safety-harness 0.2.1__tar.gz

safety_harness-0.2.1/LICENSE

@@ -0,0 +1,202 @@
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safety_harness-0.2.1/NOTICE

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+Physical AI Safety Harness
+Copyright 2026 Kaoru Naganuma
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0

safety_harness-0.2.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: safety-harness
+Version: 0.2.1
+Summary: Default-deny precondition gate for physical AI actuators: permission, not detection.
+Author-email: Kaoru Naganuma <kaoru.naganuma@gmail.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/naganumakr/safety-harness
+Project-URL: Repository, https://github.com/naganumakr/safety-harness
+Project-URL: Issues, https://github.com/naganumakr/safety-harness/issues
+Project-URL: Design doc, https://claude.ai/artifact/V1cBKhjD94CZBj4D8kQjdU
+Keywords: robotics,safety,physical-ai,isaac-lab,iso-15066
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: OS Independent
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Software Development :: Libraries
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: pyyaml>=6.0
+Dynamic: license-file
+
+# Physical AI Safety Harness
+
+[![tests](https://github.com/naganumakr/safety-harness/actions/workflows/tests.yml/badge.svg)](https://github.com/naganumakr/safety-harness/actions/workflows/tests.yml)
+[![License: Apache 2.0](https://img.shields.io/badge/license-Apache%202.0-blue.svg)](LICENSE)
+
+A default-deny precondition gate for physical actuators. Every action a robot proposes — grasp,
+place, reach, anything else you register — must earn a `PERMIT` from measured, structured
+evidence before it executes. No evidence, or a failed check, or an adapter that raises: `BLOCK`.
+Permission, not detection.
+
+Full design spec, architecture, worked examples, test/validation record, and roadmap:
+**[Physical AI Safety Harness — design doc](https://claude.ai/artifact/V1cBKhjD94CZBj4D8kQjdU)**.
+
+## Status
+
+Reference implementation, not yet independently assessed. Validated against one robot (a Franka
+Panda arm) in one simulator (Isaac Lab), with 75 automated unit/fuzz/mutation/black-box tests and
+7 live hazard-scenario recordings. It has **not** been reviewed by a functional-safety assessor
+against IEC 61508, ISO 13849, or ISO 10218/TS 15066 — see the design doc's Scope & Non-Goals
+section for what's out of scope today (joint-space kinematic checks, certified numeric
+thresholds, data-protection handling of logged human-position data). Treat this as engineering
+evidence, not a certification.
+
+## What's here
+
+- `safety_harness/schema.py` — the data contract (`WorldState`, `Action`, `Decision`, and friends).
+  `SCHEMA_VERSION` tracks this contract specifically; bump it deliberately (see the design doc's
+  Version History).
+- `safety_harness/engine.py` — `ActuatorGate.gate()`, the single decision entry point.
+- `safety_harness/preconditions.py` — the registered precondition checks (24 at last count:
+  object/target safety, placement, agent proximity incl. ISO/TS 15066, robot self-limits,
+  environmental signals).
+- `safety_harness/action_schema.py` — the YAML-driven registry mapping action types to the checks
+  they must pass (`configs/example_action_schema.yaml` is the reference wiring).
+- `tests/` — unit tests, mutation/random-fuzz tests, and reflection-driven black-box contract
+  tests.
+
+Robot-specific behavior lives entirely behind four adapter interfaces
+(`PerceptionAdapter`, `DynamicsAdapter`, `FallbackController`, `Logger`) so the engine and checks
+are robot-agnostic. Only an Isaac Lab / Franka adapter exists today.
+
+## Install & test
+
+Not on PyPI yet — install straight from GitHub:
+
+```bash
+pip install git+https://github.com/naganumakr/safety-harness.git
+```
+
+Or for local development (editable, so edits to `safety_harness/` take effect immediately):
+
+```bash
+git clone https://github.com/naganumakr/safety-harness.git
+cd safety-harness
+pip install -e .
+python -m unittest discover -s tests -p "test_*.py"
+```
+
+## Usage
+
+```python
+from safety_harness import ActionSchemaRegistry, ActuatorGate
+from safety_harness.adapters import FreezeInPlaceFallback, InMemoryLogger
+from safety_harness.adapters.isaac_lab import (
+    IsaacLabCubeStackPerceptionAdapter,
+    IsaacLabCubeStackDynamicsAdapter,
+)
+
+schema = ActionSchemaRegistry.from_yaml("configs/example_action_schema.yaml")
+gate = ActuatorGate(
+    perception=IsaacLabCubeStackPerceptionAdapter(...),   # swap for your own stack's adapter
+    dynamics=IsaacLabCubeStackDynamicsAdapter(...),
+    fallback=FreezeInPlaceFallback(),
+    logger=InMemoryLogger(),
+    schema=schema,
+)
+
+decision = gate.gate(proposed_action)  # -> Decision(verdict=PERMIT|BLOCK, ...)
+if decision.verdict.name == "PERMIT":
+    robot.execute(decision.action)
+else:
+    robot.execute(decision.action)  # the fallback action FreezeInPlaceFallback produced
+```
+
+Nothing here is Isaac-Lab-specific except the two adapter classes — swap those for adapters
+targeting your own robot stack and the engine, checks, and tests are unchanged. See "Contributing
+an adapter" below.
+
+## License
+
+Apache License 2.0 — see [LICENSE](LICENSE) and [NOTICE](NOTICE). The engine, the adapter
+interfaces, and the conformance test suite are all open under this license: the goal is for any
+robot maker to implement the four adapters for their own stack and run the same conformance suite
+against it, not to license the core code per-implementation. See the design doc's Release &
+Distribution section for the reasoning and the certification model this enables.
+
+## Contributing an adapter
+
+1. Implement `PerceptionAdapter`, `DynamicsAdapter`, `FallbackController`, and `Logger` for your
+   stack (see `safety_harness/adapters/isaac_lab.py` for the reference shape).
+2. Run the black-box and fuzz test suites against your adapter's `WorldState`/`PredictedTrajectory`
+   output — they're written against the interfaces, not the Isaac Lab implementation, so they
+   should run unmodified.
+3. Open an issue or PR with your results. Passing the conformance suite is what "compliant
+   adapter" means here — there's no separate certification process yet, but that's the intent
+   (see the design doc's Roadmap).

