devagent-physical-engine 1.8.4__tar.gz → 1.8.6__tar.gz

{devagent_physical_engine-1.8.4/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.8.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.8.4
+Version: 1.8.6
 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==1.8.6
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.4
+1.8.6
 ```
 
 Run the normal customer workflow:
@@ -418,6 +418,26 @@ 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.
+
+## v1.8.6 canonical semantic workpiece lifecycle
+
+A clean v1.8.5 UR5e target-stack run again reached all five industrial preflight groups and executed `approach_pick`, while GRASP still failed with `workpiece_attachment_hash_mismatch`. That target evidence proved raw SHA equality of floating pose representations was too brittle to remain physical PASS authority.
+
+v1.8.6 uses MoveIt's canonical existing-object lifecycle. Before GRASP, DevAgent reads back and semantically verifies the exact world workpiece. Attach then sends an ID-only `AttachedCollisionObject.ADD`; MoveIt transfers the already-verified world object's geometry and pose into the AttachedBody on the verified tool link. Release sends an ID-only attached-object REMOVE; MoveIt restores that same AttachedBody to the world at its current global pose.
+
+The lifecycle remains fail-closed. Attach requires exact object identity, exact attached link, exact touch-link set, exact geometry kind, dimensions within `1e-9 m`, position error no greater than `0.1 mm`, and orientation error no greater than `1e-4 rad`. Detach similarly verifies restored world identity, geometry, destination frame, position, and orientation. Representation hashes remain recorded for audit diagnostics but do not override the explicit physical-semantic checks.
+
+Every lifecycle transition persists a deterministic receipt containing probe stdout/stderr plus expected/observed semantic diagnostics. Any failure includes the receipt path so the next target-stack blocker can be diagnosed directly instead of being collapsed to a generic lifecycle code.
+
+This release does not disable collision checking, change the verified tool/workpiece geometry, modify motion targets, planner types or speeds, detach early, grant site qualification, or expand real-execution authority.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -618,9 +638,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.4 — Production/Stable software workflow**
+**v1.8.6 — 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.
+v1.8.6 retains v1.8.5 quaternion canonicalization, v1.8.4 PyPI metadata compliance, v1.8.3 synchronous service-safe attachment, v1.8.2 scoped destination-support place contact, and v1.8.1 direct UR5e controller/action binding. It upgrades the workpiece lifecycle to canonical MoveIt existing-object world↔attached transitions, strict physical-semantic pose/geometry verification, and persistent expected/observed lifecycle diagnostics instead of using floating representation SHA equality as PASS authority.
 
 Production-oriented software capabilities include:
 
@@ -635,7 +655,8 @@ 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
+canonical MoveIt existing-object workpiece attach/detach
+semantic workpiece pose/geometry verification with persistent diagnostics
 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-1.8.6}/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==1.8.6
 ```
 
 Verify the installed package:
@@ -47,7 +47,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.4
+1.8.6
 ```
 
 Run the normal customer workflow:
@@ -377,6 +377,26 @@ 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.
+
+## v1.8.6 canonical semantic workpiece lifecycle
+
+A clean v1.8.5 UR5e target-stack run again reached all five industrial preflight groups and executed `approach_pick`, while GRASP still failed with `workpiece_attachment_hash_mismatch`. That target evidence proved raw SHA equality of floating pose representations was too brittle to remain physical PASS authority.
+
+v1.8.6 uses MoveIt's canonical existing-object lifecycle. Before GRASP, DevAgent reads back and semantically verifies the exact world workpiece. Attach then sends an ID-only `AttachedCollisionObject.ADD`; MoveIt transfers the already-verified world object's geometry and pose into the AttachedBody on the verified tool link. Release sends an ID-only attached-object REMOVE; MoveIt restores that same AttachedBody to the world at its current global pose.
+
+The lifecycle remains fail-closed. Attach requires exact object identity, exact attached link, exact touch-link set, exact geometry kind, dimensions within `1e-9 m`, position error no greater than `0.1 mm`, and orientation error no greater than `1e-4 rad`. Detach similarly verifies restored world identity, geometry, destination frame, position, and orientation. Representation hashes remain recorded for audit diagnostics but do not override the explicit physical-semantic checks.
+
+Every lifecycle transition persists a deterministic receipt containing probe stdout/stderr plus expected/observed semantic diagnostics. Any failure includes the receipt path so the next target-stack blocker can be diagnosed directly instead of being collapsed to a generic lifecycle code.
