devagent-physical-engine 1.6.0__tar.gz → 1.6.2__tar.gz

{devagent_physical_engine-1.6.0/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.6.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.6.0
+Version: 1.6.2
 Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, report-test Gazebo visualization, requirement-driven test generation, selective verification, deterministic Twin lineage, measured physical verification, replay inspection, regression, and FAT evidence.
 Author: Tom Ha
 License: All Rights Reserved
@@ -82,7 +82,7 @@ DevAgent is designed to answer: **What can be proven about this cell, what faile
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.6.0
+python -m pip install --upgrade devagent-physical-engine==1.6.2
 ```
 
 Verify the installed package:
@@ -94,7 +94,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.6.0
+1.6.2
 ```
 
 Run the normal customer workflow:
@@ -207,6 +207,31 @@ devagent-physical ros demo
 
 for report evidence.
 
+## v1.6.1 support-contact lift hotfix
+
+The qualified reference load profile starts with the workpiece physically resting on its source support. During the first attached-object `lift` preflight, v1.6.1 preserves the complete live MoveIt Allowed Collision Matrix and enables exactly one temporary request-local pair:
+
+```text
+attached workpiece ↔ conveyor_a support surface
+```
+
+That allowance is scoped to lift departure only. Transfer/place keep normal collision checking, no global PlanningScene collision policy is disabled, and the live ACM is never replaced by a sparse two-object matrix.
+
+## v1.6.2 smooth visual motion hotfix
+
+v1.6.2 makes the packaged UR5e visual task deliberately slower and easier to inspect. The task-specific MoveIt planner defaults are reduced from 25% velocity / 25% acceleration to:
+
+```text
+velocity scale:      12%
+acceleration scale:   8%
+```
+
+This is real trajectory time parameterization through MoveIt and `FollowJointTrajectory`; DevAgent does not fake smoothness with teleports or sleeps. Explicit planner scales remain authoritative. Collision checks, endpoint tolerances, tracking tolerances, Twin lineage, and real-execution authority are unchanged.
+
+The joint-state recorder also rejects duplicate/backward ROS source timestamps before trajectory interpolation while recording the number of dropped samples. This removes the false `trajectory_tracking_time_not_increasing` failure caused by duplicate Gazebo/ros2_control JointState stamps without manufacturing synthetic timestamps.
+
+Because the visual trajectory now executes more slowly, cycle-time requirements are evaluated against the actual slower simulation execution. DevAgent does not normalize the observed duration back to a faster value or claim performance that was not executed.
+
 ## Exact lineage hardening
 
 A case ID such as `case-0001` is local to its verification plan. v1.6 therefore requires the complete lineage:
@@ -502,9 +527,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.0 — Production/Stable software workflow**
+**v1.6.2 — Production/Stable software workflow**
 
-v1.6.0 adds exact-Twin report-test visual execution, immutable Requirement→Mapping→Verification Plan→Case lineage validation, qualified Gazebo/MoveIt execution for the packaged UR5e nominal report profile, typed simulation measurement binding, interactive report-case visualization, and fail-closed handling for unsupported or ambiguous execution scopes.
+v1.6.2 slows the packaged UR5e task/report visual motion to conservative 12% velocity / 8% acceleration defaults and hardens JointState acquisition against duplicate/backward ROS timestamps. It retains the v1.6.1 lift support-contact fix, exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, and fail-closed authority boundaries.
 
 Production-oriented software capabilities include:
 

{devagent_physical_engine-1.6.0 → devagent_physical_engine-1.6.2}/README.md

@@ -41,7 +41,7 @@ DevAgent is designed to answer: **What can be proven about this cell, what faile
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.6.0
+python -m pip install --upgrade devagent-physical-engine==1.6.2
 ```
 
 Verify the installed package:
@@ -53,7 +53,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.6.0
+1.6.2
 ```
 
 Run the normal customer workflow:
@@ -166,6 +166,31 @@ devagent-physical ros demo
 
 for report evidence.
 
