devagent-physical-engine 1.8.8__tar.gz → 1.8.9__tar.gz

{devagent_physical_engine-1.8.8/src/devagent_physical_engine.egg-info → devagent_physical_engine-1.8.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: devagent-physical-engine
-Version: 1.8.8
+Version: 1.8.9
 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==1.8.8
+python -m pip install --upgrade devagent-physical-engine==1.8.9
 ```
 
 Verify the installed package:
@@ -88,7 +88,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.8
+1.8.9
 ```
 
 Run the normal customer workflow:
@@ -448,6 +448,33 @@ The lifecycle receipt records the pre/post primitive type representation, canoni
 
 Hosted CI qualifies the software/build/install contract. The ROS/Gazebo/MoveIt workstation still requires a fresh target acceptance run of the released 1.8.8 artifact before this specific workpiece path can be called physically qualified.
 
+## v1.8.9 target-proven complete Pick–Transport–Place lifecycle
+
+v1.8.9 completes and target-proves the qualified UR5e nominal `pick_transport_place` report path on the intended ROS 2 Jazzy + Gazebo Harmonic + MoveIt/Pilz workstation. The acceptance run completed `approach_pick → grasp → lift_departure → transfer_departure → transfer_place → release → retreat_home → verify` and returned `SELECTIVE PASSED` for `TEST-PERF-001`.
+
+The release fixes the lifecycle by separating engineering authorities instead of weakening checks:
+
+```text
+OEM / ros2_control controller
+  → owns its configured FollowJointTrajectory execution tolerance
+
+DevAgent
+  → independently records desired-vs-actual controller feedback
+  → preserves the 0.03 rad commissioning tracking gate
+  → verifies exact Twin/MoveIt scene semantics
+  → verifies carried workpiece pose before release
+  → verifies Gazebo post-release resting pose within 5 mm / 1°
+  → synchronizes MoveIt to the actual Gazebo-released pose before retreat
+```
+
+The qualified place verifier now evaluates the same exact workpiece↔destination-support contact contract used by the planner instead of checking the place path against inconsistent global ACM semantics. Controller feedback cadence is diagnostic evidence rather than an invented minimum-rate execution contract.
+
+Release is a measured two-authority handoff: while the carrier owns the object, the tool/grasp-derived carried pose is authoritative; after the carrier stops, Gazebo physics owns the released object and the Twin resting pose is the verification target. DevAgent records every settle sample in `release-settle-trace.json` and does not teleport the object into tolerance.
+
+MoveIt DETACH is deterministic. DevAgent removes attachment ownership while the robot is stationary, explicitly ADD/overwrites the world collision object with exact verified geometry at the actual Gazebo-settled pose, then requires full scene readback and semantic verification before retreat is permitted. A stale implicit MoveIt detach pose remains a hard failure.
+
+This qualification is intentionally bounded to the packaged UR5e nominal report-test scope. It does not grant arbitrary customer-cell qualification, site qualification, functional-safety certification, or autonomous real-robot execution authority.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -648,9 +675,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.8 — Production/Stable software workflow**
+**v1.8.9 — Production/Stable software workflow; target-proven qualified UR5e nominal Pick–Transport–Place report path**
 
-v1.8.8 retains the v1.8.6 semantic lifecycle and the target-candidate improvements layered after it, while making the package/version identity explicit. The current GRASP path adds ROS-octet-safe diagnostics and a synchronous canonical-world reassert/readback gate before attachment. This release is intended to make the next workstation qualification run reproducible and attributable to one exact installable artifact.
+v1.8.9 is the first release in this line whose exact candidate completed the entire bounded UR5e nominal report lifecycle on the intended workstation: exact Twin readback, five-group Pilz preflight, approach, verified MoveIt GRASP, lift with scoped source-support contact, Gazebo carry, transfer, place, physical release/settle, explicit MoveIt detach/world reassert, retreat, and final verification. The selected target test returned `PASSED` with measured evidence recorded.
 
