devagent-physical-engine 1.6.2__tar.gz → 1.7.0__tar.gz

{devagent_physical_engine-1.6.2/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.7.0}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-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.
+Version: 1.7.0
+Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, industrial Pilz PTP/LIN report-test Gazebo execution, 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
 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,gazebo,verification,selective-testing,digital-twin,fat-testing,regression,evidence,replay
+Keywords: robotics,industrial-automation,agentic-ai,ros2,gazebo,moveit,pilz,verification,selective-testing,digital-twin,fat-testing,regression,evidence,replay
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Operating System :: OS Independent
@@ -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==1.6.2
+python -m pip install --upgrade devagent-physical-engine==1.7.0
 ```
 
 Verify the installed package:
@@ -94,7 +94,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.6.2
+1.7.0
 ```
 
 Run the normal customer workflow:
@@ -232,9 +232,62 @@ The joint-state recorder also rejects duplicate/backward ROS source timestamps b
 
 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.
 
+## v1.7 industrial smooth motion execution
+
+v1.7 replaces the packaged report-test stop/go joint-phase presentation with a bounded industrial motion sequence planned by the running MoveIt **Pilz Industrial Motion Planner**. DevAgent does not stitch trajectories by hand and does not manufacture interpolation points.
+
+The qualified UR5e load sequence is grouped as:
+
+```text
+HOME
+  ↓  PTP
+PRE_PICK
+  ↓  LIN
+PICK
+  ↓  grasp / hard boundary
+LIFT
+  ↓  LIN support departure / hard boundary
+TRANSFER
+  ↓  PTP with safe internal blend
+PLACE
+  ↓  LIN / release hard boundary
+RETRACT
+  ↓  LIN with safe internal blend
+HOME
+  ↓  PTP
+```
+
+Execution groups are intentionally bounded:
+
+```text
+approach_pick    PTP → LIN
+lift_departure   LIN
+transfer_place   PTP → LIN
+retreat_home     LIN → PTP
+```
+
+Compatible motion inside a group can use a small Pilz blend radius. DevAgent never blends through grasp, the support-contact departure boundary, or release. The simulation profile is deliberately conservative:
+
+```text
+PTP velocity scale:       10%
+PTP acceleration scale:    6%
+LIN velocity scale:        6%
+LIN acceleration scale:    4%
+safe blend radius:        12 mm
+workpiece follow target:   60 Hz
+```
+
+`LIN` means the Pilz planner owns a Cartesian linear tool path; `PTP` remains collision-aware point-to-point planning. MoveIt/Pilz owns geometry, timestamps, velocity/acceleration time parameterization, collision checking, and the returned blended `RobotTrajectory`.
+
+The source-support exception is also bounded at runtime. During `lift_departure`, DevAgent snapshots the complete live MoveIt Allowed Collision Matrix, enables exactly the attached-workpiece ↔ source-support pair, verifies read-back, executes the lift, restores the exact original matrix, and verifies the restoration before transfer is allowed to continue. No global collision disable is used.
+
+Slower industrial execution is real execution time in simulation, not cosmetic playback. Therefore cycle-time requirements are evaluated against the actual measured slower trajectory.
+
+The v1.7 hosted qualification proves deterministic software contracts and fail-closed routing. Graphical ROS 2 Jazzy + Gazebo Harmonic + MoveIt/Pilz target-stack acceptance still has to run on the intended workstation; hosted Python CI does not pretend to execute that graphical stack.
+
 ## Exact lineage hardening
 
-A case ID such as `case-0001` is local to its verification plan. v1.6 therefore requires the complete lineage:
+A case ID such as `case-0001` is local to its verification plan. v1.6+ therefore requires the complete lineage:
 
 ```text
 Requirement
@@ -449,7 +502,7 @@ Gazebo Harmonic
 gz_ros2_control
 Universal Robots ROS 2 driver
 ur_simulation_gz
-MoveIt 2
+MoveIt 2 + Pilz Industrial Motion Planner
 ```
 
