BryceWDesign · BryceWDesign · Aug 29, 2026 · Aug 29, 2026
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.10", "3.11"]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
 
     steps:
       - name: Checkout
@@ -29,22 +29,20 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install -r requirements.txt
-          pip install -e .
+          python -m pip install -r requirements.txt
+          python -m pip install -e .
 
-      - name: Run unit tests
-        run: |
-          pytest -q
+      - name: Compile Python sources
+        run: python -m compileall -q src scripts examples
 
-      - name: Quickstart smoke (scene → nudge → plan → safety)
-        run: |
-          python examples/quickstart.py --scene sim/scenes/basic_room.json --verbose
+      - name: Run automated tests
+        run: pytest -q
 
-      - name: Import benchmark catalog smoke
-        run: |
-          python - <<'PY'
-          from ohip_bench.scenarios import make_core_catalog
-          catalog = make_core_catalog()
-          assert len(catalog) >= 3
-          print("benchmark scenarios:", [scenario.scenario_id for scenario in catalog])
-          PY
+      - name: Run protocol quickstart
+        run: python examples/quickstart.py --scene sim/scenes/basic_room.json --verbose
+
+      - name: Run perception-to-contact integration demo
+        run: python examples/perception_to_contact_demo.py
+
+      - name: Run adversarial safety-authority benchmark
+        run: python scripts/run_safety_authority_benchmark.py
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,41 +1,43 @@
 # Changelog
 
-All notable changes to this project will be documented in this file.
+All notable changes to IX-HapticSight are documented here.
 
-The format is based on Keep a Changelog.
-This project follows semantic versioning principles for tagged releases.
-
-## [Unreleased]
+## [0.2.0] - 2026-08-29
 
 ### Added
-- Python packaging baseline via `pyproject.toml`.
-- Repository hygiene baseline via `.gitignore`.
-- Changelog for tracking safety, runtime, benchmark, and governance upgrades across the v0.1 to v1.0 buildout.
-
-### Planned
-- Repository authorship and scope cleanup.
-- Runtime package restructuring.
-- ROS 2 lifecycle node scaffolding.
-- Motion execution and safety shield expansion.
-- Tactile, proximity, thermal, and force/torque interfaces.
-- Logging, replay, integrity, and threat-model artifacts.
-- Benchmark harnesses and simulation scenario packs.
-- HIL scaffolding and safety-case traceability artifacts.
+- Executable RGB-D perception pipeline with image ingestion.
+- Two independently trained reference semantic segmenters with committed model parameters, deterministic training script, and held-out synthetic calibration metrics.
+- Perception quorum that fails closed on model disagreement, critical-class disagreement, or low confidence.
+- Vision-derived 3D GREEN/YELLOW/RED hazard projection.
+- Deterministic multimodal safety fusion across vision, force/torque, tactile, proximity, and thermal state.
+- Model-agnostic LLM/VLA safety broker that hashes untrusted physical proposals and returns bounded decision receipts.
+- Independent safety authority that returns explicit `ALLOW`, `MODIFY`, or `DENY` decisions and bounded counterfactual explanations.
+- Dynamic force and speed envelopes that derate authority for uncertainty, YELLOW state, and human proximity.
+- Cycle-level runtime invariant monitor for consent, force, speed, sensor freshness, perception quorum, watchdog timing, and E-stop state.
+- Bounded soft-real-time reference controller with deterministic recovery, zero-effort, retract, safe-hold, and operator-clear semantics.
+- Deterministic contact-world simulation for closed-loop regression testing.
+- ROS 2 bridge for bounded twist commands, `WrenchStamped` force/torque input, normalized tactile-patch input, E-stop input, and safety events.
+- Standard ROS 2 `FollowJointTrajectory` client implementation for physical robot-controller integration when ROS 2 hardware is available.
+- WebXR safety observer with live hazard, force-cap, speed-cap, consent, controller-state, and authority visualization.
+- Executable HIL harness that can only report `PASSED` from declared hardware capability plus measured samples. Missing hardware produces `NOT_RUN_NO_HARDWARE`, never a synthetic pass.
+- SHA-256 chained runtime evidence records and portable evidence-bundle verification.
+- Adversarial safety-authority benchmark covering nominal behavior, over-request derating, RED hazards, consent loss, perception disagreement, high uncertainty, and human-proximity cases.
+- End-to-end perception-to-contact software demonstration.
+- Expanded automated test suite: 183 tests passing at release-candidate build time.
+
+### Corrected
+- Package license metadata now matches the MIT `LICENSE` file.
+- Responsible-use language moved to a separate non-license statement to avoid contradictory license claims.
+- Repository author metadata normalized to Bryce Lovell.
+
+### Evidence limits
+- Reference vision models are trained on deterministic synthetic calibration data, not field robot datasets.
+- The Python controller is timing-instrumented soft real time, not a certified hard-real-time controller.
+- ROS 2 and robot-controller adapters are implemented but not physically validated in this repository build.
+- No HIL pass or real-robot pass is claimed without external measured hardware evidence.
 
