@agenticros/core 0.8.3 → 0.8.4
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/capabilities.d.ts +23 -0
- package/dist/capabilities.d.ts.map +1 -1
- package/dist/capabilities.js +55 -0
- package/dist/capabilities.js.map +1 -1
- package/dist/capability-schema.d.ts +6 -0
- package/dist/capability-schema.d.ts.map +1 -1
- package/dist/capability-schema.js +2 -0
- package/dist/capability-schema.js.map +1 -1
- package/dist/config.d.ts +39 -0
- package/dist/config.d.ts.map +1 -1
- package/dist/config.js +8 -0
- package/dist/config.js.map +1 -1
- package/dist/discoverable-capabilities.d.ts +2 -0
- package/dist/discoverable-capabilities.d.ts.map +1 -1
- package/dist/discoverable-capabilities.js +15 -2
- package/dist/discoverable-capabilities.js.map +1 -1
- package/dist/find-robots-for.d.ts.map +1 -1
- package/dist/find-robots-for.js +7 -17
- package/dist/find-robots-for.js.map +1 -1
- package/dist/index.d.ts +3 -1
- package/dist/index.d.ts.map +1 -1
- package/dist/index.js +2 -1
- package/dist/index.js.map +1 -1
- package/dist/mission.d.ts +6 -0
- package/dist/mission.d.ts.map +1 -1
- package/dist/mission.js +2 -1
- package/dist/mission.js.map +1 -1
- package/dist/robot-profile.d.ts +89 -0
- package/dist/robot-profile.d.ts.map +1 -0
- package/dist/robot-profile.js +208 -0
- package/dist/robot-profile.js.map +1 -0
- package/dist/robots.d.ts +6 -0
- package/dist/robots.d.ts.map +1 -1
- package/dist/robots.js +1 -0
- package/dist/robots.js.map +1 -1
- package/package.json +1 -1
package/dist/capabilities.d.ts
CHANGED
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@@ -70,6 +70,17 @@ export interface Capability {
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interruptible?: boolean;
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/** Owns the robot base (cmd_vel); other base-owning skills should yield. */
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blocks_base?: boolean;
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/**
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* Hardware features this verb needs (ALL-OF). Empty / omitted → no
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* hardware gate. Names come from the frozen profile vocabulary
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* (`base`, `camera`, `depth`, …).
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*/
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requires?: string[];
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/**
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* Features this verb can use but does not require. Unused for gating;
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* surfaced in docs and the marketplace.
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*/
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optional?: string[];
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/** How the capability is implemented. Defaults to `in_process` when unset. */
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implementation?: CapabilityImplementation;
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/** Set by the registry, not the skill author. */
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@@ -98,4 +109,16 @@ export declare function readSkillCapabilities(config: AgenticROSConfig): Capabil
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* `ros2_list_capabilities` across every adapter.
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*/
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export declare function listAllCapabilities(config: AgenticROSConfig): Capability[];
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/**
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* Capabilities advertised for one robot: gateway registry, then optional
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* per-robot verb allowlist, then hardware-profile `requires` filter.
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* `robotId` omitted → active robot. No profile → no hardware filter.
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*/
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export declare function listCapabilitiesForRobot(config: AgenticROSConfig, robotId?: string): Capability[];
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/**
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* Why a verb is not advertised on this robot, or undefined when it is
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* simply unknown. Used by the mission runner for a clearer error than
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* "not found in registry".
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*/
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export declare function capabilityUnavailableMessage(config: AgenticROSConfig, robotId: string | undefined, capId: string): string | undefined;
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//# sourceMappingURL=capabilities.d.ts.map
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@@ -1 +1 @@
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1
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-
{"version":3,"file":"capabilities.d.ts","sourceRoot":"","sources":["../src/capabilities.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AAKH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;
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{"version":3,"file":"capabilities.d.ts","sourceRoot":"","sources":["../src/capabilities.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AAKH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAIpD,oCAAoC;AACpC,MAAM,MAAM,gBAAgB,GACxB;IAAE,IAAI,EAAE,SAAS,CAAA;CAAE,GACnB;IAAE,IAAI,EAAE,OAAO,CAAC;IAAC,OAAO,EAAE,MAAM,CAAC;IAAC,OAAO,EAAE,MAAM,CAAC;IAAC,IAAI,CAAC,EAAE,MAAM,CAAA;CAAE,CAAC;AAEvE,2EAA2E;AAC3E,MAAM,MAAM,wBAAwB,GAChC;IAAE,IAAI,EAAE,YAAY,CAAA;CAAE,GACtB;IACE,IAAI,EAAE,mBAAmB,CAAC;IAC1B,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB,CAAC;AAEN,4DAA4D;AAC5D,MAAM,WAAW,eAAe;IAC9B,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,OAAO,CAAC,EAAE,OAAO,CAAC;CACnB;AAED;;;;;;GAMG;AACH,MAAM,WAAW,UAAU;IACzB,8EAA8E;IAC9E,EAAE,EAAE,MAAM,CAAC;IACX,qFAAqF;IACrF,IAAI,EAAE,MAAM,CAAC;IACb,4CAA4C;IAC5C,WAAW,EAAE,MAAM,CAAC;IACpB,qDAAqD;IACrD,MAAM,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,eAAe,CAAC,CAAC;IACzC,mDAAmD;IACnD,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,eAAe,CAAC,CAAC;IAC1C,2EAA2E;IAC3E,aAAa,CAAC,EAAE,MAAM,EAAE,CAAC;IACzB,oFAAoF;IACpF,aAAa,CAAC,EAAE,OAAO,CAAC;IACxB,4EAA4E;IAC5E,WAAW,CAAC,EAAE,OAAO,CAAC;IACtB;;;;OAIG;IACH,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;IACpB;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;IACpB,8EAA8E;IAC9E,cAAc,CAAC,EAAE,wBAAwB,CAAC;IAC1C,iDAAiD;IACjD,MAAM,CAAC,EAAE,gBAAgB,CAAC;CAC3B;AAED;;;;;GAKG;AACH,eAAO,MAAM,oBAAoB,EAAE,SAAS,UAAU,EAqFrD,CAAC;AAwHF;;;;;;;;GAQG;AACH,wBAAgB,qBAAqB,CAAC,MAAM,EAAE,gBAAgB,GAAG,UAAU,EAAE,CA+C5E;AAED;;;;GAIG;AACH,wBAAgB,mBAAmB,CAAC,MAAM,EAAE,gBAAgB,GAAG,UAAU,EAAE,CAE1E;AAiBD;;;;GAIG;AACH,wBAAgB,wBAAwB,CACtC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,UAAU,EAAE,CAGd;AAED;;;;GAIG;AACH,wBAAgB,4BAA4B,CAC1C,MAAM,EAAE,gBAAgB,EACxB,OAAO,EAAE,MAAM,GAAG,SAAS,EAC3B,KAAK,EAAE,MAAM,GACZ,MAAM,GAAG,SAAS,CAqBpB"}
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package/dist/capabilities.js
CHANGED
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@@ -20,6 +20,8 @@
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import { createRequire } from "node:module";
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import { readFileSync, existsSync } from "node:fs";
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import { join, resolve as resolvePath } from "node:path";
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import { resolveRobot } from "./robots.js";
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import { featuresSatisfied, missingFeatures } from "./robot-profile.js";
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/**
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* Built-in robot verbs — wrap the raw MCP tools in agent-meaningful
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* capability names. The intrinsic set is intentionally small and stable
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@@ -38,6 +40,7 @@ export const BUILTIN_CAPABILITIES = [
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},
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interruptible: true,
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blocks_base: true,
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requires: ["base"],
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source: { kind: "builtin" },
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},
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{
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@@ -53,6 +56,7 @@ export const BUILTIN_CAPABILITIES = [
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height: { type: "number", description: "Image height in pixels." },
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},
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interruptible: true,
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requires: ["camera"],
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source: { kind: "builtin" },
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},
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{
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@@ -68,6 +72,7 @@ export const BUILTIN_CAPABILITIES = [
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median_m: { type: "number", description: "Median distance across sampled pixels." },
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},
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interruptible: true,
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requires: ["depth"],
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source: { kind: "builtin" },
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},
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{
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@@ -120,6 +125,12 @@ function normalizeCapability(raw, source) {
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...(raw.preconditions ? { preconditions: raw.preconditions } : {}),
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...(typeof raw.interruptible === "boolean" ? { interruptible: raw.interruptible } : {}),
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...(typeof raw.blocks_base === "boolean" ? { blocks_base: raw.blocks_base } : {}),
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...(Array.isArray(raw.requires) && raw.requires.every((x) => typeof x === "string")
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? { requires: raw.requires }
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: {}),
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...(Array.isArray(raw.optional) && raw.optional.every((x) => typeof x === "string")
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? { optional: raw.optional }
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: {}),
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...(raw.implementation ? { implementation: raw.implementation } : { implementation: { kind: "in_process" } }),
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source,
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};
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@@ -270,4 +281,48 @@ export function readSkillCapabilities(config) {
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export function listAllCapabilities(config) {
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return [...BUILTIN_CAPABILITIES, ...readSkillCapabilities(config)];
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}
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function filterCapabilitiesForRobot(caps, robot) {
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let out = caps;
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if (robot.capabilities) {
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const allow = new Set(robot.capabilities);
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out = out.filter((c) => allow.has(c.id));
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}
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if (robot.profile) {
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out = out.filter((c) => featuresSatisfied(robot.profile, c.requires));
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}
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return out;
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}
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/**
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* Capabilities advertised for one robot: gateway registry, then optional
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* per-robot verb allowlist, then hardware-profile `requires` filter.
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* `robotId` omitted → active robot. No profile → no hardware filter.
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*/
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export function listCapabilitiesForRobot(config, robotId) {
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const robot = resolveRobot(config, robotId);
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return filterCapabilitiesForRobot(listAllCapabilities(config), robot);
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}
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/**
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* Why a verb is not advertised on this robot, or undefined when it is
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* simply unknown. Used by the mission runner for a clearer error than
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* "not found in registry".
