devagent-physical-engine 1.8.2__tar.gz → 1.8.5__tar.gz

{devagent_physical_engine-1.8.2/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.8.5}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-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.
+Version: 1.8.5
+Summary: Verification-first robotics commissioning runtime with exact-Twin evidence, qualified UR5e Gazebo/MoveIt report execution, truthful robot support tiers, selective verification, replay, regression, and FAT reporting.
 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==1.8.2
+python -m pip install --upgrade devagent-physical-engine==1.8.5
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.2
+1.8.5
 ```
 
 Run the normal customer workflow:
@@ -394,6 +394,38 @@ The v1.8.2 place receipt records the exact destination support id, workpiece id,
 
 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.
 
+## v1.8.3 synchronous verified workpiece attach
+
+A clean v1.8.2 target-stack run proved all five industrial preflight groups and actual `approach_pick` execution, then failed closed at GRASP with `workpiece_lifecycle_failed:apply_planning_scene_rejected`.
+
+The attach request previously combined an `AttachedCollisionObject.ADD` with a redundant same-ID world `CollisionObject.REMOVE`. MoveIt applies attached-object state first, which already transitions the same-ID object out of the world. Processing the later redundant world REMOVE can therefore make synchronous `/apply_planning_scene` report failure even though the attachment transition was already attempted.
+
+v1.8.3 makes the attach transition service-safe and deterministic: the request contains only the authoritative attached-object ADD. DevAgent then synchronously reads the PlanningScene back and requires all of the following before motion may continue:
+
+```text
+workpiece absent from world
+exactly one attached object with the expected id
+attached link == verified tool mount link
+attached primitive geometry is valid
+attachment pose/geometry hash matches the expected attachment hash
+```
+
+Detach semantics remain explicit attached-object REMOVE plus world-object ADD at the verified placement pose. No collision rule, tool/workpiece geometry, TCP, touch link, target pose, motion speed, planner, site-qualification boundary, or real-execution authority is relaxed.
+
+## v1.8.4 PyPI metadata compliance hotfix
+
+v1.8.4 carries the exact v1.8.3 runtime semantics and shortens only the package Core Metadata `Summary` so it satisfies PyPI's 512-character limit. A regression test now parses `pyproject.toml` and rejects an empty or over-limit project description before release.
+
+This metadata hotfix does not change the UR5e attach/detach lifecycle, collision policy, motion planning, Twin lineage, site-qualification boundary, or real-execution authority.
+
+## v1.8.5 quaternion-invariant verified workpiece attach
+
+A clean v1.8.4 UR5e target-stack run proved that synchronous `/apply_planning_scene` attachment now succeeds, world/attached state reaches strict read-back, and the remaining GRASP blocker is `workpiece_attachment_hash_mismatch`.
+
+MoveIt round-trips attached-object rotations through Eigen. Unit quaternions `q` and `-q` represent the same physical rotation, but a raw component hash treats those two equivalent representations as different. v1.8.5 canonicalizes equivalent quaternion signs before workpiece attachment hashing using the same deterministic positive-`w` / first-nonzero-component rule already used by the qualified tool-scene path.
+
+Verification remains strict for attachment identity, link, geometry contract, position, and physical rotation. This is not a tolerance-based PASS and does not change target geometry, TCP, collision policy, planner types, motion speeds, controller binding, Twin lineage, site qualification, or real-execution authority. If a hash mismatch remains, DevAgent records expected and observed hashes plus canonical expected/object/primitive/effective attachment poses for target diagnosis.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -594,9 +626,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.2 — Production/Stable software workflow**
+**v1.8.5 — Production/Stable software workflow**
 
-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.
+v1.8.5 retains v1.8.4 PyPI metadata compliance, v1.8.3 synchronous service-safe workpiece attachment, v1.8.2 scoped destination-support place contact, v1.8.1 direct UR5e controller/action binding, truthful robot support tiers, and the ABB IRB1200 experimental visual runtime. It makes strict workpiece attachment verification invariant to the mathematically equivalent quaternion representations `q` and `-q` and persists exact pose/hash diagnostics for any remaining mismatch.
 
 Production-oriented software capabilities include:
 
@@ -611,6 +643,8 @@ 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
+synchronous verified workpiece attach/detach lifecycle
+quaternion-invariant strict attachment hashing
 scoped destination-support place contact
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5}/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==1.8.2
+python -m pip install --upgrade devagent-physical-engine==1.8.5
 ```
 
