feat: add support for nexus and rapier backends

.gitignore

@@ -17,3 +17,11 @@ out/
 # input to one: it is derived from graphs/, so committing it would be a
 # second copy of the topology that silently goes stale.
 *-graph.html
+
+# ADR-67: receipt of the locally built Nexus wheel (tools/nexus_runtime.py)
+.nexus-runtime-receipt.json
+# ADR-68: receipt of the locally built rapier wheel (tools/rapier_runtime.py)
+.rapier-runtime-receipt.json
+
+# ADR-67/ADR-68: pinned engine checkouts fetched by tools/engine_sources.py
+.engine-sources/

CLAUDE.md

@@ -28,6 +28,10 @@ benchmark acceptance. Run things:
 `uv run pytest -m unit`, `uv run harness validate graphs/expert_t0.yaml`,
 `dora run graphs/expert_t0.yaml --uv`. Never install with bare pip/conda.
 CUDA-only deps are forbidden in default extras (CON-1).
+Optional second engine (ADR-67): `harness rollout --sim-engine nexus` runs
+the same scene on Nexus; install its wheel with `tools/nexus_runtime.py`
+(docs/getting-started.md §3b). Genesis stays the default and the only engine
+behind the measured record.
 
 ## Quality gates before EVERY commit (inherited from dora-rs/dora practice)
 Class B/C (nodes, harness, frozen set, contracts): /review on the diff →

README.md

@@ -31,7 +31,12 @@ execution is the intended path.*
 Agentic auto-research for robot manipulation on open infrastructure:
 coding agents (Claude Code / Codex) compose and evolve **typed dora-rs
 dataflows** against a **Genesis** physics scene, with frozen
-verification/reset and scoped safety structure.
+verification/reset and scoped safety structure. The scene contract is
+engine neutral; two optional engines run the same graphs for development,
+[Nexus](docs/decisions/ADR-67.md) on the GPU and
+[rapier](docs/decisions/ADR-68.md) on the CPU (`--sim-engine nexus|rapier`),
+while Genesis stays the default and the only engine behind the measured
+record.
 <!-- claim:typed-dataflow-causal/readme -->
 The **UNRUN confirmatory claim under test** is whether a
 typed dataflow substrate makes agentic robotics faster, safer, more

analysis/freeze/README.md

@@ -231,3 +231,10 @@ macOS sandbox denial log with start and end controls. A log with missing
 reports or unprobed executable names remains incomplete. The inherited seed
 commitments and all pending gates remain unchanged; these registrations do not
 authorize collection.
+
+BND v15, FLT v7, CSE v27 and pilot v13 supersede v14, v6, v26 and v12 after the
+ADR-67/ADR-68 engine seam moved three matched sources: the shared harness CLI,
+the rollout runner and the simulator bridge now select the physics engine
+behind `AISLE_SIM_ENGINE`. Calibration rules, seed lineages, decision rules and
+every pending gate are preserved, and Genesis remains the default and the only
+engine behind these campaigns.

