devagent-physical-engine 0.12.0__tar.gz → 0.12.1__tar.gz

{devagent_physical_engine-0.12.0/src/devagent_physical_engine.egg-info → devagent_physical_engine-0.12.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 0.12.0
+Version: 0.12.1
 Summary: Verification-first agentic engineering, simulation, and evidence runtime for robotics and industrial automation.
 Author: Tom Ha
 License: All Rights Reserved
@@ -189,6 +189,8 @@ measured motion/evidence report
 
 On a successful run, Gazebo / MoveIt remains open by default so the engineer can inspect the final workcell. Add `--close-after` to close it after success.
 
+v0.12.1 hardens the initial ROS joint-state snapshot by parsing `ros2 topic echo --once` output as a YAML document stream. This accepts the normal ROS 2 trailing `---` message separator instead of incorrectly classifying an otherwise valid `/joint_states` sample as `joint_state_snapshot_invalid`.
+
 The packaged reference workcell is **not customer-site geometry**. Arbitrary plant layouts require an imported or user-declared physical Twin with trusted poses, collision geometry, tool/TCP information, and workpiece properties. DevAgent does not invent those site facts from a natural-language prompt.
 
 The v0.12 implementation remains evidence-gated: source/CI success does not prove the ROS target campaign has passed on a particular workstation. Use the executable qualification below before treating the task-specific path as qualified on that target.
@@ -416,9 +418,9 @@ Detailed engineering documentation lives in the repository:
 
 ## Project status
 
-**v0.12.0 — Beta software / evidence-gated task-specific physical simulation.**
+**v0.12.1 — Beta software / evidence-gated task-specific physical simulation.**
 
-The software and release pipeline are production-oriented, but physical readiness is scope-specific and evidence-driven. The new UR5e task-specific reference-workcell path must pass the executable v0.12 ROS/Gazebo/MoveIt campaign on the target workstation before that scope is considered simulation-qualified there. Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
+The software and release pipeline are production-oriented, but physical readiness is scope-specific and evidence-driven. The UR5e task-specific reference-workcell path must pass the executable v0.12 ROS/Gazebo/MoveIt campaign on the target workstation before that scope is considered simulation-qualified there. Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
 
 ## Ownership
 

{devagent_physical_engine-0.12.0 → devagent_physical_engine-0.12.1}/README.md

@@ -148,6 +148,8 @@ measured motion/evidence report
 
 On a successful run, Gazebo / MoveIt remains open by default so the engineer can inspect the final workcell. Add `--close-after` to close it after success.
 
+v0.12.1 hardens the initial ROS joint-state snapshot by parsing `ros2 topic echo --once` output as a YAML document stream. This accepts the normal ROS 2 trailing `---` message separator instead of incorrectly classifying an otherwise valid `/joint_states` sample as `joint_state_snapshot_invalid`.
+
 The packaged reference workcell is **not customer-site geometry**. Arbitrary plant layouts require an imported or user-declared physical Twin with trusted poses, collision geometry, tool/TCP information, and workpiece properties. DevAgent does not invent those site facts from a natural-language prompt.
 
 The v0.12 implementation remains evidence-gated: source/CI success does not prove the ROS target campaign has passed on a particular workstation. Use the executable qualification below before treating the task-specific path as qualified on that target.
@@ -375,9 +377,9 @@ Detailed engineering documentation lives in the repository:
 
 ## Project status
 
-**v0.12.0 — Beta software / evidence-gated task-specific physical simulation.**
+**v0.12.1 — Beta software / evidence-gated task-specific physical simulation.**
 
-The software and release pipeline are production-oriented, but physical readiness is scope-specific and evidence-driven. The new UR5e task-specific reference-workcell path must pass the executable v0.12 ROS/Gazebo/MoveIt campaign on the target workstation before that scope is considered simulation-qualified there. Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
+The software and release pipeline are production-oriented, but physical readiness is scope-specific and evidence-driven. The UR5e task-specific reference-workcell path must pass the executable v0.12 ROS/Gazebo/MoveIt campaign on the target workstation before that scope is considered simulation-qualified there. Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
 
