-candidate executable qualification
+
+The stronger campaign is deliberately separate from ordinary hosted GitHub CI because it requires the exact ROS/Gazebo/MoveIt target stack and qualified robot/tool collision-distance bound:
+
+```bash
+python -m devagent_physical_engine.ros2.qualification_v11 \
+  --moveit-params-file /path/to/ur5e_moveit_params.yaml \
+  --distance-lipschitz <qualified-m-per-radian-bound> \
+  --safety-margin 0.005 \
+  --log-dir ~/.devagent/v11-production-candidate-qualification
+```
+
+A green campaign requires canonical world read-back, verified tool attachment, verified workpiece attach+detach, synchronized MoveIt scene, conservative continuous collision/clearance proof, minimum clearance above margin, measured joint-state execution, and MoveIt FK evidence.
+
+It may report:
+
+```text
+promotion_candidate=true
+simulation_commissioning_evidence_qualified=true
+continuous_collision_check=true
+minimum_clearance_measured=true
+```
+
+but still intentionally reports:
+
+```text
+physical_qualification=false
+commissioning_qualification=false
+real_execution_allowed=false
+site_qualification=false
+```
+
+Physical/site promotion requires measured hardware/shadow evidence.
+
+## Sim↔real qualification
+
+The source now includes an explicit quantitative correlation gate. Default minimum criteria are:
+
+```text
+observations >= 30
+cycle-time gap p95 <= 10%
+TCP error p95 <= 10 mm
+behavior agreement >= 0.99
+measured origin + dataset reference required
+```
+
+Missing evidence never qualifies. Customers may set stricter thresholds.
+
+## Optimization semantics
+
+DevAgent does **not** claim a mathematical global optimum. It selects the best evaluated verified candidate among candidates actually generated, verified, and measured under the configured objective. A hard violation, failed verification/simulation, unknown required metric, or failed quality gate makes the candidate ineligible regardless of weighted score.
+
+## Documentation
+
+- [`docs/PRODUCTION_READINESS.md`](docs/PRODUCTION_READINESS.md) — v0.11 readiness scopes and qualification boundaries.
+- [`docs/ARCHITECTURE.md`](docs/ARCHITECTURE.md) — current trust boundaries and runtime architecture.
+- [`docs/AGENT_CORE.md`](docs/AGENT_CORE.md) — Agent Core authority model.
+- [`docs/AI_PROVIDERS.md`](docs/AI_PROVIDERS.md) — provider installation, credentials, and qualification.
+- [`docs/NATURAL_LANGUAGE_ENGINEERING.md`](docs/NATURAL_LANGUAGE_ENGINEERING.md) — natural-language engineering request flow.
+- [`docs/ROBOT_PLATFORM_AND_TWIN.md`](docs/ROBOT_PLATFORM_AND_TWIN.md) — robot abstraction and evidence-aware Twin.
+- [`docs/MEASURED_PHYSICAL_RUNTIME.md`](docs/MEASURED_PHYSICAL_RUNTIME.md) — motion and measured runtime.
+- [`docs/CANONICAL_TWIN_RUNTIME.md`](docs/CANONICAL_TWIN_RUNTIME.md) — canonical scene, continuous clearance, and dynamic scene lifecycle.
+- [`docs/QUALIFICATION.md`](docs/QUALIFICATION.md) — qualification/evidence model.
+- [`docs/OPTIMIZATION.md`](docs/OPTIMIZATION.md) — search, metrics, Pareto ranking, and evidence.
+- [`docs/SETUP.md`](docs/SETUP.md) — explicit workstation bootstrap.
+- [`docs/LAPTOP_ACCEPTANCE.md`](docs/LAPTOP_ACCEPTANCE.md) — UR5e workstation acceptance.
+- [`docs/PYPI_RELEASE.md`](docs/PYPI_RELEASE.md) — Trusted Publishing release pipeline.
+
+## Release policy
+
+v0.11 is a **Beta software release**, not a declaration that every robot/site is physically commissioned. Capability promotion remains evidence-driven and scope-specific. Simulation evidence cannot silently become hardware/site qualification.
