devagent-physical-engine 1.8.0__tar.gz → 1.8.2__tar.gz

{devagent_physical_engine-1.8.0/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.8.2}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.8.0
-Summary: Production-grade verification-first robotics evidence runtime with one-command customer intake, truthful robot support tiers, qualified UR5e report-test Gazebo execution, 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.
+Version: 1.8.2
+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, scoped destination-support place contact, 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==1.8.0
+python -m pip install --upgrade devagent-physical-engine==1.8.2
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.0
+1.8.2
 ```
 
 Run the normal customer workflow:
@@ -256,7 +256,7 @@ HOME
   ↓ PTP
 ```
 
-Execution groups:
+Original v1.7 execution groups:
 
 ```text
 approach_pick    PTP → LIN
@@ -360,6 +360,40 @@ This is intentionally **visual simulation availability**, not measured FAT quali
 
 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.
+
+## v1.8.2 scoped destination-support place contact
+
+A clean v1.8.1 UR5e target-stack run reached exact-Twin read-back and independently proved that transfer PTP planning succeeds while the attached-workpiece place LIN segment fails. v1.8.2 converts that evidence into a narrow placement contract rather than disabling collision checking.
+
+The qualified report runtime now uses hard transfer/place boundaries:
+
+```text
+approach_pick       PTP → LIN
+lift_departure      LIN
+transfer_departure  PTP
+transfer_place      LIN   # place only
+retreat_home        LIN → PTP
+```
+
+`transfer_departure` remains normally collision checked. Only the single zero-blend `place` LIN planning request may add one request-local Allowed Collision Matrix pair:
+
+```text
+attached workpiece ↔ declared destination support
+```
+
+The place probe starts from the complete live MoveIt ACM, preserves every existing entry, enables only that symmetric pair, and applies the matrix only to the request-local PlanningScene diff. The transfer path cannot inherit the allowance. No global/live destination-contact lease remains active after planning.
+
+The v1.8.2 place receipt records the exact destination support id, workpiece id, phase, and contact scope. Missing destination identity, a non-attached scene, a non-LIN place planner, nonzero place blending, malformed support identity, or mismatched receipt fails closed.
+
+The release does **not** change real-execution authority, site qualification, target poses, conservative motion scales, or the rule that every motion group must preflight successfully before execution begins.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -560,9 +594,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.0 — Production/Stable software workflow**
+**v1.8.2 — Production/Stable software workflow**
 
-v1.8.0 retains the qualified UR5e measured report-test architecture and the v1.7.2 transfer/place diagnostics, while adding truthful robot support tiers and an exact ABB IRB1200 experimental Gazebo Harmonic + MoveIt + RViz visual runtime. ABB visualization is available for engineering preview, but measured FAT promotion remains fail-closed until the exact ABB execution adapter is separately qualified.
+v1.8.2 retains the v1.8.1 direct UR5e controller/action binding, v1.8 truthful robot support tiers, and ABB IRB1200 experimental visual runtime. It additionally splits UR5e transfer and placement at a hard motion boundary and scopes destination-support contact to the single zero-blend LIN place planning request, using a request-local full-ACM diff for exactly the attached-workpiece ↔ destination-support pair.
 
 Production-oriented software capabilities include:
 
@@ -576,11 +610,13 @@ immutable project/Twin lineage
 exact Requirement → Mapping → Verification Plan → Case provenance
 truthful robot support tiers
 qualified UR5e report-test visual execution contract
+direct UR5e controller-manager/action readiness binding
+scoped destination-support place contact
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
 plan-only transfer/place segment diagnostics
-lift-only support-contact ACM lease + exact restore
+lift-only source-support contact lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding
 deterministic campaigns

{devagent_physical_engine-1.8.0 → devagent_physical_engine-1.8.2}/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==1.8.0
+python -m pip install --upgrade devagent-physical-engine==1.8.2
 ```
 
 Verify the installed package:
@@ -47,7 +47,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.0
+1.8.2
 ```
 
 Run the normal customer workflow:
@@ -215,7 +215,7 @@ HOME
   ↓ PTP
 ```
 
-Execution groups:
+Original v1.7 execution groups:
 
 ```text
 approach_pick    PTP → LIN
@@ -319,6 +319,40 @@ This is intentionally **visual simulation availability**, not measured FAT quali
 
 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.