 ## Ownership
 

{devagent_physical_engine-0.12.0 → devagent_physical_engine-0.12.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "0.12.0"
+version = "0.12.1"
 description = "Verification-first agentic engineering, simulation, and evidence runtime for robotics and industrial automation."
 readme = { file = "README.md", content-type = "text/markdown" }
 requires-python = ">=3.11"

{devagent_physical_engine-0.12.0 → devagent_physical_engine-0.12.1}/src/devagent_physical_engine/__init__.py

@@ -41,4 +41,4 @@ __all__ = [
     "TwinValidator",
 ]
 
-__version__ = "0.12.0"
+__version__ = "0.12.1"

{devagent_physical_engine-0.12.0 → devagent_physical_engine-0.12.1}/src/devagent_physical_engine/ros2/trajectory.py

@@ -39,6 +39,43 @@ class JointStateSnapshot:
         return tuple(values[name] for name in joint_names)
 
 
+def _parse_joint_state_echo(stdout: str) -> JointStateSnapshot:
+    """Parse ``ros2 topic echo --once`` output as a YAML document stream.
+
+    ROS 2 topic echo normally terminates a message with ``---``.  PyYAML's
+    ``safe_load`` rejects that otherwise-valid output because the separator starts a
+    second (empty) YAML document.  Treat the CLI output as the stream it actually is,
+    ignore empty separator documents, and accept exactly one joint-state mapping.
+    """
+
+    try:
+        import yaml
+
+        documents = tuple(
+            document for document in yaml.safe_load_all(stdout) if document is not None
+        )
+    except Exception as exc:
+        raise RosTrajectoryError("joint_state_yaml_invalid") from exc
+
+    payloads = tuple(document for document in documents if isinstance(document, Mapping))
+    if len(payloads) != 1:
+        raise RosTrajectoryError("joint_state_document_count_invalid")
+
+    payload = payloads[0]
+    names_raw = payload.get("name")
+    positions_raw = payload.get("position")
+    if not isinstance(names_raw, list) or not isinstance(positions_raw, list):
+        raise RosTrajectoryError("joint_state_fields_invalid")
+
+    try:
+        return JointStateSnapshot(
+            tuple(str(item) for item in names_raw),
+            tuple(float(item) for item in positions_raw),
+        )
+    except (TypeError, ValueError) as exc:
+        raise RosTrajectoryError("joint_state_values_invalid") from exc
+
+
 def read_joint_state(
     runner: RosCommandRunner,
     *,
@@ -55,21 +92,9 @@ def read_joint_state(
             + (result.stderr.strip()[-300:] or "ros2_topic_echo_failed")
         )
     try:
-        import yaml
-
-        payload = yaml.safe_load(result.stdout)
-        if not isinstance(payload, Mapping):
-            raise TypeError("joint state payload is not a mapping")
-        names_raw = payload.get("name")
-        positions_raw = payload.get("position")
-        if not isinstance(names_raw, list) or not isinstance(positions_raw, list):
-            raise TypeError("name/position fields are not arrays")
-        return JointStateSnapshot(
-            tuple(str(item) for item in names_raw),
-            tuple(float(item) for item in positions_raw),
-        )
-    except Exception as exc:
-        raise RosTrajectoryError("joint_state_snapshot_invalid") from exc
+        return _parse_joint_state_echo(result.stdout)
+    except RosTrajectoryError as exc:
+        raise RosTrajectoryError(f"joint_state_snapshot_invalid:{exc}") from exc
 
 
 def _duration_payload(seconds: float) -> dict[str, int]:

{devagent_physical_engine-0.12.0 → devagent_physical_engine-0.12.1/src/devagent_physical_engine.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 0.12.0
+Version: 0.12.1
 Summary: Verification-first agentic engineering, simulation, and evidence runtime for robotics and industrial automation.
 Author: Tom Ha
 License: All Rights Reserved
@@ -189,6 +189,8 @@ measured motion/evidence report
 
 On a successful run, Gazebo / MoveIt remains open by default so the engineer can inspect the final workcell. Add `--close-after` to close it after success.
 
+v0.12.1 hardens the initial ROS joint-state snapshot by parsing `ros2 topic echo --once` output as a YAML document stream. This accepts the normal ROS 2 trailing `---` message separator instead of incorrectly classifying an otherwise valid `/joint_states` sample as `joint_state_snapshot_invalid`.
+
 The packaged reference workcell is **not customer-site geometry**. Arbitrary plant layouts require an imported or user-declared physical Twin with trusted poses, collision geometry, tool/TCP information, and workpiece properties. DevAgent does not invent those site facts from a natural-language prompt.
 