+## v1.6.1 support-contact lift hotfix
+
+The qualified reference load profile starts with the workpiece physically resting on its source support. During the first attached-object `lift` preflight, v1.6.1 preserves the complete live MoveIt Allowed Collision Matrix and enables exactly one temporary request-local pair:
+
+```text
+attached workpiece ↔ conveyor_a support surface
+```
+
+That allowance is scoped to lift departure only. Transfer/place keep normal collision checking, no global PlanningScene collision policy is disabled, and the live ACM is never replaced by a sparse two-object matrix.
+
+## v1.6.2 smooth visual motion hotfix
+
+v1.6.2 makes the packaged UR5e visual task deliberately slower and easier to inspect. The task-specific MoveIt planner defaults are reduced from 25% velocity / 25% acceleration to:
+
+```text
+velocity scale:      12%
+acceleration scale:   8%
+```
+
+This is real trajectory time parameterization through MoveIt and `FollowJointTrajectory`; DevAgent does not fake smoothness with teleports or sleeps. Explicit planner scales remain authoritative. Collision checks, endpoint tolerances, tracking tolerances, Twin lineage, and real-execution authority are unchanged.
+
+The joint-state recorder also rejects duplicate/backward ROS source timestamps before trajectory interpolation while recording the number of dropped samples. This removes the false `trajectory_tracking_time_not_increasing` failure caused by duplicate Gazebo/ros2_control JointState stamps without manufacturing synthetic timestamps.
+
+Because the visual trajectory now executes more slowly, cycle-time requirements are evaluated against the actual slower simulation execution. DevAgent does not normalize the observed duration back to a faster value or claim performance that was not executed.
+
 ## Exact lineage hardening
 
 A case ID such as `case-0001` is local to its verification plan. v1.6 therefore requires the complete lineage:
@@ -461,9 +486,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.0 — Production/Stable software workflow**
+**v1.6.2 — Production/Stable software workflow**
 
-v1.6.0 adds exact-Twin report-test visual execution, immutable Requirement→Mapping→Verification Plan→Case lineage validation, qualified Gazebo/MoveIt execution for the packaged UR5e nominal report profile, typed simulation measurement binding, interactive report-case visualization, and fail-closed handling for unsupported or ambiguous execution scopes.
+v1.6.2 slows the packaged UR5e task/report visual motion to conservative 12% velocity / 8% acceleration defaults and hardens JointState acquisition against duplicate/backward ROS timestamps. It retains the v1.6.1 lift support-contact fix, exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, and fail-closed authority boundaries.
 
 Production-oriented software capabilities include:
 

{devagent_physical_engine-1.6.0 → devagent_physical_engine-1.6.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.6.0"
+version = "1.6.2"
 description = "Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, report-test Gazebo visualization, requirement-driven test generation, selective verification, deterministic Twin lineage, measured physical verification, replay inspection, regression, and FAT evidence."
 readme = { file = "README.md", content-type = "text/markdown" }
 requires-python = ">=3.11"

{devagent_physical_engine-1.6.0 → devagent_physical_engine-1.6.2}/src/devagent_physical_engine/__init__.py

@@ -108,6 +108,8 @@ from .selective_verification import (
     VerificationTestMappingRecorder,
 )
 from .selective_verification_v16 import SelectiveVerificationServiceV16
+from .smooth_motion_hotfix_v162 import install_smooth_motion_hotfix_v162
+from .support_contact_hotfix_v161 import install_support_contact_hotfix_v161
 from .twin import TwinConfidenceLevel, TwinSpec, TwinValidationReport, TwinValidator
 from .twin_codec import twin_from_dict, twin_from_revision
 
@@ -209,6 +211,8 @@ __all__ = [
     "twin_from_revision",
 ]
 
+install_support_contact_hotfix_v161()
+install_smooth_motion_hotfix_v162()
 install_one_command_runtime()
 
-__version__ = "1.6.0"
+__version__ = "1.6.2"

{devagent_physical_engine-1.6.0 → devagent_physical_engine-1.6.2}/src/devagent_physical_engine/ros2/joint_state_recorder.py