 Verify the installed package:
@@ -47,7 +47,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.2
+1.8.5
 ```
 
 Run the normal customer workflow:
@@ -353,6 +353,38 @@ The v1.8.2 place receipt records the exact destination support id, workpiece id,
 
 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.
 
+## v1.8.3 synchronous verified workpiece attach
+
+A clean v1.8.2 target-stack run proved all five industrial preflight groups and actual `approach_pick` execution, then failed closed at GRASP with `workpiece_lifecycle_failed:apply_planning_scene_rejected`.
+
+The attach request previously combined an `AttachedCollisionObject.ADD` with a redundant same-ID world `CollisionObject.REMOVE`. MoveIt applies attached-object state first, which already transitions the same-ID object out of the world. Processing the later redundant world REMOVE can therefore make synchronous `/apply_planning_scene` report failure even though the attachment transition was already attempted.
+
+v1.8.3 makes the attach transition service-safe and deterministic: the request contains only the authoritative attached-object ADD. DevAgent then synchronously reads the PlanningScene back and requires all of the following before motion may continue:
+
+```text
+workpiece absent from world
+exactly one attached object with the expected id
+attached link == verified tool mount link
+attached primitive geometry is valid
+attachment pose/geometry hash matches the expected attachment hash
+```
+
+Detach semantics remain explicit attached-object REMOVE plus world-object ADD at the verified placement pose. No collision rule, tool/workpiece geometry, TCP, touch link, target pose, motion speed, planner, site-qualification boundary, or real-execution authority is relaxed.
+
+## v1.8.4 PyPI metadata compliance hotfix
+
+v1.8.4 carries the exact v1.8.3 runtime semantics and shortens only the package Core Metadata `Summary` so it satisfies PyPI's 512-character limit. A regression test now parses `pyproject.toml` and rejects an empty or over-limit project description before release.
+
+This metadata hotfix does not change the UR5e attach/detach lifecycle, collision policy, motion planning, Twin lineage, site-qualification boundary, or real-execution authority.
+
+## v1.8.5 quaternion-invariant verified workpiece attach
+
+A clean v1.8.4 UR5e target-stack run proved that synchronous `/apply_planning_scene` attachment now succeeds, world/attached state reaches strict read-back, and the remaining GRASP blocker is `workpiece_attachment_hash_mismatch`.
+
+MoveIt round-trips attached-object rotations through Eigen. Unit quaternions `q` and `-q` represent the same physical rotation, but a raw component hash treats those two equivalent representations as different. v1.8.5 canonicalizes equivalent quaternion signs before workpiece attachment hashing using the same deterministic positive-`w` / first-nonzero-component rule already used by the qualified tool-scene path.
+
+Verification remains strict for attachment identity, link, geometry contract, position, and physical rotation. This is not a tolerance-based PASS and does not change target geometry, TCP, collision policy, planner types, motion speeds, controller binding, Twin lineage, site qualification, or real-execution authority. If a hash mismatch remains, DevAgent records expected and observed hashes plus canonical expected/object/primitive/effective attachment poses for target diagnosis.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -553,9 +585,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.2 — Production/Stable software workflow**
+**v1.8.5 — Production/Stable software workflow**
 
-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.
+v1.8.5 retains v1.8.4 PyPI metadata compliance, v1.8.3 synchronous service-safe workpiece attachment, v1.8.2 scoped destination-support place contact, v1.8.1 direct UR5e controller/action binding, truthful robot support tiers, and the ABB IRB1200 experimental visual runtime. It makes strict workpiece attachment verification invariant to the mathematically equivalent quaternion representations `q` and `-q` and persists exact pose/hash diagnostics for any remaining mismatch.
 
 Production-oriented software capabilities include:
 
@@ -570,6 +602,8 @@ 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
+synchronous verified workpiece attach/detach lifecycle
+quaternion-invariant strict attachment hashing
 scoped destination-support place contact
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
@@ -623,4 +657,4 @@ 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-1.8.2 → devagent_physical_engine-1.8.5}/pyproject.toml