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*/
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export function capabilityUnavailableMessage(config, robotId, capId) {
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const all = listAllCapabilities(config);
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const cap = all.find((c) => c.id === capId);
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if (!cap)
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return undefined;
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const robot = resolveRobot(config, robotId);
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if (robot.capabilities && !robot.capabilities.includes(capId)) {
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return (`Capability "${capId}" is not on robot "${robot.id}"'s allowlist. ` +
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`Use ros2_list_capabilities with robot_id="${robot.id}".`);
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}
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if (robot.profile) {
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const missing = missingFeatures(robot.profile, cap.requires);
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if (missing.length > 0) {
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return (`Capability "${capId}" is not available on robot "${robot.id}" ` +
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`(missing features: ${missing.join(", ")}).`);
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}
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}
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return undefined;
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}
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//# sourceMappingURL=capabilities.js.map
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package/dist/capabilities.js.map
CHANGED
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@@ -1 +1 @@
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-
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@@ -88,6 +88,8 @@ export declare const CapabilitySchema: z.ZodObject<{
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88
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preconditions: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
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interruptible: z.ZodOptional<z.ZodBoolean>;
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blocks_base: z.ZodOptional<z.ZodBoolean>;
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+
requires: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
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+
optional: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
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implementation: z.ZodOptional<z.ZodUnion<[z.ZodObject<{
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kind: z.ZodLiteral<"in_process">;
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93
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}, "strip", z.ZodTypeAny, {
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@@ -139,6 +141,8 @@ export declare const CapabilitySchema: z.ZodObject<{
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139
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blocks_base?: boolean | undefined;
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preconditions?: string[] | undefined;
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interruptible?: boolean | undefined;
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requires?: string[] | undefined;
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145
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+
optional?: string[] | undefined;
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implementation?: {
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kind: "in_process";
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} | {
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@@ -170,6 +174,8 @@ export declare const CapabilitySchema: z.ZodObject<{
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description?: string | undefined;
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preconditions?: string[] | undefined;
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interruptible?: boolean | undefined;
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requires?: string[] | undefined;
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+
optional?: string[] | undefined;
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implementation?: {
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174
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kind: "in_process";
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175
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} | {
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@@ -1 +1 @@
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1
|
-
{"version":3,"file":"capability-schema.d.ts","sourceRoot":"","sources":["../src/capability-schema.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AAExB,eAAO,MAAM,qBAAqB;;;;;;;;;;;;;;;EAKhC,CAAC;AAEH,eAAO,MAAM,8BAA8B;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAWzC,CAAC;AAEH,eAAO,MAAM,gBAAgB
|
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1
|
+
{"version":3,"file":"capability-schema.d.ts","sourceRoot":"","sources":["../src/capability-schema.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AAExB,eAAO,MAAM,qBAAqB;;;;;;;;;;;;;;;EAKhC,CAAC;AAEH,eAAO,MAAM,8BAA8B;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAWzC,CAAC;AAEH,eAAO,MAAM,gBAAgB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;EAa3B,CAAC;AAEH,MAAM,MAAM,gBAAgB,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,gBAAgB,CAAC,CAAC;AAEhE;;GAEG;AACH,wBAAgB,eAAe,CAAC,GAAG,EAAE,OAAO,GAAG,gBAAgB,CAE9D;AAED;;GAEG;AACH,wBAAgB,mBAAmB,CACjC,GAAG,EAAE,OAAO,GACX;IAAE,EAAE,EAAE,IAAI,CAAC;IAAC,UAAU,EAAE,gBAAgB,CAAA;CAAE,GAAG;IAAE,EAAE,EAAE,KAAK,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;CAAE,CAI3E"}
|
|
@@ -29,6 +29,8 @@ export const CapabilitySchema = z.object({
|
|
|
29
29
|
preconditions: z.array(z.string()).optional(),
|
|
30
30
|
interruptible: z.boolean().optional(),
|
|
31
31
|
blocks_base: z.boolean().optional(),
|
|
32
|
+
requires: z.array(z.string().min(1)).optional(),
|
|
33
|
+
optional: z.array(z.string().min(1)).optional(),
|
|
32
34
|
implementation: CapabilityImplementationSchema.optional(),
|
|
33
35
|
tool: z.string().optional(),
|
|
34
36
|
});
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"capability-schema.js","sourceRoot":"","sources":["../src/capability-schema.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AAExB,MAAM,CAAC,MAAM,qBAAqB,GAAG,CAAC,CAAC,MAAM,CAAC;IAC5C,IAAI,EAAE,CAAC,CAAC,MAAM,EAAE;IAChB,WAAW,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;IAClC,QAAQ,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;IAChC,OAAO,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;CAChC,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,8BAA8B,GAAG,CAAC,CAAC,KAAK,CAAC;IACpD,CAAC,CAAC,MAAM,CAAC,EAAE,IAAI,EAAE,CAAC,CAAC,OAAO,CAAC,YAAY,CAAC,EAAE,CAAC;IAC3C,CAAC,CAAC,MAAM,CAAC;QACP,IAAI,EAAE,CAAC,CAAC,OAAO,CAAC,mBAAmB,CAAC;QACpC,OAAO,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC9B,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC7B,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC7B,OAAO,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC9B,KAAK,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC5B,QAAQ,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;KAChC,CAAC;CACH,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,gBAAgB,GAAG,CAAC,CAAC,MAAM,CAAC;IACvC,EAAE,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC;IACrB,IAAI,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC;IACvB,WAAW,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,OAAO,CAAC,EAAE,CAAC;IACnC,MAAM,EAAE,CAAC,CAAC,MAAM,CAAC,qBAAqB,CAAC,CAAC,QAAQ,EAAE;IAClD,OAAO,EAAE,CAAC,CAAC,MAAM,CAAC,qBAAqB,CAAC,CAAC,QAAQ,EAAE;IACnD,aAAa,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,MAAM,EAAE,CAAC,CAAC,QAAQ,EAAE;IAC7C,aAAa,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;IACrC,WAAW,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;IACnC,cAAc,EAAE,8BAA8B,CAAC,QAAQ,EAAE;IACzD,IAAI,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;CAC5B,CAAC,CAAC;AAIH;;GAEG;AACH,MAAM,UAAU,eAAe,CAAC,GAAY;IAC1C,OAAO,gBAAgB,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;AACrC,CAAC;AAED;;GAEG;AACH,MAAM,UAAU,mBAAmB,CACjC,GAAY;IAEZ,MAAM,MAAM,GAAG,gBAAgB,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;IAC/C,IAAI,MAAM,CAAC,OAAO;QAAE,OAAO,EAAE,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,MAAM,CAAC,IAAI,EAAE,CAAC;IACjE,OAAO,EAAE,EAAE,EAAE,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC,OAAO,EAAE,CAAC;AACpD,CAAC"}
|
|
1
|
+
{"version":3,"file":"capability-schema.js","sourceRoot":"","sources":["../src/capability-schema.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AAExB,MAAM,CAAC,MAAM,qBAAqB,GAAG,CAAC,CAAC,MAAM,CAAC;IAC5C,IAAI,EAAE,CAAC,CAAC,MAAM,EAAE;IAChB,WAAW,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;IAClC,QAAQ,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;IAChC,OAAO,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;CAChC,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,8BAA8B,GAAG,CAAC,CAAC,KAAK,CAAC;IACpD,CAAC,CAAC,MAAM,CAAC,EAAE,IAAI,EAAE,CAAC,CAAC,OAAO,CAAC,YAAY,CAAC,EAAE,CAAC;IAC3C,CAAC,CAAC,MAAM,CAAC;QACP,IAAI,EAAE,CAAC,CAAC,OAAO,CAAC,mBAAmB,CAAC;QACpC,OAAO,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC9B,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC7B,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC7B,OAAO,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC9B,KAAK,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;QAC5B,QAAQ,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;KAChC,CAAC;CACH,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,gBAAgB,GAAG,CAAC,CAAC,MAAM,CAAC;IACvC,EAAE,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC;IACrB,IAAI,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC;IACvB,WAAW,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,OAAO,CAAC,EAAE,CAAC;IACnC,MAAM,EAAE,CAAC,CAAC,MAAM,CAAC,qBAAqB,CAAC,CAAC,QAAQ,EAAE;IAClD,OAAO,EAAE,CAAC,CAAC,MAAM,CAAC,qBAAqB,CAAC,CAAC,QAAQ,EAAE;IACnD,aAAa,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,MAAM,EAAE,CAAC,CAAC,QAAQ,EAAE;IAC7C,aAAa,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;IACrC,WAAW,EAAE,CAAC,CAAC,OAAO,EAAE,CAAC,QAAQ,EAAE;IACnC,QAAQ,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,QAAQ,EAAE;IAC/C,QAAQ,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,QAAQ,EAAE;IAC/C,cAAc,EAAE,8BAA8B,CAAC,QAAQ,EAAE;IACzD,IAAI,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,QAAQ,EAAE;CAC5B,CAAC,CAAC;AAIH;;GAEG;AACH,MAAM,UAAU,eAAe,CAAC,GAAY;IAC1C,OAAO,gBAAgB,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;AACrC,CAAC;AAED;;GAEG;AACH,MAAM,UAAU,mBAAmB,CACjC,GAAY;IAEZ,MAAM,MAAM,GAAG,gBAAgB,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;IAC/C,IAAI,MAAM,CAAC,OAAO;QAAE,OAAO,EAAE,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,MAAM,CAAC,IAAI,EAAE,CAAC;IACjE,OAAO,EAAE,EAAE,EAAE,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC,OAAO,EAAE,CAAC;AACpD,CAAC"}
|
package/dist/config.d.ts
CHANGED
|
@@ -346,6 +346,25 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
346
346
|
* one robot has the arm skill loaded and another doesn't.
|
|
347
347
|
*/
|
|
348
348
|
capabilities: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
|
|
349
|
+
/**
|
|
350
|
+
* Hardware profile: features this body has + ROS bindings.
|
|
351
|
+
* Optional. When unset, verb filtering is skipped (gateway-wide
|
|
352
|
+
* registry — today's behaviour). When set, advertised verbs are
|
|
353
|
+
* the intersection of installed skills and `profile.features`.
|
|
354
|
+
*/
|
|
355
|
+
profile: z.ZodOptional<z.ZodObject<{
|
|
356
|
+
schema: z.ZodDefault<z.ZodLiteral<"agenticros.profile.v1">>;
|
|
357
|
+
features: z.ZodDefault<z.ZodArray<z.ZodString, "many">>;
|
|
358
|
+
bindings: z.ZodDefault<z.ZodRecord<z.ZodString, z.ZodString>>;
|
|
359
|
+
}, "strip", z.ZodTypeAny, {
|
|
360
|
+
schema: "agenticros.profile.v1";
|
|
361
|
+
features: string[];
|
|
362
|
+
bindings: Record<string, string>;
|
|
363
|
+
}, {
|
|
364
|
+
schema?: "agenticros.profile.v1" | undefined;
|
|
365
|
+
features?: string[] | undefined;
|
|
366
|
+
bindings?: Record<string, string> | undefined;
|
|
367
|
+
}>>;
|
|
349
368
|
/**
|
|
350
369
|
* Phase 1.d-resolve per-robot transport override.
|
|
351
370
|
*
|
|
@@ -564,6 +583,11 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
564
583
|
} | undefined;
|
|
565
584
|
default?: boolean | undefined;
|
|
566
585
|
capabilities?: string[] | undefined;
|
|
586
|
+
profile?: {
|
|
587
|
+
schema: "agenticros.profile.v1";
|
|
588
|
+
features: string[];
|
|
589
|
+
bindings: Record<string, string>;
|
|
590
|
+
} | undefined;
|
|
567
591
|
}, {
|
|
568
592
|
id: string;
|
|
569
593
|
transport?: {
|
|
@@ -611,6 +635,11 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
611
635
|
has_arm?: boolean | undefined;
|
|
612
636
|
} | undefined;
|
|
613
637
|
capabilities?: string[] | undefined;
|
|
638
|
+
profile?: {
|
|
639
|
+
schema?: "agenticros.profile.v1" | undefined;
|
|
640
|
+
features?: string[] | undefined;
|
|
641
|
+
bindings?: Record<string, string> | undefined;
|
|
642
|
+
} | undefined;
|
|
614
643
|
}>, "many">>;
|
|
615
644
|
/** Phase 3 teleop web app: camera + twist controls. */
|
|
616
645
|
teleop: z.ZodDefault<z.ZodObject<{
|
|
@@ -989,6 +1018,11 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
989
1018
|
} | undefined;
|
|
990
1019
|
default?: boolean | undefined;
|
|
991
1020
|
capabilities?: string[] | undefined;
|
|
1021
|
+
profile?: {
|
|
1022
|
+
schema: "agenticros.profile.v1";
|
|
1023
|
+
features: string[];
|
|
1024
|
+
bindings: Record<string, string>;
|
|
1025
|
+
} | undefined;
|
|
992
1026
|
}[];
|
|
993
1027
|
teleop: {
|
|
994
1028
|
cameraTopic: string;
|
|
@@ -1129,6 +1163,11 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
1129
1163
|
has_arm?: boolean | undefined;
|
|
1130
1164
|
} | undefined;
|
|
1131
1165
|
capabilities?: string[] | undefined;
|
|
1166
|
+
profile?: {
|
|
1167
|
+
schema?: "agenticros.profile.v1" | undefined;
|
|
1168
|
+
features?: string[] | undefined;
|
|
1169
|
+
bindings?: Record<string, string> | undefined;
|
|
1170
|
+
} | undefined;
|
|
1132
1171
|
}[] | undefined;
|
|
1133
1172
|
teleop?: {
|
|
1134
1173
|
cameraTopic?: string | undefined;
|
package/dist/config.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"config.d.ts","sourceRoot":"","sources":["../src/config.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AACxB,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;
|
|
1
|
+
{"version":3,"file":"config.d.ts","sourceRoot":"","sources":["../src/config.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AACxB,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAwF5D;;;;;;;;;;;;;;;GAeG;AACH,QAAA,MAAM,4BAA4B;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAyBhC,CAAC;AAEH,MAAM,MAAM,sBAAsB,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,4BAA4B,CAAC,CAAC;AAElF,eAAO,MAAM,sBAAsB;;QAG7B;;;;WAIG;;;;;;;;QA5HP,qGAAqG;;;QAGrG,mHAAmH;;QAEnH;;;;WAIG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;QAoIC,4JAA4J;;;;;;;;;;;IAKhK;;;;;;;;;;;OAWG;;QAIG,4EAA4E;;;;;;QAM5E;;;;;;;;;;;;WAYG;;QAEH;;;;;;;;;;;;WAYG;;;;;;;;;;;;;;QAQH;;;;;;;;;WASG;;QAEH;;;;;WAKG;;;;;;;;;;;;;;QAEH;;;;;;;;;;;;;;;;;;;;WAoBG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAMT,uDAAuD;;QAGnD,iIAAiI;;QAEjI,+HAA+H;;;;;;;;;;;QAI/H,6DAA6D;;QAE7D,6CAA6C;;QAE7C,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAoB1D;;;;;;;;;;;;;;;;;OAiBG;;;QAIC,mDAAmD;;QAcnD,wDAAwD;;QAExD,uEAAuE;;QAEvE,uCAAuC;;QAQvC,sCAAsC;;QAEtC,6BAA6B;;QAE7B;;;WAGG;;;;;;;;;;;;;;;;;;;;;IAKP;;;;;;;;;OASG;;QAGC,yEAAyE;;QAEzE,uFAAuF;;QAEvF,mFAAmF;;;YAI/E,sDAAsD;;;;;;;;YAMtD;;;;eAIG;;YAEH,0EAA0E;;YAI1E;;;;eAIG;;;;;;;;;;;YAOH,qEAAqE;;;;;;;;;;;YAOrE,yFAAyF;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAYjG,gGAAgG;;IAGhG,mHAAmH;;IAGnH,wGAAwG;;IAGxG;;;;;OAKG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;EAEH,CAAC;AAEH,MAAM,MAAM,gBAAgB,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,sBAAsB,CAAC,CAAC;AAEtE;;;;GAIG;AACH,wBAAgB,WAAW,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,gBAAgB,CAY1E;AAED;;;;;GAKG;AACH,wBAAgB,2BAA2B,CACzC,MAAM,EAAE,gBAAgB,EACxB,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC3B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CASzB;AAED;;GAEG;AACH,wBAAgB,kBAAkB,CAAC,MAAM,EAAE,gBAAgB,GAAG,eAAe,CAc5E"}
|
package/dist/config.js
CHANGED
|
@@ -1,4 +1,5 @@
|
|
|
1
1
|
import { z } from "zod";
|
|
2
|
+
import { RobotProfileSchema } from "./robot-profile.js";
|
|
2
3
|
const IceServerSchema = z.object({
|
|
3
4
|
urls: z.union([z.string(), z.array(z.string())]),
|
|
4
5
|
username: z.string().optional(),
|
|
@@ -204,6 +205,13 @@ export const AgenticROSConfigSchema = z.object({
|
|
|
204
205
|
* one robot has the arm skill loaded and another doesn't.
