@agenticros/core 0.8.3 → 0.8.5

package/dist/robot-profile.d.ts

@@ -0,0 +1,89 @@
+/**
+ * Robot hardware profile — features + ROS bindings.
+ *
+ * A profile declares what a *body* has (camera, base, arm, …) and where
+ * those features live on this robot's ROS graph. Agent verbs
+ * (`drive_base`, `follow_person`) are filtered against it; skills
+ * address feature names, never a camera brand or URDF.
+ *
+ * Back-compat: `profile` is optional. No profile → no verb filtering
+ * (today's gateway-wide registry). A declared profile is strict.
+ */
+import { z } from "zod";
+/** Frozen hardware vocabulary. Names are only added, never removed or repurposed. */
+export declare const FEATURE_VOCABULARY: readonly ["base", "arm", "gripper", "camera", "depth", "lidar", "imu", "dock", "display", "audio", "battery", "estop"];
+export type FeatureName = (typeof FEATURE_VOCABULARY)[number];
+export declare const FEATURE_VOCABULARY_SET: ReadonlySet<string>;
+/** Frozen v1 binding keys. Values are ROS topic / action names. */
+export declare const BINDING_KEYS: readonly ["cmd_vel", "odom", "camera.rgb", "camera.depth", "lidar", "joint_states", "navigate_to_pose", "dock", "battery"];
+export type BindingKey = (typeof BINDING_KEYS)[number];
+export declare const BINDING_KEYS_SET: ReadonlySet<string>;
+/**
+ * Minimum binding expected for a declared feature. Used by doctor; a
+ * feature without its v1 binding is a contract violation.
+ */
+export declare const FEATURE_REQUIRED_BINDING: Readonly<Partial<Record<FeatureName, BindingKey>>>;
+export declare const PROFILE_SCHEMA_ID = "agenticros.profile.v1";
+export declare const RobotProfileSchema: z.ZodObject<{
+    schema: z.ZodDefault<z.ZodLiteral<"agenticros.profile.v1">>;
+    features: z.ZodDefault<z.ZodArray<z.ZodString, "many">>;
+    bindings: z.ZodDefault<z.ZodRecord<z.ZodString, z.ZodString>>;
+}, "strip", z.ZodTypeAny, {
+    schema: "agenticros.profile.v1";
+    features: string[];
+    bindings: Record<string, string>;
+}, {
+    schema?: "agenticros.profile.v1" | undefined;
+    features?: string[] | undefined;
+    bindings?: Record<string, string> | undefined;
+}>;
+export type RobotProfile = z.infer<typeof RobotProfileSchema>;
+/** Minimal robot shape the profile helpers need (avoids importing robots.ts). */
+export interface ProfileRobot {
+    namespace: string;
+    cameraTopic: string;
+    kind?: string;
+    sensors?: {
+        has_realsense?: boolean;
+        has_lidar?: boolean;
+        has_arm?: boolean;
+    };
+    profile?: RobotProfile;
+}
+export declare function isKnownFeature(name: string): name is FeatureName;
+export declare function isKnownBindingKey(key: string): key is BindingKey;
+export declare function unknownFeatures(features: readonly string[]): string[];
+export declare function unknownBindingKeys(bindings: Record<string, string>): string[];
+/** Features declared on a profile that lack their v1 binding. */
+export declare function featuresMissingBindings(profile: RobotProfile): string[];
+export declare function resolveRobotProfile(robot: ProfileRobot): RobotProfile | undefined;
+/**
+ * Map the deprecated Phase 1.e sensor booleans onto feature names.
+ * Used only when `profile` is absent — so `--sensors=has_realsense`
+ * still means something for fleet filtering / infer.
+ */
+export declare function featuresFromDeprecatedSensors(sensors: ProfileRobot["sensors"] | undefined): FeatureName[];
+/** ALL-OF: every required feature is present on the profile. Empty requires always pass. */
+export declare function featuresSatisfied(profile: RobotProfile | undefined, requires: readonly string[] | undefined): boolean;
+/** Required features the profile does not declare. Empty when satisfied or no profile. */
+export declare function missingFeatures(profile: RobotProfile | undefined, requires: readonly string[] | undefined): string[];
+/**
+ * Resolve a binding key to a ROS name for this robot.
+ *
+ * Precedence: explicit `profile.bindings[key]`, then legacy fallbacks
+ * (`cameraTopic` for `camera.rgb`, teleop/`/cmd_vel` for `cmd_vel`).
+ * Relative names are namespace-prefixed.
+ */
+export declare function resolveBinding(robot: ProfileRobot, key: string, opts?: {
+    cmdVelTopic?: string;
+}): string | undefined;
+export interface InferProfileOptions {
+    cmdVelTopic?: string;
+}
+/**
+ * Draft a profile from kind, cameraTopic, deprecated sensors, and
+ * namespaced cmd_vel. Used by `agenticros robots profile infer`.
+ * Does not write config.
+ */
+export declare function inferProfileDraft(robot: ProfileRobot, opts?: InferProfileOptions): RobotProfile;
+//# sourceMappingURL=robot-profile.d.ts.map

