@askexenow/exe-os 0.9.265 → 0.9.266

package/dist/chunk-MPG5DR3K.js

@@ -0,0 +1,244 @@
+import {
+  employeeSessionName,
+  ensureEmployee,
+  markAsReadByTaskFile,
+  notifyParentExe,
+  resolveExeSession,
+  sendIntercom
+} from "./chunk-KBYRYSXT.js";
+import {
+  getTransport
+} from "./chunk-MVW62NIZ.js";
+import {
+  recordOrchestrationEventBestEffort
+} from "./chunk-XIT6ONPY.js";
+import {
+  getAgentRuntime
+} from "./chunk-XJUUWHVN.js";
+import {
+  getSessionKey
+} from "./chunk-CVYC6DUW.js";
+import {
+  isCoordinatorName,
+  isMultiInstance,
+  shouldAutoInstance
+} from "./chunk-RHZ2CRJU.js";
+
+// src/lib/tasks-notify.ts
+var VERIFY_DELAY_MS = 1e4;
+var ACK_PATTERNS = [
+  /New task assigned/,
+  /START WORKING NOW/,
+  /marked in_progress/,
+  /Reading.*\.md/
+];
+function resolveDispatchRuntime(agentId, override) {
+  if (override) return override;
+  try {
+    return getAgentRuntime(agentId).runtime ?? null;
+  } catch {
+    return null;
+  }
+}
+async function verifyDispatch(sessionName, delayMs = VERIFY_DELAY_MS) {
+  const transport = getTransport();
+  await new Promise((r) => setTimeout(r, delayMs));
+  if (!transport.isAlive(sessionName)) {
+    return "session_dead";
+  }
+  try {
+    const output = transport.capturePane(sessionName, 20);
+    const acked = ACK_PATTERNS.some((p) => p.test(output));
+    return acked ? "verified" : "sent_unverified";
+  } catch {
+    return "sent_unverified";
+  }
+}
+async function dispatchTaskToEmployee(input) {
+  if (isCoordinatorName(input.assignedTo)) return { dispatched: "skipped" };
+  const dispatchRuntime = resolveDispatchRuntime(input.assignedTo, input.spawnRuntime);
+  recordOrchestrationEventBestEffort({
+    eventType: "dispatch.attempted",
+    source: "tasks-notify.dispatchTaskToEmployee",
+    taskId: input.taskId ?? null,
+    agentId: input.assignedTo,
+    runtime: dispatchRuntime,
+    payload: { priority: input.priority, projectName: input.projectName }
+  });
+  let crossProject = false;
+  if (input.projectName) {
+    try {
+      const { assertSessionScope } = await import("./session-scope-ZGE6GHMS.js");
+      const check = assertSessionScope("dispatch_task", input.projectName);
+      if (check.reason === "cross_session_denied") {
+        crossProject = true;
+        recordOrchestrationEventBestEffort({
+          eventType: "dispatch.failed",
+          source: "tasks-notify.dispatchTaskToEmployee",
+          taskId: input.taskId ?? null,
+          agentId: input.assignedTo,
+          runtime: dispatchRuntime,
+          errorCode: "cross_session_denied",
+          payload: { projectName: input.projectName }
+        });
+        return { dispatched: "skipped", crossProject: true };
+      }
+    } catch {
+    }
+  }
+  try {
+    const transport = getTransport();
+    const exeSession = resolveExeSession();
+    if (!exeSession) {
+      recordOrchestrationEventBestEffort({
+        eventType: "dispatch.failed",
+        source: "tasks-notify.dispatchTaskToEmployee",
+        taskId: input.taskId ?? null,
+        agentId: input.assignedTo,
+        runtime: dispatchRuntime,
+        errorCode: "no_exe_session"
+      });
+      return { dispatched: "session_missing" };
+    }
+    const multiInstance = isMultiInstance(input.assignedTo);
+    if (multiInstance) {
+      const projectDir = input.projectDir ?? process.cwd();
+      const autoOpts = shouldAutoInstance(input.assignedTo);
+      const result = ensureEmployee(input.assignedTo, exeSession, projectDir, {
+        ...autoOpts,
+        runtimeOverride: input.spawnRuntime,
+        modelOverride: input.spawnModel
+      });
+      if (result.status === "failed") {
+        process.stderr.write(
+          `[dispatch-audit] SPAWN FAILED \u2192 ${input.assignedTo} | task="${input.title}" [${input.priority}] | error=${result.error}
+`
+        );
+        recordOrchestrationEventBestEffort({
+          eventType: "dispatch.failed",
