@cuylabs/agent-physical 5.0.2

package/dist/chunk-G7CGE7QH.js

@@ -0,0 +1,539 @@
+// src/tools/index.ts
+import { Tool } from "@cuylabs/agent-core/tool";
+import { z } from "zod";
+
+// src/safety.ts
+var defaultPhysicalSafetyPolicy = {
+  riskLevel: "dangerous",
+  requiresApproval: true,
+  requiresHumanPresence: true
+};
+function normalizePhysicalSafetyPolicy(policy) {
+  return {
+    ...defaultPhysicalSafetyPolicy,
+    ...policy ?? {}
+  };
+}
+function isModeAllowed(mode, policy) {
+  if (!policy?.allowedModes || policy.allowedModes.length === 0) {
+    return true;
+  }
+  if (!mode) {
+    return false;
+  }
+  return policy.allowedModes.includes(mode);
+}
+function describePhysicalState(state) {
+  const parts = [`status=${state.status}`];
+  if (state.mode) {
+    parts.push(`mode=${state.mode}`);
+  }
+  if (state.task?.id) {
+    parts.push(`task=${state.task.id}`);
+  }
+  if (state.message) {
+    parts.push(`message=${state.message}`);
+  }
+  return parts.join(", ");
+}
+
+// src/tools/index.ts
+function toolName(name, options) {
+  return `${options?.prefix ?? "physical"}_${name}`;
+}
+var MAX_OBSERVATION_ITEM_CHARS = 12e3;
+var MAX_OBSERVATION_OUTPUT_CHARS = 6e4;
+var MAX_EXECUTION_OUTPUT_CHARS = 8e3;
+function truncateText(value, maxChars) {
+  if (value.length <= maxChars) {
+    return value;
+  }
+  return `${value.slice(0, maxChars)}
+... (${value.length - maxChars} characters omitted from this observation item)`;
+}
+function stringifyObservationData(value) {
+  if (typeof value === "string") {
+    return value;
+  }
+  try {
+    return JSON.stringify(value, null, 2) ?? String(value);
+  } catch {
+    return String(value);
+  }
+}
+function asRecord(value) {
+  return value && typeof value === "object" && !Array.isArray(value) ? value : void 0;
+}
+function compactRawDepthDiagnostics(value) {
+  const rawDepth = asRecord(value);
+  if (!rawDepth) {
+    return void 0;
+  }
+  const compact = {};
+  for (const [camera, statsValue] of Object.entries(rawDepth)) {
+    const stats = asRecord(statsValue);
+    if (!stats) {
+      compact[camera] = statsValue;
+      continue;
+    }
+    compact[camera] = {
+      shape: stats.shape,
+      dtype: stats.dtype,
+      min: stats.min,
+      max: stats.max,
+      finiteMin: stats.finiteMin,
+      finiteMax: stats.finiteMax,
+      nanCount: stats.nanCount,
+      infCount: stats.infCount,
+      belowZeroCount: stats.belowZeroCount,
+      aboveOneCount: stats.aboveOneCount,
+      outOfRangeCount: stats.outOfRangeCount,
+      error: stats.error
+    };
+  }
+  return Object.keys(compact).length > 0 ? compact : void 0;
+}
+function formatExecutionOutput(trace) {
+  const outcome = trace.outcome;
+  const sandboxRc = outcome?.metadata?.sandboxRc;
+  const elapsedMs = outcome?.metadata?.elapsedMs;
+  const codePath = outcome?.metadata?.codePath;
+  const diagnostics = outcome?.metadata?.diagnostics;
+  const lines = [
+    outcome ? `executionOk=${outcome.success}, taskCompleted=${outcome.taskCompleted ?? "n/a"}, reward=${outcome.reward ?? "n/a"}` : "Execution completed without an outcome."
