devagent-physical-engine 1.7.2__tar.gz → 1.8.1__tar.gz

{devagent_physical_engine-1.7.2/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.8.1}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-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.
+Version: 1.8.1
+Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, truthful robot support tiers, qualified UR5e report-test Gazebo execution, direct ROS controller/action readiness, experimental ABB IRB1200 Gazebo/MoveIt/RViz visualization, transfer/place 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==1.7.2
+python -m pip install --upgrade devagent-physical-engine==1.8.1
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.7.2
+1.8.1
 ```
 
 Run the normal customer workflow:
@@ -115,6 +115,19 @@ For machine-readable CI output:
 devagent verify ./customer-project --json
 ```
 
+Inspect truthful robot support tiers:
+
+```bash
+devagent robots
+```
+
+For the exact ABB IRB1200 experimental visual runtime:
+
+```bash
+devagent robot doctor abb_irb1200
+devagent robot visualize abb_irb1200
+```
+
 Default locations:
 
 ```text
@@ -327,9 +340,37 @@ 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.
 
+## v1.8 truthful robot support + ABB IRB1200 visual runtime
+
+v1.8 makes robot support explicit instead of implying that every built-in robot profile has the same simulator authority.
+
+Support is exposed through:
+
+```bash
+devagent robots
+devagent robot doctor <robot>
+devagent robot visualize <robot>
+```
+
+The exact `abb_irb1200` profile adds an experimental visual runtime using Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, `gz_ros2_control`, upstream ABB IRB1200 geometry, MoveIt, and RViz. Runtime readiness is bounded on controller state, `/joint_states`, FollowJointTrajectory, `move_group`, and RViz availability.
+
+For the Golden ABB cell, DevAgent can load the waypoint seed, pre-plan every phase through MoveIt before sending any simulated trajectory, then execute the preview while Gazebo/RViz remain open for inspection.
+
+This is intentionally **visual simulation availability**, not measured FAT qualification. ABB preview evidence is not promoted to a qualified physical measurement, and `real_execution_allowed` remains false. The normal One-Command ABB FAT path continues to fail closed until an exact-Twin measured ABB execution adapter is separately qualified.
+
+Generic `abb_irb`, FANUC CRX, and KUKA KR profiles remain model-only until equivalent vendor/model visual runtimes are implemented and qualified.
+
+## v1.8.1 direct UR5e controller/action readiness hotfix
+
+A real UR5e target-stack run proved that Gazebo, `gz_ros2_control`, the controller manager, joint-state broadcaster, and `scaled_joint_trajectory_controller` could all initialize successfully while DevAgent remained stuck in startup readiness until the 120-second timeout. The old UR5e readiness gate depended on ROS CLI graph commands and expected the unscaled `/joint_trajectory_controller/follow_joint_trajectory` action even when the active controller was the scaled UR controller.
+
+v1.8.1 makes UR5e readiness and trajectory execution use one controller-binding contract. A short-lived direct `rclpy` probe calls `/controller_manager/list_controllers`, deterministically selects the active trajectory controller, verifies its exact `FollowJointTrajectory` action server, and returns the bound action name. Required UR5e joint-state readiness continues to use the direct machine joint-state probe.
+
+The readiness gate therefore no longer depends on a long-lived `ros2 daemon`, `ros2 node list`, `ros2 topic list`, or `ros2 action list`. It remains fail-closed on missing controller-manager service, no active trajectory controller, ambiguous active controllers, a missing trajectory action server, or missing required UR5e joint state. No collision rule, Pilz target, motion speed, Twin lineage, site-qualification boundary, or real-execution authority is relaxed.
+
 ## Qualified visual-execution scope
 
-The packaged visual executor remains intentionally narrow:
+Measured report-test execution remains intentionally narrow:
 
 ```text
 robot:       UR5e
@@ -340,7 +381,7 @@ runtime:     Ubuntu 24.04 + ROS 2 Jazzy + Gazebo Harmonic + MoveIt/Pilz
 
 Unsupported customer Twins, unqualified robot profiles, boundary/fault cases outside the qualified scope, ambiguous case mappings, or incomplete lineage fail closed.
 