 Preview setup:
@@ -470,7 +523,7 @@ Check runtime:
 devagent-physical ros doctor
 ```
 
-Hosted Python CI validates software contracts and deterministic execution boundaries. It does not by itself prove a graphical Gazebo runtime, `move_group`, TF, controller actions, OEM drivers, or an arbitrary customer cell. Physical target-stack qualification must run on the intended workstation/adapter stack.
+Hosted Python CI validates software contracts and deterministic execution boundaries. It does not by itself prove a graphical Gazebo runtime, `move_group`, `/sequence_move_group`, TF, controller actions, OEM drivers, or an arbitrary customer cell. Physical target-stack qualification must run on the intended workstation/adapter stack.
 
 ---
 
@@ -527,9 +580,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.2 — Production/Stable software workflow**
+**v1.7.0 — Production/Stable software workflow**
 
-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.
+v1.7.0 adds industrial smooth report-test execution for the qualified UR5e load profile using MoveIt Pilz `PTP` and `LIN` commands, bounded internal blend radii, conservative real simulation speed/acceleration, a 60 Hz workpiece-follow target, and an exact live-ACM support-contact lease scoped only to lift departure. It retains exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, deterministic verdicts, and fail-closed authority boundaries.
 
 Production-oriented software capabilities include:
 
@@ -542,6 +595,9 @@ requirement-driven nominal / boundary / fault case generation
 immutable project/Twin lineage
 exact Requirement → Case provenance
 qualified report-test visual execution contract
+industrial Pilz PTP / LIN task planning
+bounded safe trajectory blending
+lift-only support-contact ACM lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding
 deterministic full campaigns
@@ -557,9 +613,9 @@ change impact + regression
 provider-neutral optional AI front end
 ```
 
-Quality gates include Python 3.11/3.12/3.13 regression, compilation, Ruff correctness checks, package build/clean-install, runtime dependency audit, global branch coverage, One-Command coverage, Commercial Intelligence coverage, report-test visual execution qualification tests, Selective Verification coverage, Production Authority coverage, and Evidence Trust/Replay coverage.
+Quality gates include Python 3.11/3.12/3.13 regression, compilation, Ruff correctness checks, package build/clean-install, runtime dependency audit, global branch coverage, One-Command coverage, Commercial Intelligence coverage, industrial-motion contract tests, report-test visual execution qualification tests, Selective Verification coverage, Production Authority coverage, and Evidence Trust/Replay coverage.
 
-Production/Stable describes the bounded software workflow. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution.
+Production/Stable describes the bounded software workflow. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution. The new graphical Pilz execution path must additionally pass target-stack acceptance on the intended ROS/Gazebo/MoveIt workstation.
 
 ---
 
@@ -569,7 +625,7 @@ One-command verification:
 
 https://github.com/tomha85/devagent-physical-engine/blob/main/docs/ONE_COMMAND_VERIFY_V13.md
 
-v1.6 report-test visual execution:
+v1.6 report-test visual execution (lineage and authority foundation retained in v1.7):
 
 https://github.com/tomha85/devagent-physical-engine/blob/main/docs/REPORT_TEST_VISUAL_EXECUTION_V16.md
 

{devagent_physical_engine-1.6.2 → devagent_physical_engine-1.7.0}/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==1.6.2
+python -m pip install --upgrade devagent-physical-engine==1.7.0
 ```
 
 Verify the installed package:
@@ -53,7 +53,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.6.2
+1.7.0
 ```
 
 Run the normal customer workflow:
@@ -191,9 +191,62 @@ The joint-state recorder also rejects duplicate/backward ROS source timestamps b
 
 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.
 
