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>

tests/test_embodiment.py

@@ -0,0 +1,132 @@
+"""Tests for Embodied Intelligence / Robotics bridge."""
+
+from __future__ import annotations
+
+import pytest
+
+from fusionagi.maa.embodiment import (
+    ActuatorState,
+    EmbodimentBridge,
+    MotionCommand,
+    SensorType,
+    SimulatedActuator,
+    SimulatedSensor,
+    TrajectoryPoint,
+)
+
+
+@pytest.fixture
+def actuator() -> SimulatedActuator:
+    return SimulatedActuator(joint_ids=["j0", "j1", "j2"])
+
+
+@pytest.fixture
+def sensor() -> SimulatedSensor:
+    s = SimulatedSensor()
+    s.register_sensor("cam0", SensorType.CAMERA, {"width": 640, "height": 480})
+    s.register_sensor("imu0", SensorType.IMU, {"accel": [0, 0, 9.8]})
+    return s
+
+
+@pytest.fixture
+def bridge(actuator: SimulatedActuator, sensor: SimulatedSensor) -> EmbodimentBridge:
+    return EmbodimentBridge(actuator=actuator, sensors=sensor)
+
+
+class TestSimulatedActuator:
+    @pytest.mark.asyncio
+    async def test_get_joint_states(self, actuator: SimulatedActuator) -> None:
+        states = await actuator.get_joint_states()
+        assert len(states) == 3
+        assert all(s.position == 0.0 for s in states)
+
+    @pytest.mark.asyncio
+    async def test_get_state_idle(self, actuator: SimulatedActuator) -> None:
+        state = await actuator.get_state()
+        assert state == ActuatorState.IDLE
+
+    @pytest.mark.asyncio
+    async def test_execute_motion(self, actuator: SimulatedActuator) -> None:
+        cmd = MotionCommand(
+            command_id="test_cmd",
+            trajectory=[
+                TrajectoryPoint(joint_positions={"j0": 1.0, "j1": -0.5}, time_from_start=1.0)
+            ],
+        )
+        result = await actuator.execute_motion(cmd)
+        assert result.success
+        assert result.command_id == "test_cmd"
+
+    @pytest.mark.asyncio
+    async def test_emergency_stop(self, actuator: SimulatedActuator) -> None:
+        assert await actuator.emergency_stop()
+        state = await actuator.get_state()
+        assert state == ActuatorState.EMERGENCY_STOP
+
+
+class TestSimulatedSensor:
+    @pytest.mark.asyncio
+    async def test_list_sensors(self, sensor: SimulatedSensor) -> None:
+        ids = await sensor.list_sensors()
+        assert "cam0" in ids
+        assert "imu0" in ids
+
+    @pytest.mark.asyncio
+    async def test_read_sensor(self, sensor: SimulatedSensor) -> None:
+        reading = await sensor.read("cam0")
+        assert reading is not None
+        assert reading.sensor_type == SensorType.CAMERA
+
+    @pytest.mark.asyncio
+    async def test_read_missing_sensor(self, sensor: SimulatedSensor) -> None:
+        reading = await sensor.read("nonexistent")
+        assert reading is None
+
+
+class TestEmbodimentBridge:
+    @pytest.mark.asyncio
+    async def test_perceive(self, bridge: EmbodimentBridge) -> None:
+        perception = await bridge.perceive()
+        assert "sensors" in perception
+        assert "joints" in perception
+        assert len(perception["joints"]) == 3
+
+    @pytest.mark.asyncio
+    async def test_execute_within_bounds(self, bridge: EmbodimentBridge) -> None:
+        cmd = MotionCommand(
+            command_id="cmd1",
+            trajectory=[TrajectoryPoint(joint_positions={"j0": 0.5}, time_from_start=1.0)],
+        )
+        result = await bridge.execute(cmd)
+        assert result.success
+
+    @pytest.mark.asyncio
+    async def test_execute_workspace_bounds_violated(self) -> None:
+        actuator = SimulatedActuator(joint_ids=["j0"])
+        bridge = EmbodimentBridge(
+            actuator=actuator,
+            workspace_bounds={"j0": (-1.0, 1.0)},
+        )
+        cmd = MotionCommand(
+            command_id="cmd_oob",
+            trajectory=[TrajectoryPoint(joint_positions={"j0": 5.0}, time_from_start=1.0)],
+        )
+        result = await bridge.execute(cmd)
+        assert not result.success
+        assert "outside bounds" in result.error_message
+
+    @pytest.mark.asyncio
+    async def test_execute_no_actuator(self) -> None:
+        bridge = EmbodimentBridge()
+        cmd = MotionCommand(command_id="cmd_none", trajectory=[])
+        result = await bridge.execute(cmd)
+        assert not result.success
+
+    @pytest.mark.asyncio
+    async def test_stop(self, bridge: EmbodimentBridge) -> None:
+        assert await bridge.stop()
+
+    def test_get_summary(self, bridge: EmbodimentBridge) -> None:
+        summary = bridge.get_summary()
+        assert summary["actuator_connected"]
+        assert summary["sensors_connected"]