|
|
205
206
|
*/
|
|
206
207
|
capabilities: z.array(z.string()).optional(),
|
|
208
|
+
/**
|
|
209
|
+
* Hardware profile: features this body has + ROS bindings.
|
|
210
|
+
* Optional. When unset, verb filtering is skipped (gateway-wide
|
|
211
|
+
* registry — today's behaviour). When set, advertised verbs are
|
|
212
|
+
* the intersection of installed skills and `profile.features`.
|
|
213
|
+
*/
|
|
214
|
+
profile: RobotProfileSchema.optional(),
|
|
207
215
|
/**
|
|
208
216
|
* Phase 1.d-resolve per-robot transport override.
|
|
209
217
|
*
|
package/dist/config.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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+
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|
@@ -25,6 +25,8 @@ export interface ListCapabilitiesOptions {
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|
|
25
25
|
marketplaceLimit?: number;
|
|
26
26
|
/** Soft-fail: on network error return installed-only. Default true. */
|
|
27
27
|
softFail?: boolean;
|
|
28
|
+
/** Scope installed + discoverable verbs to this robot's profile. */
|
|
29
|
+
robotId?: string;
|
|
28
30
|
}
|
|
29
31
|
interface MarketplaceSkillDoc {
|
|
30
32
|
marketplaceRef?: string;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"discoverable-capabilities.d.ts","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AACpD,OAAO,EAEL,KAAK,UAAU,EAGhB,MAAM,mBAAmB,CAAC;
|
|
1
|
+
{"version":3,"file":"discoverable-capabilities.d.ts","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AACpD,OAAO,EAEL,KAAK,UAAU,EAGhB,MAAM,mBAAmB,CAAC;AAK3B,MAAM,WAAW,sBAAuB,SAAQ,UAAU;IACxD,gDAAgD;IAChD,YAAY,EAAE,IAAI,CAAC;IACnB,oDAAoD;IACpD,SAAS,EAAE,KAAK,CAAC;IACjB,6CAA6C;IAC7C,WAAW,EAAE,MAAM,CAAC;CACrB;AAED,MAAM,WAAW,gBAAiB,SAAQ,UAAU;IAClD,YAAY,CAAC,EAAE,OAAO,CAAC;IACvB,SAAS,CAAC,EAAE,OAAO,CAAC;IACpB,WAAW,CAAC,EAAE,MAAM,CAAC;CACtB;AAED,MAAM,WAAW,uBAAuB;IACtC,0DAA0D;IAC1D,mBAAmB,CAAC,EAAE,OAAO,CAAC;IAC9B,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,kDAAkD;IAClD,gBAAgB,CAAC,EAAE,MAAM,CAAC;IAC1B,uEAAuE;IACvE,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,oEAAoE;IACpE,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB;AAED,UAAU,mBAAmB;IAC3B,cAAc,CAAC,EAAE,MAAM,CAAC;IACxB,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,YAAY,CAAC,EAAE,KAAK,CAAC,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC,CAAC;IAC9C,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAuED,wBAAsB,sBAAsB,CAC1C,IAAI,GAAE;IAAE,OAAO,CAAC,EAAE,MAAM,CAAC;IAAC,KAAK,CAAC,EAAE,MAAM,CAAA;CAAO,GAC9C,OAAO,CAAC,mBAAmB,EAAE,CAAC,CAYhC;AAED;;;GAGG;AACH,wBAAsB,gCAAgC,CACpD,MAAM,EAAE,gBAAgB,EACxB,IAAI,GAAE,uBAA4B,GACjC,OAAO,CAAC,gBAAgB,EAAE,CAAC,CAgD7B"}
|
|
@@ -2,7 +2,9 @@
|
|
|
2
2
|
* Discoverable marketplace capabilities — list verbs from skills.agenticros.com
|
|
3
3
|
* that are not yet installed locally, so agents can propose installs.
|
|
4
4
|
*/
|
|
5
|
-
import {
|
|
5
|
+
import { listCapabilitiesForRobot, } from "./capabilities.js";
|
|
6
|
+
import { resolveRobot } from "./robots.js";
|
|
7
|
+
import { featuresSatisfied } from "./robot-profile.js";
|
|
6
8
|
import { skillsApiBase } from "./skill-refs.js";
|
|
7
9
|
function installRefOf(s) {
|
|
8
10
|
if (s.marketplaceRef && typeof s.marketplaceRef === "string") {
|
|
@@ -34,6 +36,12 @@ function fieldMap(raw) {
|
|
|
34
36
|
}
|
|
35
37
|
return Object.keys(out).length ? out : undefined;
|
|
36
38
|
}
|
|
39
|
+
function stringList(raw) {
|
|
40
|
+
if (!Array.isArray(raw))
|
|
41
|
+
return undefined;
|
|
42
|
+
const out = raw.filter((x) => typeof x === "string" && x.length > 0);
|
|
43
|
+
return out.length ? out : undefined;
|
|
44
|
+
}
|
|
37
45
|
function normalizeMarketplaceCap(raw, installRef, packageName) {
|
|
38
46
|
const id = typeof raw.id === "string" ? raw.id : null;
|
|
39
47
|
const verb = typeof raw.verb === "string" ? raw.verb : null;
|
|
@@ -53,6 +61,8 @@ function normalizeMarketplaceCap(raw, installRef, packageName) {
|
|
|
53
61
|
outputs: fieldMap(raw.outputs),
|
|
54
62
|
interruptible: raw.interruptible === true ? true : raw.interruptible === false ? false : undefined,
|
|
55
63
|
blocks_base: raw.blocks_base === true ? true : undefined,
|
|
64
|
+
requires: stringList(raw.requires),
|
|
65
|
+
optional: stringList(raw.optional),
|
|
56
66
|
source,
|
|
57
67
|
discoverable: true,
|
|
58
68
|
installed: false,
|
|
@@ -77,7 +87,7 @@ export async function fetchMarketplaceSkills(opts = {}) {
|
|
|
77
87
|
* (ids not already present locally). Soft-fails offline.
|
|
78
88
|
*/
|
|
79
89
|
export async function listCapabilitiesWithDiscoverable(config, opts = {}) {
|
|
80
|
-
const installed =
|
|
90
|
+
const installed = listCapabilitiesForRobot(config, opts.robotId).map((c) => {
|
|
81
91
|
const listed = {
|
|
82
92
|
...c,
|
|
83
93
|
installed: true,
|
|
@@ -88,6 +98,7 @@ export async function listCapabilitiesWithDiscoverable(config, opts = {}) {
|
|
|
88
98
|
if (opts.includeDiscoverable === false) {
|
|
89
99
|
return installed;
|
|
90
100
|
}
|
|
101
|
+
const robotProfile = resolveRobot(config, opts.robotId).profile;
|
|
91
102
|
const installedIds = new Set(installed.map((c) => c.id));
|
|
92
103
|
try {
|
|
93
104
|
const skills = await fetchMarketplaceSkills({
|
|
@@ -112,6 +123,8 @@ export async function listCapabilitiesWithDiscoverable(config, opts = {}) {
|
|
|
112
123
|
const norm = normalizeMarketplaceCap(raw, ref, s.slug ?? ref);
|
|
113
124
|
if (!norm)
|
|
114
125
|
continue;
|
|
126
|
+
if (!featuresSatisfied(robotProfile, norm.requires))
|
|
127
|
+
continue;
|
|
115
128
|
seenDiscoverable.add(id);
|
|
116
129
|
extra.push(norm);
|
|
117
130
|
}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"discoverable-capabilities.js","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAGH,OAAO,EACL,
|
|
1
|
+
{"version":3,"file":"discoverable-capabilities.js","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAGH,OAAO,EACL,wBAAwB,GAIzB,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAC3C,OAAO,EAAE,iBAAiB,EAAE,MAAM,oBAAoB,CAAC;AACvD,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAsChD,SAAS,YAAY,CAAC,CAAsB;IAC1C,IAAI,CAAC,CAAC,cAAc,IAAI,OAAO,CAAC,CAAC,cAAc,KAAK,QAAQ,EAAE,CAAC;QAC7D,OAAO,CAAC,CAAC,cAAc,CAAC,WAAW,EAAE,CAAC;IACxC,CAAC;IACD,IAAI,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,SAAS,EAAE,CAAC;QAChC,OAAO,GAAG,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,SAAS,EAAE,CAAC,WAAW,EAAE,CAAC;IACxD,CAAC;IACD,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,GAAG,CAAC;QAAE,OAAO,CAAC,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC;IAChE,OAAO,IAAI,CAAC;AACd,CAAC;AAED,SAAS,QAAQ,CACf,GAAY;IAEZ,IAAI,CAAC,GAAG,IAAI,OAAO,GAAG,KAAK,QAAQ,IAAI,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC;QAAE,OAAO,SAAS,CAAC;IAC5E,MAAM,GAAG,GAAoC,EAAE,CAAC;IAChD,KAAK,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,GAA8B,CAAC,EAAE,CAAC;QACpE,IAAI,OAAO,CAAC,KAAK,QAAQ,EAAE,CAAC;YAC1B,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC;QACvB,CAAC;aAAM,IAAI,CAAC,IAAI,OAAO,CAAC,KAAK,QAAQ,EAAE,CAAC;YACtC,MAAM,CAAC,GAAG,CAA4B,CAAC;YACvC,GAAG,CAAC,CAAC,CAAC,GAAG;gBACP,IAAI,EAAE,OAAO,CAAC,CAAC,IAAI,KAAK,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS;gBACrD,WAAW,EAAE,OAAO,CAAC,CAAC,WAAW,KAAK,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,SAAS;gBAC1E,QAAQ,EAAE,CAAC,CAAC,QAAQ,KAAK,IAAI;aAC9B,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC;AACnD,CAAC;AAED,SAAS,UAAU,CAAC,GAAY;IAC9B,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC;QAAE,OAAO,SAAS,CAAC;IAC1C,MAAM,GAAG,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,EAAe,EAAE,CAAC,OAAO,CAAC,KAAK,QAAQ,IAAI,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;IAClF,OAAO,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC;AACtC,CAAC;AAED,SAAS,uBAAuB,CAC9B,GAA4B,EAC5B,UAAkB,EAClB,WAAmB;IAEnB,MAAM,EAAE,GAAG,OAAO,GAAG,CAAC,EAAE,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;IACtD,MAAM,IAAI,GAAG,OAAO,GAAG,CAAC,IAAI,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;IAC5D,MAAM,WAAW,GACf,OAAO,GAAG,CAAC,WAAW,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,0BAA0B,EAAE,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;IACrG,IAAI,CAAC,EAAE,IAAI,CAAC,IAAI,IAAI,CAAC,WAAW;QAAE,OAAO,IAAI,CAAC;IAC9C,MAAM,MAAM,GAAqB;QAC/B,IAAI,EAAE,OAAO;QACb,OAAO,EAAE,UAAU,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,UAAU;QAC/C,OAAO,EAAE,WAAW;KACrB,CAAC;IACF,OAAO;QACL,EAAE;QACF,IAAI;QACJ,WAAW;QACX,MAAM,EAAE,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC;QAC5B,OAAO,EAAE,QAAQ,CAAC,GAAG,CAAC,OAAO,CAAC;QAC9B,aAAa,EAAE,GAAG,CAAC,aAAa,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,aAAa,KAAK,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,SAAS;QAClG,WAAW,EAAE,GAAG,CAAC,WAAW,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS;QACxD,QAAQ,EAAE,UAAU,CAAC,GAAG,CAAC,QAAQ,CAAC;QAClC,QAAQ,EAAE,UAAU,CAAC,GAAG,CAAC,QAAQ,CAAC;QAClC,MAAM;QACN,YAAY,EAAE,IAAI;QAClB,SAAS,EAAE,KAAK;QAChB,WAAW,EAAE,UAAU;KACxB,CAAC;AACJ,CAAC;AAED,MAAM,CAAC,KAAK,UAAU,sBAAsB,CAC1C,OAA6C,EAAE;IAE/C,MAAM,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzC,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,IAAI,EAAE,CAAC;IAC/B,MAAM,CAAC,GAAG,IAAI,GAAG,CAAC,GAAG,IAAI,SAAS,CAAC,CAAC;IACpC,CAAC,CAAC,YAAY,CAAC,GAAG,CAAC,OAAO,EAAE,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC;IAC3