+## v1.7 industrial smooth motion execution
+
+v1.7 replaces the packaged report-test stop/go joint-phase presentation with a bounded industrial motion sequence planned by the running MoveIt **Pilz Industrial Motion Planner**. DevAgent does not stitch trajectories by hand and does not manufacture interpolation points.
+
+The qualified UR5e load sequence is grouped as:
+
+```text
+HOME
+  ↓  PTP
+PRE_PICK
+  ↓  LIN
+PICK
+  ↓  grasp / hard boundary
+LIFT
+  ↓  LIN support departure / hard boundary
+TRANSFER
+  ↓  PTP with safe internal blend
+PLACE
+  ↓  LIN / release hard boundary
+RETRACT
+  ↓  LIN with safe internal blend
+HOME
+  ↓  PTP
+```
+
+Execution groups are intentionally bounded:
+
+```text
+approach_pick    PTP → LIN
+lift_departure   LIN
+transfer_place   PTP → LIN
+retreat_home     LIN → PTP
+```
+
+Compatible motion inside a group can use a small Pilz blend radius. DevAgent never blends through grasp, the support-contact departure boundary, or release. The simulation profile is deliberately conservative:
+
+```text
+PTP velocity scale:       10%
+PTP acceleration scale:    6%
+LIN velocity scale:        6%
+LIN acceleration scale:    4%
+safe blend radius:        12 mm
+workpiece follow target:   60 Hz
+```
+
+`LIN` means the Pilz planner owns a Cartesian linear tool path; `PTP` remains collision-aware point-to-point planning. MoveIt/Pilz owns geometry, timestamps, velocity/acceleration time parameterization, collision checking, and the returned blended `RobotTrajectory`.
+
+The source-support exception is also bounded at runtime. During `lift_departure`, DevAgent snapshots the complete live MoveIt Allowed Collision Matrix, enables exactly the attached-workpiece ↔ source-support pair, verifies read-back, executes the lift, restores the exact original matrix, and verifies the restoration before transfer is allowed to continue. No global collision disable is used.
+
+Slower industrial execution is real execution time in simulation, not cosmetic playback. Therefore cycle-time requirements are evaluated against the actual measured slower trajectory.
+
+The v1.7 hosted qualification proves deterministic software contracts and fail-closed routing. Graphical ROS 2 Jazzy + Gazebo Harmonic + MoveIt/Pilz target-stack acceptance still has to run on the intended workstation; hosted Python CI does not pretend to execute that graphical stack.
+
 ## Exact lineage hardening
 
-A case ID such as `case-0001` is local to its verification plan. v1.6 therefore requires the complete lineage:
+A case ID such as `case-0001` is local to its verification plan. v1.6+ therefore requires the complete lineage:
 
 ```text
 Requirement
@@ -408,7 +461,7 @@ Gazebo Harmonic
 gz_ros2_control
 Universal Robots ROS 2 driver
 ur_simulation_gz
-MoveIt 2
+MoveIt 2 + Pilz Industrial Motion Planner
 ```
 
 Preview setup:
@@ -429,7 +482,7 @@ Check runtime:
 devagent-physical ros doctor
 ```
 
-Hosted Python CI validates software contracts and deterministic execution boundaries. It does not by itself prove a graphical Gazebo runtime, `move_group`, TF, controller actions, OEM drivers, or an arbitrary customer cell. Physical target-stack qualification must run on the intended workstation/adapter stack.
+Hosted Python CI validates software contracts and deterministic execution boundaries. It does not by itself prove a graphical Gazebo runtime, `move_group`, `/sequence_move_group`, TF, controller actions, OEM drivers, or an arbitrary customer cell. Physical target-stack qualification must run on the intended workstation/adapter stack.
 
 ---
 
@@ -486,9 +539,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.6.2 — Production/Stable software workflow**
+**v1.7.0 — Production/Stable software workflow**
 
-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.
+v1.7.0 adds industrial smooth report-test execution for the qualified UR5e load profile using MoveIt Pilz `PTP` and `LIN` commands, bounded internal blend radii, conservative real simulation speed/acceleration, a 60 Hz workpiece-follow target, and an exact live-ACM support-contact lease scoped only to lift departure. It retains exact-Twin report execution, immutable Requirement→Mapping→Verification Plan→Case lineage, typed simulation measurements, deterministic verdicts, and fail-closed authority boundaries.
 
 Production-oriented software capabilities include:
 
@@ -501,6 +554,9 @@ requirement-driven nominal / boundary / fault case generation
 immutable project/Twin lineage
 exact Requirement → Case provenance
 qualified report-test visual execution contract
+industrial Pilz PTP / LIN task planning
+bounded safe trajectory blending
+lift-only support-contact ACM lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding
 deterministic full campaigns
@@ -516,9 +572,9 @@ change impact + regression
 provider-neutral optional AI front end
 ```
 
