devagent-physical-engine 1.7.1__tar.gz → 1.7.2__tar.gz

{devagent_physical_engine-1.7.1/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.7.2}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.7.1
-Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, adaptive 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.
+Version: 1.7.2
+Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, adaptive industrial Pilz PTP/LIN report-test Gazebo execution, transfer/place segment diagnostics, 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
@@ -76,7 +76,7 @@ regression + FAT report + Evidence Viewer
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.7.1
+python -m pip install --upgrade devagent-physical-engine==1.7.2
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.7.1
+1.7.2
 ```
 
 Run the normal customer workflow:
@@ -304,6 +304,29 @@ no fallback to an unqualified simulator or robot
 
 The selected blend radii and every planning attempt receipt remain attached to motion metadata for auditability.
 
+## v1.7.2 transfer/place diagnostic hotfix
+
+A target-stack qualification run proved that `transfer_place` still returned Pilz `FAILURE(99999)` for every v1.7.1 blend candidate, including zero blend. v1.7.2 therefore does not keep guessing at blend values. When that exact bounded failure occurs, DevAgent remains fail-closed and runs two independent **plan-only** probes against the same attached-workpiece PlanningScene:
+
+```text
+lift target
+   ↓
+transfer PTP probe
+   ↓ independent start at transfer target
+place LIN probe
+```
+
+The result is classified deterministically as one of:
+
+```text
+pilz_transfer_segment_planning_failed
+pilz_place_segment_planning_failed
+pilz_transfer_and_place_segment_planning_failed
+pilz_transfer_place_sequence_composition_failed
+```
+
+Each probe writes its own request/receipt plus a `transfer-place-diagnostic.json` summary. These probes never execute motion and never relax targets, planner types, collision policy, attached-workpiece scene state, velocity/acceleration limits, Twin lineage, or real-execution authority. Their purpose is to identify the exact target-stack defect before changing physical execution semantics.
+
 ## Qualified visual-execution scope
 
 The packaged visual executor remains intentionally narrow:
@@ -492,9 +515,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.7.1 — Production/Stable software workflow**
+**v1.7.2 — Production/Stable software workflow**
 
-v1.7.1 retains the v1.7 industrial Pilz PTP/LIN execution architecture and adds fail-closed adaptive blend selection for geometry-specific Pilz sequence failures. It also retains the cross-vendor profile gate so non-UR5e customer Twins cannot enter the UR5e-only qualified visual executor.
+v1.7.2 retains the v1.7 industrial Pilz PTP/LIN execution architecture and v1.7.1 bounded adaptive-blend fallback. If transfer/place still fails at zero blend, v1.7.2 now proves the transfer PTP and place LIN segments independently and records a deterministic diagnostic result while keeping execution blocked. It also retains the cross-vendor profile gate so non-UR5e customer Twins cannot enter the UR5e-only qualified visual executor.
 
 Production-oriented software capabilities include:
 
@@ -509,6 +532,7 @@ exact Requirement → Mapping → Verification Plan → Case provenance
 qualified report-test visual execution contract
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
+plan-only transfer/place segment diagnostics
 lift-only support-contact ACM lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2}/README.md

@@ -35,7 +35,7 @@ regression + FAT report + Evidence Viewer
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.7.1
+python -m pip install --upgrade devagent-physical-engine==1.7.2
 ```
 