-Cross-vendor projects such as ABB may still be imported, normalized, structurally evaluated, and reported, but they do not silently enter the UR5e-only physical executor.
+ABB IRB1200 is separately exposed as `SIMULATION_AVAILABLE_EXPERIMENTAL`: Gazebo/MoveIt/RViz preview is available, but it does not silently enter the UR5e measured FAT executor and cannot promote physical evidence.
 
 ## Interactive engineering session
 
@@ -448,12 +489,12 @@ Ubuntu 24.04
 ROS 2 Jazzy
 Gazebo Harmonic
 gz_ros2_control
-Universal Robots ROS 2 driver
-ur_simulation_gz
-MoveIt 2 + Pilz Industrial Motion Planner
+MoveIt 2
 ```
 
-Preview setup:
+UR5e measured report-test execution additionally uses the Universal Robots ROS 2 driver, `ur_simulation_gz`, and Pilz Industrial Motion Planner.
+
+Preview UR5e setup:
 
 ```bash
 devagent-physical setup --profile ur5e-sim --dry-run
@@ -465,12 +506,24 @@ Apply explicitly:
 devagent-physical setup --profile ur5e-sim --yes
 ```
 
-Check runtime:
+Check the UR5e runtime:
 
 ```bash
 devagent-physical ros doctor
 ```
 
+Check ABB IRB1200 visual runtime prerequisites:
+
+```bash
+devagent robot doctor abb_irb1200
+```
+
+Launch ABB IRB1200 Gazebo + MoveIt + RViz preview:
+
+```bash
+devagent robot visualize abb_irb1200
+```
+
 Hosted CI validates deterministic software contracts. It does not pretend to execute a graphical ROS/Gazebo/MoveIt target stack. Target-stack acceptance must run on the intended workstation.
 
 ## Optional AI providers
@@ -497,7 +550,7 @@ Provider-backed interpretation cannot grant physical truth, site qualification,
 ## Installed CLIs
 
 ```text
-devagent             one-command customer verification + interactive report testing
+devagent             one-command verification, interactive report testing, robot support/visualization
 devagent-commercial  commercial/evidence workflow
 devagent-physical    deterministic core + ROS/qualification tools
 devagent-physical-ai optional provider-backed engineering front end
@@ -515,9 +568,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.7.2 — Production/Stable software workflow**
+**v1.8.1 — Production/Stable software workflow**
 
-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.
+v1.8.1 retains the v1.8.0 truthful robot support tiers and ABB IRB1200 experimental visual runtime, while fixing the UR5e target-stack readiness gate so it directly binds the active controller manager trajectory controller and exact `FollowJointTrajectory` server instead of depending on ROS CLI graph discovery or an unscaled-controller naming assumption.
 
 Production-oriented software capabilities include:
 
@@ -529,7 +582,10 @@ optional provider-backed advisory criterion proposals
 requirement-driven nominal / boundary / fault case generation
 immutable project/Twin lineage
 exact Requirement → Mapping → Verification Plan → Case provenance
-qualified report-test visual execution contract
+truthful robot support tiers
+qualified UR5e report-test visual execution contract
+direct UR5e controller-manager/action readiness binding
+experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
 plan-only transfer/place segment diagnostics

{devagent_physical_engine-1.7.2 → devagent_physical_engine-1.8.1}/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==1.7.2
+python -m pip install --upgrade devagent-physical-engine==1.8.1
 ```
 
 Verify the installed package:
@@ -47,7 +47,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.7.2
+1.8.1
 ```
 
 Run the normal customer workflow:
@@ -74,6 +74,19 @@ For machine-readable CI output:
 devagent verify ./customer-project --json
 ```
 
+Inspect truthful robot support tiers:
+
+```bash
+devagent robots
+```
+
+For the exact ABB IRB1200 experimental visual runtime:
+
+```bash
+devagent robot doctor abb_irb1200
+devagent robot visualize abb_irb1200
+```
+
 Default locations:
 
 ```text
@@ -286,9 +299,37 @@ 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.
 