-Quality gates include Python 3.11/3.12/3.13 regression, compilation, Ruff correctness checks, package build/clean-install, runtime dependency audit, global branch coverage, One-Command coverage, Commercial Intelligence coverage, report-test visual execution qualification tests, Selective Verification coverage, Production Authority coverage, and Evidence Trust/Replay coverage.
+Quality gates include Python 3.11/3.12/3.13 regression, compilation, Ruff correctness checks, package build/clean-install, runtime dependency audit, global branch coverage, One-Command coverage, Commercial Intelligence coverage, industrial-motion contract tests, report-test visual execution qualification tests, Selective Verification coverage, Production Authority coverage, and Evidence Trust/Replay coverage.
 
-Production/Stable describes the bounded software workflow. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution.
+Production/Stable describes the bounded software workflow. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution. The new graphical Pilz execution path must additionally pass target-stack acceptance on the intended ROS/Gazebo/MoveIt workstation.
 
 ---
 
@@ -528,7 +584,7 @@ One-command verification:
 
 https://github.com/tomha85/devagent-physical-engine/blob/main/docs/ONE_COMMAND_VERIFY_V13.md
 
-v1.6 report-test visual execution:
+v1.6 report-test visual execution (lineage and authority foundation retained in v1.7):
 
 https://github.com/tomha85/devagent-physical-engine/blob/main/docs/REPORT_TEST_VISUAL_EXECUTION_V16.md
 
@@ -570,4 +626,4 @@ Original creator: Tom Ha
 Original project: https://github.com/tomha85/devagent-physical-engine  
 All rights reserved.
 
-See repository `LICENSE`, `NOTICE`, and `COPYRIGHT` for complete ownership and usage terms.
+See repository `LICENSE`, `NOTICE`, and `COPYRIGHT` for complete ownership and usage terms.

{devagent_physical_engine-1.6.2 → devagent_physical_engine-1.7.0}/pyproject.toml

@@ -4,14 +4,14 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-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."
+version = "1.7.0"
+description = "Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, industrial Pilz PTP/LIN report-test Gazebo execution, 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"
 dependencies = ["PyYAML>=6.0,<7"]
 authors = [{ name = "Tom Ha" }]
 license = { text = "All Rights Reserved" }
-keywords = ["robotics", "industrial-automation", "agentic-ai", "ros2", "gazebo", "verification", "selective-testing", "digital-twin", "fat-testing", "regression", "evidence", "replay"]
+keywords = ["robotics", "industrial-automation", "agentic-ai", "ros2", "gazebo", "moveit", "pilz", "verification", "selective-testing", "digital-twin", "fat-testing", "regression", "evidence", "replay"]
 classifiers = [
   "Development Status :: 5 - Production/Stable",
   "Intended Audience :: Developers",
@@ -71,7 +71,10 @@ omit = [
   "src/devagent_physical_engine/ros2/ur5e_v10_adapter.py",
   "src/devagent_physical_engine/ros2/task_*.py",
   "src/devagent_physical_engine/ros2/report_test_visualization.py",
+  "src/devagent_physical_engine/ros2/report_test_visualization_v170.py",
   "src/devagent_physical_engine/ros2/moveit_task_planner.py",
+  "src/devagent_physical_engine/ros2/industrial_sequence_planner_v170.py",
+  "src/devagent_physical_engine/ros2/support_contact_lease_v170.py",
   "src/devagent_physical_engine/ros2/fk_pose.py",
   "src/devagent_physical_engine/ros2/gazebo_pose.py",
   "src/devagent_physical_engine/ros2/workpiece_follow.py",

{devagent_physical_engine-1.6.2 → devagent_physical_engine-1.7.0}/src/devagent_physical_engine/__init__.py

@@ -34,6 +34,7 @@ from .evidence_trust import (
     EvidenceTrace,
     EvidenceViewer,
 )
+from .industrial_motion_hotfix_v170 import install_industrial_motion_v170
 from .models import (
     ActionContract,
     Capability,
@@ -213,6 +214,7 @@ __all__ = [
 
 install_support_contact_hotfix_v161()
 install_smooth_motion_hotfix_v162()
+install_industrial_motion_v170()
 install_one_command_runtime()
 