 Verify the installed package:
@@ -47,7 +47,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.7.1
+1.7.2
 ```
 
 Run the normal customer workflow:
@@ -263,6 +263,29 @@ no fallback to an unqualified simulator or robot
 
 The selected blend radii and every planning attempt receipt remain attached to motion metadata for auditability.
 
+## v1.7.2 transfer/place diagnostic hotfix
+
+A target-stack qualification run proved that `transfer_place` still returned Pilz `FAILURE(99999)` for every v1.7.1 blend candidate, including zero blend. v1.7.2 therefore does not keep guessing at blend values. When that exact bounded failure occurs, DevAgent remains fail-closed and runs two independent **plan-only** probes against the same attached-workpiece PlanningScene:
+
+```text
+lift target
+   ↓
+transfer PTP probe
+   ↓ independent start at transfer target
+place LIN probe
+```
+
+The result is classified deterministically as one of:
+
+```text
+pilz_transfer_segment_planning_failed
+pilz_place_segment_planning_failed
+pilz_transfer_and_place_segment_planning_failed
+pilz_transfer_place_sequence_composition_failed
+```
+
+Each probe writes its own request/receipt plus a `transfer-place-diagnostic.json` summary. These probes never execute motion and never relax targets, planner types, collision policy, attached-workpiece scene state, velocity/acceleration limits, Twin lineage, or real-execution authority. Their purpose is to identify the exact target-stack defect before changing physical execution semantics.
+
 ## Qualified visual-execution scope
 
 The packaged visual executor remains intentionally narrow:
@@ -451,9 +474,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.7.1 — Production/Stable software workflow**
+**v1.7.2 — Production/Stable software workflow**
 
-v1.7.1 retains the v1.7 industrial Pilz PTP/LIN execution architecture and adds fail-closed adaptive blend selection for geometry-specific Pilz sequence failures. It also retains the cross-vendor profile gate so non-UR5e customer Twins cannot enter the UR5e-only qualified visual executor.
+v1.7.2 retains the v1.7 industrial Pilz PTP/LIN execution architecture and v1.7.1 bounded adaptive-blend fallback. If transfer/place still fails at zero blend, v1.7.2 now proves the transfer PTP and place LIN segments independently and records a deterministic diagnostic result while keeping execution blocked. It also retains the cross-vendor profile gate so non-UR5e customer Twins cannot enter the UR5e-only qualified visual executor.
 
 Production-oriented software capabilities include:
 
@@ -468,6 +491,7 @@ exact Requirement → Mapping → Verification Plan → Case provenance
 qualified report-test visual execution contract
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
+plan-only transfer/place segment diagnostics
 lift-only support-contact ACM lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2}/pyproject.toml

@@ -4,8 +4,8 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.7.1"
-description = "Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, adaptive 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."
+version = "1.7.2"
+description = "Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, adaptive industrial Pilz PTP/LIN report-test Gazebo execution, transfer/place segment diagnostics, 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"]
@@ -75,6 +75,7 @@ omit = [
   "src/devagent_physical_engine/ros2/moveit_task_planner.py",
   "src/devagent_physical_engine/ros2/industrial_sequence_planner_v170.py",
   "src/devagent_physical_engine/ros2/industrial_sequence_planner_v171.py",
+  "src/devagent_physical_engine/ros2/industrial_sequence_planner_v172.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",

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2}/src/devagent_physical_engine/__init__.py

@@ -217,4 +217,4 @@ install_smooth_motion_hotfix_v162()
 install_industrial_motion_v170()
 install_one_command_runtime()
 
-__version__ = "1.7.1"
+__version__ = "1.7.2"

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2}/src/devagent_physical_engine/industrial_motion_hotfix_v170.py

@@ -24,23 +24,24 @@ def _patch_constructor(cls) -> None:
 
 
 def install_industrial_motion_v170() -> None:
-    """Route report-test execution through v1.7 industrial motion runtime.
+    """Route report-test execution through the qualified v1.7 industrial runtime.
 
-    v1.7.1 additionally swaps the target-stack planner symbol used by the visual
-    runner for a fail-closed adaptive-blend planner. It retries only generic Pilz
-    sequence planning failures with smaller internal blend radii; no geometry,
-    collision, speed, scene, or execution-authority constraint is relaxed.
+    v1.7.1 retries only generic Pilz sequence-planning failures with smaller internal
+    blend radii. v1.7.2 retains that bounded fallback and, if transfer/place still
+    fails at zero blend, runs plan-only transfer PTP and place LIN probes against the
+    same attached-workpiece scene. The probes only improve diagnosis; they never grant
+    execution authority or relax geometry, collision, speed, scene, or Twin lineage.
     """
 
     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
     from .ros2 import report_test_visualization_v170 as visual_v170
-    from .ros2.industrial_sequence_planner_v171 import (
-        PilzIndustrialSequencePlannerV171,
+    from .ros2.industrial_sequence_planner_v172 import (
+        PilzIndustrialSequencePlannerV172,
     )
 
-    visual_v170.PilzIndustrialSequencePlannerV170 = PilzIndustrialSequencePlannerV171