 Production-oriented software capabilities include:
 
@@ -665,9 +692,15 @@ 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
+controller-native execution tolerance + independent DevAgent tracking evidence
 canonical MoveIt workpiece lifecycle with world-integrity gate
 semantic workpiece pose/geometry verification with persistent diagnostics
-scoped destination-support place contact
+scoped destination-support place contact with matching preexecution semantics
+persistent ROS↔Gazebo workpiece carrier
+separate carried-pose and released-resting-pose authorities
+read-only Gazebo post-release settle verification at 5 mm / 1°
+deterministic two-phase MoveIt detach/world reassert at measured Gazebo pose
+release-settle trace evidence
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
@@ -684,7 +717,7 @@ change impact + regression
 provider-neutral optional AI front end
 ```
 
-Production/Stable describes the bounded software workflow. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution.
+Production/Stable describes the bounded software workflow. The target-proven UR5e claim is limited to the qualified packaged nominal report path and exact acceptance environment. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution.
 
 ## Documentation
 

{devagent_physical_engine-1.8.8 → devagent_physical_engine-1.8.9}/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==1.8.8
+python -m pip install --upgrade devagent-physical-engine==1.8.9
 ```
 
 Verify the installed package:
@@ -47,7 +47,7 @@ python -c "import devagent_physical_engine as d; print(d.__version__)"
 Expected:
 
 ```text
-1.8.8
+1.8.9
 ```
 
 Run the normal customer workflow:
@@ -407,6 +407,33 @@ The lifecycle receipt records the pre/post primitive type representation, canoni
 
 Hosted CI qualifies the software/build/install contract. The ROS/Gazebo/MoveIt workstation still requires a fresh target acceptance run of the released 1.8.8 artifact before this specific workpiece path can be called physically qualified.
 
+## v1.8.9 target-proven complete Pick–Transport–Place lifecycle
+
+v1.8.9 completes and target-proves the qualified UR5e nominal `pick_transport_place` report path on the intended ROS 2 Jazzy + Gazebo Harmonic + MoveIt/Pilz workstation. The acceptance run completed `approach_pick → grasp → lift_departure → transfer_departure → transfer_place → release → retreat_home → verify` and returned `SELECTIVE PASSED` for `TEST-PERF-001`.
+
+The release fixes the lifecycle by separating engineering authorities instead of weakening checks:
+
+```text
+OEM / ros2_control controller
+  → owns its configured FollowJointTrajectory execution tolerance
+
+DevAgent
+  → independently records desired-vs-actual controller feedback
+  → preserves the 0.03 rad commissioning tracking gate
+  → verifies exact Twin/MoveIt scene semantics
+  → verifies carried workpiece pose before release
+  → verifies Gazebo post-release resting pose within 5 mm / 1°
+  → synchronizes MoveIt to the actual Gazebo-released pose before retreat
+```
+
+The qualified place verifier now evaluates the same exact workpiece↔destination-support contact contract used by the planner instead of checking the place path against inconsistent global ACM semantics. Controller feedback cadence is diagnostic evidence rather than an invented minimum-rate execution contract.
+
+Release is a measured two-authority handoff: while the carrier owns the object, the tool/grasp-derived carried pose is authoritative; after the carrier stops, Gazebo physics owns the released object and the Twin resting pose is the verification target. DevAgent records every settle sample in `release-settle-trace.json` and does not teleport the object into tolerance.
+
+MoveIt DETACH is deterministic. DevAgent removes attachment ownership while the robot is stationary, explicitly ADD/overwrites the world collision object with exact verified geometry at the actual Gazebo-settled pose, then requires full scene readback and semantic verification before retreat is permitted. A stale implicit MoveIt detach pose remains a hard failure.
+
+This qualification is intentionally bounded to the packaged UR5e nominal report-test scope. It does not grant arbitrary customer-cell qualification, site qualification, functional-safety certification, or autonomous real-robot execution authority.
+
 ## Qualified visual-execution scope
 