+          source: "tasks-notify.dispatchTaskToEmployee",
+          taskId: input.taskId ?? null,
+          agentId: input.assignedTo,
+          sessionScope: exeSession,
+          runtime: dispatchRuntime,
+          errorCode: "spawn_failed",
+          payload: { path: "multi_instance", error: result.error }
+        });
+        return { dispatched: "session_missing" };
+      }
+      const dispatched = result.status === "intercom_sent" || result.status === "intercom_unprocessed" ? "sent_unverified" : "spawned";
+      process.stderr.write(
+        `[dispatch-audit] ${dispatched === "spawned" ? "SPAWNED" : "INTERCOM"} \u2192 ${result.sessionName} | task="${input.title}" [${input.priority}]
+`
+      );
+      recordOrchestrationEventBestEffort({
+        eventType: "dispatch.completed",
+        source: "tasks-notify.dispatchTaskToEmployee",
+        taskId: input.taskId ?? null,
+        agentId: input.assignedTo,
+        sessionScope: exeSession,
+        tmuxSession: result.sessionName,
+        runtime: dispatchRuntime,
+        result: dispatched,
+        payload: { path: "multi_instance", priority: input.priority }
+      });
+      return { dispatched, session: result.sessionName, crossProject };
+    }
+    const sessionName = employeeSessionName(input.assignedTo, exeSession);
+    if (transport.isAlive(sessionName)) {
+      const result = sendIntercom(sessionName, { force: true });
+      const dispatched = result === "acknowledged" || result === "debounced" || result === "queued" ? "verified" : result === "delivered" ? "sent_unverified" : "session_dead";
+      process.stderr.write(
+        `[dispatch-audit] intercom \u2192 ${sessionName} | task="${input.title}" [${input.priority}] | result=${dispatched} (sendIntercom=${result})
+`
+      );
+      recordOrchestrationEventBestEffort({
+        eventType: "dispatch.completed",
+        source: "tasks-notify.dispatchTaskToEmployee",
+        taskId: input.taskId ?? null,
+        agentId: input.assignedTo,
+        sessionScope: exeSession,
+        tmuxSession: sessionName,
+        runtime: dispatchRuntime,
+        result: dispatched,
+        payload: { path: "single_instance_intercom", priority: input.priority }
+      });
+      return { dispatched, session: sessionName, crossProject };
+    } else {
+      const projectDir = input.projectDir ?? process.cwd();
+      const result = ensureEmployee(input.assignedTo, exeSession, projectDir, {
+        runtimeOverride: input.spawnRuntime,
+        modelOverride: input.spawnModel
+      });
+      if (result.status === "failed") {
+        process.stderr.write(
+          `[dispatch-audit] SPAWN FAILED \u2192 ${input.assignedTo} | task="${input.title}" [${input.priority}] | error=${result.error}
+`
+        );
+        recordOrchestrationEventBestEffort({
+          eventType: "dispatch.failed",
+          source: "tasks-notify.dispatchTaskToEmployee",
+          taskId: input.taskId ?? null,
+          agentId: input.assignedTo,
+          sessionScope: exeSession,
+          runtime: dispatchRuntime,
+          errorCode: "spawn_failed",
+          payload: { path: "single_instance_spawn", error: result.error }
+        });
+        return { dispatched: "session_missing" };
+      }
+      process.stderr.write(
+        `[dispatch-audit] SPAWNED \u2192 ${result.sessionName} | task="${input.title}" [${input.priority}]
+`
+      );
+      recordOrchestrationEventBestEffort({
+        eventType: "dispatch.completed",
+        source: "tasks-notify.dispatchTaskToEmployee",
+        taskId: input.taskId ?? null,
+        agentId: input.assignedTo,
+        sessionScope: exeSession,
+        tmuxSession: result.sessionName,
+        runtime: dispatchRuntime,
+        result: "spawned",
+        payload: { path: "single_instance_spawn", priority: input.priority }
+      });
+      return { dispatched: "spawned", session: result.sessionName, crossProject };