@@ -14,6 +14,29 @@ def _atomic_json(path: Path, payload: dict[str, object]) -> None:
     temporary.replace(path)
 
 
+def accepted_sample_time_ns(
+    *,
+    stamped_ns: int,
+    fallback_ns: int,
+    previous_ns: int | None,
+) -> int | None:
+    """Return one strictly increasing sample timestamp or reject the duplicate.
+
+    Some ros2_control/Gazebo publishers can emit more than one JointState callback
+    with the same ROS header stamp. Tracking interpolation requires a strictly
+    increasing time axis, so duplicate/backward source stamps are discarded rather
+    than silently perturbing their timestamps. The recorder reports how many samples
+    were discarded so the raw acquisition behavior remains auditable.
+    """
+
+    candidate = int(stamped_ns) if int(stamped_ns) > 0 else int(fallback_ns)
+    if candidate < 0:
+        return None
+    if previous_ns is not None and candidate <= int(previous_ns):
+        return None
+    return candidate
+
+
 def main() -> int:
     parser = argparse.ArgumentParser()
     parser.add_argument("--output", required=True)
@@ -30,6 +53,7 @@ def main() -> int:
     samples: list[dict[str, object]] = []
     overflow = False
     ready_written = False
+    dropped_non_increasing = 0
 
     import rclpy
     from sensor_msgs.msg import JointState
@@ -37,20 +61,29 @@ def main() -> int:
     rclpy.init()
     node = rclpy.create_node("devagent_joint_state_recorder")
     started_ns: int | None = None
+    previous_ns: int | None = None
 
     def callback(message: JointState) -> None:
-        nonlocal started_ns, overflow, ready_written
+        nonlocal started_ns, previous_ns, overflow, ready_written, dropped_non_increasing
         stamp = message.header.stamp
         stamped_ns = int(stamp.sec) * 1_000_000_000 + int(stamp.nanosec)
-        now_ns = stamped_ns if stamped_ns > 0 else node.get_clock().now().nanoseconds
+        selected_ns = accepted_sample_time_ns(
+            stamped_ns=stamped_ns,
+            fallback_ns=node.get_clock().now().nanoseconds,
+            previous_ns=previous_ns,
+        )
+        if selected_ns is None:
+            dropped_non_increasing += 1
+            return
+        previous_ns = selected_ns
         if started_ns is None:
-            started_ns = now_ns
+            started_ns = selected_ns
         if len(samples) >= int(args.max_samples):
             overflow = True
             return
         samples.append(
             {
-                "time_s": (now_ns - started_ns) / 1_000_000_000.0,
+                "time_s": (selected_ns - started_ns) / 1_000_000_000.0,
                 "names": list(message.name),
                 "positions_rad": list(message.position),
             }
@@ -62,6 +95,7 @@ def main() -> int:
                     "ready": True,
                     "topic": args.topic,
                     "first_sample_received": True,
+                    "strictly_increasing_time": True,
                 },
             )
             ready_written = True
@@ -77,6 +111,8 @@ def main() -> int:
             "sample_count": len(samples),
             "overflow": overflow,
             "ready_observed": ready_written,
+            "strictly_increasing_time": True,
+            "dropped_non_increasing_count": dropped_non_increasing,
             "samples": samples,
         }
         _atomic_json(output, payload)

devagent_physical_engine-1.6.2/src/devagent_physical_engine/ros2/moveit_joint_plan_v161_probe.py