C,CAAC,CAAC,YAAY,CAAC,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IACtC,MAAM,GAAG,GAAG,MAAM,KAAK,CAAC,CAAC,CAAC,QAAQ,EAAE,EAAE,EAAE,OAAO,EAAE,EAAE,MAAM,EAAE,kBAAkB,EAAE,EAAE,CAAC,CAAC;IACnF,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC;QACZ,MAAM,IAAI,KAAK,CAAC,oBAAoB,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC;IACpD,CAAC;IACD,MAAM,IAAI,GAAG,CAAC,MAAM,GAAG,CAAC,IAAI,EAAE,CAAuC,CAAC;IACtE,OAAO,IAAI,CAAC,MAAM,IAAI,EAAE,CAAC;AAC3B,CAAC;AAED;;;GAGG;AACH,MAAM,CAAC,KAAK,UAAU,gCAAgC,CACpD,MAAwB,EACxB,OAAgC,EAAE;IAElC,MAAM,SAAS,GAAG,wBAAwB,CAAC,MAAM,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE;QACzE,MAAM,MAAM,GAAqB;YAC/B,GAAG,CAAC;YACJ,SAAS,EAAE,IAAI;YACf,YAAY,EAAE,KAAK;SACpB,CAAC;QACF,OAAO,MAAM,CAAC;IAChB,CAAC,CAAC,CAAC;IACH,IAAI,IAAI,CAAC,mBAAmB,KAAK,KAAK,EAAE,CAAC;QACvC,OAAO,SAAS,CAAC;IACnB,CAAC;IAED,MAAM,YAAY,GAAG,YAAY,CAAC,MAAM,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,OAAO,CAAC;IAEhE,MAAM,YAAY,GAAG,IAAI,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACzD,IAAI,CAAC;QACH,MAAM,MAAM,GAAG,MAAM,sBAAsB,CAAC;YAC1C,OAAO,EAAE,IAAI,CAAC,OAAO;YACrB,KAAK,EAAE,IAAI,CAAC,gBAAgB,IAAI,EAAE;SACnC,CAAC,CAAC;QACH,MAAM,KAAK,GAA6B,EAAE,CAAC;QAC3C,MAAM,gBAAgB,GAAG,IAAI,GAAG,EAAU,CAAC;QAC3C,KAAK,MAAM,CAAC,IAAI,MAAM,EAAE,CAAC;YACvB,IAAI,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,UAAU,KAAK,QAAQ;gBAAE,SAAS;YACxD,MAAM,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;YAC5B,IAAI,CAAC,GAAG;gBAAE,SAAS;YACnB,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,EAAE,CAAC;YACjE,KAAK,MAAM,GAAG,IAAI,IAAI,EAAE,CAAC;gBACvB,IAAI,CAAC,GAAG,IAAI,OAAO,GAAG,KAAK,QAAQ;oBAAE,SAAS;gBAC9C,MAAM,EAAE,GAAG,OAAQ,GAAwB,CAAC,EAAE,KAAK,QAAQ,CAAC,CAAC,CAAE,GAAsB,CAAC,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;gBAChG,IAAI,CAAC,EAAE,IAAI,YAAY,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,gBAAgB,CAAC,GAAG,CAAC,EAAE,CAAC;oBAAE,SAAS;gBACtE,MAAM,IAAI,GAAG,uBAAuB,CAClC,GAA8B,EAC9B,GAAG,EACH,CAAC,CAAC,IAAI,IAAI,GAAG,CACd,CAAC;gBACF,IAAI,CAAC,IAAI;oBAAE,SAAS;gBACpB,IAAI,CAAC,iBAAiB,CAAC,YAAY,EAAE,IAAI,CAAC,QAAQ,CAAC;oBAAE,SAAS;gBAC9D,gBAAgB,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;gBACzB,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;YACnB,CAAC;QACH,CAAC;QACD,OAAO,CAAC,GAAG,SAAS,EAAE,GAAG,KAAK,CAAC,CAAC;IAClC,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,IAAI,IAAI,CAAC,QAAQ,KAAK,KAAK;YAAE,MAAM,CAAC,CAAC;QACrC,OAAO,SAAS,CAAC;IACnB,CAAC;AACH,CAAC"}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"find-robots-for.d.ts","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,EAAc,KAAK,aAAa,EAAE,MAAM,aAAa,CAAC;AAE7D,iFAAiF;AACjF,MAAM,WAAW,kBAAkB;IACjC,gGAAgG;IAChG,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,iEAAiE;IACjE,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,qEAAqE;IACrE,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAED,+CAA+C;AAC/C,MAAM,WAAW,kBAAkB;IACjC,KAAK,EAAE,aAAa,CAAC;IACrB,wFAAwF;IACxF,6BAA6B,EAAE,OAAO,CAAC;IACvC;;;;OAIG;IACH,MAAM,EAAE,OAAO,GAAG,IAAI,CAAC;IACvB,2EAA2E;IAC3E,KAAK,EAAE,MAAM,CAAC;CACf;AAED,uBAAuB;AACvB,MAAM,WAAW,mBAAmB;IAClC,KAAK,EAAE,kBAAkB,CAAC;IAC1B,KAAK,EAAE,MAAM,CAAC;IACd,kCAAkC;IAClC,MAAM,EAAE,kBAAkB,EAAE,CAAC;CAC9B;AAED;;;;;;;;;GASG;AACH,wBAAgB,aAAa,CAC3B,MAAM,EAAE,gBAAgB,EACxB,KAAK,EAAE,kBAAkB,EACzB,SAAS,CAAC,EAAE,WAAW,CAAC,MAAM,CAAC,GAC9B,mBAAmB,
|
|
1
|
+
{"version":3,"file":"find-robots-for.d.ts","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,EAAc,KAAK,aAAa,EAAE,MAAM,aAAa,CAAC;AAE7D,iFAAiF;AACjF,MAAM,WAAW,kBAAkB;IACjC,gGAAgG;IAChG,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,iEAAiE;IACjE,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,qEAAqE;IACrE,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAED,+CAA+C;AAC/C,MAAM,WAAW,kBAAkB;IACjC,KAAK,EAAE,aAAa,CAAC;IACrB,wFAAwF;IACxF,6BAA6B,EAAE,OAAO,CAAC;IACvC;;;;OAIG;IACH,MAAM,EAAE,OAAO,GAAG,IAAI,CAAC;IACvB,2EAA2E;IAC3E,KAAK,EAAE,MAAM,CAAC;CACf;AAED,uBAAuB;AACvB,MAAM,WAAW,mBAAmB;IAClC,KAAK,EAAE,kBAAkB,CAAC;IAC1B,KAAK,EAAE,MAAM,CAAC;IACd,kCAAkC;IAClC,MAAM,EAAE,kBAAkB,EAAE,CAAC;CAC9B;AAED;;;;;;;;;GASG;AACH,wBAAgB,aAAa,CAC3B,MAAM,EAAE,gBAAgB,EACxB,KAAK,EAAE,kBAAkB,EACzB,SAAS,CAAC,EAAE,WAAW,CAAC,MAAM,CAAC,GAC9B,mBAAmB,CA2DrB"}
|
package/dist/find-robots-for.js
CHANGED
|
@@ -39,7 +39,7 @@
|
|
|
39
39
|
* +1/+2 deltas are enough to surface a perfect match above an
|
|
40
40
|
* inherited one without inventing fuzzy matching.
|
|
41
41
|
*/
|
|
42
|
-
import {
|
|
42
|
+
import { listCapabilitiesForRobot } from "./capabilities.js";
|
|
43
43
|
import { listRobots } from "./robots.js";
|
|
44
44
|
/**
|
|
45
45
|
* Run the filter+rank against the configured fleet.
|
|
@@ -56,9 +56,6 @@ export function findRobotsFor(config, query, onlineIds) {
|
|
|
56
56
|
throw new Error("findRobotsFor: query.online was set but onlineIds was not provided. " +
|
|
57
57
|
"Call discoverRobots() first and pass configured_online ids.");
|
|
58
58
|
}
|
|
59
|
-
// Resolve the global capability registry once — used as the fallback
|
|
60
|
-
// when a robot doesn't declare its own per-robot allowlist.
|
|
61
|
-
const globalCapIds = new Set(listAllCapabilities(config).map((c) => c.id));
|
|
62
59
|
const wantedKind = query.kind?.trim().toLowerCase();
|
|
63
60
|
const wantedCap = query.capability?.trim();
|
|
64
61
|
const fleet = listRobots(config);
|
|
@@ -67,21 +64,14 @@ export function findRobotsFor(config, query, onlineIds) {
|
|
|
67
64
|
// kind filter
|
|
68
65
|
if (wantedKind && robot.kind.toLowerCase() !== wantedKind)
|
|
69
66
|
continue;
|
|
70
|
-
// capability filter
|
|
67
|
+
// capability filter — advertised verbs for THIS robot (allowlist +
|
|
68
|
+
// profile.requires), not the gateway-wide union.
|
|
71
69
|
let matchedExplicitly = false;
|
|
72
70
|
if (wantedCap) {
|
|
73
|
-
const
|
|
74
|
-
if (
|
|
75
|
-
|
|
76
|
-
|
|
77
|
-
matchedExplicitly = true;
|
|
78
|
-
}
|
|
79
|
-
else {
|
|
80
|
-
// No per-robot allowlist → fall back to the gateway-wide
|
|
81
|
-
// registry. This is the common case today.
|
|
82
|
-
if (!globalCapIds.has(wantedCap))
|
|
83
|
-
continue;
|
|
84
|
-
}
|
|
71
|
+
const advertised = listCapabilitiesForRobot(config, robot.id);
|
|
72
|
+
if (!advertised.some((c) => c.id === wantedCap))
|
|
73
|
+
continue;
|
|
74
|
+
matchedExplicitly = Boolean(robot.capabilities?.includes(wantedCap));
|
|
85
75
|
}
|
|
86
76
|
// online filter
|
|
87
77
|
let isOnline = null;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"find-robots-for.js","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAGH,OAAO,EAAE,
|
|
1
|
+
{"version":3,"file":"find-robots-for.js","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAGH,OAAO,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAC7D,OAAO,EAAE,UAAU,EAAsB,MAAM,aAAa,CAAC;AAmC7D;;;;;;;;;GASG;AACH,MAAM,UAAU,aAAa,CAC3B,MAAwB,EACxB,KAAyB,EACzB,SAA+B;IAE/B,IAAI,KAAK,CAAC,MAAM,KAAK,SAAS,IAAI,SAAS,KAAK,SAAS,EAAE,CAAC;QAC1D,MAAM,IAAI,KAAK,CACb,sEAAsE;YACpE,6DAA6D,CAChE,CAAC;IACJ,CAAC;IAED,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,WAAW,EAAE,CAAC;IACpD,MAAM,SAAS,GAAG,KAAK,CAAC,UAAU,EAAE,IAAI,EAAE,CAAC;IAE3C,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC;IACjC,MAAM,OAAO,GAAyB,EAAE,CAAC;IAEzC,KAAK,MAAM,KAAK,IAAI,KAAK,EAAE,CAAC;QAC1B,cAAc;QACd,IAAI,UAAU,IAAI,KAAK,CAAC,IAAI,CAAC,WAAW,EAAE,KAAK,UAAU;YAAE,SAAS;QAEpE,mEAAmE;QACnE,iDAAiD;QACjD,IAAI,iBAAiB,GAAG,KAAK,CAAC;QAC9B,IAAI,SAAS,EAAE,CAAC;YACd,MAAM,UAAU,GAAG,wBAAwB,CAAC,MAAM,EAAE,KAAK,CAAC,EAAE,CAAC,CAAC;YAC9D,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,KAAK,SAAS,CAAC;gBAAE,SAAS;YAC1D,iBAAiB,GAAG,OAAO,CAAC,KAAK,CAAC,YAAY,EAAE,QAAQ,CAAC,SAAS,CAAC,CAAC,CAAC;QACvE,CAAC;QAED,gBAAgB;QAChB,IAAI,QAAQ,GAAmB,IAAI,CAAC;QACpC,IAAI,SAAS,EAAE,CAAC;YACd,QAAQ,GAAG,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;YACnC,IAAI,KAAK,CAAC,MAAM,KAAK,IAAI,IAAI,CAAC,QAAQ;gBAAE,SAAS;YACjD,IAAI,KAAK,CAAC,MAAM,KAAK,KAAK,IAAI,QAAQ;gBAAE,SAAS;QACnD,CAAC;QAED,IAAI,KAAK,GAAG,CAAC,CAAC;QACd,IAAI,iBAAiB;YAAE,KAAK,IAAI,CAAC,CAAC;QAClC,IAAI,KAAK,CAAC,MAAM,KAAK,IAAI,IAAI,QAAQ;YAAE,KAAK,IAAI,CAAC,CAAC;QAClD,iEAAiE;QACjE,iEAAiE;QACjE,2BAA2B;QAC3B,IAAI,KAAK,CAAC,MAAM,KAAK,SAAS,IAAI,QAAQ,KAAK,IAAI;YAAE,KAAK,IAAI,CAAC,CAAC;QAEhE,OAAO,CAAC,IAAI,CAAC,EAAE,KAAK,EAAE,6BAA6B,EAAE,iBAAiB,EAAE,MAAM,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC,CAAC;IACrG,CAAC;IAED,iEAAiE;IACjE,+CAA+C;IAC/C,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,GAAG,CAAC,CAAC,KAAK,CAAC,CAAC;IAE1C,OAAO;QACL,KAAK,EAAE;YACL,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,UAAU,EAAE,SAAS,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;YAC/C,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;YAC3C,GAAG,CAAC,KAAK,CAAC,MAAM,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;SAChE;QACD,KAAK,EAAE,OAAO,CAAC,MAAM;QACrB,MAAM,EAAE,OAAO;KAChB,CAAC;AACJ,CAAC"}
|
package/dist/index.d.ts
CHANGED
|
@@ -3,6 +3,8 @@
|
|
|
3
3
|
*/
|
|
4
4
|
export type { AgenticROSConfig, RobotTransportOverride } from "./config.js";
|
|
5
5
|
export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
|
|
6
|
+
export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_SET, FEATURE_REQUIRED_BINDING, PROFILE_SCHEMA_ID, RobotProfileSchema, isKnownFeature, isKnownBindingKey, unknownFeatures, unknownBindingKeys, featuresMissingBindings, resolveRobotProfile, featuresFromDeprecatedSensors, featuresSatisfied, missingFeatures, resolveBinding, inferProfileDraft, } from "./robot-profile.js";