+    }
+  } catch {
+    recordOrchestrationEventBestEffort({
+      eventType: "dispatch.failed",
+      source: "tasks-notify.dispatchTaskToEmployee",
+      taskId: input.taskId ?? null,
+      agentId: input.assignedTo,
+      runtime: dispatchRuntime,
+      errorCode: "exception"
+    });
+    return { dispatched: "session_missing" };
+  }
+}
+function notifyTaskDone() {
+  try {
+    const key = getSessionKey();
+    if (key && !process.env.VITEST) {
+      notifyParentExe(key);
+      process.stderr.write(
+        `[dispatch-audit] notifyTaskDone \u2192 parent coordinator (session=${key})
+`
+      );
+    }
+  } catch {
+  }
+}
+async function markTaskNotificationsRead(taskFile) {
+  try {
+    await markAsReadByTaskFile(taskFile);
+  } catch {
+  }
+}
+
+export {
+  verifyDispatch,
+  dispatchTaskToEmployee,
+  notifyTaskDone,
+  markTaskNotificationsRead
+};

package/dist/chunk-NOG2LVBA.js

@@ -0,0 +1,159 @@
+import {
+  EXE_AI_DIR
+} from "./chunk-VXIMSRTO.js";
+
+// src/lib/worker-gate.ts
+import { readdirSync, writeFileSync, unlinkSync, mkdirSync, existsSync, readFileSync } from "fs";
+import path from "path";
+var WORKER_PID_DIR = path.join(EXE_AI_DIR, "worker-pids");
+var MAX_CONCURRENT_WORKERS = 3;
+function tryAcquireWorkerSlot() {
+  try {
+    mkdirSync(WORKER_PID_DIR, { recursive: true });
+    const reservationId = `res-${process.pid}-${Date.now()}`;
+    const reservationPath = path.join(WORKER_PID_DIR, `${reservationId}.pid`);
+    writeFileSync(reservationPath, String(process.pid));
+    const files = readdirSync(WORKER_PID_DIR);
+    let alive = 0;
+    for (const f of files) {
+      if (!f.endsWith(".pid")) continue;
+      if (f.startsWith("res-")) {
+        const resParts = f.replace(".pid", "").split("-");
+        const resPid = parseInt(resParts[1] ?? "", 10);
+        if (!isNaN(resPid) && resPid > 0) {
+          try {
+            process.kill(resPid, 0);
+            alive++;
+          } catch {
+            try {
+              unlinkSync(path.join(WORKER_PID_DIR, f));
+            } catch {
+            }
+          }
+        } else {
+          alive++;
+        }
+        continue;
+      }
+      const dashIdx = f.lastIndexOf("-");
+      const pid = parseInt(f.slice(dashIdx + 1).replace(".pid", ""), 10);
+      if (isNaN(pid)) continue;
+      try {
+        process.kill(pid, 0);
+        alive++;
+      } catch {
+        try {
+          unlinkSync(path.join(WORKER_PID_DIR, f));
+        } catch {
+        }
+      }
+    }
+    if (alive >= MAX_CONCURRENT_WORKERS) {
+      try {
+        unlinkSync(reservationPath);
+      } catch {
+      }
+      return false;
+    }
+    try {
+      unlinkSync(reservationPath);
+    } catch {
+    }
+    return true;
+  } catch {
+    return true;
+  }
+}
+function registerWorkerPid(pid) {
+  try {
+    mkdirSync(WORKER_PID_DIR, { recursive: true });
+    writeFileSync(path.join(WORKER_PID_DIR, `worker-${pid}.pid`), String(pid));
+  } catch {
+  }
+}
+function cleanupWorkerPid() {
+  try {
+    unlinkSync(path.join(WORKER_PID_DIR, `worker-${process.pid}.pid`));
+  } catch {
+  }
+}
+var BACKFILL_LOCK = path.join(WORKER_PID_DIR, "backfill.lock");
+function tryAcquireBackfillLock() {
+  try {
+    mkdirSync(WORKER_PID_DIR, { recursive: true });
+    if (existsSync(BACKFILL_LOCK)) {
+      try {
+        const pid = parseInt(
+          readFileSync(BACKFILL_LOCK, "utf8").trim(),
+          10
+        );
+        if (!isNaN(pid) && pid > 0) {
+          try {
+            process.kill(pid, 0);
+            return false;
+          } catch {
+          }
+        }
+      } catch {
+      }
+    }
+    writeFileSync(BACKFILL_LOCK, String(process.pid));
+    return true;
+  } catch {
+    return true;
+  }
+}
+function releaseBackfillLock() {
+  try {
+    unlinkSync(BACKFILL_LOCK);
+  } catch {
+  }
+}
+async function getTaskAwareCapacity() {
+  const { getClient } = await import("./lib/database.js");