+## v1.8 truthful robot support + ABB IRB1200 visual runtime
+
+v1.8 makes robot support explicit instead of implying that every built-in robot profile has the same simulator authority.
+
+Support is exposed through:
+
+```bash
+devagent robots
+devagent robot doctor <robot>
+devagent robot visualize <robot>
+```
+
+The exact `abb_irb1200` profile adds an experimental visual runtime using Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, `gz_ros2_control`, upstream ABB IRB1200 geometry, MoveIt, and RViz. Runtime readiness is bounded on controller state, `/joint_states`, FollowJointTrajectory, `move_group`, and RViz availability.
+
+For the Golden ABB cell, DevAgent can load the waypoint seed, pre-plan every phase through MoveIt before sending any simulated trajectory, then execute the preview while Gazebo/RViz remain open for inspection.
+
+This is intentionally **visual simulation availability**, not measured FAT qualification. ABB preview evidence is not promoted to a qualified physical measurement, and `real_execution_allowed` remains false. The normal One-Command ABB FAT path continues to fail closed until an exact-Twin measured ABB execution adapter is separately qualified.
+
+Generic `abb_irb`, FANUC CRX, and KUKA KR profiles remain model-only until equivalent vendor/model visual runtimes are implemented and qualified.
+
+## v1.8.1 direct UR5e controller/action readiness hotfix
+
+A real UR5e target-stack run proved that Gazebo, `gz_ros2_control`, the controller manager, joint-state broadcaster, and `scaled_joint_trajectory_controller` could all initialize successfully while DevAgent remained stuck in startup readiness until the 120-second timeout. The old UR5e readiness gate depended on ROS CLI graph commands and expected the unscaled `/joint_trajectory_controller/follow_joint_trajectory` action even when the active controller was the scaled UR controller.
+
+v1.8.1 makes UR5e readiness and trajectory execution use one controller-binding contract. A short-lived direct `rclpy` probe calls `/controller_manager/list_controllers`, deterministically selects the active trajectory controller, verifies its exact `FollowJointTrajectory` action server, and returns the bound action name. Required UR5e joint-state readiness continues to use the direct machine joint-state probe.
+
+The readiness gate therefore no longer depends on a long-lived `ros2 daemon`, `ros2 node list`, `ros2 topic list`, or `ros2 action list`. It remains fail-closed on missing controller-manager service, no active trajectory controller, ambiguous active controllers, a missing trajectory action server, or missing required UR5e joint state. No collision rule, Pilz target, motion speed, Twin lineage, site-qualification boundary, or real-execution authority is relaxed.
+
 ## Qualified visual-execution scope
 
-The packaged visual executor remains intentionally narrow:
+Measured report-test execution remains intentionally narrow:
 
 ```text
 robot:       UR5e
@@ -299,7 +340,7 @@ runtime:     Ubuntu 24.04 + ROS 2 Jazzy + Gazebo Harmonic + MoveIt/Pilz
 
 Unsupported customer Twins, unqualified robot profiles, boundary/fault cases outside the qualified scope, ambiguous case mappings, or incomplete lineage fail closed.
 
-Cross-vendor projects such as ABB may still be imported, normalized, structurally evaluated, and reported, but they do not silently enter the UR5e-only physical executor.
+ABB IRB1200 is separately exposed as `SIMULATION_AVAILABLE_EXPERIMENTAL`: Gazebo/MoveIt/RViz preview is available, but it does not silently enter the UR5e measured FAT executor and cannot promote physical evidence.
 
 ## Interactive engineering session
 
@@ -407,12 +448,12 @@ Ubuntu 24.04
 ROS 2 Jazzy
 Gazebo Harmonic
 gz_ros2_control
-Universal Robots ROS 2 driver
-ur_simulation_gz
-MoveIt 2 + Pilz Industrial Motion Planner
+MoveIt 2
 ```
 
-Preview setup:
+UR5e measured report-test execution additionally uses the Universal Robots ROS 2 driver, `ur_simulation_gz`, and Pilz Industrial Motion Planner.
+
+Preview UR5e setup:
 
 ```bash
 devagent-physical setup --profile ur5e-sim --dry-run
@@ -424,12 +465,24 @@ Apply explicitly:
 devagent-physical setup --profile ur5e-sim --yes
 ```
 