safety_harness-0.2.1/README.md

@@ -0,0 +1,106 @@
+# Physical AI Safety Harness
+
+[![tests](https://github.com/naganumakr/safety-harness/actions/workflows/tests.yml/badge.svg)](https://github.com/naganumakr/safety-harness/actions/workflows/tests.yml)
+[![License: Apache 2.0](https://img.shields.io/badge/license-Apache%202.0-blue.svg)](LICENSE)
+
+A default-deny precondition gate for physical actuators. Every action a robot proposes — grasp,
+place, reach, anything else you register — must earn a `PERMIT` from measured, structured
+evidence before it executes. No evidence, or a failed check, or an adapter that raises: `BLOCK`.
+Permission, not detection.
+
+Full design spec, architecture, worked examples, test/validation record, and roadmap:
+**[Physical AI Safety Harness — design doc](https://claude.ai/artifact/V1cBKhjD94CZBj4D8kQjdU)**.
+
+## Status
+
+Reference implementation, not yet independently assessed. Validated against one robot (a Franka
+Panda arm) in one simulator (Isaac Lab), with 75 automated unit/fuzz/mutation/black-box tests and
+7 live hazard-scenario recordings. It has **not** been reviewed by a functional-safety assessor
+against IEC 61508, ISO 13849, or ISO 10218/TS 15066 — see the design doc's Scope & Non-Goals
+section for what's out of scope today (joint-space kinematic checks, certified numeric
+thresholds, data-protection handling of logged human-position data). Treat this as engineering
+evidence, not a certification.
+
+## What's here
+
+- `safety_harness/schema.py` — the data contract (`WorldState`, `Action`, `Decision`, and friends).
+  `SCHEMA_VERSION` tracks this contract specifically; bump it deliberately (see the design doc's
+  Version History).
+- `safety_harness/engine.py` — `ActuatorGate.gate()`, the single decision entry point.
+- `safety_harness/preconditions.py` — the registered precondition checks (24 at last count:
+  object/target safety, placement, agent proximity incl. ISO/TS 15066, robot self-limits,
+  environmental signals).
+- `safety_harness/action_schema.py` — the YAML-driven registry mapping action types to the checks
+  they must pass (`configs/example_action_schema.yaml` is the reference wiring).
+- `tests/` — unit tests, mutation/random-fuzz tests, and reflection-driven black-box contract
+  tests.
+
+Robot-specific behavior lives entirely behind four adapter interfaces
+(`PerceptionAdapter`, `DynamicsAdapter`, `FallbackController`, `Logger`) so the engine and checks
+are robot-agnostic. Only an Isaac Lab / Franka adapter exists today.
+
+## Install & test
+
+Not on PyPI yet — install straight from GitHub:
+
+```bash
+pip install git+https://github.com/naganumakr/safety-harness.git
+```
+
+Or for local development (editable, so edits to `safety_harness/` take effect immediately):
+
+```bash
+git clone https://github.com/naganumakr/safety-harness.git
+cd safety-harness
+pip install -e .
+python -m unittest discover -s tests -p "test_*.py"
+```
+
+## Usage
+
+```python
+from safety_harness import ActionSchemaRegistry, ActuatorGate
+from safety_harness.adapters import FreezeInPlaceFallback, InMemoryLogger
+from safety_harness.adapters.isaac_lab import (
+    IsaacLabCubeStackPerceptionAdapter,
+    IsaacLabCubeStackDynamicsAdapter,
+)
+
+schema = ActionSchemaRegistry.from_yaml("configs/example_action_schema.yaml")
+gate = ActuatorGate(
+    perception=IsaacLabCubeStackPerceptionAdapter(...),   # swap for your own stack's adapter
+    dynamics=IsaacLabCubeStackDynamicsAdapter(...),
+    fallback=FreezeInPlaceFallback(),
+    logger=InMemoryLogger(),
+    schema=schema,
+)
+
+decision = gate.gate(proposed_action)  # -> Decision(verdict=PERMIT|BLOCK, ...)
+if decision.verdict.name == "PERMIT":
+    robot.execute(decision.action)
+else:
+    robot.execute(decision.action)  # the fallback action FreezeInPlaceFallback produced
+```
+
+Nothing here is Isaac-Lab-specific except the two adapter classes — swap those for adapters
+targeting your own robot stack and the engine, checks, and tests are unchanged. See "Contributing
+an adapter" below.
+
+## License
+
+Apache License 2.0 — see [LICENSE](LICENSE) and [NOTICE](NOTICE). The engine, the adapter
+interfaces, and the conformance test suite are all open under this license: the goal is for any
+robot maker to implement the four adapters for their own stack and run the same conformance suite
+against it, not to license the core code per-implementation. See the design doc's Release &
+Distribution section for the reasoning and the certification model this enables.
+
+## Contributing an adapter
+
+1. Implement `PerceptionAdapter`, `DynamicsAdapter`, `FallbackController`, and `Logger` for your
+   stack (see `safety_harness/adapters/isaac_lab.py` for the reference shape).
+2. Run the black-box and fuzz test suites against your adapter's `WorldState`/`PredictedTrajectory`
+   output — they're written against the interfaces, not the Isaac Lab implementation, so they
+   should run unmodified.
+3. Open an issue or PR with your results. Passing the conformance suite is what "compliant
+   adapter" means here — there's no separate certification process yet, but that's the intent
+   (see the design doc's Roadmap).