+  const { sessionScopeFilter } = await import("./task-scope-4HJSCJ7L.js");
+  const client = getClient();
+  const scope = sessionScopeFilter();
+  const result = await client.execute({
+    sql: `SELECT assigned_to, COUNT(*) as cnt
+          FROM tasks
+          WHERE status IN ('open', 'in_progress')${scope.sql}
+          GROUP BY assigned_to`,
+    args: [...scope.args]
+  });
+  const busyAgents = [];
+  let totalInProgress = 0;
+  for (const row of result.rows) {
+    const agent = String(row.assigned_to ?? "");
+    const count = Number(row.cnt ?? 0);
+    if (agent && count > 0) {
+      busyAgents.push(agent);
+      totalInProgress += count;
+    }
+  }
+  const idleAgents = [];
+  try {
+    const { listTmuxSessions } = await import("./lib/tmux-status.js");
+    const { isExeSession } = await import("./lib/tmux-routing.js");
+    const { baseAgentName } = await import("./lib/employees.js");
+    const liveSessions = listTmuxSessions().filter((s) => !isExeSession(s) && s.includes("-"));
+    const liveAgentNames = new Set(liveSessions.map((s) => baseAgentName(s.split("-")[0] ?? "")));
+    for (const name of liveAgentNames) {
+      if (name && !busyAgents.includes(name)) {
+        idleAgents.push(name);
+      }
+    }
+  } catch {
+  }
+  return { busyAgents, idleAgents, totalInProgress };
+}
+
+export {
+  MAX_CONCURRENT_WORKERS,
+  tryAcquireWorkerSlot,
+  registerWorkerPid,
+  cleanupWorkerPid,
+  tryAcquireBackfillLock,
+  releaseBackfillLock,
+  getTaskAwareCapacity
+};

package/dist/chunk-NP3CYOEY.js

@@ -0,0 +1,290 @@
+import {
+  storeBehavior
+} from "./chunk-32QR5EHE.js";
+import {
+  getClient
+} from "./chunk-RHZ2CRJU.js";
+import {
+  loadConfig
+} from "./chunk-VXIMSRTO.js";
+
+// src/lib/skill-learning.ts
+import crypto from "crypto";
+var DEFAULT_SKILL_THRESHOLD = 3;
+async function extractTrajectory(taskId, agentId) {
+  const client = getClient();
+  const result = await client.execute({
+    sql: `SELECT tool_name, raw_text
+          FROM memories
+          WHERE task_id = ? AND agent_id = ?
+          ORDER BY timestamp ASC`,
+    args: [taskId, agentId]
+  });
+  if (result.rows.length === 0) return [];
+  const rawTools = result.rows.map((r) => {
+    const toolName = String(r.tool_name);
+    if (toolName === "Bash") {
+      const text = String(r.raw_text);
+      const cmdMatch = text.match(/(?:command|Command).*?[:\s]+"?(\w+)/);
+      return cmdMatch ? `Bash:${cmdMatch[1]}` : "Bash";
+    }
+    return toolName;
+  });
+  const signature = [];
+  for (const tool of rawTools) {
+    if (signature.length === 0 || signature[signature.length - 1] !== tool) {
+      signature.push(tool);
+    }
+  }
+  return signature;
+}
+function hashSignature(signature) {
+  return crypto.createHash("sha256").update(signature.join("|")).digest("hex").slice(0, 16);
+}
+async function storeTrajectory(opts) {
+  const client = getClient();
+  const id = crypto.randomUUID();
+  const now = (/* @__PURE__ */ new Date()).toISOString();
+  const signatureHash = hashSignature(opts.signature);
+  await client.execute({
+    sql: `INSERT INTO trajectories (id, task_id, agent_id, project_name, task_title, signature, signature_hash, tool_count, created_at)
+          VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?)`,
+    args: [
+      id,
+      opts.taskId,
+      opts.agentId,
+      opts.projectName,
+      opts.taskTitle,
+      JSON.stringify(opts.signature),
+      signatureHash,
+      opts.signature.length,
+      now
+    ]
+  });
+  return id;
+}
+async function findSimilarTrajectories(signature, threshold = DEFAULT_SKILL_THRESHOLD) {
+  const client = getClient();
+  const hash = hashSignature(signature);
+  const result = await client.execute({
+    sql: `SELECT id, task_id, agent_id, project_name, task_title, signature, signature_hash, tool_count, skill_id, created_at
+          FROM trajectories
+          WHERE signature_hash = ?
