microduck-cli 0.9.0__tar.gz → 0.9.2__tar.gz

microduck_cli-0.9.2/.devague/current

@@ -0,0 +1 @@
+orin-sanity

microduck_cli-0.9.2/.devague/current_plan

@@ -0,0 +1 @@
+orin-sanity

{microduck_cli-0.9.0 → microduck_cli-0.9.2}/.devague/deliveries/microduck-cli-env-teach-operate-rules.json

@@ -2,7 +2,7 @@
   "plan_slug": "microduck-cli-env-teach-operate-rules",
   "schema_version": 2,
   "created": "2026-09-03T19:58:22Z",
-  "updated": "2026-09-03T22:16:39Z",
+  "updated": "2026-09-03T23:34:51Z",
   "deviations": [
     {
       "id": "d1",
@@ -614,6 +614,60 @@
       "origin": "llm",
       "status": "proposed",
       "superseded": false
+    },
+    {
+      "id": "b10",
+      "kind": "amended",
+      "behavior_text": "Review wave (PR #3): 'rules engine start' and 'rules intent' (spooling into a live engine) go through the same consent gate as every mover (TTY prompt / dry-run on a pipe / --apply); 'engine start' claims <state>/engine.lock, waits for the child's heartbeat, and logs the child to <state>/engine.log",
+      "caused_by": [
+        "c7",
+        "c24",
+        "c32"
+      ],
+      "evidence_refs": [],
+      "origin": "llm",
+      "status": "proposed",
+      "superseded": false
+    },
+    {
+      "id": "b11",
+      "kind": "amended",
+      "behavior_text": "Review wave (PR #3): 'duck record' opens its own links for pad.input and tof.stream (DUCK_PAD_SOCKET / <name>-tof.sock) and writes frames in reader arrival order from a bounded notification queue; absent sources are named drops",
+      "caused_by": [
+        "c41"
+      ],
+      "evidence_refs": [],
+      "origin": "llm",
+      "status": "proposed",
+      "superseded": false
+    },
+    {
+      "id": "b12",
+      "kind": "amended",
+      "behavior_text": "Review wave (PR #3): the smoke gate compares the recorded RL commit with the checkout's HEAD; 'env up' tears down what it started on a failed start; rules refuse non-finite numbers; sense booleans are strict; a mode rule reaches robot.setMode; repeated skills are re-sent after the owner expires",
+      "caused_by": [
+        "c8",
+        "c22",
+        "c12",
+        "c23"
+      ],
+      "evidence_refs": [],
+      "origin": "llm",
+      "status": "proposed",
+      "superseded": false
+    },
+    {
+      "id": "b13",
+      "kind": "amended",
+      "behavior_text": "Review wave (PR #3, SonarCloud): 'duck quack' in text mode crashed on a mis-called emit_result after the sound had gone out (exit 1 for a quack that happened) \u2014 fixed with a regression test; SignalExit now derives from Exception and is re-raised through TickBus isolation so a SIGTERM inside a driver still unwinds the loop",
+      "caused_by": [
+        "c6",
+        "c35"
+      ],
+      "evidence_refs": [],
+      "origin": "llm",
+      "status": "proposed",
+      "superseded": false
     }
   ],
   "supersessions": [

microduck_cli-0.9.2/.devague/deliveries/orin-sanity.json

@@ -0,0 +1,125 @@
+{
+  "plan_slug": "orin-sanity",
+  "schema_version": 2,
+  "created": "2026-09-04T06:57:02Z",
+  "updated": "2026-09-04T07:09:04Z",
+  "deviations": [],
+  "evidence": [
+    {
+      "id": "e1",
+      "obligation_ref": "o1",
+      "test_ref": "MICRODUCK_LIVE=1 MICRODUCK_LIVE_BODY=sim MICRODUCK_LIVE_SIM=1 pytest -m live -n0 (tests/live/test_live_cli.py)",
+      "behavior_text": "12 live checks operate the CLI as subprocesses against the real robotd + MuJoCo body: doctor, version, health at 50 Hz, init dry-run+apply, enable+skill, move+stop, rules check, over-limit refusal, six-step engine start, pure-JSONL record, status/down, sim stand-up \u2014 12 passed",
+      "contract_text": "env up --sim yields a standing duck on this box, the live suite passes (MICRODUCK_LIVE=1, walking sentinel still xfail), the gates are green, and CI passes on the record PR",
+      "evidence_type": "automated",
+      "strength": "execution",
