npm - @agenticros/core - Versions diffs - 0.8.7 → 0.8.8 - Mend

@agenticros/core 0.8.7 → 0.8.8

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.

Files changed (30) hide show

package/dist/capabilities.d.ts.map +1 -1
package/dist/capabilities.js +34 -0
package/dist/capabilities.js.map +1 -1
package/dist/capability-schema.d.ts +2 -2
package/dist/external-capability.d.ts.map +1 -1
package/dist/external-capability.js +25 -0
package/dist/external-capability.js.map +1 -1
package/dist/index.d.ts +5 -2
package/dist/index.d.ts.map +1 -1
package/dist/index.js +3 -1
package/dist/index.js.map +1 -1
package/dist/mission-bindings.d.ts.map +1 -1
package/dist/mission-bindings.js +19 -0
package/dist/mission-bindings.js.map +1 -1
package/dist/places-runtime.d.ts +24 -0
package/dist/places-runtime.d.ts.map +1 -0
package/dist/places-runtime.js +96 -0
package/dist/places-runtime.js.map +1 -0
package/dist/places.d.ts +39 -0
package/dist/places.d.ts.map +1 -0
package/dist/places.js +110 -0
package/dist/places.js.map +1 -0
package/dist/planner/index.d.ts.map +1 -1
package/dist/planner/index.js +223 -0
package/dist/planner/index.js.map +1 -1
package/dist/safety.d.ts +18 -0
package/dist/safety.d.ts.map +1 -1
package/dist/safety.js +34 -0
package/dist/safety.js.map +1 -1
package/package.json +10 -9

package/dist/capabilities.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/capabilities.js CHANGED Viewed

@@ -108,6 +108,40 @@ export const BUILTIN_CAPABILITIES = [
         interruptible: true,
         source: { kind: "builtin" },
     },
+    {
+        id: "save_place",
+        verb: "remember_place",
+        description: "Save a named map pose (x, y, yaw) for later navigate_to_place. " +
+            "If x/y are omitted, the tool tries to read the current AMCL / localization pose.",
+        inputs: {
+            name: { type: "string", description: "Place name (e.g. kitchen)." },
+            x: { type: "number", description: "Map-frame x (m).", optional: true },
+            y: { type: "number", description: "Map-frame y (m).", optional: true },
+            yaw: { type: "number", description: "Map-frame yaw (rad).", optional: true },
+            frame: { type: "string", description: "Frame id (default map).", optional: true },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "list_places",
+        verb: "list_places",
+        description: "List named places saved with save_place.",
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "navigate_to_place",
+        verb: "navigate",
+        description: "Navigate to a previously saved named place via Nav2 (requires the navigate-to skill).",
+        inputs: {
+            name: { type: "string", description: "Place name (e.g. kitchen)." },
+        },
+        interruptible: true,
+        blocks_base: true,
+        requires: ["base"],
+        source: { kind: "builtin" },
+    },
 ];
 function isCapabilityLike(value) {
     if (!value || typeof value !== "object")

package/dist/capabilities.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/capability-schema.d.ts CHANGED Viewed

@@ -126,6 +126,7 @@ export declare const CapabilitySchema: z.ZodObject<{
     id: string;
     verb: string;
     description: string;
+    blocks_base?: boolean | undefined;
     inputs?: Record<string, {
         type: string;
         default?: unknown;
@@ -138,7 +139,6 @@ export declare const CapabilitySchema: z.ZodObject<{
         description?: string | undefined;
         optional?: boolean | undefined;
     }> | undefined;
-    blocks_base?: boolean | undefined;
     preconditions?: string[] | undefined;
     interruptible?: boolean | undefined;
     requires?: string[] | undefined;
@@ -158,6 +158,7 @@ export declare const CapabilitySchema: z.ZodObject<{
 }, {
     id: string;
     verb: string;
+    blocks_base?: boolean | undefined;
     inputs?: Record<string, {
         type: string;
         default?: unknown;
@@ -170,7 +171,6 @@ export declare const CapabilitySchema: z.ZodObject<{
         description?: string | undefined;
         optional?: boolean | undefined;
     }> | undefined;
-    blocks_base?: boolean | undefined;
     description?: string | undefined;
     preconditions?: string[] | undefined;
     interruptible?: boolean | undefined;

package/dist/external-capability.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"external-capability.d.ts","sourceRoot":"","sources":["../src/external-capability.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAC9E,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAE7D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAGhD,MAAM,WAAW,sBAAsB;IACrC,0DAA0D;IAC1D,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,gDAAgD;IAChD,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,WAAW,CAAC;IACrB,2EAA2E;IAC3E,cAAc,CAAC,EAAE,YAAY,CAAC;CAC/B;AAED,MAAM,WAAW,qBAAqB;IACpC,IAAI,EAAE,MAAM,CAAC;IACb,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAClC,OAAO,CAAC,EAAE,OAAO,CAAC;CACnB;AAeD;;;GAGG;AACH,wBAAgB,iBAAiB,CAC/B,IAAI,EAAE,OAAO,CAAC,wBAAwB,EAAE;IAAE,IAAI,EAAE,mBAAmB,CAAA;CAAE,CAAC,EACtE,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC9B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAsGzB;AAED;;GAEG;AACH,wBAAsB,yBAAyB,CAC7C,UAAU,EAAE,UAAU,EACtB,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC/B,SAAS,EAAE,YAAY,EACvB,OAAO,GAAE,sBAA2B,GACnC,OAAO,CAAC,qBAAqB,CAAC,CA2LhC"}