+
+This release does not disable collision checking, change the verified tool/workpiece geometry, modify motion targets, planner types or speeds, detach early, grant site qualification, or expand real-execution authority.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -577,9 +597,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.4 — Production/Stable software workflow**
+**v1.8.6 — 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.
+v1.8.6 retains v1.8.5 quaternion canonicalization, v1.8.4 PyPI metadata compliance, v1.8.3 synchronous service-safe attachment, v1.8.2 scoped destination-support place contact, and v1.8.1 direct UR5e controller/action binding. It upgrades the workpiece lifecycle to canonical MoveIt existing-object world↔attached transitions, strict physical-semantic pose/geometry verification, and persistent expected/observed lifecycle diagnostics instead of using floating representation SHA equality as PASS authority.
 
 Production-oriented software capabilities include:
 
@@ -594,7 +614,8 @@ 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
+canonical MoveIt existing-object workpiece attach/detach
+semantic workpiece pose/geometry verification with persistent diagnostics
 scoped destination-support place contact
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
@@ -648,4 +669,4 @@ 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-1.8.4 → devagent_physical_engine-1.8.6}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.8.4"
+version = "1.8.6"
 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"
@@ -65,6 +65,7 @@ omit = [
   # simulator, move_group, TF, controller actions, or gz services.
   # Pure contracts/reference-workcell logic remains inside the hosted coverage gate.
   "src/devagent_physical_engine/ros2/*_probe.py",
+  "src/devagent_physical_engine/ros2/workpiece_scene_probe_v186.py",
   "src/devagent_physical_engine/ros2/qualification*.py",
   "src/devagent_physical_engine/ros2/joint_state_recorder.py",
   "src/devagent_physical_engine/ros2/ur5e_adapter.py",

{devagent_physical_engine-1.8.4 → devagent_physical_engine-1.8.6}/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__ = "1.8.6"

{devagent_physical_engine-1.8.4 → devagent_physical_engine-1.8.6}/src/devagent_physical_engine/ros2/workpiece_scene.py

@@ -38,6 +38,30 @@ class MoveItWorkpieceLifecycleBridge:
             raise SimulationPlatformError("workpiece_materialization_missing_or_ambiguous")
         return matches[0]
 
+    @staticmethod
+    def _persist_probe_receipt(
+        path: Path,
+        *,
+        operation: WorkpieceOperation,
+        result,
+        output: dict[str, object] | None,
+    ) -> None:
+        record = {
+            "operation": operation.value,
+            "command_ok": bool(result.ok),
+            "returncode": int(getattr(result, "returncode", 0 if result.ok else 1)),
+            "duration_s": float(getattr(result, "duration_s", 0.0)),
+            "stdout": str(getattr(result, "stdout", "")),
+            "stderr": str(getattr(result, "stderr", "")),
+            "probe_output": output,
+        }
+        temporary = path.with_suffix(path.suffix + ".tmp")
+        temporary.write_text(
+            json.dumps(record, indent=2, sort_keys=True, allow_nan=False) + "\n",
+            encoding="utf-8",
+        )
+        temporary.replace(path)
+
     def _transition(
         self,
         *,
@@ -63,7 +87,11 @@ class MoveItWorkpieceLifecycleBridge:
                 raise SimulationPlatformError("workpiece_world_pose_override_non_finite")
 
         workpiece = self._workpiece(materialization, workpiece_entity_id)
-        position = tuple(world_position_m) if world_position_m is not None else workpiece.position_m
+        position = (
+            tuple(world_position_m)
+            if world_position_m is not None
+            else workpiece.position_m
+        )
         quaternion = (
             tuple(world_quaternion_xyzw)
             if world_quaternion_xyzw is not None
@@ -86,7 +114,9 @@ class MoveItWorkpieceLifecycleBridge:
                 },
             },
         }
-        payload_path = self.work_dir / f"{materialization.fingerprint}.{operation.value}.{workpiece.backend_id}.json"
+        payload_path = self.work_dir / (
+            f"{materialization.fingerprint}.{operation.value}.{workpiece.backend_id}.json"
+        )
         temporary = payload_path.with_suffix(payload_path.suffix + ".tmp")
         temporary.write_text(
             json.dumps(payload, sort_keys=True, separators=(",", ":"), allow_nan=False),
@@ -94,7 +124,7 @@ class MoveItWorkpieceLifecycleBridge:
         )
         temporary.replace(payload_path)
 
-        helper = Path(__file__).with_name("workpiece_scene_probe.py").resolve()
+        helper = Path(__file__).with_name("workpiece_scene_probe_v186.py").resolve()