-__version__ = "1.6.2"
+__version__ = "1.7.0"

devagent_physical_engine-1.7.0/src/devagent_physical_engine/industrial_motion_hotfix_v170.py

@@ -0,0 +1,51 @@
+from __future__ import annotations
+
+from functools import wraps
+from typing import Any
+
+from .ros2.report_test_visualization_v170 import run_report_test_visualization_v170
+
+
+_PATCH_MARKER = "_devagent_industrial_motion_v170"
+
+
+def _patch_constructor(cls) -> None:
+    original = cls.__init__
+    if getattr(original, _PATCH_MARKER, False):
+        return
+
+    @wraps(original)
+    def patched(self, *args: Any, **kwargs: Any):
+        kwargs.setdefault("visual_runner", run_report_test_visualization_v170)
+        return original(self, *args, **kwargs)
+
+    setattr(patched, _PATCH_MARKER, True)
+    cls.__init__ = patched
+
+
+def install_industrial_motion_v170() -> None:
+    """Route all report-test executor construction through the v1.7 visual runner.
+
+    v1.6 bound the old visual runner into constructor defaults at import time. Merely
+    replacing a module global would therefore leave existing executor classes on the
+    old path. This installer patches only those constructor defaults and preserves all
+    lineage, mapping, evidence, and authority classes unchanged.
+    """
+
+    from . import report_test_execution as base_exec
+    from . import report_test_execution_strict as strict_exec
+    from .ros2 import report_test_visualization as base_visual
+
+    base_exec.run_report_test_visualization = run_report_test_visualization_v170
+    strict_exec.run_report_test_visualization = run_report_test_visualization_v170
+    base_visual.run_report_test_visualization = run_report_test_visualization_v170
+
+    for cls in (
+        base_exec.ReportTestExecutionRuntime,
+        base_exec.ReportTestSelectiveExecutor,
+        base_exec.ReportTestFullExecutor,
+        strict_exec.ReportTestExecutionRuntime,
+        strict_exec.ReportTestSelectiveExecutor,
+        strict_exec.ReportTestFullExecutor,
+    ):
+        _patch_constructor(cls)

devagent_physical_engine-1.7.0/src/devagent_physical_engine/industrial_motion_v170.py