|
|
7
|
+
export type { FeatureName, BindingKey, RobotProfile, ProfileRobot, InferProfileOptions } from "./robot-profile.js";
|
|
6
8
|
export { createTransport } from "./transport/factory.js";
|
|
7
9
|
export type { RosTransport } from "./transport/transport.js";
|
|
8
10
|
export type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, TransportConfig, } from "./transport/types.js";
|
|
@@ -12,7 +14,7 @@ export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
|
|
|
12
14
|
export { renderAgenticROSBanner, agenticROSBannerLines, type AgenticROSBannerOptions, } from "./banner.js";
|
|
13
15
|
export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
|
|
14
16
|
export type { MemoryProvider, MemoryRecord, MemoryStatus, RememberInput, RecallInput, ForgetInput, } from "./memory/index.js";
|
|
15
|
-
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
|
|
17
|
+
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, listCapabilitiesForRobot, capabilityUnavailableMessage, } from "./capabilities.js";
|
|
16
18
|
export type { Capability, CapabilityField, CapabilityImplementation, CapabilitySource, } from "./capabilities.js";
|
|
17
19
|
export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
|
|
18
20
|
export type { ParsedCapability } from "./capability-schema.js";
|
package/dist/index.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,YAAY,EAAE,gBAAgB,EAAE,sBAAsB,EAAE,MAAM,aAAa,CAAC;AAC5E,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AACzD,YAAY,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,YAAY,EACV,gBAAgB,EAChB,iBAAiB,EACjB,YAAY,EACZ,cAAc,EACd,gBAAgB,EAChB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EACjB,iBAAiB,EACjB,YAAY,EACZ,SAAS,EACT,WAAW,EACX,UAAU,EACV,cAAc,EACd,eAAe,GAChB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,EACrB,KAAK,uBAAuB,GAC7B,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AACzE,YAAY,EACV,cAAc,EACd,YAAY,EACZ,YAAY,EACZ,aAAa,EACb,WAAW,EACX,WAAW,GACZ,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,
|
|
1
|
+
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,YAAY,EAAE,gBAAgB,EAAE,sBAAsB,EAAE,MAAM,aAAa,CAAC;AAC5E,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,aAAa,CAAC;AAErB,OAAO,EACL,kBAAkB,EAClB,sBAAsB,EACtB,YAAY,EACZ,gBAAgB,EAChB,wBAAwB,EACxB,iBAAiB,EACjB,kBAAkB,EAClB,cAAc,EACd,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,6BAA6B,EAC7B,iBAAiB,EACjB,eAAe,EACf,cAAc,EACd,iBAAiB,GAClB,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EAAE,WAAW,EAAE,UAAU,EAAE,YAAY,EAAE,YAAY,EAAE,mBAAmB,EAAE,MAAM,oBAAoB,CAAC;AAEnH,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AACzD,YAAY,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,YAAY,EACV,gBAAgB,EAChB,iBAAiB,EACjB,YAAY,EACZ,cAAc,EACd,gBAAgB,EAChB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EACjB,iBAAiB,EACjB,YAAY,EACZ,SAAS,EACT,WAAW,EACX,UAAU,EACV,cAAc,EACd,eAAe,GAChB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,EACrB,KAAK,uBAAuB,GAC7B,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AACzE,YAAY,EACV,cAAc,EACd,YAAY,EACZ,YAAY,EACZ,aAAa,EACb,WAAW,EACX,WAAW,GACZ,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,EACnB,wBAAwB,EACxB,4BAA4B,GAC7B,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EACV,UAAU,EACV,eAAe,EACf,wBAAwB,EACxB,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAChC,YAAY,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAC;AAE/D,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAClC,YAAY,EACV,sBAAsB,EACtB,qBAAqB,GACtB,MAAM,0BAA0B,CAAC;AAElC,OAAO,EAAE,UAAU,EAAE,uBAAuB,EAAE,MAAM,cAAc,CAAC;AACnE,YAAY,EACV,OAAO,EACP,WAAW,EACX,aAAa,EACb,iBAAiB,EACjB,qBAAqB,EACrB,sBAAsB,EACtB,qBAAqB,EACrB,sBAAsB,EACtB,wBAAwB,EACxB,mBAAmB,EACnB,sBAAsB,EACtB,qBAAqB,EACrB,iBAAiB,GAClB,MAAM,cAAc,CAAC;AAEtB,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EACV,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,uBAAuB,CAAC;AAE/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EAAE,oBAAoB,EAAE,MAAM,uBAAuB,CAAC;AAElE,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAC1D,YAAY,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,oBAAoB,CAAC;AAE1E,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AACrB,YAAY,EAAE,aAAa,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAE/D,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,aAAa,EAAE,oBAAoB,EAAE,MAAM,gBAAgB,CAAC;AAE1E,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,sBAAsB,EAAE,cAAc,EAAE,MAAM,gBAAgB,CAAC;AAE7E,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AAEzD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,YAAY,EACV,kBAAkB,EAClB,kBAAkB,EAClB,mBAAmB,GACpB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,kBAAkB,EAClB,wBAAwB,EACxB,oBAAoB,EACpB,sBAAsB,EACtB,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,qBAAqB,EACrB,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,YAAY,EACV,iBAAiB,EACjB,cAAc,EACd,uBAAuB,EACvB,sBAAsB,GACvB,MAAM,iBAAiB,CAAC;AAEzB,OAAO,EACL,sBAAsB,EACtB,gCAAgC,GACjC,MAAM,gCAAgC,CAAC;AACxC,YAAY,EACV,sBAAsB,EACtB,uBAAuB,EACvB,gBAAgB,GACjB,MAAM,gCAAgC,CAAC;AAExC,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC;AAC/E,YAAY,EAAE,gBAAgB,EAAE,MAAM,qBAAqB,CAAC"}
|
package/dist/index.js
CHANGED
|
@@ -2,13 +2,14 @@
|
|
|
2
2
|
* @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
|
|
3
3
|
*/
|
|
4
4
|
export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
|
|
5
|
+
export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_SET, FEATURE_REQUIRED_BINDING, PROFILE_SCHEMA_ID, RobotProfileSchema, isKnownFeature, isKnownBindingKey, unknownFeatures, unknownBindingKeys, featuresMissingBindings, resolveRobotProfile, featuresFromDeprecatedSensors, featuresSatisfied, missingFeatures, resolveBinding, inferProfileDraft, } from "./robot-profile.js";
|
|
5
6
|
export { createTransport } from "./transport/factory.js";
|
|
6
7
|
export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
|
|
7
8
|
export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
|
|
8
9
|
export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
|
|
9
10
|
export { renderAgenticROSBanner, agenticROSBannerLines, } from "./banner.js";
|
|
10
11
|
export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
|
|
11
|
-
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
|
|
12
|
+
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, listCapabilitiesForRobot, capabilityUnavailableMessage, } from "./capabilities.js";
|
|
12
13
|
export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
|
|
13
14
|
export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
|
|
14
15
|
export { runMission, MissionStepAbortedError } from "./mission.js";
|
package/dist/index.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAGH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AAoBzD,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,GAEtB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAUzE,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,
|
|
1
|
+
{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAGH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,aAAa,CAAC;AAErB,OAAO,EACL,kBAAkB,EAClB,sBAAsB,EACtB,YAAY,EACZ,gBAAgB,EAChB,wBAAwB,EACxB,iBAAiB,EACjB,kBAAkB,EAClB,cAAc,EACd,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,6BAA6B,EAC7B,iBAAiB,EACjB,eAAe,EACf,cAAc,EACd,iBAAiB,GAClB,MAAM,oBAAoB,CAAC;AAG5B,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AAoBzD,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,GAEtB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAUzE,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,EACnB,wBAAwB,EACxB,4BAA4B,GAC7B,MAAM,mBAAmB,CAAC;AAQ3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAGhC,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAMlC,OAAO,EAAE,UAAU,EAAE,uBAAuB,EAAE,MAAM,cAAc,CAAC;AAiBnE,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAM/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAG/B,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAG1D,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AAGrB,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AAGxB,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AAGxB,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAG3B,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AAOrD,OAAO,EACL,kBAAkB,EAClB,wBAAwB,EACxB,oBAAoB,EACpB,sBAAsB,EACtB,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,qBAAqB,EACrB,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AAQzB,OAAO,EACL,sBAAsB,EACtB,gCAAgC,GACjC,MAAM,gCAAgC,CAAC;AAOxC,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC"}
|
package/dist/mission.d.ts
CHANGED
|
@@ -307,6 +307,12 @@ export interface RunMissionOptions {
|
|
|
307
307
|
transcript?: MissionTranscriptSink;
|
|
308
308
|
/** Adapter label (e.g. "claude-code", "openclaw", "gemini") — copied into transcripts. */
|
|
309
309
|
adapter?: string;
|
|
310
|
+
/**
|
|
311
|
+
* Optional override for the "capability not in registry" step error.
|
|
312
|
+
* Adapters use this to explain hardware-profile mismatches
|
|
313
|
+
* (`missing features: arm`) instead of a generic unknown-id message.
|
|
314
|
+
*/
|
|
315
|
+
unavailableMessage?: (capabilityId: string) => string | undefined;
|
|
310
316
|
}
|
|
311
317
|
/**
|
|
312
318
|
* Execute a mission sequentially.
