# Claim Boundary

## Supported

This release supports the following bounded statements:

- an actual Gazebo Harmonic server was used;
- ROS 2 Jazzy publishers and subscribers carried the authority path;
- the frozen gateway accepted the exact committed public trajectory;
- a separate simulator receiver verified the signed gateway envelope and
  exact trajectory commitments;
- the receiver invoked Gazebo's `/world/robotgov/set_pose` service once for
  the exact authorized case;
- a separate observer read `/world/robotgov/pose/info` and confirmed the
  preregistered marker pose;
- direct unsigned publication, an altered action, and replay added zero
  Gazebo service applications;
- simulator outage emitted no false state-change receipt;
- two executions produced the same bounded outcome projection.

## Blocked

This release does not support:

- `TRAJECTORY_SAFE`;
- `DYNAMICS_VALID`;
- `COLLISION_FREE`;
- `TASK_SUCCESS_CONFIRMED`;
- `UNITREE_CONTROLLER_INTEGRATED`;
- `REAL_ROBOT_COMMAND_ACCEPTED`;
- `PHYSICAL_ACTION_AUTHORIZED`;
- `DEPLOYMENT_APPROVED`;
- production security, timing, availability, or safety claims.

The marker pose transition is a harmless simulator state change. It is not a
Unitree trajectory playback, joint command, controller operation, or robot
motion.

## Invariants

```text
known trajectory != permission to execute
gateway acceptance != simulator acceptance
simulator service response != observed state change
simulated state change != physical action authority
```

Every packet and receipt remains non-authorizing outside this synthetic bench.
No LLM is in the enforcement path.