-Check runtime:
+Check the UR5e runtime:
 
 ```bash
 devagent-physical ros doctor
 ```
 
+Check ABB IRB1200 visual runtime prerequisites:
+
+```bash
+devagent robot doctor abb_irb1200
+```
+
+Launch ABB IRB1200 Gazebo + MoveIt + RViz preview:
+
+```bash
+devagent robot visualize abb_irb1200
+```
+
 Hosted CI validates deterministic software contracts. It does not pretend to execute a graphical ROS/Gazebo/MoveIt target stack. Target-stack acceptance must run on the intended workstation.
 
 ## Optional AI providers
@@ -456,7 +509,7 @@ Provider-backed interpretation cannot grant physical truth, site qualification,
 ## Installed CLIs
 
 ```text
-devagent             one-command customer verification + interactive report testing
+devagent             one-command verification, interactive report testing, robot support/visualization
 devagent-commercial  commercial/evidence workflow
 devagent-physical    deterministic core + ROS/qualification tools
 devagent-physical-ai optional provider-backed engineering front end
@@ -474,9 +527,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.7.2 — Production/Stable software workflow**
+**v1.8.1 — Production/Stable software workflow**
 
-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.
+v1.8.1 retains the v1.8.0 truthful robot support tiers and ABB IRB1200 experimental visual runtime, while fixing the UR5e target-stack readiness gate so it directly binds the active controller manager trajectory controller and exact `FollowJointTrajectory` server instead of depending on ROS CLI graph discovery or an unscaled-controller naming assumption.
 
 Production-oriented software capabilities include:
 
@@ -488,7 +541,10 @@ optional provider-backed advisory criterion proposals
 requirement-driven nominal / boundary / fault case generation
 immutable project/Twin lineage
 exact Requirement → Mapping → Verification Plan → Case provenance
-qualified report-test visual execution contract
+truthful robot support tiers
+qualified UR5e report-test visual execution contract
+direct UR5e controller-manager/action readiness binding
+experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
 plan-only transfer/place segment diagnostics
@@ -540,4 +596,4 @@ 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-1.7.2 → devagent_physical_engine-1.8.1}/pyproject.toml

@@ -4,8 +4,8 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-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."
+version = "1.8.1"
+description = "Production-grade verification-first robotics evidence runtime with one-command customer intake, truthful robot support tiers, qualified UR5e report-test Gazebo execution, direct ROS controller/action readiness, experimental ABB IRB1200 Gazebo/MoveIt/RViz visualization, transfer/place 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"]
@@ -47,7 +47,7 @@ Repository = "https://github.com/tomha85/devagent-physical-engine"
 Issues = "https://github.com/tomha85/devagent-physical-engine/issues"
 
 [project.scripts]
-devagent = "devagent_physical_engine.user_cli_v16:main"
+devagent = "devagent_physical_engine.user_cli_v18:main"
 devagent-physical = "devagent_physical_engine.cli:main"
 devagent-physical-ai = "devagent_physical_engine.ai_cli:main"
 devagent-commercial = "devagent_physical_engine.commercial_cli:main"
@@ -81,6 +81,8 @@ omit = [
   "src/devagent_physical_engine/ros2/gazebo_pose.py",
   "src/devagent_physical_engine/ros2/workpiece_follow.py",
   "src/devagent_physical_engine/ros2/workpiece_gazebo_follower.py",
+  "src/devagent_physical_engine/ros2/abb_irb1200.py",
+  "src/devagent_physical_engine/ros2/abb_irb1200_preview.py",
 ]
 
 [tool.coverage.report]

{devagent_physical_engine-1.7.2 → devagent_physical_engine-1.8.1}/src/devagent_physical_engine/__init__.py