@@ -4,8 +4,8 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-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."
+version = "1.8.5"
+description = "Verification-first robotics commissioning runtime with exact-Twin evidence, qualified UR5e Gazebo/MoveIt report execution, truthful robot support tiers, selective verification, replay, regression, and FAT reporting."
 readme = { file = "README.md", content-type = "text/markdown" }
 requires-python = ">=3.11"
 dependencies = ["PyYAML>=6.0,<7"]

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5}/src/devagent_physical_engine/__init__.py

@@ -219,4 +219,4 @@ install_industrial_motion_v170()
 install_controller_runtime_hotfix_v181()
 install_one_command_runtime()
 
-__version__ = "1.8.2"
+__version__ = "1.8.5"

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5}/src/devagent_physical_engine/ros2/workpiece_scene_probe.py

@@ -26,6 +26,24 @@ def _qnorm(q):
     return tuple(float(value) / norm for value in q)
 
 
+def _qcanonical(q):
+    """Canonicalize equivalent q/-q rotations to one deterministic form."""
+
+    quaternion = _qnorm(q)
+    # A quaternion and its negation represent the same physical rotation. MoveIt
+    # round-trips poses through Eigen, which may legitimately return the opposite
+    # quaternion sign. Hash the rotation, not an arbitrary representation of it.
+    # Prefer positive w; for exact 180-degree rotations use the first non-zero xyz
+    # component as the deterministic sign discriminator.
+    for component in (quaternion[3], quaternion[0], quaternion[1], quaternion[2]):
+        if abs(component) <= 1e-15:
+            continue
+        if component < 0.0:
+            quaternion = tuple(-value for value in quaternion)
+        break
+    return tuple(_canon_float(value) for value in quaternion)
+
+
 def _qmul(first, second):
     ax, ay, az, aw = first
     bx, by, bz, bw = second
@@ -60,10 +78,22 @@ def _compose(first_position, first_q, second_position, second_q):
 def _pose_from_msg(pose):
     return (
         (float(pose.position.x), float(pose.position.y), float(pose.position.z)),
-        (float(pose.orientation.x), float(pose.orientation.y), float(pose.orientation.z), float(pose.orientation.w)),
+        (
+            float(pose.orientation.x),
+            float(pose.orientation.y),
+            float(pose.orientation.z),
+            float(pose.orientation.w),
+        ),
     )
 
 
+def _pose_payload(position, quaternion) -> dict[str, list[float]]:
+    return {
+        "position_m": [_canon_float(value) for value in position],
+        "quaternion_xyzw": list(_qcanonical(quaternion)),
+    }
+
+
 def _pose_to_msg(position, quaternion, Pose):
     pose = Pose()
     pose.position.x, pose.position.y, pose.position.z = (float(value) for value in position)
@@ -73,14 +103,19 @@ def _pose_to_msg(position, quaternion, Pose):
     return pose
 
 
-def _canonical_attachment(link_name: str, item: dict[str, Any], position, quaternion) -> dict[str, Any]:
+def _canonical_attachment(
+    link_name: str,
+    item: dict[str, Any],
+    position,
+    quaternion,
+) -> dict[str, Any]:
     return {
         "link_name": link_name,
         "id": str(item["id"]),
         "geometry_kind": str(item["geometry_kind"]),
         "dimensions_m": [_canon_float(value) for value in item["dimensions_m"]],
         "position_m": [_canon_float(value) for value in position],
-        "quaternion_xyzw": [_canon_float(value) for value in _qnorm(quaternion)],
+        "quaternion_xyzw": list(_qcanonical(quaternion)),
     }
 
 
@@ -99,7 +134,17 @@ def _primitive(item, SolidPrimitive):
     return primitive
 
 
-def _collision_object(item, frame_id: str, position, quaternion, *, operation: int, CollisionObject, Pose, SolidPrimitive):
+def _collision_object(
+    item,
+    frame_id: str,
+    position,
+    quaternion,
+    *,
+    operation: int,
+    CollisionObject,
+    Pose,
+    SolidPrimitive,
+):
     collision = CollisionObject()
     collision.header.frame_id = frame_id
     collision.id = str(item["id"])
@@ -116,11 +161,19 @@ def _collision_object(item, frame_id: str, position, quaternion, *, operation: i
 
 def _wait_future(node, future, timeout_s: float) -> bool:
     import rclpy
+
     rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_s)
     return future.done()
 
 
-def _lookup_transform(node, buffer, *, target_frame: str, source_frame: str, timeout_s: float):
+def _lookup_transform(
+    node,
+    buffer,
+    *,
+    target_frame: str,
+    source_frame: str,
+    timeout_s: float,
+):
     import rclpy
     from rclpy.time import Time
 
