devagent-physical-engine 1.8.4__tar.gz → 1.8.5__tar.gz

{devagent_physical_engine-1.8.4/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.8.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.8.4
+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
@@ -76,7 +76,7 @@ regression + FAT report + Evidence Viewer
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.8.4
+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
-1.8.4
+1.8.5
 ```
 
 Run the normal customer workflow:
@@ -418,6 +418,14 @@ v1.8.4 carries the exact v1.8.3 runtime semantics and shortens only the package
 
 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:
@@ -618,9 +626,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.4 — Production/Stable software workflow**
+**v1.8.5 — Production/Stable software workflow**
 
-v1.8.4 retains the v1.8.3 synchronous verified workpiece-attach fix, the v1.8.2 scoped destination-support place contract, v1.8.1 direct UR5e controller/action binding, truthful robot support tiers, and ABB IRB1200 experimental visual runtime. The only v1.8.4 behavior change is packaging metadata compliance for PyPI; physical runtime semantics are unchanged from v1.8.3.
+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:
 
@@ -636,6 +644,7 @@ 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-1.8.4 → 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==1.8.4
+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
-1.8.4
+1.8.5
 ```
 
 Run the normal customer workflow:
@@ -377,6 +377,14 @@ v1.8.4 carries the exact v1.8.3 runtime semantics and shortens only the package
 
 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:
@@ -577,9 +585,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.4 — Production/Stable software workflow**
+**v1.8.5 — Production/Stable software workflow**
 
-v1.8.4 retains the v1.8.3 synchronous verified workpiece-attach fix, the v1.8.2 scoped destination-support place contract, v1.8.1 direct UR5e controller/action binding, truthful robot support tiers, and ABB IRB1200 experimental visual runtime. The only v1.8.4 behavior change is packaging metadata compliance for PyPI; physical runtime semantics are unchanged from v1.8.3.
+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:
 
@@ -595,6 +603,7 @@ 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-1.8.4 → devagent_physical_engine-1.8.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.8.4"
+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"

{devagent_physical_engine-1.8.4 → 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__ = "1.8.4"
+__version__ = "1.8.5"

{devagent_physical_engine-1.8.4 → 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
@@ -69,6 +87,13 @@ def _pose_from_msg(pose):
     )
 
 
+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)
@@ -90,7 +115,7 @@ def _canonical_attachment(
         "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)),
     }
 
 
@@ -224,6 +249,7 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
         scene.is_diff = True
         scene.robot_state.is_diff = True
         attachment_hash = None
+        expected_attachment_pose = None
 
         if operation == "attach":
             transform = _lookup_transform(
@@ -279,6 +305,10 @@ def transition(path: Path, *, operation: str, timeout_s: float) -> dict[str, Any
                 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
@@ -361,6 +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,
@@ -370,6 +412,7 @@ 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

{devagent_physical_engine-1.8.4 → devagent_physical_engine-1.8.5/src/devagent_physical_engine.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.8.4
+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
@@ -76,7 +76,7 @@ regression + FAT report + Evidence Viewer
 Python 3.11+ is required.
 
 ```bash
-python -m pip install --upgrade devagent-physical-engine==1.8.4
+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
-1.8.4
+1.8.5
 ```
 
 Run the normal customer workflow:
@@ -418,6 +418,14 @@ v1.8.4 carries the exact v1.8.3 runtime semantics and shortens only the package
 
 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:
@@ -618,9 +626,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.4 — Production/Stable software workflow**
+**v1.8.5 — Production/Stable software workflow**
 
-v1.8.4 retains the v1.8.3 synchronous verified workpiece-attach fix, the v1.8.2 scoped destination-support place contract, v1.8.1 direct UR5e controller/action binding, truthful robot support tiers, and ABB IRB1200 experimental visual runtime. The only v1.8.4 behavior change is packaging metadata compliance for PyPI; physical runtime semantics are unchanged from v1.8.3.
+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:
 
@@ -636,6 +644,7 @@ 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-1.8.4 → devagent_physical_engine-1.8.5}/src/devagent_physical_engine.egg-info/SOURCES.txt