package/dist/external-capability.js CHANGED Viewed

@@ -80,6 +80,31 @@ export function buildExternalGoal(impl, inputs) {
             return { dock_id: inputs.dock_id.trim() };
         }
     }
+    if (msgType.includes("loaddatabase") ||
+        impl.service?.includes("load_database")) {
+        const databasePath = typeof inputs.database_path === "string" ? inputs.database_path : "";
+        return {
+            database_path: databasePath,
+            clear: inputs.clear !== false,
+        };
+    }
+    if (msgType.includes("explore") ||
+        impl.action === "explore" ||
+        impl.action === "wander") {
+        const timeout = Number(inputs.timeout_s ?? 0) || 0;
+        const minFrontier = Number(inputs.min_frontier_m ?? 0) || 0;
+        const maxGoals = Number(inputs.max_goals ?? 0) || 0;
+        const modeFromAction = impl.action === "wander" ? "wander" : "explore";
+        const mode = typeof inputs.mode === "string" && inputs.mode.trim()
+            ? inputs.mode.trim()
+            : modeFromAction;
+        return {
+            mode,
+            timeout_s: timeout,
+            min_frontier_m: minFrontier,
+            max_goals: maxGoals,
+        };
+    }
     // Passthrough remaining inputs (minus robot_id).
     const { robot_id: _rid, ...rest } = inputs;
     return rest;

package/dist/external-capability.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/index.d.ts CHANGED Viewed

@@ -10,8 +10,8 @@ export type { RosTransport } from "./transport/transport.js";
 export type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, TransportConfig, } from "./transport/types.js";
 export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
 export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
-export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
-export type { SafetyLimits, SafetyCheckResult, TwistComponents, LiveBindingCheck, LiveCheckSeverity, LiveGraphSnapshot, } from "./safety.js";
+export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, emergencyStopRobot, ESTOP_PUBLISH_COUNT, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
+export type { SafetyLimits, SafetyCheckResult, TwistComponents, LiveBindingCheck, LiveCheckSeverity, LiveGraphSnapshot, EmergencyStopResult, } from "./safety.js";
 export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
 export { renderAgenticROSBanner, agenticROSBannerLines, type AgenticROSBannerOptions, } from "./banner.js";
 export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
@@ -33,6 +33,9 @@ export type { MissionRegistryEntry } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
 export { compileGoalToMission } from "./planner/index.js";
 export type { PlannerResult, PlannerCandidate } from "./planner/index.js";
+export { defaultPlacesPath, loadPlaces, savePlaces, listPlaces, getPlace, savePlace, forgetPlace, poseFromLocalizationMessage, } from "./places.js";
+export type { SavedPlace, PlacesStore } from "./places.js";
+export { readCurrentMapPose, savePlaceFromArgs, findNavigateToCapability, executeNavigateToPlace, } from "./places-runtime.js";
 export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTransportConfigForRobot, hasRobotTransportOverride, } from "./robots.js";
 export type { ResolvedRobot, RobotSensors } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";

package/dist/index.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/index.js CHANGED Viewed

@@ -6,7 +6,7 @@ export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_
 export { createTransport } from "./transport/factory.js";
 export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
 export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
-export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
+export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, emergencyStopRobot, ESTOP_PUBLISH_COUNT, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
 export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
 export { renderAgenticROSBanner, agenticROSBannerLines, } from "./banner.js";
 export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
@@ -19,6 +19,8 @@ export { BUILTIN_MISSION_BINDINGS, EXTERNAL_TOOL_PREFIX, buildMissionBindings, c
 export { MissionRegistry, generateMissionId, missionTranscriptNamespace, } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
 export { compileGoalToMission } from "./planner/index.js";
+export { defaultPlacesPath, loadPlaces, savePlaces, listPlaces, getPlace, savePlace, forgetPlace, poseFromLocalizationMessage, } from "./places.js";
+export { readCurrentMapPose, savePlaceFromArgs, findNavigateToCapability, executeNavigateToPlace, } from "./places-runtime.js";
 export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTransportConfigForRobot, hasRobotTransportOverride, } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";
 export { DEFAULT_HEARTBEAT_STALENESS_MS, detectHeartbeatNamespacesFromTopics, isHeartbeatFresh, isRobotInfoTopic, mergeRobotHeartbeats, namespaceFromRobotInfoTopic, onlineIdsFromHeartbeats, parseRobotInfoMessage, } from "./heartbeat.js";

package/dist/index.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/mission-bindings.d.ts.map CHANGED Viewed

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package/dist/mission-bindings.js CHANGED Viewed

@@ -99,6 +99,25 @@ export const BUILTIN_MISSION_BINDINGS = {
             return out;
         },
     },
+    save_place: {
+        tool: "ros2_save_place",
+        buildArgs: (inputs) => {
+            const out = { name: String(inputs.name ?? "") };
+            copyNumber(out, inputs, "x");
+            copyNumber(out, inputs, "y");
+            copyNumber(out, inputs, "yaw");
+            copyString(out, inputs, "frame");
+            return out;
+        },
+    },
+    list_places: {
+        tool: "ros2_list_places",
+        buildArgs: () => ({}),
+    },
+    navigate_to_place: {
+        tool: "ros2_navigate_to_place",
+        buildArgs: (inputs) => ({ name: String(inputs.name ?? "") }),
+    },
 };
 /** Synthetic tool prefix for external_ros_node capabilities. */
 export const EXTERNAL_TOOL_PREFIX = "external:";

package/dist/mission-bindings.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/places-runtime.d.ts ADDED Viewed