@@ -148,9 +201,12 @@ def _read_state(get_client, node, timeout_s: float, workpiece_id: str):
     response = future.result()
     if response is None:
         raise RuntimeError("get_planning_scene_empty")
-    world_present = any(item.id == workpiece_id for item in response.scene.world.collision_objects)
+    world_present = any(
+        item.id == workpiece_id for item in response.scene.world.collision_objects
+    )
     attached = [
-        item for item in response.scene.robot_state.attached_collision_objects
+        item
+        for item in response.scene.robot_state.attached_collision_objects
         if item.object.id == workpiece_id
     ]
     return world_present, attached
@@ -186,11 +242,14 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
 
         pose_data = item["pose"]
         world_position = tuple(float(value) for value in pose_data["position_m"])
-        world_quaternion = tuple(float(value) for value in pose_data["quaternion_xyzw"])
+        world_quaternion = tuple(
+            float(value) for value in pose_data["quaternion_xyzw"]
+        )
         scene = PlanningScene()
         scene.is_diff = True
         scene.robot_state.is_diff = True
         attachment_hash = None
+        expected_attachment_pose = None
 
         if operation == "attach":
             transform = _lookup_transform(
@@ -217,18 +276,14 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
                 world_position,
                 world_quaternion,
             )
-            scene.world.collision_objects.append(
-                _collision_object(
-                    item,
-                    planning_frame,
-                    world_position,
-                    world_quaternion,
-                    operation=CollisionObject.REMOVE,
-                    CollisionObject=CollisionObject,
-                    Pose=Pose,
-                    SolidPrimitive=SolidPrimitive,
-                )
-            )
+
+            # MoveIt applies robot_state.attached_collision_objects before processing
+            # world.collision_objects in a PlanningScene diff. Adding the attached body
+            # automatically removes an existing same-ID world object. Sending a second
+            # explicit world REMOVE therefore makes synchronous ApplyPlanningScene
+            # report failure because that later REMOVE targets an object that no longer
+            # exists. Keep ATTACH as one authoritative attached-object ADD and verify the
+            # resulting world/attached state by synchronous read-back below.
             attached = AttachedCollisionObject()
             attached.link_name = tool_link
             attached.touch_links = touch_links
@@ -244,9 +299,16 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
             )
             scene.robot_state.attached_collision_objects.append(attached)
             expected_attachment = _canonical_attachment(
-                tool_link, item, relative_position, relative_quaternion
+                tool_link,
+                item,
+                relative_position,
+                relative_quaternion,
             )
             attachment_hash = _hash(expected_attachment)
+            expected_attachment_pose = _pose_payload(
+                relative_position,
+                relative_quaternion,
+            )
         elif operation == "detach":
             attached = AttachedCollisionObject()
             attached.link_name = tool_link
@@ -278,12 +340,21 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
             return {"success": False, "code": "apply_planning_scene_rejected"}
 
         world_present, attached_items = _read_state(
-            get_client, node, timeout_s, str(item["id"])
+            get_client,
+            node,
+            timeout_s,
+            str(item["id"]),
+        )
+        observed_attached_link = (
+            attached_items[0].link_name if len(attached_items) == 1 else None
         )
-        observed_attached_link = attached_items[0].link_name if len(attached_items) == 1 else None
 
         if operation == "attach":
-            if world_present or len(attached_items) != 1 or observed_attached_link != tool_link:
+            if (
+                world_present
+                or len(attached_items) != 1
+                or observed_attached_link != tool_link
+            ):
                 return {
                     "success": False,
                     "code": "workpiece_attach_readback_mismatch",
@@ -291,15 +362,28 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
                     "observed_attached_link": observed_attached_link,