|
package/dist/mission.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"mission.d.ts","sourceRoot":"","sources":["../src/mission.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwDG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAEpD;;;;;;GAMG;AACH,MAAM,WAAW,wBAAwB;IACvC,SAAS,EAAE,OAAO,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,8EAA8E;IAC9E,MAAM,CAAC,EAAE,MAAM,CAAC;CACjB;AAED,0EAA0E;AAC1E,MAAM,MAAM,mBAAmB,GAAG,wBAAwB,CAAC;AAE3D;;;;;;;;GAQG;AACH,MAAM,MAAM,qBAAqB,GAAG,CAClC,KAAK,EAAE,sBAAsB,KAC1B,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC;AAE1B,8CAA8C;AAC9C,MAAM,WAAW,sBAAsB;IACrC,kFAAkF;IAClF,UAAU,EAAE,MAAM,CAAC;IACnB,+BAA+B;IAC/B,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,+EAA+E;IAC/E,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,8CAA8C;IAC9C,UAAU,EAAE,MAAM,CAAC;IACnB,iDAAiD;IACjD,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,qDAAqD;IACrD,UAAU,EAAE,MAAM,CAAC;IACnB,kCAAkC;IAClC,UAAU,EAAE,MAAM,CAAC;IACnB,uCAAuC;IACvC,MAAM,EAAE,iBAAiB,CAAC;CAC3B;AAED,6BAA6B;AAC7B,MAAM,WAAW,WAAW;IAC1B,gFAAgF;IAChF,EAAE,EAAE,MAAM,CAAC;IACX;;;;OAIG;IACH,UAAU,EAAE,MAAM,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IACjC;;;;;OAKG;IACH,OAAO,CAAC,EAAE,MAAM,GAAG,UAAU,CAAC;IAC9B;;;;OAIG;IACH,KAAK,CAAC,EAAE;QACN,sDAAsD;QACtD,YAAY,EAAE,MAAM,CAAC;QACrB,uDAAuD;QACvD,UAAU,CAAC,EAAE,MAAM,CAAC;QACpB,6DAA6D;QAC7D,kBAAkB,CAAC,EAAE,MAAM,CAAC;KAC7B,CAAC;CACH;AAED,+BAA+B;AAC/B,MAAM,WAAW,OAAO;IACtB,gFAAgF;IAChF,IAAI,CAAC,EAAE,MAAM,CAAC;IACd;;;OAGG;IACH,IAAI,CAAC,EAAE,MAAM,CAAC;IACd;;;;;;OAMG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,KAAK,EAAE,WAAW,EAAE,CAAC;CACtB;AAED,+BAA+B;AAC/B,MAAM,WAAW,iBAAiB;IAChC,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,MAAM,CAAC;IACnB;;;;;;;;;OASG;IACH,MAAM,EAAE,IAAI,GAAG,OAAO,GAAG,SAAS,GAAG,WAAW,GAAG,QAAQ,CAAC;IAC5D,8DAA8D;IAC9D,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAChC,sFAAsF;IACtF,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAClC,iEAAiE;IACjE,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,4CAA4C;IAC5C,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,uBAAuB;IACvB,WAAW,EAAE,MAAM,CAAC;IACpB,yEAAyE;IACzE,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAED,+BAA+B;AAC/B,MAAM,WAAW,aAAa;IAC5B;;;;;;OAMG;IACH,MAAM,EAAE,IAAI,GAAG,OAAO,GAAG,WAAW,CAAC;IACrC,iFAAiF;IACjF,SAAS,EAAE,MAAM,CAAC;IAClB,WAAW,EAAE,MAAM,CAAC;IACpB,8CAA8C;IAC9C,KAAK,EAAE,iBAAiB,EAAE,CAAC;IAC3B,wCAAwC;IACxC,WAAW,EAAE,MAAM,CAAC;IACpB,sDAAsD;IACtD,OAAO,EAAE,MAAM,CAAC;IAChB;;;;OAIG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB;;;OAGG;IACH,mBAAmB,CAAC,EAAE,MAAM,CAAC;CAC9B;AAED,6DAA6D;AAC7D,MAAM,WAAW,sBAAsB;IACrC;;;;OAIG;IACH,MAAM,CAAC,EAAE,WAAW,CAAC;CACtB;AAED;;;;;;;;;GASG;AACH,MAAM,MAAM,qBAAqB,GAAG,CAClC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC7B,GAAG,CAAC,EAAE,sBAAsB,KACzB,OAAO,CAAC;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE,CAAC,CAAC;AAErF,6EAA6E;AAC7E,qBAAa,uBAAwB,SAAQ,KAAK;gBACpC,OAAO,SAAiB;CAIrC;AASD;;;;;;;;;;;;;GAaG;AACH,MAAM,WAAW,qBAAqB;IACpC,mCAAmC;IACnC,IAAI,EAAE,MAAM,CAAC;IACb,+EAA+E;IAC/E,SAAS,EAAE,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IACxE;;;;OAIG;IACH,YAAY,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,SAAS,CAAC;CACtE;AAED,MAAM,MAAM,sBAAsB,GAAG,MAAM,CAAC,MAAM,EAAE,qBAAqB,CAAC,CAAC;AAsF3E,4DAA4D;AAC5D,MAAM,WAAW,iBAAiB;IAChC;;;;;OAKG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,wBAAwB,CAAC;IACxC;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,qBAAqB,CAAC;IACnC,0FAA0F;IAC1F,OAAO,CAAC,EAAE,MAAM,CAAC;
|
|
1
|
+
{"version":3,"file":"mission.d.ts","sourceRoot":"","sources":["../src/mission.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwDG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAEpD;;;;;;GAMG;AACH,MAAM,WAAW,wBAAwB;IACvC,SAAS,EAAE,OAAO,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,8EAA8E;IAC9E,MAAM,CAAC,EAAE,MAAM,CAAC;CACjB;AAED,0EAA0E;AAC1E,MAAM,MAAM,mBAAmB,GAAG,wBAAwB,CAAC;AAE3D;;;;;;;;GAQG;AACH,MAAM,MAAM,qBAAqB,GAAG,CAClC,KAAK,EAAE,sBAAsB,KAC1B,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC;AAE1B,8CAA8C;AAC9C,MAAM,WAAW,sBAAsB;IACrC,kFAAkF;IAClF,UAAU,EAAE,MAAM,CAAC;IACnB,+BAA+B;IAC/B,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,+EAA+E;IAC/E,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,8CAA8C;IAC9C,UAAU,EAAE,MAAM,CAAC;IACnB,iDAAiD;IACjD,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,qDAAqD;IACrD,UAAU,EAAE,MAAM,CAAC;IACnB,kCAAkC;IAClC,UAAU,EAAE,MAAM,CAAC;IACnB,uCAAuC;IACvC,MAAM,EAAE,iBAAiB,CAAC;CAC3B;AAED,6BAA6B;AAC7B,MAAM,WAAW,WAAW;IAC1B,gFAAgF;IAChF,EAAE,EAAE,MAAM,CAAC;IACX;;;;OAIG;IACH,UAAU,EAAE,MAAM,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IACjC;;;;;OAKG;IACH,OAAO,CAAC,EAAE,MAAM,GAAG,UAAU,CAAC;IAC9B;;;;OAIG;IACH,KAAK,CAAC,EAAE;QACN,sDAAsD;QACtD,YAAY,EAAE,MAAM,CAAC;QACrB,uDAAuD;QACvD,UAAU,CAAC,EAAE,MAAM,CAAC;QACpB,6DAA6D;QAC7D,kBAAkB,CAAC,EAAE,MAAM,CAAC;KAC7B,CAAC;CACH;AAED,+BAA+B;AAC/B,MAAM,WAAW,OAAO;IACtB,gFAAgF;IAChF,IAAI,CAAC,EAAE,MAAM,CAAC;IACd;;;OAGG;IACH,IAAI,CAAC,EAAE,MAAM,CAAC;IACd;;;;;;OAMG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,KAAK,EAAE,WAAW,EAAE,CAAC;CACtB;AAED,+BAA+B;AAC/B,MAAM,WAAW,iBAAiB;IAChC,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,MAAM,CAAC;IACnB;;;;;;;;;OASG;IACH,MAAM,EAAE,IAAI,GAAG,OAAO,GAAG,SAAS,GAAG,WAAW,GAAG,QAAQ,CAAC;IAC5D,8DAA8D;IAC9D,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAChC,sFAAsF;IACtF,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAClC,iEAAiE;IACjE,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,4CAA4C;IAC5C,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,uBAAuB;IACvB,WAAW,EAAE,MAAM,CAAC;IACpB,yEAAyE;IACzE,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAED,+BAA+B;AAC/B,MAAM,WAAW,aAAa;IAC5B;;;;;;OAMG;IACH,MAAM,EAAE,IAAI,GAAG,OAAO,GAAG,WAAW,CAAC;IACrC,iFAAiF;IACjF,SAAS,EAAE,MAAM,CAAC;IAClB,WAAW,EAAE,MAAM,CAAC;IACpB,8CAA8C;IAC9C,KAAK,EAAE,iBAAiB,EAAE,CAAC;IAC3B,wCAAwC;IACxC,WAAW,EAAE,MAAM,CAAC;IACpB,sDAAsD;IACtD,OAAO,EAAE,MAAM,CAAC;IAChB;;;;OAIG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB;;;OAGG;IACH,mBAAmB,CAAC,EAAE,MAAM,CAAC;CAC9B;AAED,6DAA6D;AAC7D,MAAM,WAAW,sBAAsB;IACrC;;;;OAIG;IACH,MAAM,CAAC,EAAE,WAAW,CAAC;CACtB;AAED;;;;;;;;;GASG;AACH,MAAM,MAAM,qBAAqB,GAAG,CAClC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC7B,GAAG,CAAC,EAAE,sBAAsB,KACzB,OAAO,CAAC;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE,CAAC,CAAC;AAErF,6EAA6E;AAC7E,qBAAa,uBAAwB,SAAQ,KAAK;gBACpC,OAAO,SAAiB;CAIrC;AASD;;;;;;;;;;;;;GAaG;AACH,MAAM,WAAW,qBAAqB;IACpC,mCAAmC;IACnC,IAAI,EAAE,MAAM,CAAC;IACb,+EAA+E;IAC/E,SAAS,EAAE,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IACxE;;;;OAIG;IACH,YAAY,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,SAAS,CAAC;CACtE;AAED,MAAM,MAAM,sBAAsB,GAAG,MAAM,CAAC,MAAM,EAAE,qBAAqB,CAAC,CAAC;AAsF3E,4DAA4D;AAC5D,MAAM,WAAW,iBAAiB;IAChC;;;;;OAKG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,wBAAwB,CAAC;IACxC;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,qBAAqB,CAAC;IACnC,0FAA0F;IAC1F,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB;;;;OAIG;IACH,kBAAkB,CAAC,EAAE,CAAC,YAAY,EAAE,MAAM,KAAK,MAAM,GAAG,SAAS,CAAC;CACnE;AAED;;;;;;;;;;;GAWG;AACH,wBAAsB,UAAU,CAC9B,OAAO,EAAE,OAAO,EAChB,YAAY,EAAE,UAAU,EAAE,EAC1B,QAAQ,EAAE,sBAAsB,EAChC,UAAU,EAAE,qBAAqB,EACjC,OAAO,CAAC,EAAE,iBAAiB,GAC1B,OAAO,CAAC,aAAa,CAAC,CA0UxB"}
|
package/dist/mission.js
CHANGED
|
@@ -255,7 +255,8 @@ export async function runMission(mission, capabilities, bindings, dispatcher, op
|
|
|
255
255
|
capability: step.capability,
|
|
256
256
|
status: "error",
|
|
257
257
|
inputs: step.inputs ?? {},
|
|
258
|
-
error:
|
|
258
|
+
error: options?.unavailableMessage?.(step.capability) ??
|
|
259
|
+
`Capability "${step.capability}" not found in registry. Use ros2_list_capabilities to see what's available.`,
|
|
259
260
|
duration_ms: Date.now() - t0,
|
|
260
261
|
};
|
|
261
262
|
results.push(result);
|
package/dist/mission.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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1
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+
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@@ -0,0 +1,89 @@
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/**
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* Robot hardware profile — features + ROS bindings.
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*
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* A profile declares what a *body* has (camera, base, arm, …) and where
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* those features live on this robot's ROS graph. Agent verbs
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* (`drive_base`, `follow_person`) are filtered against it; skills
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* address feature names, never a camera brand or URDF.
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*
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9
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* Back-compat: `profile` is optional. No profile → no verb filtering
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* (today's gateway-wide registry). A declared profile is strict.
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*/
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import { z } from "zod";
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/** Frozen hardware vocabulary. Names are only added, never removed or repurposed. */
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export declare const FEATURE_VOCABULARY: readonly ["base", "arm", "gripper", "camera", "depth", "lidar", "imu", "dock", "display", "audio", "battery", "estop"];
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export type FeatureName = (typeof FEATURE_VOCABULARY)[number];
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export declare const FEATURE_VOCABULARY_SET: ReadonlySet<string>;
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/** Frozen v1 binding keys. Values are ROS topic / action names. */
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+
export declare const BINDING_KEYS: readonly ["cmd_vel", "odom", "camera.rgb", "camera.depth", "lidar", "joint_states", "navigate_to_pose", "dock", "battery"];
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19
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+
export type BindingKey = (typeof BINDING_KEYS)[number];
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20
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export declare const BINDING_KEYS_SET: ReadonlySet<string>;
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21
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+
/**
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22
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+
* Minimum binding expected for a declared feature. Used by doctor; a
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23
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* feature without its v1 binding is a contract violation.
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*/
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25
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+
export declare const FEATURE_REQUIRED_BINDING: Readonly<Partial<Record<FeatureName, BindingKey>>>;
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26
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+
export declare const PROFILE_SCHEMA_ID = "agenticros.profile.v1";
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27
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+
export declare const RobotProfileSchema: z.ZodObject<{
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28
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+
schema: z.ZodDefault<z.ZodLiteral<"agenticros.profile.v1">>;
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29
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+
features: z.ZodDefault<z.ZodArray<z.ZodString, "many">>;
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30
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+
bindings: z.ZodDefault<z.ZodRecord<z.ZodString, z.ZodString>>;
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31
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+
}, "strip", z.ZodTypeAny, {
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32
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+
schema: "agenticros.profile.v1";
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+
features: string[];
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34
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+
bindings: Record<string, string>;
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35
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+
}, {
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36
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+
schema?: "agenticros.profile.v1" | undefined;
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37
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+
features?: string[] | undefined;
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38
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+
bindings?: Record<string, string> | undefined;
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}>;
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export type RobotProfile = z.infer<typeof RobotProfileSchema>;
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/** Minimal robot shape the profile helpers need (avoids importing robots.ts). */
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export interface ProfileRobot {
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namespace: string;
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cameraTopic: string;
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kind?: string;
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sensors?: {
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has_realsense?: boolean;
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has_lidar?: boolean;
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has_arm?: boolean;
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};
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profile?: RobotProfile;
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}
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export declare function isKnownFeature(name: string): name is FeatureName;
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export declare function isKnownBindingKey(key: string): key is BindingKey;
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export declare function unknownFeatures(features: readonly string[]): string[];
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export declare function unknownBindingKeys(bindings: Record<string, string>): string[];
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/** Features declared on a profile that lack their v1 binding. */
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export declare function featuresMissingBindings(profile: RobotProfile): string[];
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export declare function resolveRobotProfile(robot: ProfileRobot): RobotProfile | undefined;
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/**
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* Map the deprecated Phase 1.e sensor booleans onto feature names.
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* Used only when `profile` is absent — so `--sensors=has_realsense`
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* still means something for fleet filtering / infer.
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*/
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export declare function featuresFromDeprecatedSensors(sensors: ProfileRobot["sensors"] | undefined): FeatureName[];
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/** ALL-OF: every required feature is present on the profile. Empty requires always pass. */
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export declare function featuresSatisfied(profile: RobotProfile | undefined, requires: readonly string[] | undefined): boolean;
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/** Required features the profile does not declare. Empty when satisfied or no profile. */
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export declare function missingFeatures(profile: RobotProfile | undefined, requires: readonly string[] | undefined): string[];
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/**
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* Resolve a binding key to a ROS name for this robot.