analysis/freeze/bnd-task-band-calibration-v15/declaration.json

@@ -0,0 +1,183 @@
+{
+  "analysis": {
+    "scripts": [
+      "src/aisle/harness/benchmark_statistics.py",
+      "src/aisle/harness/non_oracle.py",
+      "src/aisle/harness/perception_audit.py",
+      "src/aisle/harness/perception_eligibility.py"
+    ],
+    "seed": 490001
+  },
+  "artifacts": {
+    "candidate_engineering": "graphs/expert_t2.yaml",
+    "candidate_short_composition": "graphs/expert_t1_l2.yaml",
+    "lock": "uv.lock",
+    "perception_audit_report": "analysis/perception-audit/records/bnd-perception-corpus-03/report.json",
+    "perception_auditor": "src/aisle/harness/perception_audit.py",
+    "perception_cli": "src/aisle/harness/cli.py",
+    "perception_eligibility": "analysis/perception-audit/records/bnd-perception-corpus-03/eligibility.json",
+    "perception_eligibility_cli": "tools/perception_eligibility.py",
+    "perception_eligibility_module": "src/aisle/harness/perception_eligibility.py",
+    "perception_envelope": "analysis/perception-audit/envelope.json",
+    "perception_model_lock": "src/aisle/verifier/models.lock",
+    "perception_models": "src/aisle/verifier/models.py",
+    "perception_raw_predictions": "analysis/perception-audit/records/bnd-perception-corpus-03/raw-predictions.json.gz",
+    "perception_record_cli": "tools/perception_record.py",
+    "perception_run_manifest": "analysis/perception-audit/records/bnd-perception-corpus-03/manifest.json",
+    "public_observation_source:docs/decisions/ADR-pilot-public-observations.md": "docs/decisions/ADR-pilot-public-observations.md",
+    "public_observation_source:docs/monolithic/public-observations.md": "docs/monolithic/public-observations.md",
+    "public_observation_source:registry/manifests/pilot-policy-surface.yaml": "registry/manifests/pilot-policy-surface.yaml",
+    "public_observation_source:src/aisle/harness/pilot_model_cache.py": "src/aisle/harness/pilot_model_cache.py",
+    "public_observation_source:src/aisle/harness/pilot_policy_surface.py": "src/aisle/harness/pilot_policy_surface.py",
+    "registry": "registry/manifests",
+    "research_prompt": "harness/CLAUDE.research.md",
+    "seed_commitment_predecessor": "analysis/freeze/bnd-task-band-calibration-v14/freeze-manifest.json",
+    "spec": "specs/490-non-oracle-task-band.md",
+    "validators": "src/aisle/harness/non_oracle.py"
+  },
+  "budgets": {
+    "evidence_kind": "unscored_pilot",
+    "heldout_seeds_per_artifact": 32,
+    "session_tokens": 200000,
+    "session_wall_s": 3600,
+    "sessions_per_interface_per_candidate": 16
+  },
+  "campaign_id": "bnd-task-band-calibration-v15",
+  "commands": [
+    "AISLE_FRAME_CAPTURE_PERIOD_S=0.1 uv run harness rollout --graph graphs/expert_t1_l2.yaml --tier T1 --embodiment franka --perception L2 --episodes 32 --seeds 0..31 --no-idea-gate --env-baseline local --run-id bnd-perception-corpus-03",
+    "uv run harness perception audit --run runs/bnd-perception-corpus-03 --envelope analysis/perception-audit/envelope.json --output /tmp/bnd-perception-corpus-03-report.json",
+    "uv run python tools/perception_record.py --report /tmp/bnd-perception-corpus-03-report.json --run runs/bnd-perception-corpus-03 --output analysis/perception-audit/records/bnd-perception-corpus-03",
+    "uv run python tools/perception_eligibility.py --report analysis/perception-audit/records/bnd-perception-corpus-03/report.json --envelope analysis/perception-audit/envelope.json --candidate t1-l2-expert-graph --role short_composition --graph graphs/expert_t1_l2.yaml --output analysis/perception-audit/records/bnd-perception-corpus-03/eligibility.json",
+    "uv run harness freeze check --manifest analysis/freeze/bnd-task-band-calibration-v14/freeze-manifest.json --allow-withheld-seeds"
+  ],
+  "decision_rules": {
+    "alpha": 0.05,
+    "equivalence_margin": {
+      "expert_parity": {
+        "completion_time_s": 10.0,
+        "sidedness": "two-sided 0.90",
+        "success": 0.15
+      }
+    },
+    "multiplicity": "per-stratum floors are all-must-pass; no pooling rescue (BND-7)",
+    "power": 0.8,
+    "smallest_effect": {
+      "measure": "per-stratum identity accuracy floor",
+      "value": 0.9
+    },
+    "stopping_rule": "16 randomized sessions per interface per candidate (BND-9); no threshold relaxed after results (BND-10)"
+  },
+  "disposition": "short_composition candidate expert_t1_l2 is not perception-eligible on the frozen envelope (BND-7): 22 of 22 strata fail, led by target_class=ibuprofen (68 of 80 evaluation frames refused) with every other target's lower bound below the 0.90 floor; no threshold was changed (BND-10); role open pending a new human-reviewed candidate round; the ADR-66 pilot may still run on this candidate with BND-7 recorded as a machine-gate limitation",