+    visual_v170.PilzIndustrialSequencePlannerV170 = PilzIndustrialSequencePlannerV172
 
     base_exec.run_report_test_visualization = run_report_test_visualization_v170
     strict_exec.run_report_test_visualization = run_report_test_visualization_v170

devagent_physical_engine-1.7.2/src/devagent_physical_engine/ros2/industrial_sequence_planner_v172.py

@@ -0,0 +1,239 @@
+from __future__ import annotations
+
+from dataclasses import replace
+import json
+from pathlib import Path
+from typing import Any, Mapping
+
+from ..industrial_motion_v170 import IndustrialGroupSpec
+from ..physical_motion import PhysicalMotionPlan
+from ..simulation_platform import SimulationPlatformError
+from .industrial_sequence_planner_v170 import PilzIndustrialSequencePlannerV170
+from .industrial_sequence_planner_v171 import PilzIndustrialSequencePlannerV171
+
+
+def _error_code(exc: Exception) -> str:
+    return str(exc).split(":", 1)[0]
+
+
+def transfer_place_diagnostic_code(results: Mapping[str, bool]) -> str:
+    transfer_ok = bool(results.get("transfer"))
+    place_ok = bool(results.get("place"))
+    if transfer_ok and place_ok:
+        return "pilz_transfer_place_sequence_composition_failed"
+    if not transfer_ok and not place_ok:
+        return "pilz_transfer_and_place_segment_planning_failed"
+    if not transfer_ok:
+        return "pilz_transfer_segment_planning_failed"
+    return "pilz_place_segment_planning_failed"
+
+
+class PilzIndustrialSequencePlannerV172(PilzIndustrialSequencePlannerV171):
+    """Diagnose zero-blend transfer/place failures without relaxing execution safety.
+
+    v1.7.1 already proves that the requested transfer/place sequence fails for all
+    bounded blend radii down to zero. v1.7.2 therefore keeps execution blocked and
+    plans the transfer PTP and place LIN segments independently against the exact same
+    attached-workpiece PlanningScene. The diagnostic receipts distinguish an invalid
+    transfer, invalid place, both invalid, or a sequence-composition-only failure.
+
+    These probes are plan-only. They never execute robot motion and never modify the
+    targets, planner types, collision scene, velocity/acceleration limits, Twin
+    lineage, or execution authority.
+    """
+
+    def _probe_segment(
+        self,
+        *,
+        motion_id: str,
+        group: IndustrialGroupSpec,
+        segment_index: int,
+        robot_profile_key: str,
+        joint_names: tuple[str, ...],
+        start_positions_rad: tuple[float, ...],
+        phase_targets_rad: Mapping[str, tuple[float, ...]],
+        source_graph_hash: str,
+        twin_hash: str,
+        scene_contract: Mapping[str, Any] | None,
+        source_entity_id: str,
+        metadata: Mapping[str, Any] | None,
+    ) -> dict[str, Any]:
+        spec = group.segments[segment_index]
+        probe_spec = replace(spec, blend_radius_m=0.0)
+        probe_group = IndustrialGroupSpec(
+            group_id=f"{group.group_id}_segment_probe_{spec.phase_name}",
+            segments=(probe_spec,),
+            workpiece_loaded=group.workpiece_loaded,
+            scene_state=group.scene_state,
+            support_contact_departure=False,
+        )
+        probe_motion_id = f"{motion_id}-segment-probe-{spec.phase_name}"
+        expected_receipt = self.work_dir / f"{probe_motion_id}.industrial.receipt.json"
+        expected_request = self.work_dir / f"{probe_motion_id}.industrial.request.json"
+        try:
+            motion = PilzIndustrialSequencePlannerV170.plan(
+                self,
+                motion_id=probe_motion_id,
+                group=probe_group,
+                robot_profile_key=robot_profile_key,
+                joint_names=joint_names,
+                start_positions_rad=start_positions_rad,
+                phase_targets_rad=phase_targets_rad,
+                source_graph_hash=source_graph_hash,
+                twin_hash=twin_hash,
+                scene_contract=scene_contract,
+                source_entity_id=source_entity_id,
+                metadata=metadata,
+            )
+        except SimulationPlatformError as exc:
+            return {
+                "phase_name": spec.phase_name,
+                "planner_id": spec.planner_id,
+                "success": False,
+                "code": _error_code(exc),
+                "start_positions_rad": list(start_positions_rad),
+                "target_positions_rad": list(phase_targets_rad[spec.phase_name]),
+                "receipt": str(expected_receipt) if expected_receipt.is_file() else None,
+                "request": str(expected_request) if expected_request.is_file() else None,
+            }
+
+        return {
+            "phase_name": spec.phase_name,
+            "planner_id": spec.planner_id,
+            "success": True,
+            "code": "pilz_industrial_sequence_ready",
+            "start_positions_rad": list(start_positions_rad),
+            "target_positions_rad": list(phase_targets_rad[spec.phase_name]),
+            "receipt": str(motion.metadata["pilz_sequence_receipt"]),
+            "request": str(motion.metadata["pilz_sequence_request"]),
+            "motion_hash": motion.fingerprint,
+            "planned_duration_s": motion.planned_duration_s,
+        }
+
+    def _write_transfer_place_diagnostic(
+        self,
+        *,
+        motion_id: str,
+        group: IndustrialGroupSpec,
+        robot_profile_key: str,
+        joint_names: tuple[str, ...],
+        start_positions_rad: tuple[float, ...],