                 }
             observed_object = attached_items[0].object
-            if len(observed_object.primitives) != 1 or len(observed_object.primitive_poses) != 1:
+            if (
+                len(observed_object.primitives) != 1
+                or len(observed_object.primitive_poses) != 1
+            ):
                 return {"success": False, "code": "workpiece_attached_shape_invalid"}
             object_position, object_q = _pose_from_msg(observed_object.pose)
-            primitive_position, primitive_q = _pose_from_msg(observed_object.primitive_poses[0])
+            primitive_position, primitive_q = _pose_from_msg(
+                observed_object.primitive_poses[0]
+            )
             observed_position, observed_q = _compose(
-                object_position, object_q, primitive_position, primitive_q
+                object_position,
+                object_q,
+                primitive_position,
+                primitive_q,
             )
             observed_attachment_hash = _hash(
-                _canonical_attachment(tool_link, item, observed_position, observed_q)
+                _canonical_attachment(
+                    tool_link,
+                    item,
+                    observed_position,
+                    observed_q,
+                )
             )
             if observed_attachment_hash != attachment_hash:
                 return {
@@ -307,6 +391,18 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
                     "code": "workpiece_attachment_hash_mismatch",
                     "observed_world_present": world_present,
                     "observed_attached_link": observed_attached_link,
+                    "expected_attachment_hash": attachment_hash,
+                    "observed_attachment_hash": observed_attachment_hash,
+                    "expected_attachment_pose": expected_attachment_pose,
+                    "observed_object_pose": _pose_payload(object_position, object_q),
+                    "observed_primitive_pose": _pose_payload(
+                        primitive_position,
+                        primitive_q,
+                    ),
+                    "observed_attachment_pose": _pose_payload(
+                        observed_position,
+                        observed_q,
+                    ),
                 }
             return {
                 "success": True,
@@ -316,16 +412,23 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
                 "observed_world_present": False,
                 "observed_attached_link": tool_link,
                 "attachment_hash": attachment_hash,
+                "attachment_pose": expected_attachment_pose,
             }
 
         success = world_present and not attached_items
         return {
             "success": success,
-            "code": "workpiece_detach_verified" if success else "workpiece_detach_readback_mismatch",
+            "code": (
+                "workpiece_detach_verified"
+                if success
+                else "workpiece_detach_readback_mismatch"
+            ),
             "materialization_hash": materialization_hash,
             "twin_hash": twin_hash,
             "observed_world_present": world_present,
-            "observed_attached_link": None if not attached_items else observed_attached_link,
+            "observed_attached_link": (
+                None if not attached_items else observed_attached_link
+            ),
         }
     finally:
         del listener
@@ -346,7 +449,10 @@ def main() -> int:
             timeout_s=float(args.timeout),
         )
     except Exception as exc:
-        result = {"success": False, "code": f"workpiece_scene_probe_error:{type(exc).__name__}"}
+        result = {
+            "success": False,
+            "code": f"workpiece_scene_probe_error:{type(exc).__name__}",
+        }
     print(json.dumps(result, sort_keys=True))
     return 0 if result.get("success") else 2
 

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5/src/devagent_physical_engine.egg-info}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-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.
+Version: 1.8.5
+Summary: Verification-first robotics commissioning runtime with exact-Twin evidence, qualified UR5e Gazebo/MoveIt report execution, truthful robot support tiers, selective verification, replay, regression, and FAT reporting.
 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==1.8.2
+python -m pip install --upgrade devagent-physical-engine==1.8.5
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.2
+1.8.5
 ```
 