+      "strength_basis": "live suite ran green on this Orin during the sanity run; outputs in docs/verification/2026-09-04-orin-sanity.md",
+      "outcome": "pass",
+      "run": {
+        "timestamp": "2026-09-04T09:16:00+03:00",
+        "commit": "3c09fb0"
+      },
+      "origin": "llm",
+      "status": "approved",
+      "superseded": false,
+      "seq": 1
+    },
+    {
+      "id": "e2",
+      "obligation_ref": "o2",
+      "test_ref": "tests/live/test_live_cli.py::test_sim_body_walks_forward_on_move (non-strict xfail sentinel)",
+      "behavior_text": "the walking test reported xfailed (1 xfailed in the suite summary) \u2014 locomotion still absent at this pin, no XPASS",
+      "contract_text": "the walking xfail sentinel stays expected-fail on Orin; an XPASS is reported as news",
+      "evidence_type": "automated",
+      "strength": "execution",
+      "strength_basis": "same live run; '12 passed, 1098 deselected, 1 xfailed in 29.79s' quoted in the record",
+      "outcome": "pass",
+      "run": {
+        "timestamp": "2026-09-04T09:16:00+03:00",
+        "commit": "3c09fb0"
+      },
+      "origin": "llm",
+      "status": "approved",
+      "superseded": false,
+      "seq": 2
+    },
+    {
+      "id": "e3",
+      "obligation_ref": "o3",
+      "test_ref": "tests/test_hosts.py (14 tests incl. test_gb10_torch_source_applies_and_no_remediation)",
+      "behavior_text": "the classifier's full matrix passes unchanged: gb10/DGX-Spark still classifies with torch_source_applies=True and no remediation; jetson-agx-orin classifies with the unverified remediation \u2014 re-run fresh on the delivery branch",
+      "contract_text": "hosts.py needs no change; the sanity confirms the live verdict without touching the classifier \u2014 Spark support kept, not replaced",
+      "evidence_type": "automated",
+      "strength": "execution",
+      "strength_basis": "14 passed in 0.09s at the delivery branch commit; hosts.py diff empty all run",
+      "outcome": "pass",
+      "run": {
+        "timestamp": "2026-09-04T09:45:00+03:00",
+        "commit": "e627cad"
+      },
+      "origin": "llm",
+      "status": "approved",
+      "superseded": false,
+      "seq": 3
+    },
+    {
+      "id": "e4",
+      "obligation_ref": "o3",
+      "test_ref": "microduck env doctor (live, on-box)",
+      "behavior_text": "live doctor reported '[ok] host_class: jetson-agx-orin (NVIDIA Jetson AGX Orin); torch source applies: False' on this box",
+      "contract_text": "the live classifier verdict matches the code's jetson-agx-orin branch",
+      "evidence_type": "automated",
+      "strength": "execution",
+      "strength_basis": "doctor output pasted in the record's bring-up section",
+      "outcome": "pass",
+      "run": {
+        "timestamp": "2026-09-04T08:55:00+03:00",
+        "commit": "3c09fb0"
+      },
+      "origin": "llm",
+      "status": "approved",
+      "superseded": false,
+      "seq": 4
+    },
+    {
+      "id": "e5",
+      "obligation_ref": "o4",
+      "test_ref": "PR #6 CI (lint, test x2, version-check, test-publish, GitGuardian)",
+      "behavior_text": "all required checks pass on the record PR at 0.9.2; Sonar/Qodo clean, zero unresolved threads",
+      "contract_text": "a dated record lands via a version-bumped PR with CI green",
+      "evidence_type": "automated",
+      "strength": "execution",
+      "strength_basis": "gh pr checks 6: all pass after the MD014 fix",
+      "outcome": "pass",
+      "run": {
+        "timestamp": "2026-09-04T09:40:00+03:00",
+        "commit": "e627cad"
+      },
+      "origin": "llm",
+      "status": "approved",
+      "superseded": false,
+      "seq": 5
+    },
+    {
+      "id": "e6",
+      "obligation_ref": "o5",
+      "test_ref": "WANDB_MODE=offline microduck policy smoke Mjlab-Velocity-Flat-MicroDuck --json (timeout 900s)",