+  ];
+  if (sandboxRc !== void 0) {
+    lines.push(`sandboxRc=${sandboxRc}`);
+  }
+  if (elapsedMs !== void 0) {
+    lines.push(`elapsedMs=${elapsedMs}`);
+  }
+  if (codePath !== void 0) {
+    lines.push(`codePath=${codePath}`);
+  }
+  if (diagnostics && typeof diagnostics === "object") {
+    lines.push(
+      `diagnostics:
+${truncateText(
+        stringifyObservationData({
+          failurePhase: diagnostics.failurePhase,
+          exceptionType: diagnostics.exceptionType,
+          exceptionRepr: diagnostics.exceptionRepr,
+          observationPipeline: diagnostics.observationPipeline,
+          depthAssertion: diagnostics.depthAssertion,
+          perceptionApiFailure: diagnostics.perceptionApiFailure,
+          emptyPointCloud: diagnostics.emptyPointCloud,
+          trial: diagnostics.trial,
+          envClass: diagnostics.envClass,
+          lowLevelEnvClass: diagnostics.lowLevelEnvClass,
+          renderCameraNames: diagnostics.render_camera_names,
+          simStepCount: diagnostics._sim_step_count,
+          rawDepth: compactRawDepthDiagnostics(diagnostics.rawDepth),
+          sourceFiles: diagnostics.sourceFiles
+        }),
+        MAX_EXECUTION_OUTPUT_CHARS
+      )}`
+    );
+  }
+  if (outcome?.terminated !== void 0 || outcome?.truncated !== void 0) {
+    lines.push(
+      `terminated=${outcome.terminated ?? "n/a"}, truncated=${outcome.truncated ?? "n/a"}`
+    );
+  }
+  if (trace.stdout) {
+    lines.push(
+      `stdout:
+${truncateText(trace.stdout, MAX_EXECUTION_OUTPUT_CHARS)}`
+    );
+  }
+  if (trace.stderr) {
+    lines.push(
+      `stderr:
+${truncateText(trace.stderr, MAX_EXECUTION_OUTPUT_CHARS)}`
+    );
+  }
+  if (trace.artifacts?.length) {
+    lines.push(
+      `artifacts:
+${trace.artifacts.map((artifact) => `${artifact.kind}: ${artifact.uri}`).join("\n")}`
+    );
+  }
+  return lines.join("\n\n");
+}
+function formatImageObservation(item) {
+  if (item.kind !== "rgb" && item.kind !== "depth") {
+    return "";
+  }
+  const details = [
+    item.width && item.height ? `size=${item.width}x${item.height}` : null,
+    item.mimeType ? `mime=${item.mimeType}` : null,
+    item.frame ? `frame=${item.frame}` : null,
+    item.uri ? `uri=${item.uri}` : null,
+    item.dataUrl ? "dataUrl=available in tool metadata" : null
+  ].filter(Boolean);
+  return details.length > 0 ? details.join(", ") : "image captured";
+}
+function formatObservationItem(item, index) {
+  const header = `## Observation ${index + 1}: ${item.source} (${item.kind})`;
+  if (item.kind === "text") {
+    return `${header}
+${truncateText(item.text, MAX_OBSERVATION_ITEM_CHARS)}`;
+  }
+  if (item.kind === "rgb" || item.kind === "depth") {
+    return `${header}
+${formatImageObservation(item)}`;
+  }
+  if (!("data" in item)) {
+    return `${header}
+No structured payload was provided.`;
+  }
+  return `${header}
+${truncateText(
+    stringifyObservationData(item.data),
+    MAX_OBSERVATION_ITEM_CHARS
+  )}`;
+}
+function formatObservationOutput(observation) {
+  const summary = observation.summary ?? `${observation.items.length} observation item(s) captured.`;
+  if (observation.items.length === 0) {
+    return summary;
+  }
+  const sections = [
+    summary,
+    ...observation.items.map(
+      (item, index) => formatObservationItem(item, index)
+    )
+  ];
+  const output = sections.join("\n\n");
+  return truncateText(output, MAX_OBSERVATION_OUTPUT_CHARS);
+}
+function parseImageData(item) {
+  if (item.kind !== "rgb" && item.kind !== "depth") {
+    return void 0;
+  }
+  if (!item.dataUrl) {
+    return void 0;
+  }
+  const match = item.dataUrl.match(/^data:([^;,]+)(?:;[^,]*)?,(.*)$/s);
+  if (!match) {
+    return void 0;
+  }
+  return {
+    mediaType: item.mimeType ?? match[1] ?? "image/png",
+    data: match[2] ?? ""
+  };
+}
+function createObservationModelOutput(observation, output) {
+  const parts = [{ type: "text", text: output }];
+  for (const item of observation.items) {