+
+## v1.8.2 scoped destination-support place contact
+
+A clean v1.8.1 UR5e target-stack run reached exact-Twin read-back and independently proved that transfer PTP planning succeeds while the attached-workpiece place LIN segment fails. v1.8.2 converts that evidence into a narrow placement contract rather than disabling collision checking.
+
+The qualified report runtime now uses hard transfer/place boundaries:
+
+```text
+approach_pick       PTP → LIN
+lift_departure      LIN
+transfer_departure  PTP
+transfer_place      LIN   # place only
+retreat_home        LIN → PTP
+```
+
+`transfer_departure` remains normally collision checked. Only the single zero-blend `place` LIN planning request may add one request-local Allowed Collision Matrix pair:
+
+```text
+attached workpiece ↔ declared destination support
+```
+
+The place probe starts from the complete live MoveIt ACM, preserves every existing entry, enables only that symmetric pair, and applies the matrix only to the request-local PlanningScene diff. The transfer path cannot inherit the allowance. No global/live destination-contact lease remains active after planning.
+
+The v1.8.2 place receipt records the exact destination support id, workpiece id, phase, and contact scope. Missing destination identity, a non-attached scene, a non-LIN place planner, nonzero place blending, malformed support identity, or mismatched receipt fails closed.
+
+The release does **not** change real-execution authority, site qualification, target poses, conservative motion scales, or the rule that every motion group must preflight successfully before execution begins.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -519,9 +553,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.0 — Production/Stable software workflow**
+**v1.8.2 — Production/Stable software workflow**
 
-v1.8.0 retains the qualified UR5e measured report-test architecture and the v1.7.2 transfer/place diagnostics, while adding truthful robot support tiers and an exact ABB IRB1200 experimental Gazebo Harmonic + MoveIt + RViz visual runtime. ABB visualization is available for engineering preview, but measured FAT promotion remains fail-closed until the exact ABB execution adapter is separately qualified.
+v1.8.2 retains the v1.8.1 direct UR5e controller/action binding, v1.8 truthful robot support tiers, and ABB IRB1200 experimental visual runtime. It additionally splits UR5e transfer and placement at a hard motion boundary and scopes destination-support contact to the single zero-blend LIN place planning request, using a request-local full-ACM diff for exactly the attached-workpiece ↔ destination-support pair.
 
 Production-oriented software capabilities include:
 
@@ -535,11 +569,13 @@ immutable project/Twin lineage
 exact Requirement → Mapping → Verification Plan → Case provenance
 truthful robot support tiers
 qualified UR5e report-test visual execution contract
+direct UR5e controller-manager/action readiness binding
+scoped destination-support place contact
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
 plan-only transfer/place segment diagnostics
-lift-only support-contact ACM lease + exact restore
+lift-only source-support contact lease + exact restore
 Gazebo/MoveIt selected-case visualization
 typed physical measurement binding
 deterministic campaigns
@@ -587,4 +623,4 @@ 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-1.8.0 → devagent_physical_engine-1.8.2}/pyproject.toml

@@ -4,8 +4,8 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.8.0"
-description = "Production-grade verification-first robotics evidence runtime with one-command customer intake, truthful robot support tiers, qualified UR5e report-test Gazebo execution, 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."
+version = "1.8.2"
+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, scoped destination-support place contact, 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"]
@@ -76,6 +76,7 @@ omit = [
   "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/industrial_sequence_planner_v182.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-1.8.0 → devagent_physical_engine-1.8.2}/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__ = "1.8.0"
+__version__ = "1.8.2"

devagent_physical_engine-1.8.2/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-1.8.0 → devagent_physical_engine-1.8.2}/src/devagent_physical_engine/industrial_motion_hotfix_v170.py

@@ -24,24 +24,30 @@ def _patch_constructor(cls) -> None:
 
 
 def install_industrial_motion_v170() -> None:
-    """Route report-test execution through the qualified v1.7 industrial runtime.
+    """Route report-test execution through the latest qualified industrial runtime.
 
-    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.