+      "behavior_text": "the smoke failed cleanly in 37s \u2014 torch SBSA cu130 wheel ships sm_110/sm_121 kernels only, not Orin's sm_87 (cudaErrorNoKernelImageForDevice); jp6 fallback closed (no cp312 torch 2.9.1); recorded verbatim in the record's check-5 section as the finding that settles the parked torch risk",
+      "contract_text": "a torch failure is a finding, not a sanity failure; anything not attempted lands in an explicit NOT-verified section",
+      "evidence_type": "automated",
+      "strength": "execution",
+      "strength_basis": "smoke ran on-box under timeout; stderr traceback quoted unchanged; HF half recorded as not attempted (no hf session)",
+      "outcome": "pass",
+      "run": {
+        "timestamp": "2026-09-04T09:17:42+03:00",
+        "commit": "3c09fb0"
+      },
+      "origin": "llm",
+      "status": "approved",
+      "superseded": false,
+      "seq": 6
+    }
+  ],
+  "deltas": [],
+  "supersessions": []
+}

microduck_cli-0.9.2/.devague/frames/orin-sanity.json

@@ -0,0 +1,408 @@
+{
+  "slug": "orin-sanity",
+  "title": "orin-sanity",
+  "schema_version": 6,
+  "status": "exported",
+  "created": "2026-09-04T05:02:12Z",
+  "updated": "2026-09-04T06:57:21Z",
+  "claims": [
+    {
+      "id": "c1",
+      "kind": "announcement",
+      "text": "microduck-cli passes the on-box sanity checks on Jetson AGX Orin, recorded as a verification doc beside the Spark one",
+      "origin": "user",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h1",
+          "text": "every number and output line in the Orin record is pasted from an actual run on this box; nothing is smoothed, and any check that fails or cannot run is recorded verbatim as such",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "bring the box up (rustup, clone both repos at the docs/upstream-pins.md commits, uv sync the RL venv, set MICRODUCK_CLONE/DUCK_SIM_RL), run env doctor until healthy, then execute the six checks of docs/verification/2026-09-04-sim-bringup.md in order (fake body first, then sim), run the live suite, and write the record with outputs pasted unchanged",
+      "revisions": []
+    },
+    {
+      "id": "c2",
+      "kind": "requirement",
+      "text": "re-run the Spark sanity's six success-signal checks on this Jetson AGX Orin and land a sibling record in docs/verification/ \u2014 the Spark record's 'What was NOT verified' names 'Jetson Thor / AGX Orin \u2014 not attempted; the host classifier only' as the gap",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h2",
+          "text": "the Orin checks map 1:1 to the Spark record's six checks; anything not attempted lands in an explicit NOT-verified section, never silently omitted",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "run the six checks in the Spark record's order (fake body first, then MuJoCo sim), paste each check's output unchanged into docs/verification/<date>-orin-sanity.md with the CLI commit named per check",
+      "revisions": []
+    },
+    {
+      "id": "c3",
+      "kind": "requirement",
+      "text": "bring the box up first: this Orin has no cargo/rustc, no microduck/microduck_rl clones, and MICRODUCK_CLONE/DUCK_SIM_RL unset \u2014 install rustup (env doctor requires cargo, stack.py remediation says >= 1.89; Spark used 1.93.1), clone both repos at the pins in docs/upstream-pins.md, uv sync the RL venv; user approved installing rust",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h3",
+          "text": "bring-up uses exactly the pinned commits from docs/upstream-pins.md and rustup for the toolchain; no system-wide installs beyond the rust toolchain the user approved",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "install rustup (stable toolchain, cargo >= 1.89), clone pollen-robotics/microduck at 0cd676d (branch sim-remote-io) and microduck_rl at 29e887e (branch develop) beside this repo or set MICRODUCK_CLONE/DUCK_SIM_RL, uv sync the RL clone, then iterate 'microduck env doctor' to healthy",
+      "revisions": []
+    },
+    {
+      "id": "c4",