@@ -0,0 +1,24 @@
+/**
+ * Runtime helpers for named-place tools (pose snapshot + Nav2 dispatch).
+ */
+import type { AgenticROSConfig } from "./config.js";
+import { type Capability } from "./capabilities.js";
+import { type SavedPlace } from "./places.js";
+import type { RosTransport } from "./transport/transport.js";
+import type { ResolvedRobot } from "./robots.js";
+export declare function readCurrentMapPose(transport: RosTransport, namespace?: string, timeoutMs?: number): Promise<{
+    x: number;
+    y: number;
+    yaw: number;
+} | undefined>;
+export declare function savePlaceFromArgs(args: Record<string, unknown>, opts: {
+    robot: ResolvedRobot;
+    transport?: RosTransport;
+}): Promise<SavedPlace>;
+export declare function findNavigateToCapability(config: AgenticROSConfig, robotId?: string): Capability | undefined;
+export declare function executeNavigateToPlace(config: AgenticROSConfig, robot: ResolvedRobot, name: string, transport: RosTransport, signal?: AbortSignal): Promise<{
+    text: string;
+    isError?: boolean;
+    place?: SavedPlace;
+}>;
+//# sourceMappingURL=places-runtime.d.ts.map

package/dist/places-runtime.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"places-runtime.d.ts","sourceRoot":"","sources":["../src/places-runtime.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AACpD,OAAO,EAA4B,KAAK,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAE9E,OAAO,EAAoD,KAAK,UAAU,EAAE,MAAM,aAAa,CAAC;AAGhG,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,aAAa,CAAC;AAOjD,wBAAsB,kBAAkB,CACtC,SAAS,EAAE,YAAY,EACvB,SAAS,SAAK,EACd,SAAS,SAAO,GACf,OAAO,CAAC;IAAE,CAAC,EAAE,MAAM,CAAC;IAAC,CAAC,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,GAAG,SAAS,CAAC,CAyB5D;AAED,wBAAsB,iBAAiB,CACrC,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC7B,IAAI,EAAE;IAAE,KAAK,EAAE,aAAa,CAAC;IAAC,SAAS,CAAC,EAAE,YAAY,CAAA;CAAE,GACvD,OAAO,CAAC,UAAU,CAAC,CA4BrB;AAED,wBAAgB,wBAAwB,CAAC,MAAM,EAAE,gBAAgB,EAAE,OAAO,CAAC,EAAE,MAAM,GAAG,UAAU,GAAG,SAAS,CAE3G;AAED,wBAAsB,sBAAsB,CAC1C,MAAM,EAAE,gBAAgB,EACxB,KAAK,EAAE,aAAa,EACpB,IAAI,EAAE,MAAM,EACZ,SAAS,EAAE,YAAY,EACvB,MAAM,CAAC,EAAE,WAAW,GACnB,OAAO,CAAC;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAC;IAAC,KAAK,CAAC,EAAE,UAAU,CAAA;CAAE,CAAC,CA4BlE"}

package/dist/places-runtime.js ADDED Viewed

@@ -0,0 +1,96 @@
+/**
+ * Runtime helpers for named-place tools (pose snapshot + Nav2 dispatch).
+ */
+import { listCapabilitiesForRobot } from "./capabilities.js";
+import { executeExternalCapability } from "./external-capability.js";
+import { getPlace, poseFromLocalizationMessage, savePlace } from "./places.js";
+import { resolveSafetyForRobot } from "./safety.js";
+import { toNamespacedTopicFull } from "./topic-utils.js";
+const POSE_CANDIDATES = [
+    { topic: "/amcl_pose", type: "geometry_msgs/msg/PoseWithCovarianceStamped" },
+    { topic: "/pose", type: "geometry_msgs/msg/PoseWithCovarianceStamped" },
+];
+export async function readCurrentMapPose(transport, namespace = "", timeoutMs = 2500) {
+    for (const cand of POSE_CANDIDATES) {
+        const topic = toNamespacedTopicFull(namespace, cand.topic);
+        const pose = await new Promise((resolve) => {
+            const timer = setTimeout(() => {
+                try {
+                    sub.unsubscribe();
+                }
+                catch {
+                    /* ignore */
+                }
+                resolve(undefined);
+            }, timeoutMs);
+            const sub = transport.subscribe({ topic, type: cand.type }, (msg) => {
+                clearTimeout(timer);
+                try {
+                    sub.unsubscribe();
+                }
+                catch {
+                    /* ignore */
+                }
+                resolve(poseFromLocalizationMessage(msg));
+            });
+        });
+        if (pose)
+            return pose;
+    }
+    return undefined;
+}
+export async function savePlaceFromArgs(args, opts) {
+    const name = String(args["name"] ?? "").trim();
+    if (!name)
+        throw new Error("ros2_save_place requires 'name'.");
+    let x = typeof args["x"] === "number" ? args["x"] : Number.NaN;
+    let y = typeof args["y"] === "number" ? args["y"] : Number.NaN;
+    let yaw = typeof args["yaw"] === "number" ? args["yaw"] : 0;
+    if (!Number.isFinite(x) || !Number.isFinite(y)) {
+        if (!opts.transport) {
+            throw new Error("Pass x and y, or connect to ROS so the current localization pose can be read.");
+        }
+        const pose = await readCurrentMapPose(opts.transport, opts.robot.namespace);
+        if (!pose) {
+            throw new Error("Could not read /amcl_pose (or /pose). Pass x and y, or localize first (AMCL / RTAB-Map).");
+        }
+        x = pose.x;
+        y = pose.y;
+        yaw = Number.isFinite(args["yaw"]) ? args["yaw"] : pose.yaw;
+    }
+    return savePlace({
+        name,
+        x,
+        y,
+        yaw,
+        frame: typeof args["frame"] === "string" ? args["frame"] : "map",
+        robot_id: opts.robot.id,
+    });
+}
+export function findNavigateToCapability(config, robotId) {
+    return listCapabilitiesForRobot(config, robotId).find((c) => c.id === "navigate_to");
+}
+export async function executeNavigateToPlace(config, robot, name, transport, signal) {
+    const place = getPlace(name);
+    if (!place) {
+        return {
+            text: `Unknown place "${name}". Use ros2_list_places or ros2_save_place first.`,
+            isError: true,
+        };
+    }
+    const cap = findNavigateToCapability(config, robot.id);
+    if (!cap || cap.implementation?.kind !== "external_ros_node") {
+        return {
+            text: "navigate_to is not installed. Run `agenticros skills install --bundle mapping` " +
+                "(or `agenticros skills install @agenticros/navigate-to`) and restart the agent.",
+            isError: true,
+        };
+    }
+    const result = await executeExternalCapability(cap, { x: place.x, y: place.y, yaw: place.yaw, frame_id: place.frame }, transport, {
+        namespace: robot.namespace,
+        signal,
+        workspaceCheck: resolveSafetyForRobot(config, robot),
+    });
+    return { ...result, place };
+}
+//# sourceMappingURL=places-runtime.js.map