+    v1.7.1 retains bounded blend fallback and v1.7.2 retains independent transfer/
+    place diagnostics for the legacy two-segment group. v1.8.2 introduces a stricter
+    destination-contact boundary for the qualified report runtime: transfer is a
+    separate normally collision-checked PTP group, while the existing
+    ``transfer_place`` execution/release boundary becomes one zero-blend LIN place
+    group. Only that single place request may allow the attached workpiece to contact
+    the declared destination support, and only through a request-local full-ACM diff.
+    No real-execution authority, geometry, speed, Twin lineage, or other collision
+    relationship is relaxed.
     """
 
     from . import report_test_execution as base_exec
     from . import report_test_execution_strict as strict_exec
+    from .industrial_motion_v182 import reference_industrial_groups_v182
     from .ros2 import report_test_visualization as base_visual
     from .ros2 import report_test_visualization_v170 as visual_v170
-    from .ros2.industrial_sequence_planner_v172 import (
-        PilzIndustrialSequencePlannerV172,
+    from .ros2.industrial_sequence_planner_v182 import (
+        PilzIndustrialSequencePlannerV182,
     )
 
-    visual_v170.PilzIndustrialSequencePlannerV170 = PilzIndustrialSequencePlannerV172
+    visual_v170.PilzIndustrialSequencePlannerV170 = PilzIndustrialSequencePlannerV182
+    visual_v170.reference_industrial_groups = reference_industrial_groups_v182
 
     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-1.8.2/src/devagent_physical_engine/industrial_motion_v182.py

@@ -0,0 +1,127 @@
+from __future__ import annotations
+
+from .industrial_motion_v170 import (
+    LIN_ACCELERATION_SCALE,
+    LIN_VELOCITY_SCALE,
+    PTP_ACCELERATION_SCALE,
+    PTP_VELOCITY_SCALE,
+    SAFE_BLEND_RADIUS_M,
+    IndustrialGroupSpec,
+    IndustrialSegmentSpec,
+)
+
+
+INDUSTRIAL_MOTION_PROFILE_V182 = "pilz_ptp_lin_destination_contact_v2"
+
+
+def reference_industrial_groups_v182() -> tuple[IndustrialGroupSpec, ...]:
+    """Qualified UR5e motion boundaries for destination-support placement.
+
+    v1.8.2 makes destination contact a hard motion boundary. Transfer is planned as
+    one collision-normal PTP group. Place is then planned as one zero-blend LIN group
+    whose request-local PlanningScene may allow exactly the attached workpiece and
+    the declared destination support to contact. This keeps the contact allowance out
+    of transfer geometry while preserving the existing execution/release boundary at
+    the ``transfer_place`` group id.
+    """
+
+    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_departure",
+            (
+                IndustrialSegmentSpec(
+                    "transfer",
+                    "PTP",
+                    0.0,
+                    PTP_VELOCITY_SCALE,
+                    PTP_ACCELERATION_SCALE,
+                ),
+            ),
+            workpiece_loaded=True,
+            scene_state="attached",
+        ),
+        IndustrialGroupSpec(
+            "transfer_place",
+            (
+                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_v182_reference_phase_coverage_invalid")
+    return groups

devagent_physical_engine-1.8.2/src/devagent_physical_engine/ros2/controller_action_probe.py

@@ -0,0 +1,165 @@
+from __future__ import annotations
+
+import argparse
+import json
+import os
+from typing import Any, Sequence
+
+
+def _controller_from_action(action_name: str) -> str | None:
+    parts = tuple(part for part in str(action_name).strip().split("/") if part)
+    if len(parts) == 2 and parts[1] == "follow_joint_trajectory":
+        return parts[0]
+    return None
+
+
+def _is_trajectory_controller(name: str, controller_type: str) -> bool:
+    canonical_name = str(name).strip()
+    canonical_type = str(controller_type).strip().lower().replace("_", "")
+    return canonical_name.endswith("joint_trajectory_controller") or (
+        "trajectorycontroller" in canonical_type
+    )
+
+
+def select_active_trajectory_controller(
+    controllers: Sequence[tuple[str, str, str]],
+    *,
+    preferred_action: str,
+) -> tuple[str | None, str]:
+    preferred = _controller_from_action(preferred_action)
+    if preferred is None:
+        return None, "trajectory_action_must_be_absolute"
+
+    active = sorted(
+        {
+            str(name).strip()
+            for name, controller_type, state in controllers
+            if str(state).strip().lower() == "active"
+            and _is_trajectory_controller(name, controller_type)