@@ -0,0 +1,154 @@
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+import sys
+from typing import Any, Mapping
+
+# ROS helpers are executed by absolute file path under the distro Python rather than
+# the caller's virtualenv. Add the package src root explicitly so this hotfix can reuse
+# the validated v1.6 probe contract without inheriting virtualenv Python overrides.
+_SRC_ROOT = Path(__file__).resolve().parents[2]
+if str(_SRC_ROOT) not in sys.path:
+    sys.path.insert(0, str(_SRC_ROOT))
+
+from devagent_physical_engine.ros2 import moveit_joint_plan_probe as base
+from devagent_physical_engine.ros2.support_contact_v161 import (
+    SUPPORT_CONTACT_SCOPE,
+    SupportContactContractError,
+    allow_only_support_pair,
+)
+
+
+def _support_contract(path: Path) -> tuple[str, str] | None:
+    try:
+        payload = json.loads(path.read_text(encoding="utf-8"))
+    except (OSError, json.JSONDecodeError) as exc:
+        raise SupportContactContractError("support_contact_request_invalid") from exc
+    if not isinstance(payload, Mapping):
+        raise SupportContactContractError("support_contact_request_invalid")
+    scene = payload.get("scene_contract")
+    if not isinstance(scene, Mapping) or scene.get("allow_support_contact") is not True:
+        return None
+    if str(scene.get("state") or "") != "attached":
+        raise SupportContactContractError("support_contact_requires_attached_scene")
+    if str(scene.get("support_contact_scope") or "") != SUPPORT_CONTACT_SCOPE:
+        raise SupportContactContractError("support_contact_scope_invalid")
+    workpiece = scene.get("workpiece")
+    if not isinstance(workpiece, Mapping):
+        raise SupportContactContractError("support_contact_workpiece_missing")
+    workpiece_id = str(workpiece.get("id") or "").strip()
+    support_id = str(scene.get("support_surface_id") or "").strip()
+    if not workpiece_id or not support_id or workpiece_id == support_id:
+        raise SupportContactContractError("support_contact_pair_invalid")
+    return workpiece_id, support_id
+
+
+def _read_live_acm(*, timeout_s: float) -> dict[str, Any]:
+    import rclpy
+    from moveit_msgs.msg import PlanningSceneComponents
+    from moveit_msgs.srv import GetPlanningScene
+
+    rclpy.init()
+    node = rclpy.create_node("devagent_moveit_support_acm_probe_v161")
+    client = node.create_client(GetPlanningScene, "/get_planning_scene")
+    try:
+        if not client.wait_for_service(timeout_sec=timeout_s):
+            raise SupportContactContractError("moveit_planning_scene_service_unavailable")
+        request = GetPlanningScene.Request()
+        request.components.components = PlanningSceneComponents.ALLOWED_COLLISION_MATRIX
+        future = client.call_async(request)
+        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_s)
+        if not future.done() or future.result() is None:
+            raise SupportContactContractError("moveit_planning_scene_acm_timeout")
+        acm = future.result().scene.allowed_collision_matrix
+        return {
+            "entry_names": [str(value) for value in acm.entry_names],
+            "entry_values": [list(item.enabled) for item in acm.entry_values],
+            "default_entry_names": [str(value) for value in acm.default_entry_names],
+            "default_entry_values": [bool(value) for value in acm.default_entry_values],
+        }
+    finally:
+        node.destroy_client(client)
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+def _install_full_acm(payload: Mapping[str, Any]):
+    original = base._apply_scene_contract
+
+    def apply(goal, contract):
+        original(goal, contract)
+        from moveit_msgs.msg import AllowedCollisionEntry
+
+        acm = goal.planning_options.planning_scene_diff.allowed_collision_matrix
+        acm.entry_names = list(payload["entry_names"])
+        acm.entry_values = [
+            AllowedCollisionEntry(enabled=list(row))
+            for row in payload["entry_values"]
+        ]
+        acm.default_entry_names = list(payload["default_entry_names"])
+        acm.default_entry_values = list(payload["default_entry_values"])
+
+    base._apply_scene_contract = apply
+    return original
+
+
+def plan(path: Path, *, timeout_s: float) -> dict[str, Any]:
+    support = _support_contract(path)
+    if support is None:
+        return base.plan(path, timeout_s=timeout_s)
+    workpiece_id, support_id = support
+    live = _read_live_acm(timeout_s=timeout_s)
+    augmented = allow_only_support_pair(
+        live,
+        workpiece_id=workpiece_id,
+        support_surface_id=support_id,
+    )
+    original = _install_full_acm(augmented)
+    try:
+        result = dict(base.plan(path, timeout_s=timeout_s))
+    finally:
+        base._apply_scene_contract = original
+    result.update(
+        {
+            "support_contact_allowed": True,
+            "support_contact_scope": SUPPORT_CONTACT_SCOPE,
+            "support_surface_id": support_id,
+            "support_workpiece_id": workpiece_id,
+            "support_acm_entry_count": len(augmented["entry_names"]),
+        }
+    )
+    if (
+        result.get("success") is not True
+        and str(result.get("code") or "").startswith("move_group_action_status_")
+    ):
+        result["underlying_code"] = result.get("code")
+        result["code"] = "moveit_support_contact_departure_aborted"
+    return result
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--input", required=True)
+    parser.add_argument("--timeout", type=float, default=15.0)
+    args = parser.parse_args()
+    try:
+        result = plan(
+            Path(args.input).expanduser().resolve(),
+            timeout_s=float(args.timeout),
+        )
+    except Exception as exc:
+        result = {
+            "success": False,
+            "code": f"moveit_support_contact_probe_error:{type(exc).__name__}",
+            "detail": str(exc),
+        }
+    print(json.dumps(result, sort_keys=True))
+    return 0 if result.get("success") else 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