 Run the normal customer workflow:
@@ -394,6 +394,38 @@ The v1.8.2 place receipt records the exact destination support id, workpiece id,
 
 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.
 
+## v1.8.3 synchronous verified workpiece attach
+
+A clean v1.8.2 target-stack run proved all five industrial preflight groups and actual `approach_pick` execution, then failed closed at GRASP with `workpiece_lifecycle_failed:apply_planning_scene_rejected`.
+
+The attach request previously combined an `AttachedCollisionObject.ADD` with a redundant same-ID world `CollisionObject.REMOVE`. MoveIt applies attached-object state first, which already transitions the same-ID object out of the world. Processing the later redundant world REMOVE can therefore make synchronous `/apply_planning_scene` report failure even though the attachment transition was already attempted.
+
+v1.8.3 makes the attach transition service-safe and deterministic: the request contains only the authoritative attached-object ADD. DevAgent then synchronously reads the PlanningScene back and requires all of the following before motion may continue:
+
+```text
+workpiece absent from world
+exactly one attached object with the expected id
+attached link == verified tool mount link
+attached primitive geometry is valid
+attachment pose/geometry hash matches the expected attachment hash
+```
+
+Detach semantics remain explicit attached-object REMOVE plus world-object ADD at the verified placement pose. No collision rule, tool/workpiece geometry, TCP, touch link, target pose, motion speed, planner, site-qualification boundary, or real-execution authority is relaxed.
+
+## v1.8.4 PyPI metadata compliance hotfix
+
+v1.8.4 carries the exact v1.8.3 runtime semantics and shortens only the package Core Metadata `Summary` so it satisfies PyPI's 512-character limit. A regression test now parses `pyproject.toml` and rejects an empty or over-limit project description before release.
+
+This metadata hotfix does not change the UR5e attach/detach lifecycle, collision policy, motion planning, Twin lineage, site-qualification boundary, or real-execution authority.
+
+## v1.8.5 quaternion-invariant verified workpiece attach
+
+A clean v1.8.4 UR5e target-stack run proved that synchronous `/apply_planning_scene` attachment now succeeds, world/attached state reaches strict read-back, and the remaining GRASP blocker is `workpiece_attachment_hash_mismatch`.
+
+MoveIt round-trips attached-object rotations through Eigen. Unit quaternions `q` and `-q` represent the same physical rotation, but a raw component hash treats those two equivalent representations as different. v1.8.5 canonicalizes equivalent quaternion signs before workpiece attachment hashing using the same deterministic positive-`w` / first-nonzero-component rule already used by the qualified tool-scene path.
+
+Verification remains strict for attachment identity, link, geometry contract, position, and physical rotation. This is not a tolerance-based PASS and does not change target geometry, TCP, collision policy, planner types, motion speeds, controller binding, Twin lineage, site qualification, or real-execution authority. If a hash mismatch remains, DevAgent records expected and observed hashes plus canonical expected/object/primitive/effective attachment poses for target diagnosis.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -594,9 +626,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.2 — Production/Stable software workflow**
+**v1.8.5 — Production/Stable software workflow**
 
