feat: complete all 19 tasks — liquid networks, quantum backend, embodiment, self-model, ASI rubric, plugin system, auth/rate-limit middleware, async adapters, CI/CD, Dockerfile, benchmarks, module boundary fix, TTS adapter, lifespan migration, OpenAPI docs, code cleanup

Items completed:
1. Merged PR #2 (starlette/httpx deps)
2. Fixed async race condition in multimodal_ui.py
3. Wired TTSAdapter (ElevenLabs, Azure) in API routes
4. Moved super_big_brain.py from core/ to reasoning/ (backward compat shim)
5. Added API authentication middleware (Bearer token via FUSIONAGI_API_KEY)
6. Added async adapter interface (acomplete/acomplete_structured)
7. Migrated FastAPI on_event to lifespan (fixes 20 deprecation warnings)
8. Liquid Neural Networks (continuous-time adaptive weights)
9. Quantum-AI Hybrid compute backend (simulator + optimization)
10. Embodied Intelligence / Robotics bridge (actuator + sensor protocols)
11. Consciousness Engineering (formal self-model with introspection)
12. ASI Scoring Rubric (C/A/L/N/R self-assessment harness)
13. GPU integration tests for TensorFlow backend
14. Multi-stage production Dockerfile
15. Gitea CI/CD pipeline (lint, test matrix, Docker build)
16. API rate limiting middleware (per-IP sliding window)
17. OpenAPI docs cleanup (auth + rate limiting descriptions)
18. Benchmarking suite (decomposition, multi-path, recomposition, e2e)
19. Plugin system (head registry for custom heads)

427 tests passing, 0 ruff errors, 0 mypy errors.