package/dist/robot-profile.d.ts.map

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package/dist/robot-profile.js

@@ -0,0 +1,208 @@
+/**
+ * Robot hardware profile — features + ROS bindings.
+ *
+ * A profile declares what a *body* has (camera, base, arm, …) and where
+ * those features live on this robot's ROS graph. Agent verbs
+ * (`drive_base`, `follow_person`) are filtered against it; skills
+ * address feature names, never a camera brand or URDF.
+ *
+ * Back-compat: `profile` is optional. No profile → no verb filtering
+ * (today's gateway-wide registry). A declared profile is strict.
+ */
+import { z } from "zod";
+import { resolveCameraSubscribeTopic, toNamespacedTopic, toNamespacedTopicFull, } from "./topic-utils.js";
+/** Frozen hardware vocabulary. Names are only added, never removed or repurposed. */
+export const FEATURE_VOCABULARY = [
+    "base",
+    "arm",
+    "gripper",
+    "camera",
+    "depth",
+    "lidar",
+    "imu",
+    "dock",
+    "display",
+    "audio",
+    "battery",
+    "estop",
+];
+export const FEATURE_VOCABULARY_SET = new Set(FEATURE_VOCABULARY);
+/** Frozen v1 binding keys. Values are ROS topic / action names. */
+export const BINDING_KEYS = [
+    "cmd_vel",
+    "odom",
+    "camera.rgb",
+    "camera.depth",
+    "lidar",
+    "joint_states",
+    "navigate_to_pose",
+    "dock",
+    "battery",
+];
+export const BINDING_KEYS_SET = new Set(BINDING_KEYS);
+/**
+ * Minimum binding expected for a declared feature. Used by doctor; a
+ * feature without its v1 binding is a contract violation.
+ */
+export const FEATURE_REQUIRED_BINDING = {
+    base: "cmd_vel",
+    camera: "camera.rgb",
+    depth: "camera.depth",
+    lidar: "lidar",
+    arm: "joint_states",
+    dock: "dock",
+    battery: "battery",
+};
+export const PROFILE_SCHEMA_ID = "agenticros.profile.v1";
+export const RobotProfileSchema = z.object({
+    schema: z.literal(PROFILE_SCHEMA_ID).default(PROFILE_SCHEMA_ID),
+    features: z.array(z.string().min(1)).default([]),
+    bindings: z.record(z.string(), z.string()).default({}),
+});
+export function isKnownFeature(name) {
+    return FEATURE_VOCABULARY_SET.has(name);
+}
+export function isKnownBindingKey(key) {
+    return BINDING_KEYS_SET.has(key);
+}
+export function unknownFeatures(features) {
+    return features.filter((f) => !isKnownFeature(f));
+}
+export function unknownBindingKeys(bindings) {
+    return Object.keys(bindings).filter((k) => !isKnownBindingKey(k));
+}
+/** Features declared on a profile that lack their v1 binding. */
+export function featuresMissingBindings(profile) {
+    const missing = [];
+    for (const feature of profile.features) {
+        if (!isKnownFeature(feature))
+            continue;
+        const key = FEATURE_REQUIRED_BINDING[feature];
+        if (!key)
+            continue;
+        const value = profile.bindings[key];
+        if (typeof value !== "string" || value.trim().length === 0) {
+            missing.push(feature);
+        }
+    }
+    return missing;
+}
+export function resolveRobotProfile(robot) {
+    return robot.profile;
+}
+/**
+ * Map the deprecated Phase 1.e sensor booleans onto feature names.
+ * Used only when `profile` is absent — so `--sensors=has_realsense`
+ * still means something for fleet filtering / infer.
+ */
+export function featuresFromDeprecatedSensors(sensors) {
+    if (!sensors)
+        return [];
+    const out = [];
+    if (sensors.has_realsense) {
+        out.push("camera", "depth");
+    }
+    if (sensors.has_lidar)
+        out.push("lidar");