@@ -26,6 +26,7 @@ from .commercial_intelligence import (
 )
 from .commercial_readiness import CommercialProjectStatus, FATReportBuilder
 from .commercial_repository import CommercialProjectRepository
+from .controller_runtime_hotfix_v181 import install_controller_runtime_hotfix_v181
 from .evidence_replay import ReplayInspectionService
 from .evidence_trust import (
     EVIDENCE_TRUST_SCHEMA_VERSION,
@@ -215,6 +216,7 @@ __all__ = [
 install_support_contact_hotfix_v161()
 install_smooth_motion_hotfix_v162()
 install_industrial_motion_v170()
+install_controller_runtime_hotfix_v181()
 install_one_command_runtime()
 
-__version__ = "1.7.2"
+__version__ = "1.8.1"

devagent_physical_engine-1.8.1/src/devagent_physical_engine/controller_runtime_hotfix_v181.py

@@ -0,0 +1,93 @@
+from __future__ import annotations
+
+import json
+from pathlib import Path
+from typing import Mapping
+
+from .ros2 import trajectory as _trajectory
+from .ros2.commands import CommandExecutionError, RosCommandRunner
+from .ros2.trajectory import RosTrajectoryError
+from .ros2.ur5e_adapter import UR5E_JOINTS, UR5eGazeboAdapter
+
+
+_DEFAULT_TRAJECTORY_ACTION = "/joint_trajectory_controller/follow_joint_trajectory"
+
+
+def _last_json_mapping(stdout: str, *, code: str) -> Mapping[str, object]:
+    lines = [line.strip() for line in stdout.splitlines() if line.strip()]
+    if not lines:
+        raise RosTrajectoryError(code)
+    try:
+        payload = json.loads(lines[-1])
+    except json.JSONDecodeError as exc:
+        raise RosTrajectoryError(code) from exc
+    if not isinstance(payload, Mapping):
+        raise RosTrajectoryError(code)
+    return payload
+
+
+def resolve_active_trajectory_action_v181(
+    runner: RosCommandRunner,
+    *,
+    preferred_action: str = _DEFAULT_TRAJECTORY_ACTION,
+) -> str:
+    if not preferred_action.startswith("/") or any(
+        character.isspace() for character in preferred_action
+    ):
+        raise RosTrajectoryError("trajectory_action_must_be_absolute")
+
+    service_timeout = 3.0
+    action_timeout = 3.0
+    helper = Path(_trajectory.__file__).with_name("controller_action_probe.py").resolve()
+    command = (
+        "python3",
+        str(helper),
+        "--preferred-action",
+        preferred_action,
+        "--service-timeout",
+        format(service_timeout, ".6g"),
+        "--action-timeout",
+        format(action_timeout, ".6g"),
+    )
+    try:
+        result = runner.run(
+            command,
+            timeout_s=service_timeout * 2.0 + action_timeout + 4.0,
+        )
+    except CommandExecutionError as exc:
+        raise RosTrajectoryError("trajectory_controller_discovery_timeout") from exc
+
+    payload = _last_json_mapping(
+        result.stdout,
+        code="trajectory_controller_probe_output_invalid",
+    )
+    code = str(payload.get("code") or "trajectory_controller_probe_failed")
+    if payload.get("success") is not True:
+        raise RosTrajectoryError(code)
+    if not result.ok:
+        raise RosTrajectoryError("trajectory_controller_probe_exit_nonzero")
+
+    action_name = str(payload.get("action_name") or "").strip()
+    if not action_name.startswith("/") or not action_name.endswith(
+        "/follow_joint_trajectory"
+    ):
+        raise RosTrajectoryError("trajectory_controller_probe_output_invalid")
+    return action_name
+
+
+def ur5e_ready_probe_v181(self: UR5eGazeboAdapter) -> tuple[bool, str]:
+    try:
+        action_name = resolve_active_trajectory_action_v181(self.runner)
+        _trajectory.read_joint_state(
+            self.runner,
+            timeout_s=4.0,
+            required_joint_names=UR5E_JOINTS,
+        )
+    except RosTrajectoryError as exc:
+        return False, str(exc)
+    return True, f"controller/action/joint-state ready:{action_name}"
