Physical AI & Robotics · first target

Palletizer CORE

The target is not a demonstration. The target is: a customer can deploy faster and operate cheaper than with the incumbent alternative. Until a pilot with a kill date says so, every number below is a dash.

github.com/iceccarelli/palletizer pypi · palletizer-full-stack 0.2.0 palletizer-app.vercel.app (stated, not verified here)

Last commit 2026-07-31 (snapshot). Apache-2.0. Python, TypeScript, C++. Detail: /registry/palletizer.

What exists

Deterministic orchestrator loop with hazard evaluation, fault detection and telemetry publication.
Mixed-SKU pallet optimizer with a stability number that can be checked; C++ shelf/skyline packer via pybind11 with tested invariants.
Hardware-agnostic RobotInterface and GripperController; robot-arm profiles; WMS CSV ingestion.
MCP stdio JSON-RPC server exposing planning as agent tools (plan and simulate — never actuate).
ROS 2 integration package and browser physics demos (React Three Fiber + Rapier).
Test suite across orchestrator, planning, optimizer, motion, power, MCP server and native invariants; PyPI package palletizer-full-stack 0.2.0.

What does not exist

A customer, a pilot, a deployed cell, or any measured KPI.
A certified vendor driver for any robot brand. “Robot-agnostic” is an interface, not a compatibility list.
A simulation harness that writes the twelve KPIs as a versioned JSON snapshot (the next experiment).

Evidence of work done

Releases, commits and decisions with the source of every date; then the test suite mapped onto the stack. This is the work that exists. It is deliberately drawn next to the KPIs that do not.

Dates and sources

Date	Kind	Event	Source
2026-03-08	release	palletizer 0.1.0 — control stack, 40+ tests	`palletizer/CHANGELOG.md`
2026-04-10	release	robot-lidar-fusion 0.1.0 on PyPI	`pypi.org/project/robot-lidar-fusion`
2026-04-11	release	robot-lidar-fusion 0.2.1 on PyPI	`pypi.org/project/robot-lidar-fusion`
2026-06-20	release	palletizer-full-stack 0.2.0 on PyPI	`pypi.org/project/palletizer-full-stack`
2026-06-20	release	robot-lidar-fusion 0.4.0 on PyPI — SE(3) projection, KITTI loader, diagnostics CLI	`pypi.org/project/robot-lidar-fusion`
2026-07-31	commit	palletizer last public commit (construction pack, ROS 2 reference, README)	`github.com/iceccarelli/palletizer`
2026-09-05	decision	Cluster control engine; decisions D-001…D-008; register snapshot	`this register`
2026-09-12	due	Kill decision due: K-001 construction pack, K-002 ai-agent-control	`/decisions#kill`
2026-09-19	due	Discovery target due: ten buyer conversations	`/report#2026-W36`

Perceptionno test evidence—
World modelno test evidence—
Task plannertest_planning.pytest_optimizer.py · stability numbertest_native_invariants.py · C++ vs Pythontest_construction.py · EXPERIMENTtest_mcp_server.py · agent tools5
Motion plannertest_motion_controller.py1
Simulatorno test evidence—
Safety / constraint enginetest_hazard_manager.pytest_fault_detection.pytest_power.py · battery, thermal3
Robot controllertest_orchestrator.py · fixed-rate looptest_joint_synchronization.pytest_gripper_controller.pytest_memory_management.pytest_concurrency.pytest_config.py6
Actuationno test evidence—
Telemetrytest_communication.py1
Failure analysisno test evidence—
Learningno test evidence—

16 test modules and 84 Python modules outside web/ at the 2026-07-31 commit (clone of github.com/iceccarelli/palletizer at the last public commit). Perception, world model, simulator, actuation, failure analysis and learning have no tests in this repository.

The twelve KPIs

Palletizing KPIs — 0 of 12 measured
KPI	Definition	Measured	Method
Cycles / hour `cycles/h`	Completed pick-place cycles per hour of scheduled run time.	unmeasured	Simulation harness on a fixed fixture set first; cell telemetry (orchestrator loop) on hardware.
Successful picks `count`	Picks that place the case within tolerance without re-grip.	unmeasured	Orchestrator task log; verified by the post-place check.
Failed picks `count`	Picks aborted, dropped or placed out of tolerance.	unmeasured	Fault detector events joined to task ids.
Intervention rate `per 1,000 cycles`	Human interventions per 1,000 cycles.	unmeasured	Operator acknowledgements in telemetry; the number that decides the economics.
Changeover time `min`	Minutes from last case of SKU set A to first case of SKU set B.	unmeasured	Pattern manager timestamps.
Deployment time `days`	Working days from site survey to first production pallet.	unmeasured	Pilot log, signed by the customer.
Robot utilisation `%`	Share of scheduled time the arm is executing a task.	unmeasured	Controller state telemetry.
Gripper utilisation `%`	Share of cycles using each end effector; idle tooling is cost.	unmeasured	Gripper controller events.
SKU complexity `SKUs/order`	Distinct case geometries per order; mixed-SKU share.	unmeasured	WMS CSV ingestion statistics.
Downtime `min/shift`	Unscheduled minutes per shift attributable to the cell.	unmeasured	Fault detector; classified by cause.
Labour savings `h/shift`	Operator hours displaced per shift, at the customer’s loaded rate.	unmeasured	Customer baseline before pilot; never a modelled figure presented as a result.
Payback period `months`	Months until cumulative savings equal deployment cost.	unmeasured	Derived from the eleven KPIs above and the signed pilot invoice. Absent until then.

Snapshot schema: PalletizingKpiSnapshot 0.1.0. JSON: /api/cluster/kpis.

Shared perception IP — robot-lidar-fusion CORE

ROS 2 LiDAR–camera fusion: SE(3) extrinsic projection, pinhole intrinsics, z-buffer occlusion, KITTI calibration loader, diagnostics CLI. Shared perception IP for palletizing and inspection.

pypi · robot-lidar-fusion 0.4.0github repository not public

LiDAR-fusion benchmark metrics — 0 of 6 measured
KPI	Definition	Measured	Method
Precision `%`	Detected objects that are real, on the benchmark set.	unmeasured	Benchmark dataset with ground truth; KITTI calibration loader exists in 0.4.0.
Recall `%`	Real objects detected, on the benchmark set.	unmeasured	Same benchmark run.
Latency `ms`	Wall-clock from sensor frame to fused output, p50 and p99.	unmeasured	Diagnostics CLI on stated hardware; hardware named with the number.
Failure rate `%`	Frames with no valid fused output.	unmeasured	Diagnostics CLI over the benchmark set, including degraded sequences.
Localisation error `cm`	Position error of fused detections against ground truth.	unmeasured	Benchmark with calibrated extrinsics; error under sensor dropout reported separately.
Generalisation `Δ%`	Metric change when the benchmark scene family changes.	unmeasured	Held-out scene families; occlusion and degraded-environment subsets.

Evaluation covers localisation, object detection, tracking, uncertainty, sensor calibration, sensor failure, degraded environments, occlusion, robustness and latency. Hardware is named with every latency figure.

Autonomous inspection RESEARCH

Electrical-infrastructure inspection is the strategic bridge to the Energy cluster and is not commercialised before the chain is demonstrated end to end:

DETECTION
CLASSIFICATION
LOCALISATION
INSPECTION PLAN
SAFE ROBOT EXECUTION
EVIDENCE
REPORT

Customer outcome: less dangerous human work, lower inspection cost, higher inspection frequency, earlier fault detection. Result contract: InspectionResult 0.1.0. No repository exists yet; the register says so.