safety_harness-0.2.1/pyproject.toml

@@ -0,0 +1,35 @@
+[build-system]
+requires = ["setuptools>=68"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "safety-harness"
+version = "0.2.1"
+description = "Default-deny precondition gate for physical AI actuators: permission, not detection."
+readme = "README.md"
+license = "Apache-2.0"
+requires-python = ">=3.9"
+authors = [{ name = "Kaoru Naganuma", email = "kaoru.naganuma@gmail.com" }]
+keywords = ["robotics", "safety", "physical-ai", "isaac-lab", "iso-15066"]
+dependencies = ["pyyaml>=6.0"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Operating System :: OS Independent",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Topic :: Software Development :: Libraries",
+]
+
+[project.urls]
+Homepage = "https://github.com/naganumakr/safety-harness"
+Repository = "https://github.com/naganumakr/safety-harness"
+Issues = "https://github.com/naganumakr/safety-harness/issues"
+"Design doc" = "https://claude.ai/artifact/V1cBKhjD94CZBj4D8kQjdU"
+
+[tool.setuptools.packages.find]
+include = ["safety_harness*"]

safety_harness-0.2.1/safety_harness/__init__.py

@@ -0,0 +1,40 @@
+from .action_schema import ActionSchemaRegistry
+from .engine import ActuatorGate, PerceptionFailure
+from .schema import (
+    SCHEMA_VERSION,
+    Action,
+    Decision,
+    DecisionVerdict,
+    EnvironmentSignals,
+    FallConsequence,
+    HazardTag,
+    Pose,
+    PredictedTrajectory,
+    PreconditionResult,
+    RobotProprioception,
+    TrackedAgent,
+    TrackedObject,
+    TrajectoryPoint,
+    WorldState,
+)
+
+__all__ = [
+    "ActionSchemaRegistry",
+    "ActuatorGate",
+    "PerceptionFailure",
+    "SCHEMA_VERSION",
+    "Action",
+    "Decision",
+    "DecisionVerdict",
+    "EnvironmentSignals",
+    "FallConsequence",
+    "HazardTag",
+    "Pose",
+    "PredictedTrajectory",
+    "PreconditionResult",
+    "RobotProprioception",
+    "TrackedAgent",
+    "TrackedObject",
+    "TrajectoryPoint",
+    "WorldState",
+]