+
+## Ownership
+
+DevAgent Smart Physical Engine  
+Copyright © 2026 Tom Ha  
+Original creator: Tom Ha  
+Original project: https://github.com/tomha85/devagent-physical-engine  
+All rights reserved.

devagent_physical_engine-0.11.3/README.md

@@ -0,0 +1,297 @@
+# DevAgent Smart Physical Engine
+
+**Verification-first agentic engineering, planning, optimization, simulation, and evidence runtime for robotic and industrial automation.**
+
+> **AI proposes. Deterministic engines validate, compile, verify, simulate, measure, and gate promotion. Existing certified controllers remain authoritative.**
+
+DevAgent Smart Physical Engine adds AI-assisted engineering to existing automation without replacing robot controllers, PLCs, safety controllers, or real-time servo loops. The core is provider-neutral and keeps engineering authority separated from model output.
+
+## Current version
+
+**v0.11.3 — Beta software / evidence-gated physical runtime**
+
+The Python software stack is regression-tested on Python 3.11, 3.12, and 3.13 with separate static/coverage, package-install, and runtime dependency security gates. The UR5e Gazebo/MoveIt path now contains production-candidate continuous-clearance, tool-collision, and workpiece-lifecycle capabilities, but those physical-simulation scopes remain **EXPERIMENTAL until the executable target-workstation v0.11 campaign passes**.
+
+v0.11.3 also normalizes provider-neutral agent schemas at the OpenAI transport boundary so strict Structured Outputs can represent DevAgent optional fields without changing Anthropic/Gemini or deterministic core semantics.
+
+Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
+
+## v0.11 capability status
+
+| Area | Status |
+| --- | --- |
+| Provider-neutral Agent Core | Implemented |
+| OpenAI / Anthropic / Gemini structured adapters | Implemented |
+| Planner / Critic / Recovery | Implemented |
+| Natural-language engineering request front door | Implemented |
+| Deterministic compiler / semantic / verification gates | Implemented |
+| Multi-vendor robot profile registry | Implemented |
+| UR5e / FANUC CRX / KUKA KR / ABB IRB abstraction | Implemented; physical qualification is vendor-specific |
+| Evidence-aware canonical TwinSpec | Implemented |
+| Canonical Twin → Gazebo + MoveIt materialization | Implemented |
+| Gazebo / TF / MoveIt world read-back | Implemented |
+| Runtime-owned tool collision binding + read-back | Implemented; target qualification required |
+| Runtime-owned workpiece attach/detach + read-back | Implemented; target qualification required |
+| Discrete MoveIt state-validity precheck | Implemented; simulation/debug only |
+| Measured MoveIt collision distance | Implemented in production-candidate verifier |
+| Adaptive conservative continuous-path proof | Implemented; qualified bound required |
+| Measured minimum clearance + safety margin | Implemented; target qualification required |
+| Measured joint-state trajectory runtime | Implemented |
+| MoveIt FK TCP path / final TCP error | Implemented |
+| Quantitative sim↔real qualification gate | Implemented; measured hardware dataset required |
+| Python package/release supply chain | Hardened CI + exact-green-main release + direct `release.yml` PyPI OIDC deployment |
+| UR5e production-candidate simulation evidence | **Requires executable v0.11 target campaign** |
+| Physical commissioning | **Not qualified by source/CI alone** |
+| Site qualification | **Not qualified** |
+| Real robot execution | **Locked** |
+| Functional-safety certification | Not claimed |
+
+## Trust chain
+
+```mermaid
+flowchart TD
+    USER[Engineer / customer application] --> REQUEST[Natural-language engineering request]
+    REQUEST --> AI[Provider-neutral AI / Planner / Critic / Recovery]
+    AI --> COMPILE[Deterministic compile + semantic policy]
+    COMPILE --> VERIFY[Verified plan artifact]
+    VERIFY --> TWIN[Canonical TwinSpec + SHA256]
+    TWIN --> MATERIALIZE[Canonical materialization]
+    MATERIALIZE --> GZ[Gazebo world]
+    MATERIALIZE --> MOVEIT[MoveIt PlanningScene]
+    MATERIALIZE --> TF[TF frames]
+    GZ --> READBACK[Backend read-back]
+    MOVEIT --> READBACK
+    TF --> READBACK
+    READBACK --> TOOL[Verified tool collision receipt]
+    TOOL --> WORKPIECE[Verified workpiece lifecycle receipt]
+    WORKPIECE --> MOTION[Exact PhysicalMotionPlan / Twin binding]
+    MOTION --> CLEAR[Measured clearance + continuous proof]
+    CLEAR --> SIM[ROS 2 / Gazebo execution]
+    SIM --> MEASURE[Measured joint states + MoveIt FK]
+    MEASURE --> EVIDENCE[Replayable evidence]
+    EVIDENCE --> PROMOTION[Scope-specific promotion gate]
+    PROMOTION --> LOCKED[Real execution remains separately locked]
+```
+
+The model never owns collision policy, minimum-clearance truth, dynamic scene state, qualification promotion, or real-hardware authorization.