package/dist/places-runtime.js.map ADDED Viewed

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package/dist/places.d.ts ADDED Viewed

@@ -0,0 +1,39 @@
+/**
+ * Named map places — lightweight local store for "save this as kitchen"
+ * / "go to the kitchen". Independent of config.memory so it works when
+ * memory is off. Not full spatial memory (no embeddings / map graph).
+ */
+export interface SavedPlace {
+    name: string;
+    x: number;
+    y: number;
+    yaw: number;
+    frame: string;
+    robot_id?: string;
+    updated_at: string;
+}
+export interface PlacesStore {
+    version: 1;
+    places: SavedPlace[];
+}
+export declare function defaultPlacesPath(): string;
+export declare function loadPlaces(path?: string): PlacesStore;
+export declare function savePlaces(store: PlacesStore, path?: string): void;
+export declare function listPlaces(path?: string): SavedPlace[];
+export declare function getPlace(name: string, path?: string): SavedPlace | undefined;
+export declare function savePlace(place: {
+    name: string;
+    x: number;
+    y: number;
+    yaw?: number;
+    frame?: string;
+    robot_id?: string;
+}, path?: string): SavedPlace;
+export declare function forgetPlace(name: string, path?: string): boolean;
+/** Extract x/y/yaw from PoseWithCovarianceStamped, PoseStamped, or Pose. */
+export declare function poseFromLocalizationMessage(msg: unknown): {
+    x: number;
+    y: number;
+    yaw: number;
+} | undefined;
+//# sourceMappingURL=places.d.ts.map

package/dist/places.d.ts.map ADDED Viewed

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package/dist/places.js ADDED Viewed

@@ -0,0 +1,110 @@
+/**
+ * Named map places — lightweight local store for "save this as kitchen"
+ * / "go to the kitchen". Independent of config.memory so it works when
+ * memory is off. Not full spatial memory (no embeddings / map graph).
+ */
+import { existsSync, mkdirSync, readFileSync, writeFileSync } from "node:fs";
+import { dirname, join } from "node:path";
+import { homedir } from "node:os";
+const STORE_VERSION = 1;
+export function defaultPlacesPath() {
+    return join(homedir(), ".agenticros", "places.json");
+}
+function emptyStore() {
+    return { version: STORE_VERSION, places: [] };
+}
+function normalizeName(name) {
+    return name.trim().toLowerCase().replace(/\s+/g, " ");
+}
+export function loadPlaces(path = defaultPlacesPath()) {
+    if (!existsSync(path))
+        return emptyStore();
+    try {
+        const raw = JSON.parse(readFileSync(path, "utf8"));
+        if (!raw || raw.version !== 1 || !Array.isArray(raw.places))
+            return emptyStore();
+        return { version: STORE_VERSION, places: raw.places.filter(isSavedPlace) };
+    }
+    catch {
+        return emptyStore();
+    }
+}
+function isSavedPlace(value) {
+    if (!value || typeof value !== "object")
+        return false;
+    const v = value;
+    return (typeof v.name === "string" &&
+        typeof v.x === "number" &&
+        typeof v.y === "number" &&
+        Number.isFinite(v.x) &&
+        Number.isFinite(v.y));
+}
+export function savePlaces(store, path = defaultPlacesPath()) {
+    mkdirSync(dirname(path), { recursive: true });
+    writeFileSync(path, `${JSON.stringify(store, null, 2)}\n`, "utf8");
+}
+export function listPlaces(path = defaultPlacesPath()) {
+    return loadPlaces(path).places;
+}
+export function getPlace(name, path = defaultPlacesPath()) {
+    const key = normalizeName(name);
+    if (!key)
+        return undefined;
+    return loadPlaces(path).places.find((p) => normalizeName(p.name) === key);
+}
+export function savePlace(place, path = defaultPlacesPath()) {
+    const name = place.name.trim();
+    if (!name)
+        throw new Error("save_place requires a non-empty name.");
+    if (!Number.isFinite(place.x) || !Number.isFinite(place.y)) {
+        throw new Error("save_place requires finite x and y.");
+    }
+    const record = {
+        name,
+        x: place.x,
+        y: place.y,
+        yaw: Number.isFinite(place.yaw) ? place.yaw : 0,
+        frame: (place.frame ?? "map").trim() || "map",
+        ...(place.robot_id ? { robot_id: place.robot_id } : {}),
+        updated_at: new Date().toISOString(),
+    };
+    const store = loadPlaces(path);
+    const key = normalizeName(name);
+    store.places = store.places.filter((p) => normalizeName(p.name) !== key);
+    store.places.push(record);
+    savePlaces(store, path);
+    return record;
+}
+export function forgetPlace(name, path = defaultPlacesPath()) {
+    const store = loadPlaces(path);
+    const key = normalizeName(name);
+    const next = store.places.filter((p) => normalizeName(p.name) !== key);
+    if (next.length === store.places.length)
+        return false;
+    store.places = next;
+    savePlaces(store, path);
+    return true;
+}
+/** Extract x/y/yaw from PoseWithCovarianceStamped, PoseStamped, or Pose. */
+export function poseFromLocalizationMessage(msg) {
+    if (!msg || typeof msg !== "object")
+        return undefined;
+    const rec = msg;
+    const poseWrapper = (rec.pose ?? rec);
+    const inner = poseWrapper && typeof poseWrapper.pose === "object"
+        ? poseWrapper.pose
+        : poseWrapper;
+    const position = inner?.position;
+    const orientation = inner?.orientation;
+    if (!position || typeof position.x !== "number" || typeof position.y !== "number") {
+        return undefined;
+    }
+    const x = position.x;
+    const y = position.y;
+    let yaw = 0;
+    if (orientation && typeof orientation.z === "number" && typeof orientation.w === "number") {
+        yaw = Math.atan2(2 * orientation.w * orientation.z, 1 - 2 * orientation.z * orientation.z);
+    }
+    return { x, y, yaw };
+}
+//# sourceMappingURL=places.js.map