devagent_physical_engine-1.6.2/src/devagent_physical_engine/ros2/support_contact_runner_v161.py

@@ -0,0 +1,41 @@
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Sequence
+
+from .commands import CommandResult, SubprocessRosRunner
+from .support_contact_v161 import prepare_lift_support_request
+
+
+_LEGACY_PROBE = "moveit_joint_plan_probe.py"
+_HOTFIX_PROBE = "moveit_joint_plan_v161_probe.py"
+
+
+def rewrite_moveit_probe_command(command: Sequence[str]) -> tuple[str, ...]:
+    rewritten = [str(value) for value in command]
+    if len(rewritten) < 2 or Path(rewritten[1]).name != _LEGACY_PROBE:
+        return tuple(rewritten)
+    try:
+        input_index = rewritten.index("--input") + 1
+        request_path = Path(rewritten[input_index]).expanduser().resolve()
+    except (ValueError, IndexError):
+        return tuple(rewritten)
+    if not prepare_lift_support_request(request_path):
+        return tuple(rewritten)
+    rewritten[1] = str(Path(__file__).with_name(_HOTFIX_PROBE).resolve())
+    return tuple(rewritten)
+
+
+class SupportContactSubprocessRosRunner(SubprocessRosRunner):
+    """Report-test ROS runner with a bounded lift support-contact preflight hotfix."""
+
+    def run(
+        self,
+        command: Sequence[str],
+        *,
+        timeout_s: float = 15.0,
+    ) -> CommandResult:
+        return super().run(
+            rewrite_moveit_probe_command(command),
+            timeout_s=timeout_s,
+        )

devagent_physical_engine-1.6.2/src/devagent_physical_engine/ros2/support_contact_v161.py