+
+## Continuous collision and clearance semantics
+
+The legacy/discrete verifier remains available for development and simulation but can never produce commissioning-usable evidence.
+
+The v0.11 production-candidate verifier synchronizes the authoritative MoveIt PlanningScene, measures minimum collision distance, and adaptively proves every joint interval using a conservative collision-distance Lipschitz bound. If the proof cannot be established within configured sample/depth limits, it fails closed. There is no automatic downgrade to a sampled “pass.”
+
+A commissioning-usable pre-execution receipt requires all of:
+
+```text
+verified=true
+continuous_collision_check=true
+clearance_measured=true
+minimum_clearance_m > 0
+materialization_hash=<exact Twin materialization>
+failure_codes=[]
+```
+
+The distance Lipschitz bound is itself qualification evidence and must be conservative for the exact robot/tool/collision model.
+
+## Tool and workpiece authority
+
+Customer motion metadata can no longer claim that a tool collision model or workpiece attachment is verified.
+
+`ToolCollisionBinding` is runtime configuration. The tool is applied as a MoveIt attached collision object and verified by geometry/link read-back before a receipt is accepted.
+
+Workpiece state uses verified transitions:
+
+```text
+WORLD → ATTACHED → WORLD
+```
+
+Attach/detach applies the PlanningScene change and verifies the resulting world/attached state. Missing or inconsistent read-back blocks the motion.
+
+## Installation
+
+Python 3.11+ is required.
+
+From PyPI after the corresponding release is published:
+
+```bash
+python -m pip install devagent-physical-engine
+```
+
+From source:
+
+```bash
+git clone https://github.com/tomha85/devagent-physical-engine.git
+cd devagent-physical-engine
+python -m venv .venv
+source .venv/bin/activate
+python -m pip install --upgrade pip
+python -m pip install -e .
+```
+
+Optional provider SDKs:
+
+```bash
+python -m pip install -e ".[openai]"
+python -m pip install -e ".[anthropic]"
+python -m pip install -e ".[gemini]"
+python -m pip install -e ".[ai]"
+```
+
+Development/qualification tooling:
+
+```bash
+python -m pip install -e ".[dev]"
+```
+
+`pip install` does not install ROS/Gazebo system packages or perform privileged OS changes.
+
+## AI providers
+
+Keep credentials outside WorldState/Twin data:
+
+```bash
+export OPENAI_API_KEY='...'
+export ANTHROPIC_API_KEY='...'
+export GEMINI_API_KEY='...'
+```
+
+Examples use the currently supported deterministic goal action `load`:
+
+```bash
+devagent-physical-ai doctor --provider openai
+devagent-physical-ai qualify --provider openai --model <model-id>
+devagent-physical-ai request \
+  "Use a UR5e to load BOX_101 from conveyor_a to cnc_04. Simulate and verify the plan." \
+  --provider openai --model <model-id>
+devagent-physical-ai engineer \
+  "Use a UR5e to load BOX_101 from conveyor_a to cnc_04. Simulate and verify the plan." \
+  --provider openai --model <model-id>
+```
+
+Equivalent routing supports Anthropic and Gemini. Live AI qualification does not unlock real robot execution.