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*
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* Precedence: explicit `profile.bindings[key]`, then legacy fallbacks
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* (`cameraTopic` for `camera.rgb`, teleop/`/cmd_vel` for `cmd_vel`).
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* Relative names are namespace-prefixed.
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*/
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export declare function resolveBinding(robot: ProfileRobot, key: string, opts?: {
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cmdVelTopic?: string;
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}): string | undefined;
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export interface InferProfileOptions {
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cmdVelTopic?: string;
|
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}
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/**
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* Draft a profile from kind, cameraTopic, deprecated sensors, and
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* namespaced cmd_vel. Used by `agenticros robots profile infer`.
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* Does not write config.
|
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*/
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export declare function inferProfileDraft(robot: ProfileRobot, opts?: InferProfileOptions): RobotProfile;
|
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//# sourceMappingURL=robot-profile.d.ts.map
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@@ -0,0 +1 @@
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1
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|
|
@@ -0,0 +1,208 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* Robot hardware profile — features + ROS bindings.
|
|
3
|
+
*
|
|
4
|
+
* A profile declares what a *body* has (camera, base, arm, …) and where
|
|
5
|
+
* those features live on this robot's ROS graph. Agent verbs
|
|
6
|
+
* (`drive_base`, `follow_person`) are filtered against it; skills
|
|
7
|
+
* address feature names, never a camera brand or URDF.
|
|
8
|
+
*
|
|
9
|
+
* Back-compat: `profile` is optional. No profile → no verb filtering
|
|
10
|
+
* (today's gateway-wide registry). A declared profile is strict.
|
|
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|
+
*/
|
|
12
|
+
import { z } from "zod";
|
|
13
|
+
import { resolveCameraSubscribeTopic, toNamespacedTopic, toNamespacedTopicFull, } from "./topic-utils.js";
|
|
14
|
+
/** Frozen hardware vocabulary. Names are only added, never removed or repurposed. */
|
|
15
|
+
export const FEATURE_VOCABULARY = [
|
|
16
|
+
"base",
|
|
17
|
+
"arm",
|
|
18
|
+
"gripper",
|
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|
+
"camera",
|
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|
+
"depth",
|
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|
+
"lidar",
|
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|
+
"imu",
|
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|
+
"dock",
|
|
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|
+
"display",
|
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|
+
"audio",
|
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|
+
"battery",
|
|
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|
+
"estop",
|
|
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|
+
];
|
|
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|
+
export const FEATURE_VOCABULARY_SET = new Set(FEATURE_VOCABULARY);
|
|
30
|
+
/** Frozen v1 binding keys. Values are ROS topic / action names. */
|
|
31
|
+
export const BINDING_KEYS = [
|
|
32
|
+
"cmd_vel",
|
|
33
|
+
"odom",
|
|
34
|
+
"camera.rgb",
|
|
35
|
+
"camera.depth",
|
|
36
|
+
"lidar",
|
|
37
|
+
"joint_states",
|
|
38
|
+
"navigate_to_pose",
|
|
39
|
+
"dock",
|
|
40
|
+
"battery",
|
|
41
|
+
];
|
|
42
|
+
export const BINDING_KEYS_SET = new Set(BINDING_KEYS);
|
|
43
|
+
/**
|
|
44
|
+
* Minimum binding expected for a declared feature. Used by doctor; a
|
|
45
|
+
* feature without its v1 binding is a contract violation.
|
|
46
|
+
*/
|
|
47
|
+
export const FEATURE_REQUIRED_BINDING = {
|
|
48
|
+
base: "cmd_vel",
|
|
49
|
+
camera: "camera.rgb",
|
|
50
|
+
depth: "camera.depth",
|
|
51
|
+
lidar: "lidar",
|
|
52
|
+
arm: "joint_states",
|
|
53
|
+
dock: "dock",
|
|
54
|
+
battery: "battery",
|
|
55
|
+
};
|
|
56
|
+
export const PROFILE_SCHEMA_ID = "agenticros.profile.v1";
|
|
57
|
+
export const RobotProfileSchema = z.object({
|
|
58
|
+
schema: z.literal(PROFILE_SCHEMA_ID).default(PROFILE_SCHEMA_ID),
|
|
59
|
+
features: z.array(z.string().min(1)).default([]),
|
|
60
|
+
bindings: z.record(z.string(), z.string()).default({}),
|
|
61
|
+
});
|
|
62
|
+
export function isKnownFeature(name) {
|
|
63
|
+
return FEATURE_VOCABULARY_SET.has(name);
|
|
64
|
+
}
|
|
65
|
+
export function isKnownBindingKey(key) {
|
|
66
|
+
return BINDING_KEYS_SET.has(key);
|
|
67
|
+
}
|
|
68
|
+
export function unknownFeatures(features) {
|
|
69
|
+
return features.filter((f) => !isKnownFeature(f));
|
|
70
|
+
}
|
|
71
|
+
export function unknownBindingKeys(bindings) {
|
|
72
|
+
return Object.keys(bindings).filter((k) => !isKnownBindingKey(k));
|
|
73
|
+
}
|
|
74
|
+
/** Features declared on a profile that lack their v1 binding. */
|
|
75
|
+
export function featuresMissingBindings(profile) {
|
|
76
|
+
const missing = [];
|
|
77
|
+
for (const feature of profile.features) {
|
|
78
|
+
if (!isKnownFeature(feature))
|
|
79
|
+
continue;
|
|
80
|
+
const key = FEATURE_REQUIRED_BINDING[feature];
|
|
81
|
+
if (!key)
|
|
82
|
+
continue;
|
|
83
|
+
const value = profile.bindings[key];
|
|
84
|
+
if (typeof value !== "string" || value.trim().length === 0) {
|
|
85
|
+
missing.push(feature);
|
|
86
|
+
}
|
|
87
|
+
}
|
|
88
|
+
return missing;
|
|
89
|
+
}
|
|
90
|
+
export function resolveRobotProfile(robot) {
|
|
91
|
+
return robot.profile;
|
|
92
|
+
}
|
|
93
|
+
/**
|
|
94
|
+
* Map the deprecated Phase 1.e sensor booleans onto feature names.
|
|
95
|
+
* Used only when `profile` is absent — so `--sensors=has_realsense`
|
|
96
|
+
* still means something for fleet filtering / infer.
|
|
97
|
+
*/
|
|
98
|
+
export function featuresFromDeprecatedSensors(sensors) {
|
|
99
|
+
if (!sensors)
|
|
100
|
+
return [];
|
|
101
|
+
const out = [];
|
|
102
|
+
if (sensors.has_realsense) {
|
|
103
|
+
out.push("camera", "depth");
|
|
104
|
+
}
|
|
105
|
+
if (sensors.has_lidar)
|
|
106
|
+
out.push("lidar");
|
|
107
|
+
if (sensors.has_arm)
|
|
108
|
+
out.push("arm");
|
|
109
|
+
return out;
|
|
110
|
+
}
|
|
111
|
+
/** ALL-OF: every required feature is present on the profile. Empty requires always pass. */
|
|
112
|
+
export function featuresSatisfied(profile, requires) {
|
|
113
|
+
if (!requires || requires.length === 0)
|
|
114
|
+
return true;
|
|
115
|
+
if (!profile)
|
|
116
|
+
return true;
|
|
117
|
+
const have = new Set(profile.features);
|
|
118
|
+
return requires.every((f) => have.has(f));
|
|
119
|
+
}
|
|
120
|
+
/** Required features the profile does not declare. Empty when satisfied or no profile. */
|
|
121
|
+
export function missingFeatures(profile, requires) {
|
|
122
|
+
if (!requires || requires.length === 0)
|
|
123
|
+
return [];
|
|
124
|
+
if (!profile)
|
|
125
|
+
return [];
|
|
126
|
+
const have = new Set(profile.features);
|
|
127
|
+
return requires.filter((f) => !have.has(f));
|
|
128
|
+
}
|
|
129
|
+
function prefixBinding(namespace, key, raw) {
|
|
130
|
+
const value = raw.trim();
|
|
131
|
+
if (!value)
|
|
132
|
+
return value;
|
|
133
|
+
if (key === "camera.rgb" || key === "camera.depth") {
|
|
134
|
+
return resolveCameraSubscribeTopic(namespace, value);
|
|
135
|
+
}
|
|
136
|
+
if (key === "cmd_vel") {
|
|
137
|
+
return toNamespacedTopic(namespace, value);
|
|
138
|
+
}
|
|
139
|
+
return toNamespacedTopicFull(namespace, value);
|
|
140
|
+
}
|
|
141
|
+
/**
|
|
142
|
+
* Resolve a binding key to a ROS name for this robot.
|
|
143
|
+
*
|
|
144
|
+
* Precedence: explicit `profile.bindings[key]`, then legacy fallbacks
|
|
145
|
+
* (`cameraTopic` for `camera.rgb`, teleop/`/cmd_vel` for `cmd_vel`).
|
|
146
|
+
* Relative names are namespace-prefixed.
|
|
147
|
+
*/
|
|
148
|
+
export function resolveBinding(robot, key, opts) {
|
|
149
|
+
const fromProfile = robot.profile?.bindings[key]?.trim();
|
|
150
|
+
if (fromProfile) {
|
|
151
|
+
return prefixBinding(robot.namespace, key, fromProfile);
|
|
152
|
+
}
|
|
153
|
+
if (key === "camera.rgb") {
|
|
154
|
+
const cam = robot.cameraTopic.trim();
|
|
155
|
+
if (cam)
|
|
156
|
+
return resolveCameraSubscribeTopic(robot.namespace, cam);
|
|
157
|
+
return undefined;
|
|
158
|
+
}
|
|
159
|
+
if (key === "cmd_vel") {
|
|
160
|
+
const raw = (opts?.cmdVelTopic ?? "").trim() || "/cmd_vel";
|
|
161
|
+
return toNamespacedTopic(robot.namespace, raw);
|
|
162
|
+
}
|
|
163
|
+
return undefined;
|
|
164
|
+
}
|
|
165
|
+
/**
|
|
166
|
+
* Draft a profile from kind, cameraTopic, deprecated sensors, and
|
|
167
|
+
* namespaced cmd_vel. Used by `agenticros robots profile infer`.
|
|
168
|
+
* Does not write config.
|
|
169
|
+
*/
|
|
170
|
+
export function inferProfileDraft(robot, opts) {
|
|
171
|
+
const features = new Set();
|
|
172
|
+
const kind = (robot.kind ?? "amr").trim().toLowerCase();
|
|
173
|
+
if (kind === "amr" || kind === "rover" || kind === "drone" || kind === "") {
|
|
174
|
+
features.add("base");
|
|
175
|
+
}
|
|
176
|
+
if (kind === "arm" || kind === "mobile_manipulator") {
|
|
177
|
+
features.add("arm");
|
|
178
|
+
}
|
|
179
|
+
if (kind === "mobile_manipulator") {
|
|
180
|
+
features.add("base");
|
|
181
|
+
}
|
|
182
|
+
if (robot.cameraTopic.trim()) {
|
|
183
|
+
features.add("camera");
|
|
184
|
+
}
|
|
185
|
+
for (const f of featuresFromDeprecatedSensors(robot.sensors)) {
|
|
186
|
+
features.add(f);
|
|
187
|
+
}
|
|
188
|
+
const bindings = {};
|
|
189
|
+
if (features.has("base")) {
|
|
190
|
+
bindings["cmd_vel"] = resolveBinding(robot, "cmd_vel", opts) ?? "/cmd_vel";
|
|
191
|
+
}
|
|
192
|
+
if (features.has("camera")) {
|
|
193
|
+
const rgb = resolveBinding(robot, "camera.rgb");
|
|
194
|
+
if (rgb)
|
|
195
|
+
bindings["camera.rgb"] = rgb;
|
|
196
|
+
}
|
|
197
|
+
if (features.has("depth")) {
|
|
198
|
+
const depth = resolveBinding(robot, "camera.depth") ??