@@ -0,0 +1,165 @@
+from __future__ import annotations
+
+from copy import deepcopy
+import json
+from pathlib import Path
+from typing import Any, Mapping, Sequence
+
+from ..twin_materialization import _backend_id as _materialized_backend_id
+
+
+QUALIFIED_SOURCE_ENTITY_ID = "conveyor_a"
+SUPPORT_CONTACT_SCOPE = "lift_departure_only"
+
+
+class SupportContactContractError(ValueError):
+    pass
+
+
+def support_surface_backend_id(
+    source_entity_id: str = QUALIFIED_SOURCE_ENTITY_ID,
+) -> str:
+    source = str(source_entity_id).strip()
+    if not source:
+        raise SupportContactContractError("support_surface_entity_id_missing")
+    return _materialized_backend_id(source)
+
+
+def prepare_lift_support_request(
+    path: Path | str,
+    *,
+    source_entity_id: str = QUALIFIED_SOURCE_ENTITY_ID,
+) -> bool:
+    """Annotate only the qualified lift-departure request with one support pair.
+
+    The v1.6 report profile preflights every phase before execution. The workpiece is
+    resting on the source fixture at the grasp pose, so the first request-local
+    attached-object scene must tolerate exactly that workpiece/support contact while
+    departing upward. Transfer/place remain untouched and therefore keep normal
+    collision checking.
+    """
+
+    target = Path(path).expanduser().resolve()
+    if not target.name.endswith("-lift.request.json"):
+        return False
+    try:
+        payload = json.loads(target.read_text(encoding="utf-8"))
+    except (OSError, json.JSONDecodeError) as exc:
+        raise SupportContactContractError("support_contact_request_invalid") from exc
+    if not isinstance(payload, dict):
+        raise SupportContactContractError("support_contact_request_invalid")
+    raw_scene = payload.get("scene_contract")
+    if not isinstance(raw_scene, Mapping) or str(raw_scene.get("state") or "") != "attached":
+        return False
+    raw_workpiece = raw_scene.get("workpiece")
+    if not isinstance(raw_workpiece, Mapping):
+        raise SupportContactContractError("support_contact_workpiece_missing")
+    workpiece_id = str(raw_workpiece.get("id") or "").strip()
+    if not workpiece_id:
+        raise SupportContactContractError("support_contact_workpiece_missing")
+    support_id = support_surface_backend_id(source_entity_id)
+    if support_id == workpiece_id:
+        raise SupportContactContractError("support_contact_pair_invalid")
+
+    scene = dict(raw_scene)
+    scene.update(
+        {
+            "allow_support_contact": True,
+            "support_contact_scope": SUPPORT_CONTACT_SCOPE,
+            "support_surface_id": support_id,
+        }
+    )
+    payload["scene_contract"] = scene
+    temporary = target.with_suffix(target.suffix + ".tmp")
+    temporary.write_text(
+        json.dumps(payload, sort_keys=True, separators=(",", ":"), allow_nan=False),
+        encoding="utf-8",
+    )
+    temporary.replace(target)
+    return True
+
+
+def _validated_bool_rows(raw: object, *, size: int) -> list[list[bool]]:
+    if isinstance(raw, (str, bytes, bytearray)) or not isinstance(raw, Sequence):
+        raise SupportContactContractError("allowed_collision_matrix_invalid")
+    rows: list[list[bool]] = []
+    for item in raw:
+        if isinstance(item, (str, bytes, bytearray)) or not isinstance(item, Sequence):
+            raise SupportContactContractError("allowed_collision_matrix_invalid")
+        row = [bool(value) for value in item]
+        if len(row) != size:
+            raise SupportContactContractError("allowed_collision_matrix_invalid")
+        rows.append(row)
+    if len(rows) != size:
+        raise SupportContactContractError("allowed_collision_matrix_invalid")
+    return rows
+
+
+def allow_only_support_pair(
+    payload: Mapping[str, Any],
+    *,
+    workpiece_id: str,
+    support_surface_id: str,
+) -> dict[str, Any]:
+    """Return a full ACM preserving every existing entry and allowing one pair.
+
+    MoveIt replaces the ACM when a PlanningScene diff contains entry_names, so a sparse
+    two-name matrix would accidentally discard SRDF self-collision allowances. This
+    function starts from the full live ACM returned by /get_planning_scene, adds names
+    using MoveIt's default-entry semantics, and flips only the symmetric
+    workpiece/support pair to True.
+    """
+
+    left = str(workpiece_id).strip()
+    right = str(support_surface_id).strip()
+    if not left or not right or left == right:
+        raise SupportContactContractError("support_contact_pair_invalid")
+
+    result = deepcopy(dict(payload))
+    raw_names = result.get("entry_names", [])
+    if isinstance(raw_names, (str, bytes, bytearray)) or not isinstance(raw_names, Sequence):
+        raise SupportContactContractError("allowed_collision_matrix_invalid")
+    names = [str(value).strip() for value in raw_names]
+    if any(not value for value in names) or len(set(names)) != len(names):
+        raise SupportContactContractError("allowed_collision_matrix_invalid")
+    rows = _validated_bool_rows(result.get("entry_values", []), size=len(names))
+
+    raw_default_names = result.get("default_entry_names", [])
+    raw_default_values = result.get("default_entry_values", [])
+    if (
+        isinstance(raw_default_names, (str, bytes, bytearray))
+        or not isinstance(raw_default_names, Sequence)
+        or isinstance(raw_default_values, (str, bytes, bytearray))
+        or not isinstance(raw_default_values, Sequence)
+    ):
+        raise SupportContactContractError("allowed_collision_matrix_invalid")
+    default_names = [str(value).strip() for value in raw_default_names]
+    default_values = [bool(value) for value in raw_default_values]
+    if len(default_names) != len(default_values) or any(not value for value in default_names):
+        raise SupportContactContractError("allowed_collision_matrix_invalid")
+    default_by_name = dict(zip(default_names, default_values))
+
+    def add_name(name: str) -> None:
+        if name in names:
+            return
+        if name in default_by_name:
+            new_values = [default_by_name[name]] * len(names)
+        else:
+            new_values = [default_by_name.get(existing, False) for existing in names]
+        for row, enabled in zip(rows, (*new_values, False)):
+            row.append(bool(enabled))
+        names.append(name)
+        rows.append([*new_values, False])
+
+    add_name(left)
+    add_name(right)
+    left_index = names.index(left)
+    right_index = names.index(right)
+    rows[left_index][right_index] = True
+    rows[right_index][left_index] = True
+
+    result["entry_names"] = names
+    result["entry_values"] = rows
+    result["default_entry_names"] = default_names
+    result["default_entry_values"] = default_values
+    return result