+          ORDER BY created_at DESC
+          LIMIT 20`,
+    args: [hash]
+  });
+  const mapRow = (r) => ({
+    id: String(r.id),
+    taskId: String(r.task_id),
+    agentId: String(r.agent_id),
+    projectName: String(r.project_name),
+    taskTitle: String(r.task_title),
+    signature: JSON.parse(String(r.signature)),
+    signatureHash: String(r.signature_hash),
+    toolCount: Number(r.tool_count),
+    skillId: r.skill_id ? String(r.skill_id) : null,
+    createdAt: String(r.created_at)
+  });
+  const matches = result.rows.map(mapRow);
+  if (matches.length >= threshold) return matches;
+  const nearResult = await client.execute({
+    sql: `SELECT id, task_id, agent_id, project_name, task_title, signature, signature_hash, tool_count, skill_id, created_at
+          FROM trajectories
+          WHERE tool_count BETWEEN ? AND ?
+            AND signature_hash != ?
+          ORDER BY created_at DESC
+          LIMIT 50`,
+    args: [
+      Math.max(1, signature.length - 3),
+      signature.length + 3,
+      hash
+    ]
+  });
+  for (const r of nearResult.rows) {
+    const candidateSig = JSON.parse(String(r.signature));
+    if (editDistance(signature, candidateSig) <= 2) {
+      matches.push(mapRow(r));
+    }
+  }
+  return matches;
+}
+async function captureTrajectory(opts) {
+  const signature = await extractTrajectory(opts.taskId, opts.agentId);
+  if (signature.length < 3) {
+    return { trajectoryId: "", similarCount: 0, similar: [] };
+  }
+  const trajectoryId = await storeTrajectory({
+    taskId: opts.taskId,
+    agentId: opts.agentId,
+    projectName: opts.projectName,
+    taskTitle: opts.taskTitle,
+    signature
+  });
+  const similar = await findSimilarTrajectories(
+    signature,
+    opts.skillThreshold ?? DEFAULT_SKILL_THRESHOLD
+  );
+  return { trajectoryId, similarCount: similar.length, similar };
+}
+function buildExtractionPrompt(trajectories) {
+  const items = trajectories.map((t, i) => {
+    const sig = t.signature.join(" \u2192 ");
+    return `Task ${i + 1}: "${t.taskTitle}" (${t.agentId}, ${t.projectName}) \u2014 ${t.toolCount} tool calls
+Signature: ${sig}`;
+  }).join("\n\n");
+  return `You are analyzing ${trajectories.length} completed tasks that followed similar procedures:
+
+${items}
+
+Extract the reusable procedure. Format your response EXACTLY like this:
+
+SKILL: {name \u2014 short, descriptive}
+TRIGGER: {when to use this \u2014 one sentence}
+STEPS:
+1. ...
+2. ...
