Feat/dora 1.0 migration

.github/workflows/ci.yml

@@ -72,8 +72,10 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Set up Rust for Dora C++ API
-        uses: dtolnay/rust-toolchain@stable
+      - name: Set up Rust 1.95 for Dora C++ API
+        uses: dtolnay/rust-toolchain@master
+        with:
+          toolchain: "1.95.0"
 
       - name: Set up C++ dependencies
         uses: mamba-org/setup-micromamba@v2
@@ -127,13 +129,13 @@ jobs:
         shell: bash -el {0}
         run: ctest --test-dir cpp/forge_robot/build --output-on-failure
 
-      - name: Configure C++ forge_robot Dora v0.4.1 runner
+      - name: Configure C++ forge_robot Dora 1.x runner (v1.0.1)
         shell: bash -el {0}
         run: >-
           cmake -S cpp/forge_robot -B cpp/forge_robot/build-dora -G Ninja
           -DFORGE_ROBOT_CPP_WITH_DORA=ON
           -DFORGE_ROBOT_CPP_BUILD_TESTS=ON
 
-      - name: Compile C++ forge_robot Dora v0.4.1 runner
+      - name: Compile C++ forge_robot Dora 1.x runner (v1.0.1)
         shell: bash -el {0}
         run: cmake --build cpp/forge_robot/build-dora --target forge_robot_dora_runner_compile

.github/workflows/publish-pypi.yml

@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
     inputs:
       tag:
-        description: "Immutable family tag to publish (for example, forge-common-v1.0.1)"
+        description: "Immutable family tag to publish (for example, forge-common-v2.0.0)"
         required: true
         type: string
 

CHANGELOG.md

@@ -1,9 +1,50 @@
 # Changelog
 
-Forge package families are versioned independently. Implementations of the same logical family across Python, Rust, C++, and the language-neutral interface contract share one version and one protected GitLab tag.
+Forge package families are versioned independently. Python, Rust, and C++ implementations of the same logical family share one package version and protected GitLab tag; language-neutral interface versions are tracked separately.
 
 ## Unreleased
 
+## forge-common 2.0.0 - 2026-09-04
+
+Protected tag: `forge-common-v2.0.0`
+
+- Align Common with the coordinated Forge 2.0 release train without changing its public utility APIs.
+- Preserve the Python, Rust, and C++ logging contracts from the 1.x line.
+
+## forge-kinematics 2.0.0 - 2026-09-04
+
+Protected tag: `forge-kinematics-v2.0.0`
+
+- Align Kinematics with the coordinated Forge 2.0 release train without changing its solver APIs or optional dependency model.
+- Preserve the Pinocchio-based FK, Jacobian, and IK behavior from the 1.x line.
+
+## forge-policy 2.0.0 - 2026-09-03
+
+Protected tag: `forge-policy-v2.0.0`
+
+- Migrate the Python Dora runner dependency from `dora-rs 0.4.1` to the compatible Dora 1.x line (`>=1.0,<2`), currently locked and validated with 1.0.1.
+- Require the Forge Msgs 2 carrier line.
+
+## forge-robot 2.0.0 - 2026-09-03
+
+Protected tag: `forge-robot-v2.0.0`
+
+- Migrate the Python Dora runner dependency and optional C++ node bridge from Dora 0.4.1 to the compatible Dora 1.x line; Python is currently locked to 1.0.1 and the reproducible C++ source build is pinned to `v1.0.1`.
+- Require the Forge Msgs 2 carrier line while keeping the driver contract and node input/output semantics unchanged.
+
+## forge-msgs 2.0.0 - 2026-09-03
+
+Protected tag: `forge-msgs-v2.0.0`
+
+- Move the public Rust `RecordBatch` API from Arrow 54 to Arrow 59 for Dora 1.0 interoperability.
+- Preserve the cross-language `forge_msgs.v1` wire schema; the package major and wire-schema version are now tracked independently.
+
+## forge-tool 2.0.0 - 2026-09-03
+
+Protected tag: `forge-tool-v2.0.0`
+
+- Move the optional Dora carrier integration to the Forge Msgs 2 line.
+
 ## forge-tool 1.0.0 - 2026-08-27
 