+        phase_targets_rad: Mapping[str, tuple[float, ...]],
+        source_graph_hash: str,
+        twin_hash: str,
+        scene_contract: Mapping[str, Any] | None,
+        source_entity_id: str,
+        metadata: Mapping[str, Any] | None,
+    ) -> tuple[str, Path]:
+        transfer_phase = group.segments[0].phase_name
+        transfer_target = tuple(phase_targets_rad[transfer_phase])
+        transfer = self._probe_segment(
+            motion_id=motion_id,
+            group=group,
+            segment_index=0,
+            robot_profile_key=robot_profile_key,
+            joint_names=joint_names,
+            start_positions_rad=start_positions_rad,
+            phase_targets_rad=phase_targets_rad,
+            source_graph_hash=source_graph_hash,
+            twin_hash=twin_hash,
+            scene_contract=scene_contract,
+            source_entity_id=source_entity_id,
+            metadata=metadata,
+        )
+        place = self._probe_segment(
+            motion_id=motion_id,
+            group=group,
+            segment_index=1,
+            robot_profile_key=robot_profile_key,
+            joint_names=joint_names,
+            start_positions_rad=transfer_target,
+            phase_targets_rad=phase_targets_rad,
+            source_graph_hash=source_graph_hash,
+            twin_hash=twin_hash,
+            scene_contract=scene_contract,
+            source_entity_id=source_entity_id,
+            metadata=metadata,
+        )
+        code = transfer_place_diagnostic_code(
+            {
+                "transfer": bool(transfer["success"]),
+                "place": bool(place["success"]),
+            }
+        )
+        summary = {
+            "schema_version": "1.0",
+            "diagnostic": "transfer_place_independent_pilz_segment_probe",
+            "group_id": group.group_id,
+            "original_failure": "pilz_sequence_planning_failed",
+            "result_code": code,
+            "plan_only": True,
+            "execution_performed": False,
+            "scene_state": group.scene_state,
+            "workpiece_loaded": group.workpiece_loaded,
+            "source_graph_hash": source_graph_hash,
+            "twin_hash": twin_hash,
+            "segments": [transfer, place],
+        }
+        self.work_dir.mkdir(parents=True, exist_ok=True)
+        path = self.work_dir / f"{motion_id}.transfer-place-diagnostic.json"
+        temp = path.with_suffix(path.suffix + ".tmp")
+        temp.write_text(
+            json.dumps(summary, indent=2, sort_keys=True, allow_nan=False) + "\n",
+            encoding="utf-8",
+        )
+        temp.replace(path)
+        return code, path
+
+    def plan(
+        self,
+        *,
+        motion_id: str,
+        group: IndustrialGroupSpec,
+        robot_profile_key: str,
+        joint_names: tuple[str, ...],
+        start_positions_rad: tuple[float, ...],
+        phase_targets_rad: Mapping[str, tuple[float, ...]],
+        source_graph_hash: str,
+        twin_hash: str,
+        scene_contract: Mapping[str, Any] | None,
+        source_entity_id: str,
+        metadata: Mapping[str, Any] | None = None,
+    ) -> PhysicalMotionPlan:
+        try:
+            return super().plan(
+                motion_id=motion_id,
+                group=group,
+                robot_profile_key=robot_profile_key,
+                joint_names=joint_names,
+                start_positions_rad=start_positions_rad,
+                phase_targets_rad=phase_targets_rad,
+                source_graph_hash=source_graph_hash,
+                twin_hash=twin_hash,
+                scene_contract=scene_contract,
+                source_entity_id=source_entity_id,
+                metadata=metadata,
+            )
+        except SimulationPlatformError as exc:
+            if (
+                _error_code(exc) != "pilz_sequence_planning_failed"
+                or group.group_id != "transfer_place"
+                or len(group.segments) != 2
+                or tuple(item.phase_name for item in group.segments)
+                != ("transfer", "place")
+            ):
+                raise
+            code, path = self._write_transfer_place_diagnostic(
+                motion_id=motion_id,
+                group=group,
+                robot_profile_key=robot_profile_key,
+                joint_names=joint_names,
+                start_positions_rad=start_positions_rad,
+                phase_targets_rad=phase_targets_rad,
+                source_graph_hash=source_graph_hash,
+                twin_hash=twin_hash,
+                scene_contract=scene_contract,
+                source_entity_id=source_entity_id,
+                metadata=metadata,
+            )
+            raise SimulationPlatformError(f"{code}:{path}") from exc

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2/src/devagent_physical_engine.egg-info}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.7.1
-Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, adaptive 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.
+Version: 1.7.2
+Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, validated requirement mapping, adaptive industrial Pilz PTP/LIN report-test Gazebo execution, transfer/place segment diagnostics, 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
@@ -76,7 +76,7 @@ regression + FAT report + Evidence Viewer
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.7.1
+python -m pip install --upgrade devagent-physical-engine==1.7.2
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.7.1
+1.7.2
 ```
 