+    if (sensors.has_arm)
+        out.push("arm");
+    return out;
+}
+/** ALL-OF: every required feature is present on the profile. Empty requires always pass. */
+export function featuresSatisfied(profile, requires) {
+    if (!requires || requires.length === 0)
+        return true;
+    if (!profile)
+        return true;
+    const have = new Set(profile.features);
+    return requires.every((f) => have.has(f));
+}
+/** Required features the profile does not declare. Empty when satisfied or no profile. */
+export function missingFeatures(profile, requires) {
+    if (!requires || requires.length === 0)
+        return [];
+    if (!profile)
+        return [];
+    const have = new Set(profile.features);
+    return requires.filter((f) => !have.has(f));
+}
+function prefixBinding(namespace, key, raw) {
+    const value = raw.trim();
+    if (!value)
+        return value;
+    if (key === "camera.rgb" || key === "camera.depth") {
+        return resolveCameraSubscribeTopic(namespace, value);
+    }
+    if (key === "cmd_vel") {
+        return toNamespacedTopic(namespace, value);
+    }
+    return toNamespacedTopicFull(namespace, value);
+}
+/**
+ * Resolve a binding key to a ROS name for this robot.
+ *
+ * Precedence: explicit `profile.bindings[key]`, then legacy fallbacks
+ * (`cameraTopic` for `camera.rgb`, teleop/`/cmd_vel` for `cmd_vel`).
+ * Relative names are namespace-prefixed.
+ */
+export function resolveBinding(robot, key, opts) {
+    const fromProfile = robot.profile?.bindings[key]?.trim();
+    if (fromProfile) {
+        return prefixBinding(robot.namespace, key, fromProfile);
+    }
+    if (key === "camera.rgb") {
+        const cam = robot.cameraTopic.trim();
+        if (cam)
+            return resolveCameraSubscribeTopic(robot.namespace, cam);
+        return undefined;
+    }
+    if (key === "cmd_vel") {
+        const raw = (opts?.cmdVelTopic ?? "").trim() || "/cmd_vel";
+        return toNamespacedTopic(robot.namespace, raw);
+    }
+    return undefined;
+}
+/**
+ * Draft a profile from kind, cameraTopic, deprecated sensors, and
+ * namespaced cmd_vel. Used by `agenticros robots profile infer`.
+ * Does not write config.
+ */
+export function inferProfileDraft(robot, opts) {
+    const features = new Set();
+    const kind = (robot.kind ?? "amr").trim().toLowerCase();
+    if (kind === "amr" || kind === "rover" || kind === "drone" || kind === "") {
+        features.add("base");
+    }
+    if (kind === "arm" || kind === "mobile_manipulator") {
+        features.add("arm");
+    }
+    if (kind === "mobile_manipulator") {
+        features.add("base");
+    }
+    if (robot.cameraTopic.trim()) {
+        features.add("camera");
+    }
+    for (const f of featuresFromDeprecatedSensors(robot.sensors)) {
+        features.add(f);
+    }
+    const bindings = {};
+    if (features.has("base")) {
+        bindings["cmd_vel"] = resolveBinding(robot, "cmd_vel", opts) ?? "/cmd_vel";
+    }
+    if (features.has("camera")) {
+        const rgb = resolveBinding(robot, "camera.rgb");
+        if (rgb)
+            bindings["camera.rgb"] = rgb;
+    }
+    if (features.has("depth")) {
+        const depth = resolveBinding(robot, "camera.depth") ??
+            resolveCameraSubscribeTopic(robot.namespace, "/camera/camera/depth/image_rect_raw");
+        bindings["camera.depth"] = depth;
+    }
+    return {
+        schema: PROFILE_SCHEMA_ID,
+        features: [...features],
+        bindings,
+    };
+}
+//# sourceMappingURL=robot-profile.js.map