+            and str(name).strip()
+            and "/" not in str(name).strip()
+        }
+    )
+    if not active:
+        return None, "trajectory_controller_not_active"
+    if preferred in active:
+        return preferred, "trajectory_controller_selected"
+    if len(active) == 1:
+        return active[0], "trajectory_controller_selected"
+    return None, "trajectory_controller_ambiguous:" + ",".join(active)
+
+
+def probe_controller_action(
+    *,
+    preferred_action: str,
+    service_timeout_s: float,
+    action_timeout_s: float,
+) -> dict[str, Any]:
+    if service_timeout_s <= 0 or action_timeout_s <= 0:
+        raise ValueError("controller_action_probe_timeout_must_be_positive")
+    if not preferred_action.startswith("/") or any(
+        character.isspace() for character in preferred_action
+    ):
+        raise ValueError("trajectory_action_must_be_absolute")
+
+    import rclpy
+    from control_msgs.action import FollowJointTrajectory
+    from controller_manager_msgs.srv import ListControllers
+    from rclpy.action import ActionClient
+
+    rclpy.init(args=None)
+    node = rclpy.create_node(f"devagent_controller_action_probe_{os.getpid()}")
+    service = node.create_client(ListControllers, "/controller_manager/list_controllers")
+    action_client = None
+    try:
+        if not service.wait_for_service(timeout_sec=float(service_timeout_s)):
+            return {"success": False, "code": "controller_manager_service_timeout"}
+
+        future = service.call_async(ListControllers.Request())
+        rclpy.spin_until_future_complete(node, future, timeout_sec=float(service_timeout_s))
+        if not future.done():
+            return {"success": False, "code": "controller_manager_list_timeout"}
+        response = future.result()
+        if response is None:
+            return {"success": False, "code": "controller_manager_list_failed"}
+
+        records = tuple(
+            (str(item.name), str(item.type), str(item.state))
+            for item in response.controller
+        )
+        controller, code = select_active_trajectory_controller(
+            records,
+            preferred_action=preferred_action,
+        )
+        if controller is None:
+            return {
+                "success": False,
+                "code": code,
+                "controllers": [
+                    {"name": name, "type": controller_type, "state": state}
+                    for name, controller_type, state in records
+                ],
+            }
+
+        action_name = f"/{controller}/follow_joint_trajectory"
+        action_client = ActionClient(node, FollowJointTrajectory, action_name)
+        if not action_client.wait_for_server(timeout_sec=float(action_timeout_s)):
+            return {
+                "success": False,
+                "code": "trajectory_action_server_timeout",
+                "controller": controller,
+                "action_name": action_name,
+            }
+
+        selected_type = next(
+            (
+                controller_type
+                for name, controller_type, state in records
+                if name == controller and state.strip().lower() == "active"
+            ),
+            "",
+        )
+        return {
+            "success": True,
+            "code": "trajectory_controller_action_ready",
+            "controller": controller,
+            "controller_type": selected_type,
+            "action_name": action_name,
+        }
+    finally:
+        if action_client is not None:
+            action_client.destroy()
+        node.destroy_client(service)
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--preferred-action",
+        default="/joint_trajectory_controller/follow_joint_trajectory",
+    )
+    parser.add_argument("--service-timeout", type=float, default=3.0)
+    parser.add_argument("--action-timeout", type=float, default=3.0)
+    args = parser.parse_args()
+
+    try:
+        result = probe_controller_action(
+            preferred_action=str(args.preferred_action),
+            service_timeout_s=float(args.service_timeout),
+            action_timeout_s=float(args.action_timeout),
+        )
+    except Exception as exc:
+        result = {
+            "success": False,
+            "code": f"controller_action_probe_error:{type(exc).__name__}",
+        }
+
+    print(json.dumps(result, sort_keys=True, separators=(",", ":"), allow_nan=False))
+    return 0 if result.get("success") else 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())