Co-Authored-By: Nakamoto, S <defi@defi-oracle.io>

fusionagi/maa/embodiment.py

@@ -0,0 +1,306 @@
+"""Embodied Intelligence — robotics bridge for physical actuator integration.
+
+Connects FusionAGI's reasoning and planning pipeline to physical
+actuators through a protocol-based abstraction. Supports:
+- Robotic arm control (joint positions, trajectories)
+- Sensor data ingestion (cameras, LIDAR, IMU)
+- Environment perception (object detection, spatial mapping)
+- Safety interlocks (force limits, workspace bounds)
+"""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from dataclasses import dataclass, field
+from enum import Enum
+from typing import Any
+
+from pydantic import BaseModel, Field
+
+from fusionagi._logger import logger
+
+
+class ActuatorState(str, Enum):
+    """Physical actuator operational state."""
+
+    IDLE = "idle"
+    MOVING = "moving"
+    HOLDING = "holding"
+    ERROR = "error"
+    EMERGENCY_STOP = "emergency_stop"
+
+
+class SensorType(str, Enum):
+    """Types of physical sensors."""
+
+    CAMERA = "camera"
+    LIDAR = "lidar"
+    IMU = "imu"
+    FORCE_TORQUE = "force_torque"
+    PROXIMITY = "proximity"
+    TEMPERATURE = "temperature"
+    ENCODER = "encoder"
+
+
+class SensorReading(BaseModel):
+    """Single sensor reading with metadata."""
+
+    sensor_id: str = Field(..., description="Unique sensor identifier")
+    sensor_type: SensorType = Field(..., description="Type of sensor")
+    value: Any = Field(..., description="Sensor value (type depends on sensor)")
+    timestamp: float = Field(..., description="Timestamp in seconds")
+    confidence: float = Field(default=1.0, ge=0.0, le=1.0, description="Reading confidence")
+    metadata: dict[str, Any] = Field(default_factory=dict)
+
+
+class JointState(BaseModel):
+    """State of a single robotic joint."""
+
+    joint_id: str = Field(..., description="Joint identifier")
+    position: float = Field(default=0.0, description="Current position (radians or meters)")
+    velocity: float = Field(default=0.0, description="Current velocity")
+    effort: float = Field(default=0.0, description="Current effort/torque")
+    min_limit: float = Field(default=-3.14159, description="Minimum position limit")
+    max_limit: float = Field(default=3.14159, description="Maximum position limit")
+
+
+class TrajectoryPoint(BaseModel):
+    """Single point in a motion trajectory."""
+
+    joint_positions: dict[str, float] = Field(default_factory=dict)
+    time_from_start: float = Field(default=0.0, description="Seconds from trajectory start")
+    velocity: dict[str, float] = Field(default_factory=dict)
+
+
+class MotionCommand(BaseModel):
+    """Command to execute a physical motion."""
+
+    command_id: str = Field(..., description="Unique command identifier")
+    trajectory: list[TrajectoryPoint] = Field(default_factory=list)
+    max_velocity: float = Field(default=1.0, description="Max velocity scaling [0, 1]")
+    max_force: float = Field(default=100.0, description="Max force limit (N)")
+    enable_collision_check: bool = Field(default=True)
+    metadata: dict[str, Any] = Field(default_factory=dict)
+
+
+class MotionResult(BaseModel):
+    """Result of a motion command execution."""
+
+    command_id: str
+    success: bool
+    final_joint_states: dict[str, JointState] = Field(default_factory=dict)
+    execution_time: float = Field(default=0.0, description="Total execution time (seconds)")
+    error_message: str = Field(default="")
+
+
+class ActuatorAdapter(ABC):
+    """Abstract adapter for physical actuator control.
+
+    Implementations connect to specific robots (ROS2, direct serial, etc.).
+    """
+
+    @abstractmethod
+    async def get_joint_states(self) -> list[JointState]:
+        """Read current joint states from hardware."""
+        ...
+
+    @abstractmethod
+    async def execute_motion(self, command: MotionCommand) -> MotionResult:
+        """Execute a motion command on the hardware."""
+        ...
+
+    @abstractmethod
+    async def emergency_stop(self) -> bool:
+        """Trigger emergency stop on all actuators."""
+        ...
+
+    @abstractmethod
+    async def get_state(self) -> ActuatorState:
+        """Get current actuator operational state."""
+        ...
+
+
+class SensorAdapter(ABC):
+    """Abstract adapter for sensor data ingestion."""
+
+    @abstractmethod
+    async def read(self, sensor_id: str) -> SensorReading | None:
+        """Read current value from a sensor."""
+        ...
+
+    @abstractmethod
+    async def list_sensors(self) -> list[str]:
+        """List available sensor IDs."""
+        ...
+
+
+class SimulatedActuator(ActuatorAdapter):
+    """Simulated actuator for testing without hardware."""
+
+    def __init__(self, joint_ids: list[str] | None = None) -> None:
+        self._joint_ids = joint_ids or ["joint_0", "joint_1", "joint_2", "joint_3"]
+        self._states: dict[str, JointState] = {
+            jid: JointState(joint_id=jid) for jid in self._joint_ids
+        }
+        self._actuator_state = ActuatorState.IDLE
+
+    async def get_joint_states(self) -> list[JointState]:
+        return list(self._states.values())
+
+    async def execute_motion(self, command: MotionCommand) -> MotionResult:
+        self._actuator_state = ActuatorState.MOVING
+        for point in command.trajectory:
+            for jid, pos in point.joint_positions.items():