 Run the normal customer workflow:
@@ -304,6 +304,29 @@ no fallback to an unqualified simulator or robot
 
 The selected blend radii and every planning attempt receipt remain attached to motion metadata for auditability.
 
+## v1.7.2 transfer/place diagnostic hotfix
+
+A target-stack qualification run proved that `transfer_place` still returned Pilz `FAILURE(99999)` for every v1.7.1 blend candidate, including zero blend. v1.7.2 therefore does not keep guessing at blend values. When that exact bounded failure occurs, DevAgent remains fail-closed and runs two independent **plan-only** probes against the same attached-workpiece PlanningScene:
+
+```text
+lift target
+   ↓
+transfer PTP probe
+   ↓ independent start at transfer target
+place LIN probe
+```
+
+The result is classified deterministically as one of:
+
+```text
+pilz_transfer_segment_planning_failed
+pilz_place_segment_planning_failed
+pilz_transfer_and_place_segment_planning_failed
+pilz_transfer_place_sequence_composition_failed
+```
+
+Each probe writes its own request/receipt plus a `transfer-place-diagnostic.json` summary. These probes never execute motion and never relax targets, planner types, collision policy, attached-workpiece scene state, velocity/acceleration limits, Twin lineage, or real-execution authority. Their purpose is to identify the exact target-stack defect before changing physical execution semantics.
+
 ## Qualified visual-execution scope
 
 The packaged visual executor remains intentionally narrow:
@@ -492,9 +515,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.7.1 — Production/Stable software workflow**
+**v1.7.2 — Production/Stable software workflow**
 
-v1.7.1 retains the v1.7 industrial Pilz PTP/LIN execution architecture and adds fail-closed adaptive blend selection for geometry-specific Pilz sequence failures. It also retains the cross-vendor profile gate so non-UR5e customer Twins cannot enter the UR5e-only qualified visual executor.
+v1.7.2 retains the v1.7 industrial Pilz PTP/LIN execution architecture and v1.7.1 bounded adaptive-blend fallback. If transfer/place still fails at zero blend, v1.7.2 now proves the transfer PTP and place LIN segments independently and records a deterministic diagnostic result while keeping execution blocked. It also retains the cross-vendor profile gate so non-UR5e customer Twins cannot enter the UR5e-only qualified visual executor.
 