+
+
+def install_controller_runtime_hotfix_v181() -> None:
+    _trajectory.resolve_active_trajectory_action = resolve_active_trajectory_action_v181
+    UR5eGazeboAdapter._ready_probe = ur5e_ready_probe_v181

{devagent_physical_engine-1.7.2 → devagent_physical_engine-1.8.1}/src/devagent_physical_engine/one_command_v16.py

@@ -13,6 +13,10 @@ from .commercial_repository import CommercialProjectRepository
 from .one_command_v15 import OneCommandVerifier as OneCommandVerifierV15
 from .one_command_v15 import SimpleVerifyResult
 from .report_test_execution_strict import ReportTestFullExecutor
+from .robot_support_v18 import ensure_v18_robot_profiles
+
+
+ensure_v18_robot_profiles()
 
 
 class ProfileGatedReportTestFullExecutor(ReportTestFullExecutor):
@@ -23,6 +27,10 @@ class ProfileGatedReportTestFullExecutor(ReportTestFullExecutor):
     entering UR5e-specific request materialization so that One-Command can continue
     producing bounded campaign/FAT evidence instead of surfacing an executor
     traceback.
+
+    Exact profiles may expose an experimental visual runtime (for example ABB
+    IRB1200) while remaining blocked here until that runtime passes measured FAT
+    qualification. Availability is deliberately not treated as evidence authority.
     """
 
     def execute(

{devagent_physical_engine-1.7.2 → devagent_physical_engine-1.8.1}/src/devagent_physical_engine/qualification.py

@@ -9,6 +9,17 @@ from .robots import CATALOG
 from .simulation import DeterministicSimulationBackend
 
 
+# This is the original v1 cross-vendor *family* corpus. Exact model profiles added
+# later (for example abb_irb1200) must not silently change the historical smoke
+# baseline or turn a family-level qualification into a count of registry entries.
+V1_ROBOT_FAMILIES = (
+    "ur5e",
+    "fanuc_crx",
+    "kuka_kr",
+    "abb_irb",
+)
+
+
 @dataclass(frozen=True, slots=True)
 class QualificationCaseResult:
     robot: str
@@ -35,10 +46,24 @@ def run_cross_vendor_smoke() -> QualificationSummary:
     supervisor = ExecutionSupervisor()
     goal = Goal("G1", "load", "P17", "conveyor_a", "cnc_04")
     results: list[QualificationCaseResult] = []
-    for robot_name, factory in CATALOG.items():
+    for robot_name in V1_ROBOT_FAMILIES:
+        factory = CATALOG[robot_name]
         resource = factory()
         graph = planner.plan(goal, [resource])
         world = WorldState(facts={"robot_ready", "object_available"})
-        report = supervisor.execute(graph, [resource], world, DeterministicSimulationBackend(), ExecutionMode.SIMULATION)
-        results.append(QualificationCaseResult(robot_name, report.completed, len(report.executed_tasks), len(report.issues)))
+        report = supervisor.execute(
+            graph,
+            [resource],
+            world,
+            DeterministicSimulationBackend(),
+            ExecutionMode.SIMULATION,
+        )
+        results.append(
+            QualificationCaseResult(
+                robot_name,
+                report.completed,
+                len(report.executed_tasks),
+                len(report.issues),
+            )
+        )
     return QualificationSummary(tuple(results))

devagent_physical_engine-1.8.1/src/devagent_physical_engine/robot_support_v18.py

@@ -0,0 +1,97 @@
+from __future__ import annotations
+
+from .robot_platform import (
+    ARM_CAPABILITIES,
+    BUILTIN_ROBOT_PROFILES,
+    QualificationState,
+    RobotProfile,
+    RobotQualification,
+    RosIntegration,
+    SimulationTier,
+)
+
+ABB_IRB1200_PROFILE_KEY = "abb_irb1200"
+
+
+def _abb_irb1200_profile() -> RobotProfile:
+    """Exact ABB IRB 1200-5/0.9 profile.
+
+    The visual/physics runtime remains EXPERIMENTAL until target-workstation
+    acceptance proves the exact Gazebo/MoveIt integration. This makes the runtime