+    const image = parseImageData(item);
+    if (!image) {
+      continue;
+    }
+    parts.push({
+      type: "file-data",
+      data: image.data,
+      mediaType: image.mediaType
+    });
+  }
+  return parts.length > 1 ? {
+    type: "content",
+    value: parts
+  } : {
+    type: "text",
+    value: output
+  };
+}
+function createPhysicalStatusTool(session, options) {
+  return Tool.define(
+    toolName("status", options),
+    {
+      description: "Read the current physical session state and lifecycle status without moving or changing the environment.",
+      parameters: z.object({}),
+      capabilities: {
+        parallelSafe: true,
+        readOnly: true,
+        riskLevel: "safe"
+      },
+      execute: async () => {
+        const state = await session.getState();
+        return {
+          title: "Physical Session Status",
+          output: describePhysicalState(state),
+          metadata: {
+            physical: {
+              sessionId: session.id,
+              status: state.status,
+              state
+            }
+          }
+        };
+      }
+    },
+    {
+      capabilitiesHint: {
+        parallelSafe: true,
+        readOnly: true,
+        riskLevel: "safe"
+      }
+    }
+  );
+}
+function createPhysicalObserveTool(session, options) {
+  return Tool.define(
+    toolName("observe", options),
+    {
+      description: "Capture the latest physical-world observation and session context for the active robot or simulator without moving or changing the environment.",
+      parameters: z.object({
+        includeImages: z.boolean().optional().describe(
+          "Whether image observations should be included when available."
+        ),
+        includeArtifacts: z.boolean().optional().describe(
+          "Whether artifact references should be included when available."
+        ),
+        maxItems: z.number().int().positive().optional().describe("Maximum number of observation items to return.")
+      }),
+      capabilities: {
+        parallelSafe: true,
+        readOnly: true,
+        riskLevel: "safe"
+      },
+      execute: async (params) => {
+        if (!session.observe) {
+          return {
+            title: "Observation Unsupported",
+            output: "This physical session does not expose observations.",
+            metadata: {
+              physical: {
+                sessionId: session.id
+              }
+            }
+          };
+        }
+        const observeOptions = {
+          includeImages: params.includeImages,
+          includeArtifacts: params.includeArtifacts,
+          maxItems: params.maxItems
+        };
+        const observation = await session.observe(observeOptions);
+        const output = formatObservationOutput(observation);
+        return {
+          title: "Physical Observation",
+          output,
+          metadata: {
+            modelOutput: createObservationModelOutput(observation, output),
+            physical: {
+              sessionId: session.id,
+              status: observation.status,
+              observation
+            }
+          }
+        };
+      }
+    },
+    {
+      capabilitiesHint: {
+        parallelSafe: true,
+        readOnly: true,
+        riskLevel: "safe"
+      }
+    }
+  );
+}
+function createPhysicalRunCodeTool(session, options) {
+  return Tool.define(
+    toolName("run_policy_code", options),
+    {
+      description: "Execute policy code inside the active physical session after observing the current context. This can move a robot or mutate a simulator.",
+      parameters: z.object({
+        code: z.string().min(1).describe("Executable policy code."),
+        language: z.string().optional().describe("Code language. Defaults to the session runtime language."),
+        timeoutMs: z.number().int().positive().optional().describe("Optional execution timeout in milliseconds."),
+        dryRun: z.boolean().optional().describe(
+          "Validate or stage the code without executing if supported."
