devagent-physical-engine 1.8.1__tar.gz → 1.8.2__tar.gz

{devagent_physical_engine-1.8.1/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: 1.8.1
-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.
+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==1.8.1
+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
-1.8.1
+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
@@ -368,6 +368,32 @@ v1.8.1 makes UR5e readiness and trajectory execution use one controller-binding
 
 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:
@@ -568,9 +594,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.1 — Production/Stable software workflow**
+**v1.8.2 — Production/Stable software workflow**
 
-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.
+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:
 
@@ -585,11 +611,12 @@ 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-1.8.1 → 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==1.8.1
+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
-1.8.1
+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
@@ -327,6 +327,32 @@ v1.8.1 makes UR5e readiness and trajectory execution use one controller-binding
 
 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:
@@ -527,9 +553,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.1 — Production/Stable software workflow**
+**v1.8.2 — Production/Stable software workflow**
 
-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.
+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:
 
@@ -544,11 +570,12 @@ 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-1.8.1 → devagent_physical_engine-1.8.2}/pyproject.toml

@@ -4,8 +4,8 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.8.1"
-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."
+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-1.8.1 → devagent_physical_engine-1.8.2}/src/devagent_physical_engine/__init__.py

@@ -219,4 +219,4 @@ install_industrial_motion_v170()
 install_controller_runtime_hotfix_v181()
 install_one_command_runtime()
 
-__version__ = "1.8.1"
+__version__ = "1.8.2"

{devagent_physical_engine-1.8.1 → 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/destination_support_contact_v182.py

@@ -0,0 +1,56 @@
+from __future__ import annotations
+
+from copy import deepcopy
+from typing import Any, Mapping
+
+from ..simulation_platform import SimulationPlatformError
+from .support_contact_v161 import support_surface_backend_id
+
+
+DESTINATION_SUPPORT_CONTACT_SCOPE = "place_arrival_only"
+DESTINATION_SUPPORT_CONTACT_PHASE = "place"
+
+
+def destination_support_backend_id(destination_entity_id: str) -> str:
+    destination = str(destination_entity_id).strip()
+    if not destination:
+        raise SimulationPlatformError("destination_support_entity_id_missing")
+    return support_surface_backend_id(destination)
+
+
+def prepare_destination_support_scene(
+    scene_contract: Mapping[str, Any] | None,
+    *,
+    destination_entity_id: str,
+) -> tuple[dict[str, Any], str, str]:
+    """Allow exactly attached-workpiece ↔ declared destination support for place.
+
+    The returned scene is a request-local copy. No live/global ACM state is mutated.
+    The caller must use it only for a single zero-blend LIN ``place`` request.
+    """
+
+    if not isinstance(scene_contract, Mapping):
+        raise SimulationPlatformError("destination_support_scene_required")
+    if str(scene_contract.get("state") or "") != "attached":
+        raise SimulationPlatformError("destination_support_requires_attached_scene")
+    raw_workpiece = scene_contract.get("workpiece")
+    if not isinstance(raw_workpiece, Mapping):
+        raise SimulationPlatformError("destination_support_workpiece_missing")
+    workpiece_id = str(raw_workpiece.get("id") or "").strip()
+    if not workpiece_id:
+        raise SimulationPlatformError("destination_support_workpiece_missing")
+
+    support_id = destination_support_backend_id(destination_entity_id)
+    if workpiece_id == support_id:
+        raise SimulationPlatformError("destination_support_pair_invalid")
+
+    scene = deepcopy(dict(scene_contract))
+    scene.update(
+        {
+            "allow_support_contact": True,
+            "support_contact_scope": DESTINATION_SUPPORT_CONTACT_SCOPE,
+            "support_contact_phase": DESTINATION_SUPPORT_CONTACT_PHASE,
+            "support_surface_id": support_id,
+        }
+    )
+    return scene, workpiece_id, support_id

devagent_physical_engine-1.8.2/src/devagent_physical_engine/ros2/industrial_sequence_planner_v182.py