+      "kind": "boundary",
+      "text": "microduck_cli/env/hosts.py needs no change: classify() already returns jetson-agx-orin for this box (tegra_release present, 'orin' in the gpu-name haystack) with torch_source_applies=False and the unverified remediation \u2014 the sanity run confirms the live verdict, it does not touch the classifier",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h4",
+          "text": "if the live doctor does NOT report jetson-agx-orin on this box, that is a classifier defect to surface to the user \u2014 never patched silently mid-sanity",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "verify via 'microduck env doctor --json' that this box reports host_class jetson-agx-orin with the unverified-torch remediation; the diff of microduck_cli/env/hosts.py stays empty",
+      "revisions": []
+    },
+    {
+      "id": "c5",
+      "kind": "boundary",
+      "text": "microduck_cli/env/doctor.py needs no change: the host_class check is info-only and always passes (torch_source_applies=False just attaches the remediation text) \u2014 on this box doctor will fail on cargo_version and the clone-pin checks until bring-up is done, which is the tool doing its job",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h5",
+          "text": "doctor failures on this box are fixed by changing the environment, never by editing the checks",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "drive bring-up from doctor output; the diff of microduck_cli/env/doctor.py stays empty",
+      "revisions": []
+    },
+    {
+      "id": "c6",
+      "kind": "non_goal",
+      "text": "no re-pin: the sanity runs against the exact pins in docs/upstream-pins.md (microduck sim-remote-io 0cd676d, microduck_rl develop 29e887e, API 16) \u2014 re-pinning is its own deliberate PR with its own re-verification",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "",
+      "revisions": []
+    },
+    {
+      "id": "c7",
+      "kind": "boundary",
+      "text": "the walking xfail sentinel stays expected-fail on Orin: locomotion-not-achieved is a pin-level defect (walk network selected but joint targets static, ruled out CLI/params/keyframe/RTF on Spark), not host-level \u2014 an Orin walk failure is NOT a regression, and an XPASS would mean the pin question needs revisiting, not the Orin run",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h6",
+          "text": "an XPASS on the walking sentinel is reported to the user as news (walking arrived at this pin), never silently absorbed",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "run 'MICRODUCK_LIVE=1 uv run pytest -m live -n0' (plus MICRODUCK_LIVE_SIM=1 for the sim body); the walking sentinel must report xfail, and its result is quoted in the record",
+      "revisions": []
+    },
+    {
+      "id": "c8",
+      "kind": "audience",
+      "text": "the operator of this box plus future agents and reviewers who need microduck-cli's verified-on-Orin status; mesh peers reading docs/verification/",
+      "origin": "user",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h7",
+          "text": "the record must be trustworthy to a reader who did not watch the run \u2014 no reference to unavailable scratchpad logs as load-bearing evidence",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "write the record self-contained like the Spark one: a header table (host, L4T/CUDA, toolchain, pins, CLI commits, daemon API) so a reader needs no session context",
+      "revisions": []
+    },
+    {
+      "id": "c9",
+      "kind": "before_state",
+      "text": "the Spark record names 'Jetson Thor / AGX Orin \u2014 not attempted; the host classifier only' as an open gap, and this box is bare: no rust toolchain, no microduck/microduck_rl clones, MICRODUCK_CLONE/DUCK_SIM_RL unset",
+      "origin": "user",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h8",