 Protected tag: `forge-tool-v1.0.0`

CONTRIBUTING.md

@@ -1,9 +1,9 @@
 # Contributing to Forge
 
-Thank you for your interest in contributing to Forge. The repository maintains
-stable 1.x package families while developing the Tool alpha family, so focused
-changes, compatibility analysis, and cross-language tests are especially
-important.
+Thank you for your interest in contributing to Forge. `master` carries the current
+Forge 2.x line, while `stable/1.x` preserves the Dora 0.4-compatible Forge 1.x line
+for critical fixes. Focused changes, compatibility analysis, and cross-language
+tests are especially important.
 
 ## Development Setup
 

README.md

@@ -30,21 +30,23 @@ packages, for example a separate `forge_robots` repository.
 
 ## Status
 
-Forge tracks six independently versioned package families: Common, Msgs, Robot,
-Policy, Kinematics, and Tool. Current releases are Common `1.0.1`, Msgs `1.3.0`, Robot
-`1.0.1`, Policy `1.0.1`, Kinematics `1.0.1`, and Tool `0.1.0`. Implementations of one
-family across Python, Rust, C++, and the language-neutral interface remain synchronized;
-unrelated families may release at different rates.
+Forge tracks six package families: Common, Msgs, Robot, Policy, Kinematics, and Tool.
+The coordinated Dora 1.x release train declares all six families as `2.0.0` while
+allowing later family-specific patch releases. Implementations of one family across
+Python, Rust, C++, and the language-neutral interface remain synchronized.
+
+`master` carries the latest Forge 2.x development line. `stable/1.x` preserves the
+Dora 0.4-compatible Forge 1.x line for critical fixes during downstream migration.
 
 Each release is identified by a protected family tag such as
-`forge-msgs-v1.3.0`; Tool releases use `forge-tool-v<semver>`. Historical generic tags
+`forge-msgs-v2.0.0`; Tool releases use `forge-tool-v<semver>`. Historical generic tags
 such as `v1.0.0` belong to an earlier repository layout and do not identify these
 releases.
 
 The initial family releases define stable contracts for message schemas,
 serialization, shared utilities, kinematics, and robot/policy runners. Each
-family's `1.x` line remains backward compatible; breaking that family contract
-requires its next major version. See
+family's current major line remains backward compatible; breaking that family
+contract requires its next major version. See
 [`CHANGELOG.md`](CHANGELOG.md) for the release baselines and
 [`RELEASING.md`](RELEASING.md) for package-family boundaries, protected GitLab
 tags, and validation procedures.
@@ -89,11 +91,11 @@ forge/
 - A C++20-capable compiler and CMake 3.20 or newer for C++ packages;
   `cpp/forge_msgs` and its dependents require C++20
 - Apache Arrow C++ for `cpp/forge_msgs`
-- Rust/Cargo and network access, or a local Dora `v0.4.1` checkout, for the
-  optional C++ `forge_robot` Dora runner
+- Rust 1.95 or newer and network access, or a compatible local Dora 1.x checkout,
+  for the optional C++ `forge_robot` Dora runner
 - [`uv`](https://docs.astral.sh/uv/) for Python dependency management
-- Dora runtime when running real nodes (`dora-rs==0.4.1` is used by the Python
-  node packages)
+- A Dora 1.x runtime when running real nodes (the Python packages declare
+  `dora-rs>=1.0,<2`; the current lock file validates 1.0.1)
 
 ## Installation
 
@@ -144,8 +146,8 @@ cmake -S cpp/forge_robot -B cpp/forge_robot/build
 cmake --build cpp/forge_robot/build
 ```
 
-Build and compile-link validate the C++ `forge_robot` Dora runner against Dora
-`v0.4.1`:
+Build and compile-link validate the C++ `forge_robot` Dora 1.x runner against
+the current pinned baseline, Dora `v1.0.1`:
 