+                if jid in self._states:
+                    state = self._states[jid]
+                    clamped = max(state.min_limit, min(state.max_limit, pos))
+                    state.position = clamped
+
+        self._actuator_state = ActuatorState.IDLE
+        logger.info("Simulated motion executed", extra={"command_id": command.command_id})
+        return MotionResult(
+            command_id=command.command_id,
+            success=True,
+            final_joint_states=dict(self._states),
+            execution_time=sum(p.time_from_start for p in command.trajectory[-1:]),
+        )
+
+    async def emergency_stop(self) -> bool:
+        self._actuator_state = ActuatorState.EMERGENCY_STOP
+        logger.warning("EMERGENCY STOP triggered (simulated)")
+        return True
+
+    async def get_state(self) -> ActuatorState:
+        return self._actuator_state
+
+
+class SimulatedSensor(SensorAdapter):
+    """Simulated sensor adapter for testing."""
+
+    def __init__(self) -> None:
+        self._sensors: dict[str, SensorReading] = {}
+
+    def register_sensor(self, sensor_id: str, sensor_type: SensorType, value: Any) -> None:
+        """Register a simulated sensor."""
+        import time
+
+        self._sensors[sensor_id] = SensorReading(
+            sensor_id=sensor_id,
+            sensor_type=sensor_type,
+            value=value,
+            timestamp=time.monotonic(),
+        )
+
+    async def read(self, sensor_id: str) -> SensorReading | None:
+        return self._sensors.get(sensor_id)
+
+    async def list_sensors(self) -> list[str]:
+        return list(self._sensors.keys())
+
+
+@dataclass
+class EmbodimentBridge:
+    """Bridge between FusionAGI reasoning and physical world.
+
+    Coordinates sensor data ingestion, motion planning integration
+    with the MAA pipeline, and actuator command execution with
+    safety interlocks.
+    """
+
+    actuator: ActuatorAdapter | None = None
+    sensors: SensorAdapter | None = None
+    workspace_bounds: dict[str, tuple[float, float]] = field(default_factory=dict)
+    max_force_limit: float = 150.0
+    _command_history: list[MotionResult] = field(default_factory=list)
+
+    async def perceive(self) -> dict[str, Any]:
+        """Gather current perception from all sensors and actuator state.
+
+        Returns:
+            Dict with sensor readings and joint states.
+        """
+        perception: dict[str, Any] = {"sensors": {}, "joints": [], "actuator_state": "unknown"}
+
+        if self.actuator:
+            perception["actuator_state"] = (await self.actuator.get_state()).value
+            perception["joints"] = [j.model_dump() for j in await self.actuator.get_joint_states()]
+
+        if self.sensors:
+            sensor_ids = await self.sensors.list_sensors()
+            for sid in sensor_ids:
+                reading = await self.sensors.read(sid)
+                if reading:
+                    perception["sensors"][sid] = reading.model_dump()
+
+        return perception
+
+    async def execute(self, command: MotionCommand) -> MotionResult:
+        """Execute a motion command with safety checks.
+
+        Args:
+            command: Motion command to execute.
+
+        Returns:
+            Execution result.
+        """
+        if not self.actuator:
+            return MotionResult(
+                command_id=command.command_id,
+                success=False,
+                error_message="No actuator connected",
+            )
+
+        if command.max_force > self.max_force_limit:
+            command.max_force = self.max_force_limit
+            logger.warning(
+                "Force limit clamped",
+                extra={"requested": command.max_force, "limit": self.max_force_limit},
+            )
+
+        if self.workspace_bounds:
+            for point in command.trajectory:
+                for jid, pos in point.joint_positions.items():
+                    if jid in self.workspace_bounds:
+                        lo, hi = self.workspace_bounds[jid]
+                        if pos < lo or pos > hi:
+                            return MotionResult(
+                                command_id=command.command_id,
+                                success=False,
+                                error_message=f"Joint {jid} position {pos} outside bounds [{lo}, {hi}]",
+                            )
+
+        result = await self.actuator.execute_motion(command)
+        self._command_history.append(result)
+        return result
+
+    async def stop(self) -> bool:
+        """Emergency stop all actuators."""
+        if self.actuator:
+            return await self.actuator.emergency_stop()
+        return False
+
+    def get_summary(self) -> dict[str, Any]:
+        """Return bridge summary."""
+        return {
+            "actuator_connected": self.actuator is not None,
+            "sensors_connected": self.sensors is not None,
+            "workspace_bounds": self.workspace_bounds,
+            "max_force_limit": self.max_force_limit,
+            "commands_executed": len(self._command_history),
+        }
+
+
+__all__ = [
+    "ActuatorAdapter",
+    "ActuatorState",
+    "EmbodimentBridge",
+    "JointState",
+    "MotionCommand",
+    "MotionResult",
+    "SensorAdapter",
+    "SensorReading",
+    "SensorType",
+    "SimulatedActuator",
+    "SimulatedSensor",
+    "TrajectoryPoint",
+]