+        )
+      }),
+      capabilities: {
+        parallelSafe: false,
+        readOnly: false,
+        destructive: true,
+        riskLevel: "dangerous",
+        onInterrupt: "cancel"
+      },
+      replayPolicy: {
+        mode: "manual",
+        sideEffectLevel: "external",
+        reason: "Physical code execution may move hardware or mutate simulator state and must not be replayed automatically."
+      },
+      execute: async (params) => {
+        if (!session.executeCode) {
+          return {
+            title: "Policy Execution Unsupported",
+            output: "This physical session does not expose direct policy-code execution.",
+            metadata: {
+              physical: {
+                sessionId: session.id
+              }
+            }
+          };
+        }
+        const policy = normalizePhysicalSafetyPolicy({
+          riskLevel: "dangerous",
+          requiresApproval: true,
+          requiresHumanPresence: true
+        });
+        const trace = await session.executeCode({
+          code: params.code,
+          language: params.language,
+          timeoutMs: params.timeoutMs,
+          dryRun: params.dryRun,
+          metadata: { safety: policy }
+        });
+        return {
+          title: "Physical Policy Execution",
+          output: formatExecutionOutput(trace),
+          metadata: {
+            physical: {
+              sessionId: session.id,
+              trace
+            }
+          }
+        };
+      }
+    },
+    {
+      capabilitiesHint: {
+        parallelSafe: false,
+        readOnly: false,
+        destructive: true,
+        riskLevel: "dangerous",
+        onInterrupt: "cancel"
+      }
+    }
+  );
+}
+function createPhysicalStopTool(session, options) {
+  return Tool.define(
+    toolName("stop", options),
+    {
+      description: "Stop the active physical session as quickly as the backend supports. Use only when requested or when continuing would be unsafe.",
+      parameters: z.object({
+        reason: z.string().optional().describe("Reason for stopping the session.")
+      }),
+      capabilities: {
+        parallelSafe: false,
+        readOnly: false,
+        destructive: true,
+        riskLevel: "dangerous",
+        onInterrupt: "cancel"
+      },
+      replayPolicy: {
+        mode: "manual",
+        sideEffectLevel: "external",
+        reason: "Stopping a physical session is a control-plane side effect and should not be replayed automatically."
+      },
+      execute: async ({ reason }) => {
+        const state = await session.stop(reason);
+        return {
+          title: "Physical Session Stopped",
+          output: describePhysicalState(state),
+          metadata: {
+            physical: {
+              sessionId: session.id,
+              status: state.status,
+              state
+            }
+          }
+        };
+      }
+    },
+    {
+      capabilitiesHint: {
+        parallelSafe: false,
+        readOnly: false,
+        destructive: true,
+        riskLevel: "dangerous",
+        onInterrupt: "cancel"
+      }
+    }
+  );
+}
+function createPhysicalArtifactsTool(session, options) {
+  return Tool.define(
+    toolName("artifacts", options),
+    {
+      description: "List artifacts produced by the active physical session, such as logs, generated code, images, videos, or result directories.",
+      parameters: z.object({
+        kind: z.enum(["code", "log", "image", "video", "json", "directory", "other"]).optional().describe("Optional artifact kind filter."),
+        limit: z.number().int().positive().optional().describe("Maximum number of artifacts to return.")