+          "text": "the before-state is recorded as probed on this box, not assumed",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "record the bare-box starting state (no rust, no clones, unset env vars) in the record so the bring-up steps are reproducible",
+      "revisions": []
+    },
+    {
+      "id": "c10",
+      "kind": "after_state",
+      "text": "a dated record docs/verification/<date>-orin-sanity.md exists beside the Spark one, recording the six checks as run on this Orin with outputs pasted verbatim \u2014 including check 5's torch-on-L4T outcome, pass or fail \u2014 and lands via a version-bumped PR",
+      "origin": "user",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h9",
+          "text": "the record is written only from actual runs at named CLI commits, per-check, as the Spark doc does",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "name the file with the run date, link docs/upstream-pins.md, open the PR with a version bump via the version-bump + cicd skills",
+      "revisions": []
+    },
+    {
+      "id": "c11",
+      "kind": "success_signal",
+      "text": "env up --sim yields a standing duck on this box, the live suite passes (MICRODUCK_LIVE=1, walking sentinel still xfail), the gates (check 6) are green, and CI passes on the record PR",
+      "origin": "user",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h10",
+          "text": "success signals are pasted outputs, never paraphrased summaries",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "quote the standing-duck monitor frames, the live-suite summary line, and the check-6 gate outputs verbatim in the record",
+      "revisions": []
+    },
+    {
+      "id": "c12",
+      "kind": "assumption",
+      "text": "uv sync of the microduck_rl clone must succeed for checks 1-4 as well, not just check 5: body_server (MuJoCo) and onnxruntime live in that venv, and uv sync will attempt the pytorch-cu129 aarch64 torch wheel on this box \u2014 a torch install failure would block the sim body, not only the smoke",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h11",
+          "text": "if uv sync fails on the torch wheel, the record states the failure verbatim and the sim checks are reported as blocked-by-venv (falling back to the --fake body only), never silently narrowed",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "",
+      "revisions": []
+    },
+    {
+      "id": "c13",
+      "kind": "requirement",
+      "text": "the record's header states the box's runtime conditions the tick-rate signals depend on: power mode (probed today: MAXN), memory pressure at run time, and what else was running \u2014 on Jetson unified memory the GPU budget is the system budget",
+      "origin": "llm",
+      "status": "confirmed",
+      "honesty_conditions": [
+        {
+          "id": "h12",
+          "text": "the header's runtime-conditions values (power mode, memory, co-tenants) are probed again at run time on the sanity box, never copied forward from this challenge pass's probes",
+          "status": "confirmed",
+          "instruction": ""
+        }
+      ],
+      "hard_questions": [],
+      "links": [],
+      "instruction": "",
+      "revisions": []
+    }
+  ],
+  "open_vagueness": [
+    {
+      "id": "v1",
+      "text": "MuJoCo body_server + onnxruntime aarch64 wheels installed and ran on Spark (GB10, also linux-aarch64) but have never been exercised on Orin's L4T userspace; likely fine (plain aarch64 CPU wheels, ORT dlopened from the RL venv) but only the live run tells",
+      "kind": "unknown_nonblocking",
+      "claim_id": null,
+      "resolved": false,
+      "resolution": "",
+      "resolution_claim_id": null
+    },
+    {
+      "id": "v2",
+      "text": "check 5 may hang rather than fail cleanly on an incompatible torch/GPU stack \u2014 the run needs a timeout discipline (lands plan-side as a risk/task once /spec-to-plan seeds the plan)",
+      "kind": "unknown_nonblocking",