package/dist/places.js.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"places.js","sourceRoot":"","sources":["../src/places.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAEH,OAAO,EAAE,UAAU,EAAE,SAAS,EAAE,YAAY,EAAE,aAAa,EAAE,MAAM,SAAS,CAAC;AAC7E,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAC1C,OAAO,EAAE,OAAO,EAAE,MAAM,SAAS,CAAC;AAiBlC,MAAM,aAAa,GAAG,CAAU,CAAC;AAEjC,MAAM,UAAU,iBAAiB;IAC/B,OAAO,IAAI,CAAC,OAAO,EAAE,EAAE,aAAa,EAAE,aAAa,CAAC,CAAC;AACvD,CAAC;AAED,SAAS,UAAU;IACjB,OAAO,EAAE,OAAO,EAAE,aAAa,EAAE,MAAM,EAAE,EAAE,EAAE,CAAC;AAChD,CAAC;AAED,SAAS,aAAa,CAAC,IAAY;IACjC,OAAO,IAAI,CAAC,IAAI,EAAE,CAAC,WAAW,EAAE,CAAC,OAAO,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;AACxD,CAAC;AAED,MAAM,UAAU,UAAU,CAAC,IAAI,GAAG,iBAAiB,EAAE;IACnD,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC;QAAE,OAAO,UAAU,EAAE,CAAC;IAC3C,IAAI,CAAC;QACH,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,IAAI,EAAE,MAAM,CAAC,CAAyB,CAAC;QAC3E,IAAI,CAAC,GAAG,IAAI,GAAG,CAAC,OAAO,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,MAAM,CAAC;YAAE,OAAO,UAAU,EAAE,CAAC;QACjF,OAAO,EAAE,OAAO,EAAE,aAAa,EAAE,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,YAAY,CAAC,EAAE,CAAC;IAC7E,CAAC;IAAC,MAAM,CAAC;QACP,OAAO,UAAU,EAAE,CAAC;IACtB,CAAC;AACH,CAAC;AAED,SAAS,YAAY,CAAC,KAAc;IAClC,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,KAAK,CAAC;IACtD,MAAM,CAAC,GAAG,KAAgC,CAAC;IAC3C,OAAO,CACL,OAAO,CAAC,CAAC,IAAI,KAAK,QAAQ;QAC1B,OAAO,CAAC,CAAC,CAAC,KAAK,QAAQ;QACvB,OAAO,CAAC,CAAC,CAAC,KAAK,QAAQ;QACvB,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;QACpB,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,CACrB,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,UAAU,CAAC,KAAkB,EAAE,IAAI,GAAG,iBAAiB,EAAE;IACvE,SAAS,CAAC,OAAO,CAAC,IAAI,CAAC,EAAE,EAAE,SAAS,EAAE,IAAI,EAAE,CAAC,CAAC;IAC9C,aAAa,CAAC,IAAI,EAAE,GAAG,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;AACrE,CAAC;AAED,MAAM,UAAU,UAAU,CAAC,IAAI,GAAG,iBAAiB,EAAE;IACnD,OAAO,UAAU,CAAC,IAAI,CAAC,CAAC,MAAM,CAAC;AACjC,CAAC;AAED,MAAM,UAAU,QAAQ,CAAC,IAAY,EAAE,IAAI,GAAG,iBAAiB,EAAE;IAC/D,MAAM,GAAG,GAAG,aAAa,CAAC,IAAI,CAAC,CAAC;IAChC,IAAI,CAAC,GAAG;QAAE,OAAO,SAAS,CAAC;IAC3B,OAAO,UAAU,CAAC,IAAI,CAAC,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,GAAG,CAAC,CAAC;AAC5E,CAAC;AAED,MAAM,UAAU,SAAS,CACvB,KAOC,EACD,IAAI,GAAG,iBAAiB,EAAE;IAE1B,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC;IAC/B,IAAI,CAAC,IAAI;QAAE,MAAM,IAAI,KAAK,CAAC,uCAAuC,CAAC,CAAC;IACpE,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC;QAC3D,MAAM,IAAI,KAAK,CAAC,qCAAqC,CAAC,CAAC;IACzD,CAAC;IACD,MAAM,MAAM,GAAe;QACzB,IAAI;QACJ,CAAC,EAAE,KAAK,CAAC,CAAC;QACV,CAAC,EAAE,KAAK,CAAC,CAAC;QACV,GAAG,EAAE,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAE,KAAK,CAAC,GAAc,CAAC,CAAC,CAAC,CAAC;QAC3D,KAAK,EAAE,CAAC,KAAK,CAAC,KAAK,IAAI,KAAK,CAAC,CAAC,IAAI,EAAE,IAAI,KAAK;QAC7C,GAAG,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,KAAK,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QACvD,UAAU,EAAE,IAAI,IAAI,EAAE,CAAC,WAAW,EAAE;KACrC,CAAC;IACF,MAAM,KAAK,GAAG,UAAU,CAAC,IAAI,CAAC,CAAC;IAC/B,MAAM,GAAG,GAAG,aAAa,CAAC,IAAI,CAAC,CAAC;IAChC,KAAK,CAAC,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,GAAG,CAAC,CAAC;IACzE,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAC1B,UAAU,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;IACxB,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,MAAM,UAAU,WAAW,CAAC,IAAY,EAAE,IAAI,GAAG,iBAAiB,EAAE;IAClE,MAAM,KAAK,GAAG,UAAU,CAAC,IAAI,CAAC,CAAC;IAC/B,MAAM,GAAG,GAAG,aAAa,CAAC,IAAI,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,GAAG,CAAC,CAAC;IACvE,IAAI,IAAI,CAAC,MAAM,KAAK,KAAK,CAAC,MAAM,CAAC,MAAM;QAAE,OAAO,KAAK,CAAC;IACtD,KAAK,CAAC,MAAM,GAAG,IAAI,CAAC;IACpB,UAAU,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;IACxB,OAAO,IAAI,CAAC;AACd,CAAC;AAED,4EAA4E;AAC5E,MAAM,UAAU,2BAA2B,CAAC,GAAY;IACtD,IAAI,CAAC,GAAG,IAAI,OAAO,GAAG,KAAK,QAAQ;QAAE,OAAO,SAAS,CAAC;IACtD,MAAM,GAAG,GAAG,GAA8B,CAAC;IAC3C,MAAM,WAAW,GAAG,CAAC,GAAG,CAAC,IAAI,IAAI,GAAG,CAA4B,CAAC;IACjE,MAAM,KAAK,GACT,WAAW,IAAI,OAAO,WAAW,CAAC,IAAI,KAAK,QAAQ;QACjD,CAAC,CAAE,WAAW,CAAC,IAAgC;QAC/C,CAAC,CAAC,WAAW,CAAC;IAClB,MAAM,QAAQ,GAAG,KAAK,EAAE,QAA+C,CAAC;IACxE,MAAM,WAAW,GAAG,KAAK,EAAE,WAAkD,CAAC;IAC9E,IAAI,CAAC,QAAQ,IAAI,OAAO,QAAQ,CAAC,CAAC,KAAK,QAAQ,IAAI,OAAO,QAAQ,CAAC,CAAC,KAAK,QAAQ,EAAE,CAAC;QAClF,OAAO,SAAS,CAAC;IACnB,CAAC;IACD,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC;IACrB,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC;IACrB,IAAI,GAAG,GAAG,CAAC,CAAC;IACZ,IAAI,WAAW,IAAI,OAAO,WAAW,CAAC,CAAC,KAAK,QAAQ,IAAI,OAAO,WAAW,CAAC,CAAC,KAAK,QAAQ,EAAE,CAAC;QAC1F,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,GAAG,WAAW,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,CAAC;IAC7F,CAAC;IACD,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC;AACvB,CAAC"}