@@ -0,0 +1,144 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+
+INDUSTRIAL_MOTION_PROFILE_V170 = "pilz_ptp_lin_blended_v1"
+PILZ_PIPELINE_ID = "pilz_industrial_motion_planner"
+
+# Conservative simulation profile. These are planning/execution limits, not a
+# cosmetic playback multiplier; measured cycle time therefore remains truthful.
+PTP_VELOCITY_SCALE = 0.10
+PTP_ACCELERATION_SCALE = 0.06
+LIN_VELOCITY_SCALE = 0.06
+LIN_ACCELERATION_SCALE = 0.04
+SAFE_BLEND_RADIUS_M = 0.012
+WORKPIECE_FOLLOW_RATE_HZ = 60.0
+WORKPIECE_MIN_EFFECTIVE_RATE_HZ = 30.0
+
+
+@dataclass(frozen=True, slots=True)
+class IndustrialSegmentSpec:
+    phase_name: str
+    planner_id: str
+    blend_radius_m: float
+    velocity_scale: float
+    acceleration_scale: float
+
+    def __post_init__(self) -> None:
+        if not self.phase_name.strip():
+            raise ValueError("industrial_phase_name_required")
+        if self.planner_id not in {"PTP", "LIN"}:
+            raise ValueError("industrial_planner_id_invalid")
+        if self.blend_radius_m < 0:
+            raise ValueError("industrial_blend_radius_invalid")
+        if not 0 < self.velocity_scale <= 1:
+            raise ValueError("industrial_velocity_scale_invalid")
+        if not 0 < self.acceleration_scale <= 1:
+            raise ValueError("industrial_acceleration_scale_invalid")
+
+
+@dataclass(frozen=True, slots=True)
+class IndustrialGroupSpec:
+    group_id: str
+    segments: tuple[IndustrialSegmentSpec, ...]
+    workpiece_loaded: bool
+    scene_state: str
+    support_contact_departure: bool = False
+
+    def __post_init__(self) -> None:
+        if not self.group_id.strip() or not self.segments:
+            raise ValueError("industrial_group_invalid")
+        if self.scene_state not in {"inherit", "attached", "world"}:
+            raise ValueError("industrial_scene_state_invalid")
+        if self.segments[-1].blend_radius_m != 0.0:
+            raise ValueError("industrial_group_final_blend_must_be_zero")
+        if self.support_contact_departure:
+            if self.scene_state != "attached" or not self.workpiece_loaded:
+                raise ValueError("industrial_support_departure_requires_loaded_attached_group")
+            if tuple(item.phase_name for item in self.segments) != ("lift",):
+                raise ValueError("industrial_support_departure_must_be_lift_only")
+
+    @property
+    def phase_names(self) -> tuple[str, ...]:
+        return tuple(item.phase_name for item in self.segments)
+
+    @property
+    def planner_chain(self) -> str:
+        return "->".join(item.planner_id for item in self.segments)
+
+
+def reference_industrial_groups() -> tuple[IndustrialGroupSpec, ...]:
+    """Qualified UR5e report-test sequence with safe industrial motion boundaries.
+
+    Grasp/release and the support-contact departure remain explicit zero-blend
+    boundaries. Within approach, transfer/place, and retreat, Pilz blends compatible
+    PTP/LIN commands so the controller receives one continuous trajectory instead of
+    several stop/go FollowJointTrajectory commands.
+    """
+
+    groups = (
+        IndustrialGroupSpec(
+            "approach_pick",
+            (
+                IndustrialSegmentSpec(
+                    "pre_pick", "PTP", SAFE_BLEND_RADIUS_M, PTP_VELOCITY_SCALE, PTP_ACCELERATION_SCALE
+                ),
+                IndustrialSegmentSpec(
+                    "pick", "LIN", 0.0, LIN_VELOCITY_SCALE, LIN_ACCELERATION_SCALE
+                ),
+            ),
+            workpiece_loaded=False,
+            scene_state="inherit",
+        ),
+        IndustrialGroupSpec(
+            "lift_departure",
+            (
+                IndustrialSegmentSpec(
+                    "lift", "LIN", 0.0, LIN_VELOCITY_SCALE, LIN_ACCELERATION_SCALE
+                ),
+            ),
+            workpiece_loaded=True,
+            scene_state="attached",
+            support_contact_departure=True,
+        ),
+        IndustrialGroupSpec(
+            "transfer_place",
+            (
+                IndustrialSegmentSpec(
+                    "transfer", "PTP", SAFE_BLEND_RADIUS_M, PTP_VELOCITY_SCALE, PTP_ACCELERATION_SCALE
+                ),
+                IndustrialSegmentSpec(
+                    "place", "LIN", 0.0, LIN_VELOCITY_SCALE, LIN_ACCELERATION_SCALE
+                ),
+            ),
+            workpiece_loaded=True,
+            scene_state="attached",
+        ),
+        IndustrialGroupSpec(
+            "retreat_home",
+            (
+                IndustrialSegmentSpec(
+                    "retract", "LIN", SAFE_BLEND_RADIUS_M, LIN_VELOCITY_SCALE, LIN_ACCELERATION_SCALE
+                ),
+                IndustrialSegmentSpec(
+                    "return_home", "PTP", 0.0, PTP_VELOCITY_SCALE, PTP_ACCELERATION_SCALE
+                ),
+            ),
+            workpiece_loaded=False,
+            scene_state="world",
+        ),
+    )
+    expected = (
+        "pre_pick",
+        "pick",
+        "lift",
+        "transfer",
+        "place",
+        "retract",
+        "return_home",
+    )
+    actual = tuple(phase for group in groups for phase in group.phase_names)
+    if actual != expected:
+        raise RuntimeError("industrial_reference_phase_coverage_invalid")
+    return groups