package/dist/robot-profile.js.map

@@ -0,0 +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,CA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package/dist/robots.d.ts

@@ -21,8 +21,9 @@
  * mental model keep working unchanged. The synthesised entry is marked
  * default so it's selected by `getActiveRobotId()`.
  */
-import type { AgenticROSConfig } from "./config.js";
+import type { AgenticROSConfig, RobotSafetyOverlay } from "./config.js";
 import type { TransportConfig } from "./transport/types.js";
+import type { RobotProfile } from "./robot-profile.js";
 /** Sensor/hardware tags on a robot (Phase 1.e). */
 export interface RobotSensors {
     /** Intel RealSense depth+RGB camera. */
@@ -57,6 +58,16 @@ export interface ResolvedRobot {
      * filter against for this robot.
      */
     capabilities?: string[];
+    /**
+     * Hardware profile. Undefined when the config entry has no `profile`
+     * — callers must not invent one; verb filtering is skipped.
+     */
+    profile?: RobotProfile;
+    /**
+     * Optional per-robot safety overlay. Undefined → inherit gateway
+     * `config.safety` via `resolveSafetyForRobot`.
+     */
+    safety?: RobotSafetyOverlay;
     /**
      * Source tag — handy for diagnostics ("Why is this robot in the list?").
      *   - "config":  from config.robots[]

package/dist/robots.d.ts.map

@@ -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;AAG5D,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;;;;OAIG;IACH,MAAM,EAAE,QAAQ,GAAG,QAAQ,CAAC;CAC7B;AAiBD,wBAAgB,UAAU,CAAC,MAAM,EAAE,gBAAgB,GAAG,aAAa,EAAE,CAuCpE;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"}
+{"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,MAAM,aAAa,CAAC;AAExE,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;;;OAGG;IACH,MAAM,CAAC,EAAE,kBAAkB,CAAC;IAC5B;;;;OAIG;IACH,MAAM,EAAE,QAAQ,GAAG,QAAQ,CAAC;CAC7B;AAiBD,wBAAgB,UAAU,CAAC,MAAM,EAAE,gBAAgB,GAAG,aAAa,EAAE,CAyCpE;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

@@ -51,6 +51,8 @@ export function listRobots(config) {
             kind: r.kind ?? "amr",
             sensors: { ...DEFAULT_SENSORS, ...(r.sensors ?? {}) },
             capabilities: r.capabilities,
+            profile: r.profile,
+            safety: r.safety,
             source: "config",
         }));
     }

package/dist/robots.js.map

@@ -1 +1 @@
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package/dist/safety.d.ts