+      "claim_id": null,
+      "resolved": false,
+      "resolution": "",
+      "resolution_claim_id": null
+    }
+  ],
+  "scope_entries": [
+    {
+      "id": "s1",
+      "surface": "docs/verification/2026-09-04-sim-bringup.md",
+      "finding": "the Spark sanity is the template: six checks (env up --sim standing duck, health 50Hz, duck do skill, rules overlay + refusal, policy smoke local+HF dry-run, the gates) plus the fake-body pass and the live suite; its NOT-verified list explicitly names AGX Orin as not attempted",
+      "seeds": [
+        "c2"
+      ]
+    },
+    {
+      "id": "s2",
+      "surface": "this box (Jetson AGX Orin, L4T R39, CUDA 13.2, driver 595.78)",
+      "finding": "probed read-only: /etc/nv_tegra_release R39 present, GPU 'Orin (nvgpu)', uv + python 3.12.3 present, but no rust toolchain and no upstream clones \u2014 bring-up is a prerequisite, and the user approved installing rust",
+      "seeds": [
+        "c3"
+      ]
+    },
+    {
+      "id": "s3",
+      "surface": "microduck_cli/env/hosts.py",
+      "finding": "jetson-agx-orin branch exists and matches this box's probe (gpu 'Orin (nvgpu)', nv_tegra_release R39); torch_source_applies=False by design \u2014 Jetson gets JetPack-index torch, not pytorch-cu129",
+      "seeds": [
+        "c4"
+      ]
+    },
+    {
+      "id": "s4",
+      "surface": "microduck_cli/env/doctor.py",
+      "finding": "host_class check is severity=info, passed=True regardless of torch verdict (lines 540-560); the real Orin blockers doctor will report are cargo_version and the clone checks \u2014 MICRODUCK_CLONE else ../microduck sibling, DUCK_SIM_RL/MICRODUCK_RL_CLONE else ../microduck_rl sibling",
+      "seeds": [
+        "c5"
+      ]
+    },
+    {
+      "id": "s5",
+      "surface": "docs/upstream-pins.md",
+      "finding": "pins are validated-against commits; the doc itself says re-pin deliberately (one PR, all rows) and re-run on-box verification when you do \u2014 so the Orin sanity holds the pins fixed",
+      "seeds": [
+        "c6"
+      ]
+    },
+    {
+      "id": "s6",
+      "surface": "tests/live/test_live_cli.py",
+      "finding": "the live suite (MICRODUCK_LIVE=1, -m live -n0; MICRODUCK_LIVE_SIM=1 for the MuJoCo body) is the runnable half of the sanity \u2014 12 checks passed on Spark; test_sim_body_walks_forward_on_move is a non-strict xfail sentinel by design",
+      "seeds": [
+        "c7"
+      ]
+    },
+    {
+      "id": "s7",
+      "surface": "microduck_cli/train/lane.py + microduck_rl [tool.uv.sources] (read at the pin via hosts.py docstring)",
+      "finding": "the train lane resolves the RL clone via DUCK_SIM_RL/MICRODUCK_RL_CLONE and shells to uv run train there; whether that venv's torch actually runs on Orin is exactly the t8/t15 unknown_nonblocking risk the classifier remediation names \u2014 seeded question q1 (include check 5 or record it not-attempted)",
+      "seeds": []
+    },
+    {
+      "id": "s8",
+      "surface": "challenge pass / adjacent-systems lens: microduck_rl pyproject at pin + train/lane.py",
+      "finding": "the RL venv is a shared dependency of the sim checks and the smoke; torch install failure contaminates checks 1-4, not just 5 \u2014 seeded the venv assumption",
+      "seeds": [
+        "c12"
+      ]
+    },
+    {
+      "id": "s9",
+      "surface": "challenge pass / operations lens: this box (nvpmodel, free, ps)",
+      "finding": "probed: MAXN power mode, 12 cores, 1.4T disk free, port 7801 free, headless (no DISPLAY, matches the Spark recipe) \u2014 but 53Gi/61Gi RAM held by a vLLM engine (colleague backend), ~7.7Gi available",
+      "seeds": [
+        "c13"
+      ]
+    },
+    {
+      "id": "s10",
+      "surface": "challenge pass / failure-mode lens: policy smoke on unverified torch",
+      "finding": "a hang is likelier than a clean ImportError on a bad GPU stack; Spark's smoke took 58.6s \u2014 parked the timeout-discipline residual for the plan leg",