-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.
+v1.8.5 retains v1.8.4 PyPI metadata compliance, v1.8.3 synchronous service-safe workpiece attachment, v1.8.2 scoped destination-support place contact, v1.8.1 direct UR5e controller/action binding, truthful robot support tiers, and the ABB IRB1200 experimental visual runtime. It makes strict workpiece attachment verification invariant to the mathematically equivalent quaternion representations `q` and `-q` and persists exact pose/hash diagnostics for any remaining mismatch.
 
 Production-oriented software capabilities include:
 
@@ -611,6 +643,8 @@ 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
+synchronous verified workpiece attach/detach lifecycle
+quaternion-invariant strict attachment hashing
 scoped destination-support place contact
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5}/src/devagent_physical_engine.egg-info/SOURCES.txt

@@ -196,6 +196,7 @@ tests/test_one_command_regression_v141.py
 tests/test_one_command_v13.py
 tests/test_openai_strict_schema_v0113.py
 tests/test_optimization_v05.py
+tests/test_package_metadata_v184.py
 tests/test_physical_campaign_v09.py
 tests/test_physical_evidence_v09.py
 tests/test_physical_motion_v09.py
@@ -245,4 +246,6 @@ tests/test_user_cli_v15.py
 tests/test_user_cli_v15_hotfix_inheritance.py
 tests/test_v052_stabilization.py
 tests/test_v08_catalog_mapping_regression.py
-tests/test_workpiece_lifecycle_v011.py
+tests/test_workpiece_attach_semantics_v183.py
+tests/test_workpiece_lifecycle_v011.py
+tests/test_workpiece_scene_probe_v185.py

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5}/tests/test_industrial_motion_v170.py

@@ -34,8 +34,8 @@ from devagent_physical_engine.ros2.report_test_visualization_v170 import (
 
 
 class IndustrialMotionV170Tests(unittest.TestCase):
-    def test_release_version_is_v182(self) -> None:
-        self.assertEqual(package.__version__, "1.8.2")
+    def test_release_version_is_v185(self) -> None:
+        self.assertEqual(package.__version__, "1.8.5")
 
     def test_reference_groups_cover_every_task_phase_once_in_order(self) -> None:
         groups = reference_industrial_groups()

devagent_physical_engine-1.8.5/tests/test_package_metadata_v184.py

@@ -0,0 +1,23 @@
+from __future__ import annotations
+
+from pathlib import Path
+import tomllib
+import unittest
+
+
+class PackageMetadataV184Tests(unittest.TestCase):
+    def test_pypi_summary_respects_core_metadata_limit(self) -> None:
+        root = Path(__file__).resolve().parents[1]
+        metadata = tomllib.loads((root / "pyproject.toml").read_text(encoding="utf-8"))
+        summary = str(metadata["project"]["description"])
+        self.assertTrue(summary.strip())
+        self.assertLessEqual(len(summary), 512)
+
+    def test_package_version_is_v185(self) -> None:
+        root = Path(__file__).resolve().parents[1]
+        metadata = tomllib.loads((root / "pyproject.toml").read_text(encoding="utf-8"))
+        self.assertEqual(metadata["project"]["version"], "1.8.5")
+
+
+if __name__ == "__main__":
+    unittest.main()

{devagent_physical_engine-1.8.2 → devagent_physical_engine-1.8.5}/tests/test_transfer_place_diagnostic_v172.py

@@ -153,9 +153,11 @@ class TransferPlaceDiagnosticV172Tests(unittest.TestCase):
             self.assertTrue(payload["plan_only"])
             self.assertEqual(payload["result_code"], "pilz_place_segment_planning_failed")
 
-    def test_release_preserves_v172_diagnostics_under_v182_runtime(self) -> None:
-        self.assertEqual(package.__version__, "1.8.2")
-        self.assertTrue(issubclass(PilzIndustrialSequencePlannerV182, PilzIndustrialSequencePlannerV172))
+    def test_v185_release_preserves_v172_diagnostics_and_v182_planner(self) -> None:
+        self.assertEqual(package.__version__, "1.8.5")
+        self.assertTrue(
+            issubclass(PilzIndustrialSequencePlannerV182, PilzIndustrialSequencePlannerV172)
+        )
         self.assertIs(
             visual_v170.PilzIndustrialSequencePlannerV170,
             PilzIndustrialSequencePlannerV182,