safety_harness-0.2.1/safety_harness/action_schema.py

@@ -0,0 +1,65 @@
+"""Declarative action-type -> required-precondition mapping.
+
+A robot team edits the YAML config, not this file (design doc: "Action Precondition Schemas",
+"Reference Module Design"). An action type with no registered schema is unsafe by default -- see
+``run_checks`` -- which enforces "unsafe unless confirmed" even at the registration level, not just
+inside individual checks.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import yaml
+
+from .preconditions import REGISTRY
+from .schema import Action, PredictedTrajectory, PreconditionResult, WorldState
+
+
+@dataclass(frozen=True)
+class ActionTypeSchema:
+    action_type: str
+    checks: tuple  # each element: {"name": <registry key>, "kwargs": {...}}
+
+
+class ActionSchemaRegistry:
+    def __init__(self, schemas: dict):
+        self._schemas = schemas
+
+    @classmethod
+    def from_yaml(cls, path: str) -> "ActionSchemaRegistry":
+        with open(path) as f:
+            raw = yaml.safe_load(f) or {}
+        return cls.from_dict(raw)
+
+    @classmethod
+    def from_dict(cls, raw: dict) -> "ActionSchemaRegistry":
+        schemas = {}
+        for action_type, spec in (raw.get("action_types") or {}).items():
+            checks = tuple(spec.get("checks", []))
+            for check in checks:
+                if check["name"] not in REGISTRY:
+                    raise ValueError(f"unknown precondition check {check['name']!r} for action type {action_type!r}")
+            schemas[action_type] = ActionTypeSchema(action_type=action_type, checks=checks)
+        return cls(schemas)
+
+    def run_checks(
+        self, action: Action, state: WorldState, trajectory: PredictedTrajectory,
+    ) -> tuple:
+        schema = self._schemas.get(action.action_type)
+        if schema is None:
+            # No declared schema -> no confirmed preconditions -> never permitted. Register the
+            # action type explicitly (even with an empty check list) to allow it through.
+            return (
+                PreconditionResult(
+                    name="action_type_registered",
+                    satisfied=False,
+                    reason=f"action type {action.action_type!r} has no registered schema",
+                ),
+            )
+        results = []
+        for check in schema.checks:
+            fn = REGISTRY[check["name"]]
+            kwargs = check.get("kwargs", {}) or {}
+            results.append(fn(state, action, trajectory, **kwargs))
+        return tuple(results)

safety_harness-0.2.1/safety_harness/adapters/__init__.py

@@ -0,0 +1,11 @@
+from .base import DynamicsAdapter, FallbackController, Logger, PerceptionAdapter
+from .simple import FreezeInPlaceFallback, InMemoryLogger
+
+__all__ = [
+    "DynamicsAdapter",
+    "FallbackController",
+    "Logger",
+    "PerceptionAdapter",
+    "FreezeInPlaceFallback",
+    "InMemoryLogger",
+]

safety_harness-0.2.1/safety_harness/adapters/base.py

@@ -0,0 +1,36 @@
+"""Adapter interfaces a robot team implements.
+
+The engine (engine.py) never imports a robot-specific module -- only these four abstract
+interfaces. See the design doc's "Reference Module Design" and "Stack-by-Stack Integration"
+sections for what each wraps on a given robot stack.
+"""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+
+from ..schema import Action, Decision, PredictedTrajectory, WorldState
+
+
+class PerceptionAdapter(ABC):
+    @abstractmethod
+    def get_world_state(self) -> WorldState:
+        """Read whatever perception this robot already runs and return it in the fixed schema."""
+
+
+class DynamicsAdapter(ABC):
+    @abstractmethod
+    def predict_trajectory(self, state: WorldState, action: Action, horizon_s: float) -> PredictedTrajectory:
+        """Forward-simulate the proposed action using this robot's own kinematics/physics model."""
+
+
+class FallbackController(ABC):
+    @abstractmethod
+    def execute(self, state: WorldState) -> Action:
+        """Return this robot's safe fallback action given the current state (freeze, retract, ...)."""
+
+
+class Logger(ABC):
+    @abstractmethod
+    def record(self, decision: Decision, state: WorldState) -> None:
+        """Write the decision to whatever telemetry sink this robot already uses."""