+PITFALLS: {common mistakes to avoid}
+
+Be specific and actionable. Include tool names, file patterns, and concrete commands where applicable.`;
+}
+async function extractSkill(trajectories, model) {
+  if (trajectories.length === 0) return null;
+  const config = await loadConfig();
+  const skillModel = model ?? config.skillModel;
+  const Anthropic = (await import("@anthropic-ai/sdk")).default;
+  const client = new Anthropic();
+  const prompt = buildExtractionPrompt(trajectories);
+  const response = await client.messages.create({
+    model: skillModel,
+    max_tokens: 500,
+    messages: [{ role: "user", content: prompt }]
+  });
+  const textBlock = response.content.find((b) => b.type === "text");
+  const skillText = textBlock?.text;
+  if (!skillText) return null;
+  const agentId = trajectories[0].agentId;
+  const projectName = trajectories[0].projectName;
+  const skillId = await storeBehavior({
+    agentId,
+    content: skillText,
+    domain: "skill",
+    projectName
+  });
+  const dbClient = getClient();
+  for (const t of trajectories) {
+    await dbClient.execute({
+      sql: "UPDATE trajectories SET skill_id = ? WHERE id = ?",
+      args: [skillId, t.id]
+    });
+  }
+  process.stderr.write(
+    `[skill-learning] Skill extracted from ${trajectories.length} trajectories \u2192 behavior ${skillId}
+`
+  );
+  return skillId;
+}
+async function captureAndLearn(opts) {
+  try {
+    const config = await loadConfig();
+    if (!config.skillLearning) return;
+    const { trajectoryId, similarCount, similar } = await captureTrajectory({
+      ...opts,
+      skillThreshold: config.skillThreshold
+    });
+    if (!trajectoryId) return;
+    if (similarCount >= config.skillThreshold) {
+      const unprocessed = similar.filter((t) => !t.skillId);
+      if (unprocessed.length >= config.skillThreshold) {
+        extractSkill(unprocessed, config.skillModel).catch((err) => {
+          process.stderr.write(
+            `[skill-learning] Extraction failed: ${err instanceof Error ? err.message : String(err)}
+`
+          );
+        });
+      }
+    }
+  } catch (err) {
+    process.stderr.write(
+      `[skill-learning] captureAndLearn failed: ${err instanceof Error ? err.message : String(err)}
+`
+    );
+  }
+}
+async function sweepTrajectories(threshold, model) {
+  const config = await loadConfig();
+  if (!config.skillLearning) return { clustersProcessed: 0, skillsExtracted: 0 };
+  const t = threshold ?? config.skillThreshold;
+  const client = getClient();
+  const result = await client.execute({
+    sql: `SELECT signature_hash, COUNT(*) as cnt
+          FROM trajectories
+          WHERE skill_id IS NULL
+          GROUP BY signature_hash
+          HAVING cnt >= ?
+          ORDER BY cnt DESC
+          LIMIT 10`,
+    args: [t]
+  });
+  let clustersProcessed = 0;
+  let skillsExtracted = 0;
+  for (const row of result.rows) {
+    const hash = String(row.signature_hash);
+    const trajResult = await client.execute({
+      sql: `SELECT id, task_id, agent_id, project_name, task_title, signature, signature_hash, tool_count, created_at
+            FROM trajectories
+            WHERE signature_hash = ? AND skill_id IS NULL
+            ORDER BY created_at DESC
+            LIMIT 10`,
+      args: [hash]
+    });
+    const trajectories = trajResult.rows.map((r) => ({
+      id: String(r.id),
+      taskId: String(r.task_id),
+      agentId: String(r.agent_id),
+      projectName: String(r.project_name),
+      taskTitle: String(r.task_title),
+      signature: JSON.parse(String(r.signature)),
+      signatureHash: String(r.signature_hash),
+      toolCount: Number(r.tool_count),
+      skillId: null,
+      createdAt: String(r.created_at)
+    }));
+    if (trajectories.length >= t) {
+      clustersProcessed++;
+      const skillId = await extractSkill(trajectories, model ?? config.skillModel);
+      if (skillId) skillsExtracted++;
+    }
+  }
+  return { clustersProcessed, skillsExtracted };
+}
+function editDistance(a, b) {
+  const m = a.length;
+  const n = b.length;
+  const dp = Array.from({ length: m + 1 }, () => Array(n + 1).fill(0));
+  for (let i = 0; i <= m; i++) dp[i][0] = i;
+  for (let j = 0; j <= n; j++) dp[0][j] = j;
+  for (let i = 1; i <= m; i++) {
+    for (let j = 1; j <= n; j++) {
+      const cost = a[i - 1] === b[j - 1] ? 0 : 1;
+      dp[i][j] = Math.min(
+        dp[i - 1][j] + 1,
+        dp[i][j - 1] + 1,
+        dp[i - 1][j - 1] + cost
+      );
+    }
+  }
+  return dp[m][n];
+}
+
+export {
+  extractTrajectory,
+  hashSignature,
+  storeTrajectory,
+  findSimilarTrajectories,
+  captureTrajectory,
+  extractSkill,
+  captureAndLearn,
+  sweepTrajectories,
+  editDistance
+};