|
|
199
|
+
resolveCameraSubscribeTopic(robot.namespace, "/camera/camera/depth/image_rect_raw");
|
|
200
|
+
bindings["camera.depth"] = depth;
|
|
201
|
+
}
|
|
202
|
+
return {
|
|
203
|
+
schema: PROFILE_SCHEMA_ID,
|
|
204
|
+
features: [...features],
|
|
205
|
+
bindings,
|
|
206
|
+
};
|
|
207
|
+
}
|
|
208
|
+
//# sourceMappingURL=robot-profile.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"robot-profile.js","sourceRoot":"","sources":["../src/robot-profile.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAEH,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AACxB,OAAO,EACL,2BAA2B,EAC3B,iBAAiB,EACjB,qBAAqB,GACtB,MAAM,kBAAkB,CAAC;AAE1B,qFAAqF;AACrF,MAAM,CAAC,MAAM,kBAAkB,GAAG;IAChC,MAAM;IACN,KAAK;IACL,SAAS;IACT,QAAQ;IACR,OAAO;IACP,OAAO;IACP,KAAK;IACL,MAAM;IACN,SAAS;IACT,OAAO;IACP,SAAS;IACT,OAAO;CACC,CAAC;AAIX,MAAM,CAAC,MAAM,sBAAsB,GAAwB,IAAI,GAAG,CAAC,kBAAkB,CAAC,CAAC;AAEvF,mEAAmE;AACnE,MAAM,CAAC,MAAM,YAAY,GAAG;IAC1B,SAAS;IACT,MAAM;IACN,YAAY;IACZ,cAAc;IACd,OAAO;IACP,cAAc;IACd,kBAAkB;IAClB,MAAM;IACN,SAAS;CACD,CAAC;AAIX,MAAM,CAAC,MAAM,gBAAgB,GAAwB,IAAI,GAAG,CAAC,YAAY,CAAC,CAAC;AAE3E;;;GAGG;AACH,MAAM,CAAC,MAAM,wBAAwB,GAAuD;IAC1F,IAAI,EAAE,SAAS;IACf,MAAM,EAAE,YAAY;IACpB,KAAK,EAAE,cAAc;IACrB,KAAK,EAAE,OAAO;IACd,GAAG,EAAE,cAAc;IACnB,IAAI,EAAE,MAAM;IACZ,OAAO,EAAE,SAAS;CACnB,CAAC;AAEF,MAAM,CAAC,MAAM,iBAAiB,GAAG,uBAAuB,CAAC;AAEzD,MAAM,CAAC,MAAM,kBAAkB,GAAG,CAAC,CAAC,MAAM,CAAC;IACzC,MAAM,EAAE,CAAC,CAAC,OAAO,CAAC,iBAAiB,CAAC,CAAC,OAAO,CAAC,iBAAiB,CAAC;IAC/D,QAAQ,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,MAAM,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC;IAChD,QAAQ,EAAE,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC;CACvD,CAAC,CAAC;AAiBH,MAAM,UAAU,cAAc,CAAC,IAAY;IACzC,OAAO,sBAAsB,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;AAC1C,CAAC;AAED,MAAM,UAAU,iBAAiB,CAAC,GAAW;IAC3C,OAAO,gBAAgB,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;AACnC,CAAC;AAED,MAAM,UAAU,eAAe,CAAC,QAA2B;IACzD,OAAO,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC,CAAC;AACpD,CAAC;AAED,MAAM,UAAU,kBAAkB,CAAC,QAAgC;IACjE,OAAO,MAAM,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC,CAAC;AACpE,CAAC;AAED,iEAAiE;AACjE,MAAM,UAAU,uBAAuB,CAAC,OAAqB;IAC3D,MAAM,OAAO,GAAa,EAAE,CAAC;IAC7B,KAAK,MAAM,OAAO,IAAI,OAAO,CAAC,QAAQ,EAAE,CAAC;QACvC,IAAI,CAAC,cAAc,CAAC,OAAO,CAAC;YAAE,SAAS;QACvC,MAAM,GAAG,GAAG,wBAAwB,CAAC,OAAO,CAAC,CAAC;QAC9C,IAAI,CAAC,GAAG;YAAE,SAAS;QACnB,MAAM,KAAK,GAAG,OAAO,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;QACpC,IAAI,OAAO,KAAK,KAAK,QAAQ,IAAI,KAAK,CAAC,IAAI,EAAE,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC3D,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACxB,CAAC;IACH,CAAC;IACD,OAAO,OAAO,CAAC;AACjB,CAAC;AAED,MAAM,UAAU,mBAAmB,CAAC,KAAmB;IACrD,OAAO,KAAK,CAAC,OAAO,CAAC;AACvB,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,6BAA6B,CAC3C,OAA4C;IAE5C,IAAI,CAAC,OAAO;QAAE,OAAO,EAAE,CAAC;IACxB,MAAM,GAAG,GAAkB,EAAE,CAAC;IAC9B,IAAI,OAAO,CAAC,aAAa,EAAE,CAAC;QAC1B,GAAG,CAAC,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAC;IAC9B,CAAC;IACD,IAAI,OAAO,CAAC,SAAS;QAAE,GAAG,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzC,IAAI,OAAO,CAAC,OAAO;QAAE,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACrC,OAAO,GAAG,CAAC;AACb,CAAC;AAED,4FAA4F;AAC5F,MAAM,UAAU,iBAAiB,CAC/B,OAAiC,EACjC,QAAuC;IAEvC,IAAI,CAAC,QAAQ,IAAI,QAAQ,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,IAAI,CAAC;IACpD,IAAI,CAAC,OAAO;QAAE,OAAO,IAAI,CAAC;IAC1B,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;IACvC,OAAO,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;AAC5C,CAAC;AAED,0FAA0F;AAC1F,MAAM,UAAU,eAAe,CAC7B,OAAiC,EACjC,QAAuC;IAEvC,IAAI,CAAC,QAAQ,IAAI,QAAQ,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC;IAClD,IAAI,CAAC,OAAO;QAAE,OAAO,EAAE,CAAC;IACxB,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;IACvC,OAAO,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;AAC9C,CAAC;AAED,SAAS,aAAa,CAAC,SAAiB,EAAE,GAAW,EAAE,GAAW;IAChE,MAAM,KAAK,GAAG,GAAG,CAAC,IAAI,EAAE,CAAC;IACzB,IAAI,CAAC,KAAK;QAAE,OAAO,KAAK,CAAC;IACzB,IAAI,GAAG,KAAK,YAAY,IAAI,GAAG,KAAK,cAAc,EAAE,CAAC;QACnD,OAAO,2BAA2B,CAAC,SAAS,EAAE,KAAK,CAAC,CAAC;IACvD,CAAC;IACD,IAAI,GAAG,KAAK,SAAS,EAAE,CAAC;QACtB,OAAO,iBAAiB,CAAC,SAAS,EAAE,KAAK,CAAC,CAAC;IAC7C,CAAC;IACD,OAAO,qBAAqB,CAAC,SAAS,EAAE,KAAK,CAAC,CAAC;AACjD,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,cAAc,CAC5B,KAAmB,EACnB,GAAW,EACX,IAA+B;IAE/B,MAAM,WAAW,GAAG,KAAK,CAAC,OAAO,EAAE,QAAQ,CAAC,GAAG,CAAC,EAAE,IAAI,EAAE,CAAC;IACzD,IAAI,WAAW,EAAE,CAAC;QAChB,OAAO,aAAa,CAAC,KAAK,CAAC,SAAS,EAAE,GAAG,EAAE,WAAW,CAAC,CAAC;IAC1D,CAAC;IACD,IAAI,GAAG,KAAK,YAAY,EAAE,CAAC;QACzB,MAAM,GAAG,GAAG,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,CAAC;QACrC,IAAI,GAAG;YAAE,OAAO,2BAA2B,CAAC,KAAK,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC;QAClE,OAAO,SAAS,CAAC;IACnB,CAAC;IACD,IAAI,GAAG,KAAK,SAAS,EAAE,CAAC;QACtB,MAAM,GAAG,GAAG,CAAC,IAAI,EAAE,WAAW,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,UAAU,CAAC;QAC3D,OAAO,iBAAiB,CAAC,KAAK,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC;IACjD,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC;AAMD;;;;GAIG;AACH,MAAM,UAAU,iBAAiB,CAC/B,KAAmB,EACnB,IAA0B;IAE1B,MAAM,QAAQ,GAAG,IAAI,GAAG,EAAe,CAAC;IACxC,MAAM,IAAI,GAAG,CAAC,KAAK,CAAC,IAAI,IAAI,KAAK,CAAC,CAAC,IAAI,EAAE,CAAC,WAAW,EAAE,CAAC;IACxD,IAAI,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,OAAO,IAAI,IAAI,KAAK,OAAO,IAAI,IAAI,KAAK,EAAE,EAAE,CAAC;QAC1E,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACvB,CAAC;IACD,IAAI,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,oBAAoB,EAAE,CAAC;QACpD,QAAQ,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACtB,CAAC;IACD,IAAI,IAAI,KAAK,oBAAoB,EAAE,CAAC;QAClC,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACvB,CAAC;IACD,IAAI,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,EAAE,CAAC;QAC7B,QAAQ,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IACzB,CAAC;IACD,KAAK,MAAM,CAAC,IAAI,6BAA6B,CAAC,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC;QAC7D,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC;IAED,MAAM,QAAQ,GAA2B,EAAE,CAAC;IAC5C,IAAI,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC;QACzB,QAAQ,CAAC,SAAS,CAAC,GAAG,cAAc,CAAC,KAAK,EAAE,SAAS,EAAE,IAAI,CAAC,IAAI,UAAU,CAAC;IAC7E,CAAC;IACD,IAAI,QAAQ,CAAC,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC;QAC3B,MAAM,GAAG,GAAG,cAAc,CAAC,KAAK,EAAE,YAAY,CAAC,CAAC;QAChD,IAAI,GAAG;YAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,GAAG,CAAC;IACxC,CAAC;IACD,IAAI,QAAQ,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,CAAC;QAC1B,MAAM,KAAK,GACT,cAAc,CAAC,KAAK,EAAE,cAAc,CAAC;YACrC,2BAA2B,CACzB,KAAK,CAAC,SAAS,EACf,qCAAqC,CACtC,CAAC;QACJ,QAAQ,CAAC,cAAc,CAAC,GAAG,KAAK,CAAC;IACnC,CAAC;IAED,OAAO;QACL,MAAM,EAAE,iBAAiB;QACzB,QAAQ,EAAE,CAAC,GAAG,QAAQ,CAAC;QACvB,QAAQ;KACT,CAAC;AACJ,CAAC"}
|
package/dist/robots.d.ts
CHANGED
|
@@ -23,6 +23,7 @@
|
|
|
23
23
|
*/
|
|
24
24
|
import type { AgenticROSConfig } from "./config.js";
|
|
25
25
|
import type { TransportConfig } from "./transport/types.js";
|
|
26
|
+
import type { RobotProfile } from "./robot-profile.js";
|
|
26
27
|
/** Sensor/hardware tags on a robot (Phase 1.e). */
|
|
27
28
|
export interface RobotSensors {
|
|
28
29
|
/** Intel RealSense depth+RGB camera. */
|
|
@@ -57,6 +58,11 @@ export interface ResolvedRobot {
|
|
|
57
58
|
* filter against for this robot.
|
|
58
59
|
*/
|
|
59
60
|
capabilities?: string[];
|
|
61
|
+
/**
|
|
62
|
+
* Hardware profile. Undefined when the config entry has no `profile`
|
|
63
|
+
* — callers must not invent one; verb filtering is skipped.
|
|
64
|
+
*/
|
|
65
|
+
profile?: RobotProfile;
|
|
60
66
|
/**
|
|
61
67
|
* Source tag — handy for diagnostics ("Why is this robot in the list?").
|
|
62
68
|
* - "config": from config.robots[]
|
package/dist/robots.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;
|
|
1
|
+
{"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAE5D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,oBAAoB,CAAC;AAEvD,mDAAmD;AACnD,MAAM,WAAW,YAAY;IAC3B,wCAAwC;IACxC,aAAa,EAAE,OAAO,CAAC;IACvB,6BAA6B;IAC7B,SAAS,EAAE,OAAO,CAAC;IACnB,0CAA0C;IAC1C,OAAO,EAAE,OAAO,CAAC;CAClB;AAED,+DAA+D;AAC/D,MAAM,WAAW,aAAa;IAC5B,+EAA+E;IAC/E,EAAE,EAAE,MAAM,CAAC;IACX,sDAAsD;IACtD,IAAI,EAAE,MAAM,CAAC;IACb,qFAAqF;IACrF,SAAS,EAAE,MAAM,CAAC;IAClB,gFAAgF;IAChF,WAAW,EAAE,MAAM,CAAC;IACpB;;;;OAIG;IACH,IAAI,EAAE,MAAM,CAAC;IACb,6DAA6D;IAC7D,OAAO,EAAE,YAAY,CAAC;IACtB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,MAAM,EAAE,CAAC;IACxB;;;OAGG;IACH,OAAO,CAAC,EAAE,YAAY,CAAC;IACvB;;;;OAIG;IACH,MAAM,EAAE,QAAQ,GAAG,QAAQ,CAAC;CAC7B;AAiBD,wBAAgB,UAAU,CAAC,MAAM,EAAE,gBAAgB,GAAG,aAAa,EAAE,CAwCpE;AAED;;;;;;;;;;GAUG;AACH,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,gBAAgB,EAAE,QAAQ,CAAC,EAAE,MAAM,GAAG,MAAM,CAUpF;AAED;;;;;;;;GAQG;AACH,wBAAgB,oBAAoB,CAClC,MAAM,EAAE,gBAAgB,EACxB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC5B,aAAa,CAIf;AAED;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,MAAM,EAAE,gBAAgB,EAAE,OAAO,CAAC,EAAE,MAAM,GAAG,aAAa,CAiBtF;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AACH,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,eAAe,CAuCjB;AAED;;;;;GAKG;AACH,wBAAgB,yBAAyB,CACvC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,OAAO,CAUT"}
|
package/dist/robots.js
CHANGED
package/dist/robots.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"robots.js","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAGH,OAAO,EAAE,kBAAkB,EAAE,MAAM,aAAa,CAAC;AAEjD,OAAO,EAAE,kBAAkB,EAAE,MAAM,mBAAmB,CAAC;
|
|
1
|
+
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package/package.json
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