devagent-physical-engine 1.6.1__tar.gz → 1.6.2__tar.gz

{devagent_physical_engine-1.6.1/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: 1.6.1
+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==1.6.1
+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
-1.6.1
+1.6.2
 ```
 
 Run the normal customer workflow:
@@ -217,6 +217,21 @@ 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:
@@ -512,9 +527,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.1 — Production/Stable software workflow**
+**v1.6.2 — Production/Stable software workflow**
 
-v1.6.1 hotfixes the qualified UR5e report-test lift preflight by preserving the complete live MoveIt Allowed Collision Matrix and allowing only the attached workpiece/source-support contact during lift departure. It retains v1.6 exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, interactive report-case visualization, and fail-closed unsupported 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-1.6.1 → 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==1.6.1
+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
-1.6.1
+1.6.2
 ```
 
 Run the normal customer workflow:
@@ -176,6 +176,21 @@ 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:
@@ -471,9 +486,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.1 — Production/Stable software workflow**
+**v1.6.2 — Production/Stable software workflow**
 
-v1.6.1 hotfixes the qualified UR5e report-test lift preflight by preserving the complete live MoveIt Allowed Collision Matrix and allowing only the attached workpiece/source-support contact during lift departure. It retains v1.6 exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, interactive report-case visualization, and fail-closed unsupported 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-1.6.1 → devagent_physical_engine-1.6.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.6.1"
+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"
@@ -81,4 +81,4 @@ omit = [
 [tool.coverage.report]
 fail_under = 75
 show_missing = true
-skip_covered = false
+skip_covered = false

{devagent_physical_engine-1.6.1 → devagent_physical_engine-1.6.2}/src/devagent_physical_engine/__init__.py

@@ -108,6 +108,7 @@ 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
@@ -211,6 +212,7 @@ __all__ = [
 ]
 
 install_support_contact_hotfix_v161()
+install_smooth_motion_hotfix_v162()
 install_one_command_runtime()
 
-__version__ = "1.6.1"
+__version__ = "1.6.2"

{devagent_physical_engine-1.6.1 → 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/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-1.6.1 → devagent_physical_engine-1.6.2/src/devagent_physical_engine.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.6.1
+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==1.6.1
+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
-1.6.1
+1.6.2
 ```
 
 Run the normal customer workflow:
@@ -217,6 +217,21 @@ 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:
@@ -512,9 +527,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.1 — Production/Stable software workflow**
+**v1.6.2 — Production/Stable software workflow**
 
-v1.6.1 hotfixes the qualified UR5e report-test lift preflight by preserving the complete live MoveIt Allowed Collision Matrix and allowing only the attached workpiece/source-support contact during lift departure. It retains v1.6 exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, interactive report-case visualization, and fail-closed unsupported 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-1.6.1 → devagent_physical_engine-1.6.2}/src/devagent_physical_engine.egg-info/SOURCES.txt

@@ -50,6 +50,7 @@ src/devagent_physical_engine/setup_profile.py
 src/devagent_physical_engine/sim_real_qualification.py
 src/devagent_physical_engine/simulation.py
 src/devagent_physical_engine/simulation_platform.py
+src/devagent_physical_engine/smooth_motion_hotfix_v162.py
 src/devagent_physical_engine/support_contact_hotfix_v161.py
 src/devagent_physical_engine/tool_collision.py
 src/devagent_physical_engine/trajectory_qualification.py
@@ -200,6 +201,7 @@ tests/test_selective_verification_v14.py
 tests/test_setup_profile.py
 tests/test_sim_real_qualification_v011.py
 tests/test_simulation_platform_v08.py
+tests/test_smooth_motion_hotfix_v162.py
 tests/test_support_contact_hotfix_v161.py
 tests/test_tool_collision_v011.py
 tests/test_tool_scene_v0124.py

devagent_physical_engine-1.6.2/tests/test_smooth_motion_hotfix_v162.py

@@ -0,0 +1,81 @@
+from __future__ import annotations
+
+import unittest
+
+from devagent_physical_engine.ros2.joint_state_recorder import accepted_sample_time_ns
+from devagent_physical_engine.ros2.moveit_task_planner import MoveItTaskPlanner
+from devagent_physical_engine.smooth_motion_hotfix_v162 import (
+    VISUAL_MOVEIT_ACCELERATION_SCALE,
+    VISUAL_MOVEIT_VELOCITY_SCALE,
+    install_smooth_motion_hotfix_v162,
+)
+
+
+class SmoothMotionHotfixV162Tests(unittest.TestCase):
+    def test_default_visual_planner_is_slow_and_conservative(self) -> None:
+        install_smooth_motion_hotfix_v162()
+        install_smooth_motion_hotfix_v162()
+        planner = MoveItTaskPlanner(object())
+        self.assertEqual(planner.velocity_scale, VISUAL_MOVEIT_VELOCITY_SCALE)
+        self.assertEqual(planner.acceleration_scale, VISUAL_MOVEIT_ACCELERATION_SCALE)
+        self.assertEqual(planner.velocity_scale, 0.12)
+        self.assertEqual(planner.acceleration_scale, 0.08)
+
+    def test_explicit_planner_scales_are_not_overridden(self) -> None:
+        planner = MoveItTaskPlanner(
+            object(),
+            velocity_scale=0.21,
+            acceleration_scale=0.13,
+        )
+        self.assertEqual(planner.velocity_scale, 0.21)
+        self.assertEqual(planner.acceleration_scale, 0.13)
+
+    def test_joint_state_timestamp_uses_positive_source_stamp(self) -> None:
+        self.assertEqual(
+            accepted_sample_time_ns(
+                stamped_ns=2_000_000_000,
+                fallback_ns=9_000_000_000,
+                previous_ns=1_000_000_000,
+            ),
+            2_000_000_000,
+        )
+
+    def test_joint_state_timestamp_falls_back_when_source_stamp_is_zero(self) -> None:
+        self.assertEqual(
+            accepted_sample_time_ns(
+                stamped_ns=0,
+                fallback_ns=3_000_000_000,
+                previous_ns=2_000_000_000,
+            ),
+            3_000_000_000,
+        )
+
+    def test_duplicate_and_backward_joint_state_timestamps_are_rejected(self) -> None:
+        self.assertIsNone(
+            accepted_sample_time_ns(
+                stamped_ns=2_000_000_000,
+                fallback_ns=8_000_000_000,
+                previous_ns=2_000_000_000,
+            )
+        )
+        self.assertIsNone(
+            accepted_sample_time_ns(
+                stamped_ns=1_999_999_999,
+                fallback_ns=8_000_000_000,
+                previous_ns=2_000_000_000,
+            )
+        )
+
+    def test_first_sample_can_start_at_zero_fallback_clock(self) -> None:
+        self.assertEqual(
+            accepted_sample_time_ns(
+                stamped_ns=0,
+                fallback_ns=0,
+                previous_ns=None,
+            ),
+            0,
+        )
+
+
+if __name__ == "__main__":
+    unittest.main()