@@ -247,4 +247,5 @@ tests/test_user_cli_v15_hotfix_inheritance.py
 tests/test_v052_stabilization.py
 tests/test_v08_catalog_mapping_regression.py
 tests/test_workpiece_attach_semantics_v183.py
-tests/test_workpiece_lifecycle_v011.py
+tests/test_workpiece_lifecycle_v011.py
+tests/test_workpiece_scene_probe_v185.py

{devagent_physical_engine-1.8.4 → 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_v184(self) -> None:
-        self.assertEqual(package.__version__, "1.8.4")
+    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-1.8.4 → devagent_physical_engine-1.8.5}/tests/test_package_metadata_v184.py

@@ -13,10 +13,10 @@ class PackageMetadataV184Tests(unittest.TestCase):
         self.assertTrue(summary.strip())
         self.assertLessEqual(len(summary), 512)
 
-    def test_package_version_is_v184(self) -> None:
+    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"], "1.8.4")
+        self.assertEqual(metadata["project"]["version"], "1.8.5")
 
 
 if __name__ == "__main__":

{devagent_physical_engine-1.8.4 → devagent_physical_engine-1.8.5}/tests/test_transfer_place_diagnostic_v172.py

@@ -153,8 +153,8 @@ class TransferPlaceDiagnosticV172Tests(unittest.TestCase):
             self.assertTrue(payload["plan_only"])
             self.assertEqual(payload["result_code"], "pilz_place_segment_planning_failed")
 
-    def test_v184_release_preserves_v172_diagnostics_and_v182_planner(self) -> None:
-        self.assertEqual(package.__version__, "1.8.4")
+    def test_v185_release_preserves_v172_diagnostics_and_v182_planner(self) -> None:
+        self.assertEqual(package.__version__, "1.8.5")
         self.assertTrue(
             issubclass(PilzIndustrialSequencePlannerV182, PilzIndustrialSequencePlannerV172)
         )

devagent_physical_engine-1.8.5/tests/test_workpiece_scene_probe_v185.py

@@ -0,0 +1,52 @@
+from __future__ import annotations
+
+import unittest
+
+from devagent_physical_engine.ros2.workpiece_scene_probe import (
+    _canonical_attachment,
+    _hash,
+    _pose_payload,
+    _qcanonical,
+)
+
+
+class WorkpieceSceneProbeV185Tests(unittest.TestCase):
+    def setUp(self) -> None:
+        self.item = {
+            "id": "devagent_box_101_test",
+            "geometry_kind": "box",
+            "dimensions_m": [0.1, 0.08, 0.06],
+        }
+        self.position = (0.03125, -0.125, 0.07)
+
+    def test_equivalent_quaternion_signs_have_identical_canonical_form(self) -> None:
+        q = (0.2, -0.3, 0.4, -0.5)
+        negated = tuple(-value for value in q)
+        self.assertEqual(_qcanonical(q), _qcanonical(negated))
+
+    def test_equivalent_quaternion_signs_have_identical_attachment_hash(self) -> None:
+        q = (0.2, -0.3, 0.4, -0.5)
+        negated = tuple(-value for value in q)
+        first = _hash(
+            _canonical_attachment("tool0", self.item, self.position, q)
+        )
+        second = _hash(
+            _canonical_attachment("tool0", self.item, self.position, negated)
+        )
+        self.assertEqual(first, second)
+
+    def test_exact_180_degree_rotation_is_sign_invariant(self) -> None:
+        q = (-1.0, 0.0, 0.0, 0.0)
+        self.assertEqual(_qcanonical(q), (1.0, 0.0, 0.0, 0.0))
+        self.assertEqual(_qcanonical(q), _qcanonical(tuple(-value for value in q)))
+
+    def test_pose_payload_is_quaternion_sign_invariant(self) -> None:
+        q = (0.0, 0.7071067811865476, 0.0, -0.7071067811865476)
+        self.assertEqual(
+            _pose_payload(self.position, q),
+            _pose_payload(self.position, tuple(-value for value in q)),
+        )
+
+
+if __name__ == "__main__":
+    unittest.main()