package/dist/planner/index.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/planner/index.js CHANGED Viewed

@@ -98,6 +98,24 @@ const VERB_SYNONYMS = {
         "what topics",
         "topic list",
     ],
+    explore: [
+        "explore the room",
+        "explore this room",
+        "explore the space",
+        "explore this space",
+        "run exploration",
+        "start exploring",
+        "explore",
+    ],
+    wander: [
+        "wander around",
+        "wander the room",
+        "wander this room",
+        "walk around the room",
+        "walk around",
+        "roam around",
+        "wander",
+    ],
 };
 /** Multi-step conjunction patterns ("X and then Y", "X then Y", "X and Y"). */
 const CONJUNCTIONS = [" and then ", ", then ", ". then ", " then ", " and "];
@@ -118,6 +136,8 @@ function detectVerb(goal) {
         "follow",
         "measure",
         "see",
+        "wander",
+        "explore",
         "drive",
         "find",
     ];
@@ -297,6 +317,40 @@ function compileSegment(segment, index, availableIds) {
                 },
             };
         }
+        case "explore": {
+            if (!availableIds.has("explore"))
+                return null;
+            return {
+                step: {
+                    id: stepId("explore", index),
+                    capability: "explore",
+                    inputs: { timeout_s: 180 },
+                },
+                candidate: {
+                    capability_id: "explore",
+                    confidence: 0.9,
+                    rationale: `matched verb "${detected.matched}"`,
+                    inputs: { timeout_s: 180 },
+                },
+            };
+        }
+        case "wander": {
+            if (!availableIds.has("wander"))
+                return null;
+            return {
+                step: {
+                    id: stepId("wander", index),
+                    capability: "wander",
+                    inputs: { timeout_s: 60 },
+                },
+                candidate: {
+                    capability_id: "wander",
+                    confidence: 0.9,
+                    rationale: `matched verb "${detected.matched}"`,
+                    inputs: { timeout_s: 60 },
+                },
+            };
+        }
     }
     return null;
 }
@@ -391,6 +445,147 @@ function tryFindAndApproach(goal, availableIds) {
     }
     return null;
 }
+const COORD_PATTERNS = [
+    /(?:go to|navigate to|drive to)\s+(-?\d+(?:\.\d+)?)\s*[, ]\s*(-?\d+(?:\.\d+)?)/i,
+    /(?:go to|navigate to|drive to)\s+x\s*=\s*(-?\d+(?:\.\d+)?)\s*,?\s*y\s*=\s*(-?\d+(?:\.\d+)?)/i,
+];
+function tryNavigateToCoords(goal, availableIds) {
+    if (!availableIds.has("navigate_to"))
+        return null;
+    const g = normalise(goal);
+    for (const re of COORD_PATTERNS) {
+        const m = g.match(re);
+        if (!m)
+            continue;
+        const x = Number(m[1]);
+        const y = Number(m[2]);
+        if (!Number.isFinite(x) || !Number.isFinite(y))
+            continue;
+        const inputs = { x, y };
+        return {
+            steps: [{ id: "nav", capability: "navigate_to", inputs }],
+            candidates: [
+                {
+                    capability_id: "navigate_to",
+                    confidence: 0.92,
+                    rationale: `parsed map coordinates (${x}, ${y})`,
+                    inputs,
+                },
+            ],
+        };
+    }
+    return null;
+}
+const PLACE_PATTERNS = [
+    /^(?:go to|navigate to|drive to)\s+(?:the\s+)?(.+)$/i,
+    /^(?:save this place as|remember this place as|name this place)\s+(.+)$/i,
+];
+function tryNavigateToPlace(goal, availableIds) {
+    const g = normalise(goal);
+    if (COORD_PATTERNS.some((re) => re.test(g)))
+        return null;
+    const saveMatch = g.match(/^(?:save this place as|remember this place as|name this place)\s+(.+)$/i);
+    if (saveMatch && availableIds.has("save_place")) {
+        const name = saveMatch[1].trim().replace(/[.!?]+$/, "");
+        if (!name)
+            return null;
+        const inputs = { name };
+        return {
+            steps: [{ id: "save", capability: "save_place", inputs }],
+            candidates: [
+                {
+                    capability_id: "save_place",
+                    confidence: 0.9,
+                    rationale: `save current pose as named place "${name}"`,
+                    inputs,
+                },