+
+## Software production gates
+
+Repository CI now requires:
+
+```text
+Python 3.11 regression
+Python 3.12 regression
+Python 3.13 regression
+compileall
+Ruff correctness checks
+branch coverage threshold
+wheel + sdist build
+twine --strict
+clean wheel installation/version smoke
+runtime dependency vulnerability audit
+```
+
+Critical checkout/setup/artifact GitHub Actions are pinned to exact commits.
+
+A successful `main` CI run drives `release-on-ci.yml`, which validates the package version and creates a normal GitHub Release at the **exact CI-tested SHA**. It then dispatches `release.yml` with `workflow_dispatch` at the exact release tag. Running Trusted Publishing in the directly dispatched `release.yml` is intentional: PyPI binds the OIDC publisher identity to that workflow filename and does not currently support reusable workflows for Trusted Publishing. `release.yml` rebuilds and re-verifies the exact tag, attaches wheel/sdist/SBOM/checksum evidence to the GitHub Release, and publishes through the GitHub `pypi` environment using OIDC.
+
+## UR5e ROS 2 / Gazebo target
+
+Reference target:
+
+```text
+Ubuntu 24.04
+ROS 2 Jazzy
+Gazebo Harmonic
+gz_ros2_control
+Universal Robots ROS 2 driver
+ur_simulation_gz
+MoveIt 2
+```
+
+Setup/diagnostics:
+
+```bash
+devagent-physical setup --profile ur5e-sim --dry-run
+devagent-physical setup --profile ur5e-sim
+devagent-physical ros doctor
+devagent-physical ros demo
+devagent-physical ros qualify-trajectory-runtime
+```
+
+## v0.11 production-candidate executable qualification
+
+The stronger campaign is deliberately separate from ordinary hosted GitHub CI because it requires the exact ROS/Gazebo/MoveIt target stack and qualified robot/tool collision-distance bound:
+
+```bash
+python -m devagent_physical_engine.ros2.qualification_v11 \
+  --moveit-params-file /path/to/ur5e_moveit_params.yaml \
+  --distance-lipschitz <qualified-m-per-radian-bound> \
+  --safety-margin 0.005 \
+  --log-dir ~/.devagent/v11-production-candidate-qualification
+```
+
+A green campaign requires canonical world read-back, verified tool attachment, verified workpiece attach+detach, synchronized MoveIt scene, conservative continuous collision/clearance proof, minimum clearance above margin, measured joint-state execution, and MoveIt FK evidence.
+
+It may report:
+
+```text
+promotion_candidate=true
+simulation_commissioning_evidence_qualified=true
+continuous_collision_check=true
+minimum_clearance_measured=true
+```
+
+but still intentionally reports:
+
+```text
+physical_qualification=false
+commissioning_qualification=false
+real_execution_allowed=false
+site_qualification=false
+```
+
+Physical/site promotion requires measured hardware/shadow evidence.
+
+## Sim↔real qualification
+
+The source now includes an explicit quantitative correlation gate. Default minimum criteria are:
+
+```text
+observations >= 30
+cycle-time gap p95 <= 10%
+TCP error p95 <= 10 mm
+behavior agreement >= 0.99
+measured origin + dataset reference required
+```
+
+Missing evidence never qualifies. Customers may set stricter thresholds.
+
+## Optimization semantics
+
+DevAgent does **not** claim a mathematical global optimum. It selects the best evaluated verified candidate among candidates actually generated, verified, and measured under the configured objective. A hard violation, failed verification/simulation, unknown required metric, or failed quality gate makes the candidate ineligible regardless of weighted score.
+
+## Documentation
+
+- [`docs/PRODUCTION_READINESS.md`](docs/PRODUCTION_READINESS.md) — v0.11 readiness scopes and qualification boundaries.
+- [`docs/ARCHITECTURE.md`](docs/ARCHITECTURE.md) — current trust boundaries and runtime architecture.
+- [`docs/AGENT_CORE.md`](docs/AGENT_CORE.md) — Agent Core authority model.
+- [`docs/AI_PROVIDERS.md`](docs/AI_PROVIDERS.md) — provider installation, credentials, and qualification.