devagent_physical_engine-1.6.2/src/devagent_physical_engine/smooth_motion_hotfix_v162.py

@@ -0,0 +1,39 @@
+from __future__ import annotations
+
+from functools import wraps
+from typing import Any
+
+from .ros2.moveit_task_planner import MoveItTaskPlanner
+
+
+VISUAL_MOVEIT_VELOCITY_SCALE = 0.12
+VISUAL_MOVEIT_ACCELERATION_SCALE = 0.08
+_PATCH_MARKER = "_devagent_smooth_motion_v162"
+
+
+def install_smooth_motion_hotfix_v162() -> None:
+    """Install conservative defaults for the task-specific visual MoveIt planner.
+
+    MoveItTaskPlanner is used only by the packaged task/report visual execution paths.
+    Those paths previously inherited 25% velocity and 25% acceleration. On the
+    qualified UR5e reference cell that made short pick/lift phases visually abrupt
+    and also reduced controller tracking margin on a real Gazebo/ros2_control stack.
+
+    v1.6.2 lowers only the planner defaults used when the caller did not explicitly
+    request a scale. Explicit planner scales remain authoritative. Collision checking,
+    endpoint tolerances, tracking tolerances, exact-Twin lineage, and real-execution
+    authority are not relaxed.
+    """
+
+    current = MoveItTaskPlanner.__init__
+    if getattr(current, _PATCH_MARKER, False):
+        return
+
+    @wraps(current)
+    def patched(self: MoveItTaskPlanner, *args: Any, **kwargs: Any) -> None:
+        kwargs.setdefault("velocity_scale", VISUAL_MOVEIT_VELOCITY_SCALE)
+        kwargs.setdefault("acceleration_scale", VISUAL_MOVEIT_ACCELERATION_SCALE)
+        current(self, *args, **kwargs)
+
+    setattr(patched, _PATCH_MARKER, True)
+    MoveItTaskPlanner.__init__ = patched

devagent_physical_engine-1.6.2/src/devagent_physical_engine/support_contact_hotfix_v161.py

@@ -0,0 +1,12 @@
+from __future__ import annotations
+
+
+def install_support_contact_hotfix_v161() -> None:
+    """Install the v1.6.1 report-test ROS runner without changing other ROS paths."""
+
+    from . import report_test_execution
+    from .ros2.support_contact_runner_v161 import SupportContactSubprocessRosRunner
+
+    if report_test_execution.SubprocessRosRunner is SupportContactSubprocessRosRunner:
+        return
+    report_test_execution.SubprocessRosRunner = SupportContactSubprocessRosRunner