+            ],
+        };
+    }
+    if (!availableIds.has("navigate_to_place"))
+        return null;
+    for (const re of PLACE_PATTERNS) {
+        const m = g.match(re);
+        if (!m)
+            continue;
+        if (/save this place|remember this place|name this place/i.test(g))
+            continue;
+        const name = m[1].trim().replace(/[.!?]+$/, "");
+        if (!name || /^(forward|backward|backwards|left|right)$/i.test(name))
+            return null;
+        const inputs = { name };
+        return {
+            steps: [{ id: "place", capability: "navigate_to_place", inputs }],
+            candidates: [
+                {
+                    capability_id: "navigate_to_place",
+                    confidence: 0.88,
+                    rationale: `named place "${name}"`,
+                    inputs,
+                },
+            ],
+        };
+    }
+    return null;
+}
+function tryMapTheRoom(goal, availableIds) {
+    const g = normalise(goal);
+    const mapPhrases = [
+        "map the room",
+        "map this room",
+        "map the space",
+        "map this space",
+        "map a room",
+    ];
+    if (!mapPhrases.some((p) => g.includes(p)))
+        return null;
+    if (!availableIds.has("explore"))
+        return null;
+    const steps = [];
+    const candidates = [];
+    if (availableIds.has("start_slam")) {
+        steps.push({
+            id: "slam",
+            capability: "start_slam",
+            inputs: { request: {} },
+        });
+        candidates.push({
+            capability_id: "start_slam",
+            confidence: 0.9,
+            rationale: "compound goal: start SLAM before covering the room",
+            inputs: { request: {} },
+        });
+    }
+    if (availableIds.has("explore")) {
+        steps.push({
+            id: "cover",
+            capability: "explore",
+            inputs: { timeout_s: 180 },
+        });
+        candidates.push({
+            capability_id: "explore",
+            confidence: 0.9,
+            rationale: "compound goal: frontier-explore the room",
+            inputs: { timeout_s: 180 },
+        });
+    }
+    if (availableIds.has("save_map")) {
+        steps.push({
+            id: "save",
+            capability: "save_map",
+            inputs: { request: {} },
+        });
+        candidates.push({
+            capability_id: "save_map",
+            confidence: 0.85,
+            rationale: "compound goal: persist the RTAB-Map database after coverage",
+            inputs: { request: {} },
+        });
+    }
+    if (steps.length === 0)
+        return null;
+    return { steps, candidates };
+}
 /** Recognised verbs the planner can handle today — surfaced in error messages. */
 const RECOGNISED_VERBS_SUMMARY = [
     "find / locate / look for <object>",
@@ -400,6 +595,10 @@ const RECOGNISED_VERBS_SUMMARY = [
     "drive forward / backward, turn left / right, stop",
     "list topics",
     "find <object> and drive toward it (multi-step)",
+    "map the room (start_slam → explore → save_map when installed)",
+    "explore the room / wander around",
+    "go to 1.2, 3.4 / navigate to x=1 y=2",
+    "go to the kitchen / navigate to kitchen (named place)",
 ];
 /**
  * Compile a free-text goal into a runnable `Mission`.
@@ -420,6 +619,30 @@ export function compileGoalToMission(goal, capabilities, options) {
         };
     }
     const availableIds = new Set(capabilities.map((c) => c.id));
+    const toCoords = tryNavigateToCoords(trimmed, availableIds);
+    if (toCoords) {
+        return {
+            mission: buildMission(toCoords.steps, trimmed, options),
+            candidates: toCoords.candidates,
+            suggestions: [],
+        };
+    }
+    const toPlace = tryNavigateToPlace(trimmed, availableIds);
+    if (toPlace) {
+        return {
+            mission: buildMission(toPlace.steps, trimmed, options),
+            candidates: toPlace.candidates,
+            suggestions: [],
+        };
+    }
+    const mapped = tryMapTheRoom(trimmed, availableIds);
+    if (mapped) {
+        return {
+            mission: buildMission(mapped.steps, trimmed, options),
+            candidates: mapped.candidates,
+            suggestions: [],
+        };
+    }
     // Compound find-then-approach is the showcase Phase 1.c pattern.
     // Check it first so "find a chair and drive toward it" doesn't get
     // demoted to two unrelated steps via the generic conjunction split.