+  "endpoints": {
+    "primary": [
+      {
+        "aggregation": "proportion per interface with exact interval; selection by BND-10 rule on pooled rate",
+        "direction": "nearest 0.50",
+        "id": "E-BND-1",
+        "outcome": "pilot_session_success_intent_to_treat",
+        "status": "descriptive",
+        "unit": "agent_session"
+      },
+      {
+        "aggregation": "per stratum lower bound vs frozen floor",
+        "direction": "higher",
+        "id": "E-BND-2",
+        "outcome": "perception_identity_accuracy_by_stratum",
+        "status": "inferential",
+        "unit": "frame_record"
+      }
+    ],
+    "secondary": [
+      {
+        "aggregation": "paired equivalence interval within frozen margins (BND-8)",
+        "direction": "equivalent",
+        "id": "E-BND-3",
+        "outcome": "expert_parity_success_and_completion_time",
+        "status": "inferential",
+        "unit": "paired_dev_seed"
+      },
+      {
+        "aggregation": "per stratum",
+        "direction": "within envelope",
+        "id": "E-BND-4",
+        "outcome": "perception_refusal_and_latency",
+        "status": "descriptive",
+        "unit": "frame_record"
+      }
+    ]
+  },
+  "exclusions": {
+    "deviation_policy": "any behaviour-affecting change after registration is a documented deviation record and a new campaign version id; confirmatory data never revises the registered protocol",
+    "infrastructure": [
+      "session launcher failure before first agent turn",
+      "provider outage recorded by the controller"
+    ],
+    "rerun_policy": "a permitted rerun receives a new randomized id; the original row is retained with its exclusion reason and never replaced in place",
+    "treatment_integrity": [
+      "pre-registered treatment-integrity invalidation only; reported, never replaced (BND-9)",
+      "any oracle-derived signal on a policy path (BND-2)"
+    ]
+  },
+  "hypotheses": [
+    {
+      "direction": "band membership",
+      "id": "H-BND-1",
+      "statement": "At least one candidate per role is perception-eligible, expert-parity-passing, and lands in the 0.20-0.80 intent-to-treat pilot band on both interfaces (BND-7..9)."
+    }
+  ],
+  "instrument_set": {
+    "items": [
+      "short_composition:t1-l2-expert-graph",
+      "engineering:t2-label-read-stack"
+    ],
+    "kind": "task_candidate"
+  },
+  "integrity_checks": [
+    {
+      "gate": "CON-7 frozen set",
+      "kind": "machine_check",
+      "owner_role": "env_hash checker",
+      "record": "tools/env_hash.json",
+      "status": "passed"
+    },
+    {
+      "gate": "BND-5 perception audit",
+      "kind": "machine_check",
+      "owner_role": "perception auditor (hardened, corpus-03, 32 development seeds, envelope unchanged); 22 strata failed their floor",
+      "record": "analysis/perception-audit/records/bnd-perception-corpus-03/report.json",
+      "status": "failed"
+    },
+    {
+      "gate": "BND-8 monolithic expert parity",
+      "kind": "machine_check",
+      "owner_role": "parity harness; monolithic control exists, independent authorship and operator evidence remain pending (MON-9)",
+      "record": null,
+      "status": "pending"
+    },
+    {
+      "gate": "BND-1 human-reviewed candidate amendment",
+      "kind": "external_review",
+      "owner_role": "project owner (CON-14)",
+      "record": null,
+      "status": "pending"
+    },
+    {
+      "gate": "seed commitment verification",
+      "kind": "machine_check",
+      "owner_role": "holder of the original private seed and salt sources",
+      "record": null,
+      "status": "pending"
+    }
+  ],
+  "issue": 346,
+  "purpose": "calibration",
+  "schema_version": "aisle.freeze.declaration.v1",
+  "seed_commitment": {
+    "inherited_from": "analysis/freeze/bnd-task-band-calibration-v14/freeze-manifest.json",
+    "rule": "32 distinct integers in [1000,9999) drawn once from the OS CSPRNG, retained only under ~/aisle-private/freeze/bnd-task-band-calibration-v1/, disjoint by value from every committed dev/pilot seed list; revealed after the campaign closes",
+    "salt_source": "~/aisle-private/freeze/bnd-task-band-calibration-v2/salt.bin",
+    "seeds_source": "~/aisle-private/freeze/bnd-task-band-calibration-v2/seeds.json"
+  },
+  "spec": "490",
+  "superseded": "bnd-task-band-calibration-v14 (the perception CLI artifact src/aisle/harness/cli.py gained the ADR-67/ADR-68 `--sim-engine` selection on every sim-launching subcommand; calibration rules, seed lineage, pending gates and every other artifact are preserved, and Genesis remains the default and the only engine behind this campaign)"
+}