 Production-oriented software capabilities include:
 
@@ -509,6 +532,7 @@ exact Requirement → Mapping → Verification Plan → Case provenance
 qualified report-test visual execution contract
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
+plan-only transfer/place segment diagnostics
 lift-only support-contact ACM lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2}/src/devagent_physical_engine.egg-info/SOURCES.txt

@@ -113,6 +113,7 @@ src/devagent_physical_engine/ros2/gazebo_pose.py
 src/devagent_physical_engine/ros2/gazebo_world.py
 src/devagent_physical_engine/ros2/industrial_sequence_planner_v170.py
 src/devagent_physical_engine/ros2/industrial_sequence_planner_v171.py
+src/devagent_physical_engine/ros2/industrial_sequence_planner_v172.py
 src/devagent_physical_engine/ros2/joint_state_probe.py
 src/devagent_physical_engine/ros2/joint_state_recorder.py
 src/devagent_physical_engine/ros2/measured_motion.py
@@ -218,6 +219,7 @@ tests/test_tool_scene_v0124.py
 tests/test_trajectory_action_probe_v0125.py
 tests/test_trajectory_qualification_v09.py
 tests/test_trajectory_tracking_v0125.py
+tests/test_transfer_place_diagnostic_v172.py
 tests/test_twin_materialization_v10.py
 tests/test_twin_v08.py
 tests/test_ur5e_adapter_scopes_v09.py

{devagent_physical_engine-1.7.1 → devagent_physical_engine-1.7.2}/tests/test_industrial_motion_v170.py

@@ -22,8 +22,8 @@ from devagent_physical_engine.industrial_motion_v170 import (
 from devagent_physical_engine import report_test_execution as base_exec
 from devagent_physical_engine import report_test_execution_strict as strict_exec
 from devagent_physical_engine.ros2 import report_test_visualization_v170 as visual_v170
-from devagent_physical_engine.ros2.industrial_sequence_planner_v171 import (
-    PilzIndustrialSequencePlannerV171,
+from devagent_physical_engine.ros2.industrial_sequence_planner_v172 import (
+    PilzIndustrialSequencePlannerV172,
 )
 from devagent_physical_engine.ros2.report_test_visualization_v170 import (
     run_report_test_visualization_v170,
@@ -31,8 +31,8 @@ from devagent_physical_engine.ros2.report_test_visualization_v170 import (
 
 
 class IndustrialMotionV170Tests(unittest.TestCase):
-    def test_release_version_is_v171(self) -> None:
-        self.assertEqual(package.__version__, "1.7.1")
+    def test_release_version_is_v172(self) -> None:
+        self.assertEqual(package.__version__, "1.7.2")
 
     def test_reference_groups_cover_every_task_phase_once_in_order(self) -> None:
         groups = reference_industrial_groups()
@@ -132,12 +132,12 @@ class IndustrialMotionV170Tests(unittest.TestCase):
         self.assertLessEqual(LIN_ACCELERATION_SCALE, 0.04)
         self.assertGreaterEqual(WORKPIECE_FOLLOW_RATE_HZ, 60.0)
 
-    def test_all_report_executor_defaults_route_to_v170_runner_and_v171_planner(self) -> None:
+    def test_all_report_executor_defaults_route_to_v170_runner_and_v172_planner(self) -> None:
         install_industrial_motion_v170()
         install_industrial_motion_v170()
         self.assertIs(
             visual_v170.PilzIndustrialSequencePlannerV170,
-            PilzIndustrialSequencePlannerV171,
+            PilzIndustrialSequencePlannerV172,
         )
 
         runtime = base_exec.ReportTestExecutionRuntime(