@@ -0,0 +1,116 @@
+/**
+ * Shared safety gates: per-robot velocity limits, optional workspace
+ * geofence, and fail-safe zero-Twist on transport loss.
+ *
+ * Adapters (MCP, OpenClaw, Gemini, teleop, skills) must call these
+ * helpers rather than reading `config.safety` directly so a mixed
+ * fleet does not share one clamp.
+ */
+import type { AgenticROSConfig, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
+import type { ProfileRobot } from "./robot-profile.js";
+import type { RosTransport } from "./transport/transport.js";
+export declare const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
+export declare const ZERO_TWIST: {
+    linear: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    angular: {
+        x: number;
+        y: number;
+        z: number;
+    };
+};
+export interface SafetyLimits {
+    maxLinearVelocity: number;
+    maxAngularVelocity: number;
+    workspaceLimits?: WorkspaceLimits;
+}
+export interface SafetyCheckResult {
+    block: boolean;
+    blockReason?: string;
+}
+export interface TwistComponents {
+    linear: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    angular: {
+        x: number;
+        y: number;
+        z: number;
+    };
+}
+/**
+ * Resolve velocity + workspace limits for a robot. Robot overlay fields
+ * win; unset fields inherit the gateway `config.safety` defaults.
+ */
+export declare function resolveSafetyForRobot(config: AgenticROSConfig, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyLimits;
+/** True when the payload looks like geometry_msgs/Twist. */
+export declare function isTwistMessage(msg: unknown): boolean;
+export declare function checkTwistMessage(limits: SafetyLimits, msg: unknown): SafetyCheckResult;
+/** Scale a Twist down to the velocity ceilings (teleop / skills). */
+export declare function clampTwistToLimits(limits: SafetyLimits, linearX: number, linearY: number, linearZ: number, angularX: number, angularY: number, angularZ: number): TwistComponents;
+export declare function checkWorkspacePosition(limits: SafetyLimits, x: number, y: number): SafetyCheckResult;
+/**
+ * Pull map-frame (x, y) pairs from Twist-unrelated nav payloads:
+ * `{x,y}`, Pose, PoseStamped, NavigateToPose goal, NavigateThroughPoses.
+ */
+export declare function extractWorkspacePositions(payload: unknown): Array<{
+    x: number;
+    y: number;
+}>;
+export declare function checkWorkspacePayload(limits: SafetyLimits, payload: unknown): SafetyCheckResult;
+export declare function checkPublishSafety(config: AgenticROSConfig, params: Record<string, unknown>, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyCheckResult;
+export declare function checkActionGoalSafety(config: AgenticROSConfig, params: Record<string, unknown>, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyCheckResult;
+export declare function checkInputsWorkspace(config: AgenticROSConfig, inputs: Record<string, unknown>, robot?: {
+    safety?: RobotSafetyOverlay;
+} | null): SafetyCheckResult;
+/**
+ * A body that accepts Twist. Profile `base` wins; with no profile,
+ * anything except an arm-only cell is treated as having a base
+ * (legacy configs default kind to "amr").
+ */
+export declare function robotHasMobileBase(robot: ProfileRobot): boolean;
+/** Best-effort zero Twist on every mobile-base robot sharing this transport. */
+export declare function publishStopForBases(transport: RosTransport, robots: readonly ProfileRobot[]): Promise<void>;
+/**
+ * Publish zero Twist when the transport drops (and again on reconnect
+ * so a stale last-command cannot resume). Returns an unsubscribe.
+ */
+export declare function attachDisconnectFailSafe(transport: RosTransport, robots: readonly ProfileRobot[]): () => void;
+export type LiveCheckSeverity = "green" | "yellow" | "red";
+export interface LiveBindingCheck {
+    id: string;
+    robotId: string;
+    key: string;
+    name: string;
+    severity: LiveCheckSeverity;
+    reason: string;
+}
+export interface LiveGraphSnapshot {
+    topics: ReadonlyArray<{
+        name: string;
+        type?: string;
+    }>;
+    actions?: ReadonlyArray<{
+        name: string;
+        type?: string;
+    }>;
+}
+/**
+ * Compare declared profile bindings against a live topic/action list.
+ * Missing declared hardware is red; type mismatch is yellow.
+ */
+export declare function checkLiveBindings(robots: ReadonlyArray<ProfileRobot & {
+    id: string;
+}>, graph: LiveGraphSnapshot): LiveBindingCheck[];
+//# sourceMappingURL=safety.d.ts.map

package/dist/safety.d.ts.map

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