 ```bash
 cmake -S cpp/forge_robot -B cpp/forge_robot/build-dora \
@@ -155,14 +157,15 @@ cmake --build cpp/forge_robot/build-dora --target forge_robot_dora_runner_compil
 ```
 
 The C++ Dora API headers are generated by Dora's CXX bridge. By default,
-`cpp/forge_robot` clones `https://github.com/dora-rs/dora.git` at tag
-`v0.4.1`; it does not use Dora `main`. To use a local Dora `v0.4.1` checkout:
+`cpp/forge_robot` downloads the Dora `v1.0.1` source archive with a pinned
+SHA256; it does not use Dora `main`. To use a compatible local Dora 1.x
+checkout:
 
 ```bash
-git clone --branch v0.4.1 https://github.com/dora-rs/dora.git /path/to/dora-v0.4.1
+git clone --branch v1.0.1 https://github.com/dora-rs/dora.git /path/to/dora-v1.0.1
 cmake -S cpp/forge_robot -B cpp/forge_robot/build-dora \
   -DFORGE_ROBOT_CPP_WITH_DORA=ON \
-  -DDORA_ROOT_DIR=/path/to/dora-v0.4.1
+  -DDORA_ROOT_DIR=/path/to/dora-v1.0.1
 cmake --build cpp/forge_robot/build-dora --target forge_robot_dora_runner_compile
 ```
 
@@ -174,7 +177,7 @@ include(FetchContent)
 FetchContent_Declare(
   forge
   GIT_REPOSITORY https://gitlab.ex-ai.cn/PhyAgentOS/framework/forge.git
-  GIT_TAG forge-msgs-v1.3.0
+  GIT_TAG forge-msgs-v2.0.0
   SOURCE_SUBDIR cpp/forge_msgs
 )
 FetchContent_MakeAvailable(forge)
@@ -194,7 +197,7 @@ include(FetchContent)
 FetchContent_Declare(
   forge_common
   GIT_REPOSITORY https://gitlab.ex-ai.cn/PhyAgentOS/framework/forge.git
-  GIT_TAG forge-common-v1.0.1
+  GIT_TAG forge-common-v2.0.0
   SOURCE_SUBDIR cpp/forge_common
 )
 FetchContent_MakeAvailable(forge_common)
@@ -214,7 +217,7 @@ include(FetchContent)
 FetchContent_Declare(
   forge_robot
   GIT_REPOSITORY https://gitlab.ex-ai.cn/PhyAgentOS/framework/forge.git
-  GIT_TAG forge-robot-v1.0.1
+  GIT_TAG forge-robot-v2.0.0
   SOURCE_SUBDIR cpp/forge_robot
 )
 FetchContent_MakeAvailable(forge_robot)
@@ -236,20 +239,20 @@ the public umbrella header:
 For packages that only implement driver logic, safety clipping, or Arrow
 validation, keep `FORGE_ROBOT_CPP_WITH_DORA` off. To compile a Dora runner in the
 downstream package, enable the option at configure time and either let CMake
-download Dora `v0.4.1` or point `DORA_ROOT_DIR` at a local Dora `v0.4.1`
-checkout:
+download the pinned Dora `v1.0.1` baseline or point `DORA_ROOT_DIR` at a
+compatible local Dora 1.x checkout:
 
 ```bash
 cmake -S . -B build \
   -DFORGE_ROBOT_CPP_WITH_DORA=ON \
-  -DDORA_ROOT_DIR=/path/to/dora-v0.4.1
+  -DDORA_ROOT_DIR=/path/to/dora-v1.0.1
 ```
 
 ## Testing
 
 Verify that every Python, Rust, and C++ implementation matches its package
-family version in `versions.toml`, including the Msgs interface major and lock
-files:
+family version in `versions.toml`, including the independently tracked Msgs
+interface version and lock files:
 
 ```bash
 python scripts/check_release_versions.py