+- [`docs/NATURAL_LANGUAGE_ENGINEERING.md`](docs/NATURAL_LANGUAGE_ENGINEERING.md) — natural-language engineering request flow.
+- [`docs/ROBOT_PLATFORM_AND_TWIN.md`](docs/ROBOT_PLATFORM_AND_TWIN.md) — robot abstraction and evidence-aware Twin.
+- [`docs/MEASURED_PHYSICAL_RUNTIME.md`](docs/MEASURED_PHYSICAL_RUNTIME.md) — motion and measured runtime.
+- [`docs/CANONICAL_TWIN_RUNTIME.md`](docs/CANONICAL_TWIN_RUNTIME.md) — canonical scene, continuous clearance, and dynamic scene lifecycle.
+- [`docs/QUALIFICATION.md`](docs/QUALIFICATION.md) — qualification/evidence model.
+- [`docs/OPTIMIZATION.md`](docs/OPTIMIZATION.md) — search, metrics, Pareto ranking, and evidence.
+- [`docs/SETUP.md`](docs/SETUP.md) — explicit workstation bootstrap.
+- [`docs/LAPTOP_ACCEPTANCE.md`](docs/LAPTOP_ACCEPTANCE.md) — UR5e workstation acceptance.
+- [`docs/PYPI_RELEASE.md`](docs/PYPI_RELEASE.md) — Trusted Publishing release pipeline.
+
+## Release policy
+
+v0.11 is a **Beta software release**, not a declaration that every robot/site is physically commissioned. Capability promotion remains evidence-driven and scope-specific. Simulation evidence cannot silently become hardware/site qualification.
+
+## Ownership
+
+DevAgent Smart Physical Engine  
+Copyright © 2026 Tom Ha  
+Original creator: Tom Ha  
+Original project: https://github.com/tomha85/devagent-physical-engine  
+All rights reserved.

{devagent_physical_engine-0.10.0 → devagent_physical_engine-0.11.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "0.10.0"
+version = "0.11.3"
 description = "Verification-first agentic planning runtime for robotic and industrial automation."
 readme = "README.md"
 requires-python = ">=3.11"
@@ -13,7 +13,7 @@ authors = [{ name = "Tom Ha" }]
 license = { text = "All Rights Reserved" }
 keywords = ["robotics", "industrial-automation", "agentic-ai", "ros2", "verification"]
 classifiers = [
-  "Development Status :: 3 - Alpha",
+  "Development Status :: 4 - Beta",
   "Intended Audience :: Developers",
   "Operating System :: OS Independent",
   "Programming Language :: Python :: 3",
@@ -33,6 +33,13 @@ ai = [
   "anthropic>=1.0,<2",
   "google-genai>=2.0,<3",
 ]
+dev = [
+  "build==1.6.0",
+  "twine==7.0.0",
+  "coverage[toml]>=7.6,<8",
+  "ruff>=0.12,<1",
+  "pip-audit>=2.9,<3",
+]
 
 [project.urls]
 Homepage = "https://github.com/tomha85/devagent-physical-engine"
@@ -45,3 +52,22 @@ devagent-physical-ai = "devagent_physical_engine.ai_cli:main"
 
 [tool.setuptools.packages.find]
 where = ["src"]
+
+[tool.coverage.run]
+branch = true
+source = ["devagent_physical_engine"]
+omit = [
+  # ROS probe scripts and target-stack orchestration require a real ROS/Jazzy/
+  # Gazebo/MoveIt environment. They are qualified by qualification_v11 rather than
+  # pretending hosted unit execution covers them.
+  "src/devagent_physical_engine/ros2/*_probe.py",
+  "src/devagent_physical_engine/ros2/qualification*.py",
+  "src/devagent_physical_engine/ros2/joint_state_recorder.py",
+  "src/devagent_physical_engine/ros2/ur5e_adapter.py",
+  "src/devagent_physical_engine/ros2/ur5e_v10_adapter.py",
+]
+
+[tool.coverage.report]
+fail_under = 75
+show_missing = true
+skip_covered = false