         result = self.runner.run(
             (
                 "python3",
@@ -107,14 +137,43 @@ class MoveItWorkpieceLifecycleBridge:
             ),
             timeout_s=self.timeout_s + 10.0,
         )
+        probe_receipt_path = payload_path.with_name(payload_path.name + ".receipt.json")
+        output: dict[str, object] | None = None
         try:
-            output = json.loads(result.stdout.strip().splitlines()[-1])
-        except (IndexError, json.JSONDecodeError) as exc:
-            raise SimulationPlatformError("workpiece_scene_probe_output_invalid") from exc
-        if not isinstance(output, dict):
-            raise SimulationPlatformError("workpiece_scene_probe_output_invalid")
+            decoded = json.loads(result.stdout.strip().splitlines()[-1])
+            if isinstance(decoded, dict):
+                output = decoded
+        except (IndexError, json.JSONDecodeError):
+            output = None
+        self._persist_probe_receipt(
+            probe_receipt_path,
+            operation=operation,
+            result=result,
+            output=output,
+        )
+        if output is None:
+            raise SimulationPlatformError(
+                f"workpiece_scene_probe_output_invalid:evidence={probe_receipt_path}"
+            )
 
         verified = bool(output.get("success")) and result.ok
+        semantic_key = (
+            "attachment_semantics"
+            if operation is WorkpieceOperation.ATTACH
+            else "world_semantics"
+        )
+        semantic = output.get(semantic_key)
+        semantic_payload = semantic if isinstance(semantic, dict) else {}
+        observed_world_present = (
+            bool(output["observed_world_present"])
+            if "observed_world_present" in output
+            else int(output.get("observed_world_count") or 0) > 0
+        )
+        observed_attached_link = (
+            str(output["observed_attached_link"])
+            if output.get("observed_attached_link") is not None
+            else None
+        )
         receipt = WorkpieceLifecycleReceipt(
             operation=operation,
             verified=verified,
@@ -133,20 +192,52 @@ class MoveItWorkpieceLifecycleBridge:
                 if operation is WorkpieceOperation.ATTACH
                 else WorkpieceState.WORLD
             ),
-            observed_world_present=bool(output.get("observed_world_present")),
-            observed_attached_link=(
-                str(output["observed_attached_link"])
-                if output.get("observed_attached_link") is not None
-                else None
-            ),
+            observed_world_present=observed_world_present,
+            observed_attached_link=observed_attached_link,
             attachment_hash=(
                 str(output["attachment_hash"])
                 if output.get("attachment_hash") is not None
                 else None
             ),
+            observed_attachment_hash=(
+                str(output["observed_attachment_hash"])
+                if output.get("observed_attachment_hash") is not None
+                else None
+            ),
+            representation_hash_match=(
+                bool(output["representation_hash_match"])
+                if output.get("representation_hash_match") is not None
+                else None
+            ),
+            semantic_verified=(
+                bool(semantic_payload.get("success")) if semantic_payload else None
+            ),
+            position_error_m=(
+                float(semantic_payload["position_error_m"])
+                if semantic_payload.get("position_error_m") is not None
+                else None
+            ),
+            orientation_error_rad=(
+                float(semantic_payload["orientation_error_rad"])
+                if semantic_payload.get("orientation_error_rad") is not None
+                else None
+            ),
+            position_tolerance_m=(
+                float(semantic_payload["position_tolerance_m"])
+                if semantic_payload.get("position_tolerance_m") is not None
+                else None
+            ),
+            orientation_tolerance_rad=(
+                float(semantic_payload["orientation_tolerance_rad"])
+                if semantic_payload.get("orientation_tolerance_rad") is not None
+                else None
+            ),
+            diagnostic_path=str(probe_receipt_path),
         )
         if not receipt.verified:
-            raise SimulationPlatformError(f"workpiece_lifecycle_failed:{receipt.code}")
+            raise SimulationPlatformError(
+                f"workpiece_lifecycle_failed:{receipt.code}:evidence={probe_receipt_path}"
+            )
         return receipt
 
     def attach(

{devagent_physical_engine-1.8.4 → devagent_physical_engine-1.8.6}/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