+    available without prematurely upgrading FAT evidence authority.
+    """
+
+    return RobotProfile(
+        key=ABB_IRB1200_PROFILE_KEY,
+        vendor="abb",
+        model="irb1200_5_90",
+        capabilities=ARM_CAPABILITIES,
+        qualification=RobotQualification(
+            {
+                SimulationTier.DETERMINISTIC: QualificationState.QUALIFIED,
+                SimulationTier.KINEMATIC: QualificationState.EXPERIMENTAL,
+                SimulationTier.PHYSICS: QualificationState.EXPERIMENTAL,
+                SimulationTier.VISUAL: QualificationState.EXPERIMENTAL,
+            }
+        ),
+        ros=RosIntegration(
+            ros2_compatible=True,
+            joint_state_interface="/joint_states",
+            trajectory_interface="joint_trajectory_controller/follow_joint_trajectory",
+            robot_description="abb_irb1200_support",
+            moveit_config="abb_irb1200_5_90_moveit_config",
+            hardware_driver="abb_ros2",
+        ),
+        aliases=(
+            "abb irb1200",
+            "abb irb 1200",
+            "abb irb 1200-5/0.9",
+            "abb irb1200-5/0.9",
+            "irb1200",
+            "irb1200 5 90",
+        ),
+        legacy_qualification="experimental",
+        notes=(
+            "Exact ABB IRB 1200-5/0.9 ROS2 profile.",
+            "Gazebo Harmonic + gz_ros2_control + MoveIt/RViz runtime is available "
+            "as an experimental visual path until laptop acceptance is recorded.",
+            "Visual preview motion is not FAT measurement evidence and real execution "
+            "remains locked.",
+        ),
+    )
+
+
+def ensure_v18_robot_profiles() -> None:
+    """Idempotently extend the built-in registry with exact v1.8 profiles."""
+
+    try:
+        BUILTIN_ROBOT_PROFILES.get(ABB_IRB1200_PROFILE_KEY)
+    except Exception:
+        BUILTIN_ROBOT_PROFILES.register(_abb_irb1200_profile())
+
+
+def robot_support_level(profile: RobotProfile) -> str:
+    """Return a user-facing support label that never overstates qualification."""
+
+    physics = profile.qualification.state_for(SimulationTier.PHYSICS)
+    visual = profile.qualification.state_for(SimulationTier.VISUAL)
+    kinematic = profile.qualification.state_for(SimulationTier.KINEMATIC)
+
+    if physics is QualificationState.QUALIFIED and visual is QualificationState.QUALIFIED:
+        return "SIMULATION_SUPPORTED"
+    if physics is QualificationState.EXPERIMENTAL and visual is QualificationState.EXPERIMENTAL:
+        return "SIMULATION_AVAILABLE_EXPERIMENTAL"
+    if visual is QualificationState.QUALIFIED or kinematic is QualificationState.QUALIFIED:
+        return "VISUAL_SUPPORTED"
+    if visual is QualificationState.EXPERIMENTAL or kinematic is QualificationState.EXPERIMENTAL:
+        return "VISUAL_AVAILABLE_EXPERIMENTAL"
+    return "MODEL_ONLY"
+
+
+ensure_v18_robot_profiles()
+
+__all__ = [
+    "ABB_IRB1200_PROFILE_KEY",
+    "ensure_v18_robot_profiles",
+    "robot_support_level",
+]

{devagent_physical_engine-1.7.2 → devagent_physical_engine-1.8.1}/src/devagent_physical_engine/robots.py

@@ -9,8 +9,10 @@ from .robot_platform import (
     RobotPlatformError,
     RobotProfileRegistry,
 )
+from .robot_support_v18 import ensure_v18_robot_profiles
 
 
+ensure_v18_robot_profiles()
 PROFILE_REGISTRY: RobotProfileRegistry = BUILTIN_ROBOT_PROFILES
 
 
@@ -34,6 +36,10 @@ def abb_irb(resource_id: str = "robot_01") -> Resource:
     return _resource("abb_irb", resource_id)
 
 
+def abb_irb1200(resource_id: str = "robot_01") -> Resource:
+    return _resource("abb_irb1200", resource_id)
+
+
 class _RegistryBackedCatalog(Mapping[str, Callable[..., Resource]]):
     """Compatibility view for older core code that expects CATALOG[key]().