 Measured report-test execution remains intentionally narrow:
@@ -607,9 +634,9 @@ devagent-physical-ai optional provider-backed engineering front end
 
 # Project status
 
-**v1.8.8 — Production/Stable software workflow**
+**v1.8.9 — Production/Stable software workflow; target-proven qualified UR5e nominal Pick–Transport–Place report path**
 
-v1.8.8 retains the v1.8.6 semantic lifecycle and the target-candidate improvements layered after it, while making the package/version identity explicit. The current GRASP path adds ROS-octet-safe diagnostics and a synchronous canonical-world reassert/readback gate before attachment. This release is intended to make the next workstation qualification run reproducible and attributable to one exact installable artifact.
+v1.8.9 is the first release in this line whose exact candidate completed the entire bounded UR5e nominal report lifecycle on the intended workstation: exact Twin readback, five-group Pilz preflight, approach, verified MoveIt GRASP, lift with scoped source-support contact, Gazebo carry, transfer, place, physical release/settle, explicit MoveIt detach/world reassert, retreat, and final verification. The selected target test returned `PASSED` with measured evidence recorded.
 
 Production-oriented software capabilities include:
 
@@ -624,9 +651,15 @@ 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
+controller-native execution tolerance + independent DevAgent tracking evidence
 canonical MoveIt workpiece lifecycle with world-integrity gate
 semantic workpiece pose/geometry verification with persistent diagnostics
-scoped destination-support place contact
+scoped destination-support place contact with matching preexecution semantics
+persistent ROS↔Gazebo workpiece carrier
+separate carried-pose and released-resting-pose authorities
+read-only Gazebo post-release settle verification at 5 mm / 1°
+deterministic two-phase MoveIt detach/world reassert at measured Gazebo pose
+release-settle trace evidence
 experimental exact ABB IRB1200 Gazebo/MoveIt/RViz preview
 industrial Pilz PTP / LIN planning
 adaptive bounded blend selection
@@ -643,7 +676,7 @@ change impact + regression
 provider-neutral optional AI front end
 ```
 
-Production/Stable describes the bounded software workflow. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution.
+Production/Stable describes the bounded software workflow. The target-proven UR5e claim is limited to the qualified packaged nominal report path and exact acceptance environment. It does not claim arbitrary customer cells are physically qualified, site-qualified, functionally safe, or authorized for autonomous real execution.
 
 ## Documentation
 
@@ -679,4 +712,4 @@ 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-1.8.8 → devagent_physical_engine-1.8.9}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "devagent-physical-engine"
-version = "1.8.8"
+version = "1.8.9"
 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"
@@ -68,6 +68,7 @@ omit = [
   "src/devagent_physical_engine/ros2/workpiece_scene_probe_v186.py",
   "src/devagent_physical_engine/ros2/workpiece_scene_probe_v187.py",
   "src/devagent_physical_engine/ros2/workpiece_scene_probe_v188.py",
+  "src/devagent_physical_engine/ros2/workpiece_scene_probe_v189.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-1.8.8 → devagent_physical_engine-1.8.9}/src/devagent_physical_engine/__init__.py

@@ -219,4 +219,4 @@ install_industrial_motion_v170()
 install_controller_runtime_hotfix_v181()
 install_one_command_runtime()
 
-__version__ = "1.8.8"
+__version__ = "1.8.9"

{devagent_physical_engine-1.8.8 → devagent_physical_engine-1.8.9}/src/devagent_physical_engine/industrial_motion_hotfix_v170.py

@@ -33,8 +33,17 @@ def install_industrial_motion_v170() -> None:
     ``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.
+
+    v1.8.9 deliberately does *not* override the active robot controller's configured
+    FollowJointTrajectory path tolerances for this qualified task. The UR controller