@@ -0,0 +1,208 @@
+from __future__ import annotations
+
+import json
+from pathlib import Path
+from typing import Any, Mapping, Sequence
+
+from ..industrial_motion_v170 import IndustrialGroupSpec
+from ..physical_motion import PhysicalMotionPlan
+from ..simulation_platform import SimulationPlatformError
+from .commands import CommandResult, RosCommandRunner
+from .destination_support_contact_v182 import (
+    DESTINATION_SUPPORT_CONTACT_PHASE,
+    DESTINATION_SUPPORT_CONTACT_SCOPE,
+    prepare_destination_support_scene,
+)
+from .industrial_sequence_planner_v170 import PilzIndustrialSequencePlannerV170
+from .industrial_sequence_planner_v172 import PilzIndustrialSequencePlannerV172
+
+
+class _DestinationPlaceProbeRunner:
+    """Delegate ROS commands but route the place request through the v1.8.2 probe."""
+
+    def __init__(self, delegate: RosCommandRunner) -> None:
+        self.delegate = delegate
+
+    def run(self, command: Sequence[str], *, timeout_s: float = 15.0) -> CommandResult:
+        parts = tuple(command)
+        if len(parts) >= 2 and Path(parts[1]).name == "pilz_sequence_plan_probe.py":
+            helper = Path(__file__).with_name("pilz_sequence_plan_probe_v182.py").resolve()
+            parts = (parts[0], str(helper), *parts[2:])
+        return self.delegate.run(parts, timeout_s=timeout_s)
+
+
+def _destination_from_metadata(metadata: Mapping[str, Any] | None) -> str:
+    if not isinstance(metadata, Mapping):
+        raise SimulationPlatformError("destination_support_metadata_required")
+    destination = str(metadata.get("destination") or "").strip()
+    if not destination:
+        raise SimulationPlatformError("destination_support_entity_id_missing")
+    return destination
+
+
+def _validate_place_group(group: IndustrialGroupSpec) -> None:
+    if (
+        group.group_id != "transfer_place"
+        or group.phase_names != (DESTINATION_SUPPORT_CONTACT_PHASE,)
+        or len(group.segments) != 1
+        or group.segments[0].planner_id != "LIN"
+        or group.segments[0].blend_radius_m != 0.0
+        or not group.workpiece_loaded
+        or group.scene_state != "attached"
+        or group.support_contact_departure
+    ):
+        raise SimulationPlatformError("destination_support_place_group_invalid")
+
+
+class PilzIndustrialSequencePlannerV182(PilzIndustrialSequencePlannerV172):
+    """v1.8.2 planner with a request-local destination-support place allowance.
+
+    The normal v1.7/v1.8.1 planner remains authoritative for every group except the
+    qualified single-segment ``transfer_place`` group emitted by the v1.8.2 motion
+    profile. That group contains only the zero-blend LIN ``place`` phase. Its
+    PlanningScene diff may allow exactly one symmetric pair: the attached workpiece
+    and the declared destination support. Transfer is a separate normally collision-
+    checked PTP group, so the contact allowance cannot mask a transfer collision.
+    """
+
+    def _plan_destination_place(
+        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,
+    ) -> PhysicalMotionPlan:
+        _validate_place_group(group)
+        destination = _destination_from_metadata(metadata)
+        scene, workpiece_id, support_id = prepare_destination_support_scene(
+            scene_contract,
+            destination_entity_id=destination,
+        )
+
+        planner = PilzIndustrialSequencePlannerV170(
+            _DestinationPlaceProbeRunner(self.runner),
+            work_dir=self.work_dir,
+            planning_group=self.planning_group,
+            timeout_s=self.timeout_s,
+            allowed_planning_time_s=self.allowed_planning_time_s,
+            start_match_tolerance_rad=self.start_match_tolerance_rad,
+            goal_match_tolerance_rad=self.goal_match_tolerance_rad,
+        )
+        motion = planner.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,
+            source_entity_id=source_entity_id,
+            metadata=metadata,
+        )
+
+        receipt_path = Path(str(motion.metadata["pilz_sequence_receipt"]))
+        try:
+            receipt = json.loads(receipt_path.read_text(encoding="utf-8"))
+        except (OSError, json.JSONDecodeError) as exc:
+            raise SimulationPlatformError("destination_support_receipt_invalid") from exc
+        if (
+            not isinstance(receipt, dict)
+            or receipt.get("success") is not True
+            or receipt.get("destination_support_contact_allowed") is not True
+            or str(receipt.get("destination_support_contact_scope") or "")
+            != DESTINATION_SUPPORT_CONTACT_SCOPE
+            or str(receipt.get("destination_support_contact_phase") or "")
+            != DESTINATION_SUPPORT_CONTACT_PHASE
+            or str(receipt.get("destination_support_workpiece_id") or "") != workpiece_id
+            or str(receipt.get("destination_support_surface_id") or "") != support_id
+        ):
+            raise SimulationPlatformError("destination_support_receipt_mismatch")
+
+        motion_metadata = dict(motion.metadata)
+        motion_metadata.update(
+            {
+                "destination_support_contact": True,
+                "destination_support_contact_scope": DESTINATION_SUPPORT_CONTACT_SCOPE,
+                "destination_support_contact_phase": DESTINATION_SUPPORT_CONTACT_PHASE,
+                "destination_support_workpiece_id": workpiece_id,
+                "destination_support_surface_id": support_id,
+                "destination_entity_id": destination,
+                "destination_support_request_local_only": True,
+            }
+        )
+        constraints = tuple(
+            dict.fromkeys(
+                (
+                    *motion.constraints,
+                    "destination_support_contact_pair_only",
+                    "destination_support_place_only",
+                    "destination_support_request_local_acm",
+                )
+            )
+        )
+        return PhysicalMotionPlan(
+            motion_id=motion.motion_id,
+            robot_profile_key=motion.robot_profile_key,
+            joint_names=motion.joint_names,
+            points=motion.points,
+            source_graph_hash=motion.source_graph_hash,
+            planner_id="moveit_pilz_destination_support_place_v182",
+            twin_hash=motion.twin_hash,
+            constraints=constraints,
+            metadata=motion_metadata,
+        )
+
+    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:
+        if group.group_id == "transfer_place" and group.phase_names == (
+            DESTINATION_SUPPORT_CONTACT_PHASE,
+        ):
+            return self._plan_destination_place(
+                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,
+            )
+        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,
+        )