+      "seeds": []
+    },
+    {
+      "id": "s11",
+      "surface": "challenge pass / reversibility lens: rustup + clones",
+      "finding": "clean: rustup self uninstall reverses the toolchain, clones are plain directories; g++ is absent but rust links via cc \u2014 if any build step wants g++ an apt install is surfaced to the user first, not done silently",
+      "seeds": []
+    },
+    {
+      "id": "s12",
+      "surface": "challenge pass / security lens: bring-up downloads",
+      "finding": "clean pass: clones are pinned commits from pollen-robotics, wheels from PyPI/PyTorch indexes over uv, rustup from the official installer; no credentials touched (HF/wandb stay unset unless check 5 needs the dry-run namespace)",
+      "seeds": []
+    }
+  ],
+  "lapses": [],
+  "obligations": [
+    {
+      "id": "o1",
+      "claim_id": "c11",
+      "seam": "opt-in live suite against the real daemon + MuJoCo body",
+      "behavior": "the CLI operates a real simulated duck end to end on this host: doctor, health at 50 Hz, init/enable/skill, move+stop, rules check, refusal, six-step engine start, record, stand-up",
+      "source_text": "env up --sim yields a standing duck on this box, the live suite passes (MICRODUCK_LIVE=1, walking sentinel still xfail), the gates (check 6) are green, and CI passes on the record PR",
+      "origin": "user",
+      "status": "approved"
+    },
+    {
+      "id": "o2",
+      "claim_id": "c7",
+      "seam": "walking sentinel (test_sim_body_walks_forward_on_move)",
+      "behavior": "locomotion remains expected-fail at this pin; an XPASS would be surfaced, never absorbed",
+      "source_text": "the walking xfail sentinel stays expected-fail on Orin: locomotion-not-achieved is a pin-level defect (walk network selected but joint targets static, ruled out CLI/params/keyframe/RTF on Spark), not host-level \u2014 an Orin walk failure is NOT a regression, and an XPASS would mean the pin question needs revisiting, not the Orin run",
+      "origin": "user",
+      "status": "approved"
+    },
+    {
+      "id": "o3",
+      "claim_id": "c4",
+      "seam": "env/hosts.py classifier (unit + live doctor)",
+      "behavior": "jetson-agx-orin is classified correctly on this box AND the gb10/DGX-Spark class still classifies with torch_source_applies=True \u2014 Orin support is additive, Spark support unchanged",
+      "source_text": "microduck_cli/env/hosts.py needs no change: classify() already returns jetson-agx-orin for this box (tegra_release present, 'orin' in the gpu-name haystack) with torch_source_applies=False and the unverified remediation \u2014 the sanity run confirms the live verdict, it does not touch the classifier",
+      "origin": "user",
+      "status": "approved"
+    },
+    {
+      "id": "o4",
+      "claim_id": "c10",
+      "seam": "PR #6 (docs/orin-sanity, 0.9.2)",
+      "behavior": "the verification record lands via a version-bumped PR with CI green",
+      "source_text": "a dated record docs/verification/<date>-orin-sanity.md exists beside the Spark one, recording the six checks as run on this Orin with outputs pasted verbatim \u2014 including check 5's torch-on-L4T outcome, pass or fail \u2014 and lands via a version-bumped PR",
+      "origin": "user",
+      "status": "approved"
+    },
+    {
+      "id": "o5",
+      "claim_id": "c2",
+      "seam": "policy smoke on the Orin GPU (check 5)",
+      "behavior": "the smoke is attempted under an explicit timeout and its outcome recorded verbatim \u2014 pass, fail, or timeout",
+      "source_text": "re-run the Spark sanity's six success-signal checks on this Jetson AGX Orin and land a sibling record in docs/verification/ \u2014 the Spark record's 'What was NOT verified' names 'Jetson Thor / AGX Orin \u2014 not attempted; the host classifier only' as the gap",
+      "origin": "user",
+      "status": "approved"
+    }
+  ]
+}