package/dist/planner/index.js.map CHANGED Viewed

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

@@ -9,6 +9,8 @@
 import type { AgenticROSConfig, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
 import type { ProfileRobot } from "./robot-profile.js";
 import type { RosTransport } from "./transport/transport.js";
+/** How many zero-Twist publishes `/estop` and `ros2_estop` send so the base reliably stops. */
+export declare const ESTOP_PUBLISH_COUNT = 5;
 export declare const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
 export declare const ZERO_TWIST: {
     linear: {
@@ -80,6 +82,22 @@ export declare function checkInputsWorkspace(config: AgenticROSConfig, inputs: R
  * (legacy configs default kind to "amr").
  */
 export declare function robotHasMobileBase(robot: ProfileRobot): boolean;
+export interface EmergencyStopResult {
+    /** Resolved cmd_vel topic, when a stop was published. */
+    topic?: string;
+    /** Present when this robot has no mobile base (arm-only). */
+    skipped?: "no_mobile_base";
+}
+/**
+ * Immediate emergency stop for one robot: five zero Twists on its
+ * cmd_vel. Used by OpenClaw `/estop` and MCP/Gemini `ros2_estop`.
+ * Does not cancel Nav2 or missions — that is `mission_cancel`.
+ */
+export declare function emergencyStopRobot(transport: RosTransport, robot: ProfileRobot, config?: {
+    teleop?: {
+        cmdVelTopic?: string;
+    };
+}): EmergencyStopResult;
 /** Best-effort zero Twist on every mobile-base robot sharing this transport. */
 export declare function publishStopForBases(transport: RosTransport, robots: readonly ProfileRobot[]): Promise<void>;
 /**

package/dist/safety.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/safety.js CHANGED Viewed

@@ -7,6 +7,8 @@
  * fleet does not share one clamp.
  */
 import { resolveBinding } from "./robot-profile.js";
+/** How many zero-Twist publishes `/estop` and `ros2_estop` send so the base reliably stops. */
+export const ESTOP_PUBLISH_COUNT = 5;
 export const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
 export const ZERO_TWIST = {
     linear: { x: 0, y: 0, z: 0 },
@@ -204,6 +206,38 @@ export function robotHasMobileBase(robot) {
     return kind !== "arm";
 }
 const STOP_PUBLISH_BUDGET_MS = 500;
+/**
+ * Immediate emergency stop for one robot: five zero Twists on its
+ * cmd_vel. Used by OpenClaw `/estop` and MCP/Gemini `ros2_estop`.
+ * Does not cancel Nav2 or missions — that is `mission_cancel`.
+ */
+export function emergencyStopRobot(transport, robot, config) {
+    if (!robotHasMobileBase(robot)) {
+        return { skipped: "no_mobile_base" };
+    }
+    const topic = resolveBinding(robot, "cmd_vel", {
+        cmdVelTopic: config?.teleop?.cmdVelTopic,
+    }) ?? "/cmd_vel";
+    try {
+        transport.advertise?.({ topic, type: TWIST_MSG_TYPE });
+    }
+    catch {
+        /* rosbridge advertise is optional */
+    }
+    const msg = {
+        linear: { ...ZERO_TWIST.linear },
+        angular: { ...ZERO_TWIST.angular },
+    };
+    for (let i = 0; i < ESTOP_PUBLISH_COUNT; i++) {
+        try {
+            void transport.publish({ topic, type: TWIST_MSG_TYPE, msg });
+        }
+        catch {
+            /* socket may already be half-closed */
+        }
+    }
+    return { topic };
+}
 /** Best-effort zero Twist on every mobile-base robot sharing this transport. */
 export async function publishStopForBases(transport, robots) {
     const pubs = [];

package/dist/safety.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@agenticros/core",
-  "version": "0.8.7",
+  "version": "0.8.8",
   "type": "module",
   "description": "AgenticROS core — platform-agnostic ROS2 transport, types, and config (the dep every AgenticROS skill imports).",
   "keywords": [
@@ -43,6 +43,13 @@
   "engines": {
     "node": ">=20"
   },
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit",
+    "test": "node --test \"dist/memory/__tests__/*.test.js\" \"dist/hive/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
+    "prepublishOnly": "npm run build",
+    "pack:dry": "npm pack --dry-run"
+  },
   "dependencies": {
     "@eclipse-zenoh/zenoh-ts": "^1.9.0",
     "@foxglove/cdr": "^3.5.0",
@@ -61,11 +68,5 @@
     "typescript": "^5.7.0"
   },
   "author": "PlaiPin",
-  "license": "Apache-2.0",
-  "scripts": {
-    "build": "tsc",
-    "typecheck": "tsc --noEmit",
-    "test": "node --test \"dist/memory/__tests__/*.test.js\" \"dist/hive/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
-    "pack:dry": "npm pack --dry-run"
-  }
-}
+  "license": "Apache-2.0"
+}