 ## [0.1.0] - 2026-04-10
 
 ### Added
 - Initial OHIP schemas and protocol reference implementation.
-- Consent management logic.
-- Contact planning logic.
-- Nudge scheduling logic.
-- Rest-pose generation logic.
-- Safety gate logic.
-- Example quickstart script.
-- Core configuration files for force limits and culture profiles.
-- Basic simulation scene.
-- Unit tests for schemas and scheduler.
-
-### Notes
-- `0.1.0` is the pre-upgrade baseline imported before the 72-commit architecture and runtime expansion campaign.
-- The project at this stage is a reference implementation and documentation-first prototype, not a deployable robotics runtime.
+- Consent management, contact planning, nudge scheduling, rest pose generation, safety gating, simulation scene, configuration, and baseline tests.
diff --git a/LICENSE b/LICENSE
@@ -1,62 +1,21 @@
 MIT License
 
-Copyright (c) 2025 Bryce Lovell
+Copyright (c) 2025-2026 Bryce Lovell
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights  
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell      
-copies of the Software, and to permit persons to whom the Software is          
-furnished to do so, subject to the following conditions:                       
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
 
 The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.                                
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR     
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,       
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE    
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER         
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,  
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE  
-SOFTWARE.                                                                       
-
--------------------------------------------------------------------------------
-Responsible Use Addendum for IX-HapticSight
-
-The Software is intended for humanitarian, assistive, educational, and 
-industrial safety applications only. 
-
-By using, modifying, or distributing this Software, you agree to the 
-following additional conditions:
-
-1. **No Weaponization**  
-   You may not use the Software, in whole or in part, to design, develop, 
-   train, deploy, or operate any system intended to cause physical harm 
-   to humans, animals, or the environment.
-
-2. **No Coercive Use**  
-   You may not use the Software to engage in coercive control, surveillance 
-   of individuals without their consent, or any other activity that violates 
-   internationally recognized human rights.
-
-3. **Safety Compliance**  
-   Any deployment of this Software in physical systems must implement 
-   adequate safety measures, including force limits, hazard detection, 
-   and emergency stop capabilities, as recommended in the project 
-   documentation.
-
-4. **Ethical Attribution**  
-   Any public or commercial deployment must credit the original author 
-   ("Bryce Lovell") and retain this Responsible Use Addendum in all copies 
-   and derivative works.
-
-Violation of these conditions immediately terminates your rights under this 
-License for the offending use, without limiting any other remedies available 
-under law.
-
--------------------------------------------------------------------------------
-
-This Responsible Use Addendum is a non-legally binding expression of intent 
-and good faith, designed to guide ethical use. However, the prohibitions on 
-weaponization and unsafe deployment are intended to be enforceable under 
-applicable law when incorporated into contracts, agreements, or terms of use.
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.