+    owns its control-loop stability contract; DevAgent independently verifies observed
+    desired-vs-actual tracking against its stricter commissioning accuracy gate and
+    verifies the released workpiece pose in Gazebo. This prevents a DevAgent-authored
+    action tolerance from aborting an otherwise valid OEM/controller trajectory while
+    preserving independent fail-closed verification.
+
+    No real-execution authority, geometry, speed, Twin lineage, collision relationship,
+    or DevAgent verification tolerance is relaxed.
     """
 
     from . import report_test_execution as base_exec
@@ -48,6 +57,10 @@ def install_industrial_motion_v170() -> None:
 
     visual_v170.PilzIndustrialSequencePlannerV170 = PilzIndustrialSequencePlannerV182
     visual_v170.reference_industrial_groups = reference_industrial_groups_v182
+    # Controller-native policy: absence of an explicit positive tolerance in the
+    # FollowJointTrajectory goal means joint_trajectory_controller resolves its own
+    # configured defaults. DevAgent still evaluates observed tracking independently.
+    visual_v170._CONTROLLER_PATH_TOLERANCE_RAD = None
 
     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-1.8.8 → devagent_physical_engine-1.8.9}/src/devagent_physical_engine/ros2/doctor.py

@@ -34,6 +34,8 @@ REQUIRED_PACKAGES = (
     "ur_robot_driver",
     "ur_moveit_config",
     "controller_manager",
+    "ros_gz_bridge",
+    "ros_gz_interfaces",
 )
 
 

devagent_physical_engine-1.8.9/src/devagent_physical_engine/ros2/gazebo_pose.py

@@ -0,0 +1,169 @@
+from __future__ import annotations
+
+from dataclasses import asdict, dataclass
+from math import cos, isfinite, sin
+
+from ..pose_math import RigidPose
+from ..simulation_platform import SimulationPlatformError
+from .commands import RosCommandRunner
+from .gazebo_cli import parse_gz_model_pose
+
+
+@dataclass(frozen=True, slots=True)
+class GazeboPoseUpdateReceipt:
+    verified: bool
+    model_name: str
+    requested_position_m: tuple[float, float, float]
+    observed_position_m: tuple[float, float, float]
+    max_position_error_m: float
+    requested_quaternion_xyzw: tuple[float, float, float, float]
+    observed_quaternion_xyzw: tuple[float, float, float, float]
+    orientation_error_rad: float
+
+    def to_dict(self) -> dict[str, object]:
+        return asdict(self)
+
+
+def _quaternion_from_rpy(
+    rpy: tuple[float, float, float],
+) -> tuple[float, float, float, float]:
+    roll, pitch, yaw = (float(value) for value in rpy)
+    cr, sr = cos(roll / 2.0), sin(roll / 2.0)
+    cp, sp = cos(pitch / 2.0), sin(pitch / 2.0)
+    cy, sy = cos(yaw / 2.0), sin(yaw / 2.0)
+    return (
+        sr * cp * cy - cr * sp * sy,
+        cr * sp * cy + sr * cp * sy,
+        cr * cp * sy - sr * sp * cy,
+        cr * cp * cy + sr * sp * sy,
+    )
+
+
+def _parse_pose(
+    text: str,
+) -> tuple[
+    tuple[float, float, float],
+    tuple[float, float, float, float],
+]:
+    try:
+        position, rpy = parse_gz_model_pose(text)
+        quaternion = _quaternion_from_rpy(rpy)
+        pose = RigidPose(position, quaternion)
+    except (SimulationPlatformError, ValueError) as exc:
+        raise SimulationPlatformError("gazebo_pose_readback_invalid") from exc
+    return pose.position_m, pose.quaternion_xyzw
+
+
+def _parse_position(text: str) -> tuple[float, float, float]:
+    """Backward-compatible position-only view over the stricter full-pose parser."""
+
+    position, _quaternion = _parse_pose(text)
+    return position
+
+
+class GazeboPoseBridge:
+    """Read/update a dynamic model pose and require full Gazebo pose evidence."""
+
+    def __init__(
+        self,
+        runner: RosCommandRunner,
+        *,
+        world_name: str = "default",
+        timeout_s: float = 5.0,
+        position_tolerance_m: float = 0.005,
+        orientation_tolerance_rad: float = 0.017453292519943295,
+    ) -> None:
+        if timeout_s <= 0 or position_tolerance_m <= 0 or orientation_tolerance_rad <= 0:
+            raise ValueError("gazebo_pose_bridge_limits_invalid")
+        if not world_name.strip():
+            raise ValueError("gazebo_world_name_required")
+        self.runner = runner
+        self.world_name = world_name
+        self.timeout_s = float(timeout_s)
+        self.position_tolerance_m = float(position_tolerance_m)
+        self.orientation_tolerance_rad = float(orientation_tolerance_rad)
+
+    def read_pose(self, *, model_name: str) -> RigidPose:
+        """Return the model's current Gazebo pose without mutating simulation state."""
+
+        if not model_name.strip():
+            raise SimulationPlatformError("gazebo_pose_model_required")
+        readback = self.runner.run(
+            ("gz", "model", "-m", model_name, "--pose"),
+            timeout_s=self.timeout_s,
+        )
+        if not readback.ok:
+            raise SimulationPlatformError("gazebo_pose_readback_failed")
+        observed_position, observed_quaternion = _parse_pose(
+            readback.stdout + "\n" + readback.stderr
+        )
+        return RigidPose(observed_position, observed_quaternion)
+
+    def set_pose(
+        self,
+        *,
+        model_name: str,
+        position_m: tuple[float, float, float],
+        quaternion_xyzw: tuple[float, float, float, float],
+    ) -> GazeboPoseUpdateReceipt:
+        if not model_name.strip():
+            raise SimulationPlatformError("gazebo_pose_model_required")
+        if any(not isfinite(float(value)) for value in (*position_m, *quaternion_xyzw)):
+            raise SimulationPlatformError("gazebo_pose_non_finite")
+        requested = RigidPose(tuple(position_m), tuple(quaternion_xyzw))
+        service = f"/world/{self.world_name}/set_pose"
+        services = self.runner.run(("gz", "service", "-l"), timeout_s=self.timeout_s)
+        if not services.ok or service not in {line.strip() for line in services.stdout.splitlines()}:
+            raise SimulationPlatformError("gazebo_set_pose_service_unavailable")
+
+        x, y, z = requested.position_m
+        qx, qy, qz, qw = requested.quaternion_xyzw
+        request = (
+            f'name: "{model_name}", '
+            f'position: {{x: {x:.12g}, y: {y:.12g}, z: {z:.12g}}}, '
+            f'orientation: {{x: {qx:.12g}, y: {qy:.12g}, z: {qz:.12g}, w: {qw:.12g}}}'
+        )
+        command = self.runner.run(
+            (
+                "gz",
+                "service",
+                "-s",
+                service,
+                "--reqtype",
+                "gz.msgs.Pose",
+                "--reptype",
+                "gz.msgs.Boolean",
+                "--timeout",
+                str(max(1000, int(self.timeout_s * 1000))),
+                "--req",
+                request,
+            ),
+            timeout_s=self.timeout_s + 2.0,
+        )
+        if not command.ok:
+            raise SimulationPlatformError("gazebo_set_pose_failed")
+
+        observed = self.read_pose(model_name=model_name)
+        position_error = max(
+            abs(first - second)
+            for first, second in zip(requested.position_m, observed.position_m)
+        )
+        orientation_error = requested.orientation_error_rad(observed)
+        if position_error > self.position_tolerance_m:
+            raise SimulationPlatformError(
+                f"gazebo_pose_readback_mismatch:{position_error:.6f}"
+            )
+        if orientation_error > self.orientation_tolerance_rad:
+            raise SimulationPlatformError(
+                f"gazebo_orientation_readback_mismatch:{orientation_error:.6f}"
+            )
+        return GazeboPoseUpdateReceipt(
+            True,
+            model_name,
+            requested.position_m,
+            observed.position_m,
+            position_error,
+            requested.quaternion_xyzw,
+            observed.quaternion_xyzw,
+            orientation_error,
+        )