 The v0.12 implementation remains evidence-gated: source/CI success does not prove the ROS target campaign has passed on a particular workstation. Use the executable qualification below before treating the task-specific path as qualified on that target.
@@ -416,9 +418,9 @@ Detailed engineering documentation lives in the repository:
 
 ## Project status
 
-**v0.12.0 — Beta software / evidence-gated task-specific physical simulation.**
+**v0.12.1 — Beta software / evidence-gated task-specific physical simulation.**
 
-The software and release pipeline are production-oriented, but physical readiness is scope-specific and evidence-driven. The new UR5e task-specific reference-workcell path must pass the executable v0.12 ROS/Gazebo/MoveIt campaign on the target workstation before that scope is considered simulation-qualified there. Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
+The software and release pipeline are production-oriented, but physical readiness is scope-specific and evidence-driven. The UR5e task-specific reference-workcell path must pass the executable v0.12 ROS/Gazebo/MoveIt campaign on the target workstation before that scope is considered simulation-qualified there. Real robot execution remains locked. Functional-safety certification and site qualification are not claimed.
 
 ## Ownership
 

{devagent_physical_engine-0.12.0 → devagent_physical_engine-0.12.1}/tests/test_ros_trajectory_v09.py

@@ -4,7 +4,11 @@ import unittest
 
 from devagent_physical_engine.physical_motion import JointTrajectoryPoint, PhysicalMotionPlan
 from devagent_physical_engine.ros2.commands import CommandResult
-from devagent_physical_engine.ros2.trajectory import RosTrajectoryError, execute_joint_trajectory
+from devagent_physical_engine.ros2.trajectory import (
+    RosTrajectoryError,
+    execute_joint_trajectory,
+    read_joint_state,
+)
 
 
 class FakeRunner:
@@ -29,11 +33,64 @@ def motion():
     )
 
 
-def result(stdout, *, code=0):
-    return CommandResult(("ros2",), code, stdout, "", 1.0)
+def result(stdout, *, code=0, stderr=""):
+    return CommandResult(("ros2",), code, stdout, stderr, 1.0)
 
 
 class RosTrajectoryV09Tests(unittest.TestCase):
+    def test_joint_state_echo_accepts_ros2_trailing_document_separator(self):
+        stdout = """header:
+  stamp:
+    sec: 10
+    nanosec: 20
+  frame_id: ''
+name:
+- shoulder_pan_joint
+- shoulder_lift_joint
+position:
+- 0.125
+- -1.25
+velocity: []
+effort: []
+---
+"""
+        runner = FakeRunner(result(stdout))
+
+        snapshot = read_joint_state(runner)
+
+        self.assertEqual(
+            snapshot.names,
+            ("shoulder_pan_joint", "shoulder_lift_joint"),
+        )
+        self.assertEqual(snapshot.positions_rad, (0.125, -1.25))
+        self.assertEqual(
+            runner.commands[0][0],
+            ("ros2", "topic", "echo", "/joint_states", "--once"),
+        )
+
+    def test_joint_state_echo_rejects_multiple_nonempty_documents(self):
+        stdout = """name: [j1]
+position: [0.0]
+---
+name: [j1]
+position: [0.1]
+---
+"""
+        runner = FakeRunner(result(stdout))
+        with self.assertRaisesRegex(
+            RosTrajectoryError,
+            "joint_state_snapshot_invalid:joint_state_document_count_invalid",
+        ):
+            read_joint_state(runner)
+
+    def test_joint_state_echo_preserves_command_failure_detail(self):
+        runner = FakeRunner(result("", code=1, stderr="topic unavailable"))
+        with self.assertRaisesRegex(
+            RosTrajectoryError,
+            "joint_state_snapshot_failed:topic unavailable",
+        ):
+            read_joint_state(runner)
+
     def test_succeeded_action_is_accepted(self):
         runner = FakeRunner(result("Goal accepted\nResult: error_code=0\nGoal finished with status: SUCCEEDED"))
         completed = execute_joint_trajectory(runner, motion())