+      }),
+      capabilities: {
+        parallelSafe: true,
+        readOnly: true,
+        riskLevel: "safe"
+      },
+      execute: async (params) => {
+        if (!session.listArtifacts) {
+          return {
+            title: "Artifacts Unsupported",
+            output: "This physical session does not expose artifacts.",
+            metadata: {
+              physical: {
+                sessionId: session.id
+              }
+            }
+          };
+        }
+        const listOptions = {
+          kind: params.kind,
+          limit: params.limit
+        };
+        const artifacts = await session.listArtifacts(listOptions);
+        const output = artifacts.length === 0 ? "No physical-session artifacts found." : artifacts.map((artifact) => `${artifact.kind}: ${artifact.uri}`).join("\n");
+        return {
+          title: "Physical Artifacts",
+          output,
+          metadata: {
+            physical: {
+              sessionId: session.id,
+              artifacts
+            }
+          }
+        };
+      }
+    },
+    {
+      capabilitiesHint: {
+        parallelSafe: true,
+        readOnly: true,
+        riskLevel: "safe"
+      }
+    }
+  );
+}
+function createPhysicalSessionTools(session, options) {
+  const tools = [
+    createPhysicalStatusTool(session, options),
+    createPhysicalObserveTool(session, options),
+    createPhysicalArtifactsTool(session, options),
+    createPhysicalStopTool(session, options)
+  ];
+  if (session.executeCode) {
+    tools.splice(2, 0, createPhysicalRunCodeTool(session, options));
+  }
+  return tools;
+}
+
+export {
+  defaultPhysicalSafetyPolicy,
+  normalizePhysicalSafetyPolicy,
+  isModeAllowed,
+  describePhysicalState,
+  createPhysicalStatusTool,
+  createPhysicalObserveTool,
+  createPhysicalRunCodeTool,
+  createPhysicalStopTool,
+  createPhysicalArtifactsTool,
+  createPhysicalSessionTools
+};
+//# sourceMappingURL=chunk-G7CGE7QH.js.map

package/dist/chunk-G7CGE7QH.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/tools/index.ts","../src/safety.ts"],"sourcesContent":["import { Tool } from \"@cuylabs/agent-core/tool\";\nimport type { ToolModelOutput } from \"@cuylabs/agent-core/tool\";\nimport { z } from \"zod\";\nimport {\n  describePhysicalState,\n  normalizePhysicalSafetyPolicy,\n} from \"../safety.js\";\nimport type {\n  PhysicalExecutionTrace,\n  PhysicalListArtifactsOptions,\n  PhysicalObserveOptions,\n  PhysicalObservation,\n  PhysicalObservationItem,\n  PhysicalSession,\n  PhysicalToolMetadata,\n} from \"../types.js\";\n\ntype ToolModelContentPart = Extract<\n  ToolModelOutput,\n  { type: \"content\" }\n>[\"value\"][number];\n\nexport interface PhysicalToolOptions {\n  /**\n   * Prefix used for generated tool ids. Defaults to \"physical\".\n   */\n  prefix?: string;\n}\n\nfunction toolName(name: string, options?: PhysicalToolOptions): string {\n  return `${options?.prefix ?? \"physical\"}_${name}`;\n}\n\nconst MAX_OBSERVATION_ITEM_CHARS = 12_000;\nconst MAX_OBSERVATION_OUTPUT_CHARS = 60_000;\nconst MAX_EXECUTION_OUTPUT_CHARS = 8_000;\n\nfunction truncateText(value: string, maxChars: number): string {\n  if (value.length <= maxChars) {\n    return value;\n  }\n\n  return `${value.slice(0, maxChars)}\\n... (${value.length - maxChars} characters omitted from this observation item)`;\n}\n\nfunction stringifyObservationData(value: unknown): string {\n  if (typeof value === \"string\") {\n    return value;\n  }\n\n  try {\n    return JSON.stringify(value, null, 2) ?? String(value);\n  } catch {\n    return String(value);\n  }\n}\n\nfunction asRecord(value: unknown): Record<string, unknown> | undefined {\n  return value && typeof value === \"object\" && !Array.isArray(value)\n    ? (value as Record<string, unknown>)\n    : undefined;\n}\n\nfunction compactRawDepthDiagnostics(\n  value: unknown,\n): Record<string, unknown> | undefined {\n  const rawDepth = asRecord(value);\n  if (!rawDepth) {\n    return undefined;\n  }\n\n  const compact: Record<string, unknown> = {};\n  for (const [camera, statsValue] of Object.entries(rawDepth)) {\n    const stats = asRecord(statsValue);\n    if (!stats) {\n      compact[camera] = statsValue;\n      continue;\n    }\n\n    compact[camera] = {\n      shape: stats.shape,\n      dtype: stats.dtype,\n      min: stats.min,\n      max: stats.max,\n      finiteMin: stats.finiteMin,\n      finiteMax: stats.finiteMax,\n      nanCount: stats.nanCount,\n      infCount: stats.infCount,\n      belowZeroCount: stats.belowZeroCount,\n      aboveOneCount: stats.aboveOneCount,\n      outOfRangeCount: stats.outOfRangeCount,\n      error: stats.error,\n    };\n  }\n\n  return Object.keys(compact).length > 0 ? compact : undefined;\n}\n\nfunction formatExecutionOutput(trace: PhysicalExecutionTrace): string {\n  const outcome = trace.outcome;\n  const sandboxRc = outcome?.metadata?.sandboxRc;\n  const elapsedMs = outcome?.metadata?.elapsedMs;\n  const codePath = outcome?.metadata?.codePath;\n  const diagnostics = outcome?.metadata?.diagnostics as\n    | Record<string, unknown>\n    | undefined;\n  const lines = [\n    outcome\n      ? `executionOk=${outcome.success}, taskCompleted=${outcome.taskCompleted ?? \"n/a\"}, reward=${outcome.reward ?? \"n/a\"}`\n      : \"Execution completed without an outcome.\",\n  ];\n\n  if (sandboxRc !== undefined) {\n    lines.push(`sandboxRc=${sandboxRc}`);\n  }\n  if (elapsedMs !== undefined) {\n    lines.push(`elapsedMs=${elapsedMs}`);\n  }\n  if (codePath !== undefined) {\n    lines.push(`codePath=${codePath}`);\n  }\n  if (diagnostics && typeof diagnostics === \"object\") {\n    lines.push(\n      `diagnostics:\\n${truncateText(\n        stringifyObservationData({\n          failurePhase: diagnostics.failurePhase,\n          exceptionType: diagnostics.exceptionType,\n          exceptionRepr: diagnostics.exceptionRepr,\n          observationPipeline: diagnostics.observationPipeline,\n          depthAssertion: diagnostics.depthAssertion,\n          perceptionApiFailure: diagnostics.perceptionApiFailure,\n          emptyPointCloud: diagnostics.emptyPointCloud,\n          trial: diagnostics.trial,\n          envClass: diagnostics.envClass,\n          lowLevelEnvClass: diagnostics.lowLevelEnvClass,\n          renderCameraNames: diagnostics.render_camera_names,\n          simStepCount: diagnostics._sim_step_count,\n          rawDepth: compactRawDepthDiagnostics(diagnostics.rawDepth),\n          sourceFiles: diagnostics.sourceFiles,\n        }),\n        MAX_EXECUTION_OUTPUT_CHARS,\n      )}`,\n    );\n  }\n  if (outcome?.terminated !== undefined || outcome?.truncated !== undefined) {\n    lines.push(\n      `terminated=${outcome.terminated ?? \"n/a\"}, truncated=${outcome.truncated ?? \"n/a\"}`,\n    );\n  }\n  if (trace.stdout) {\n    lines.push(\n      `stdout:\\n${truncateText(trace.stdout, MAX_EXECUTION_OUTPUT_CHARS)}`,\n    );\n  }\n  if (trace.stderr) {\n    lines.push(\n      `stderr:\\n${truncateText(trace.stderr, MAX_EXECUTION_OUTPUT_CHARS)}`,\n    );\n  }\n  if (trace.artifacts?.length) {\n    lines.push(\n      `artifacts:\\n${trace.artifacts\n        .map((artifact) => `${artifact.kind}: ${artifact.uri}`)\n        .join(\"\\n\")}`,\n    );\n  }\n\n  return lines.join(\"\\n\\n\");\n}\n\nfunction formatImageObservation(item: PhysicalObservationItem): string {\n  if (item.kind !== \"rgb\" && item.kind !== \"depth\") {\n    return \"\";\n  }\n\n  const details = [\n    item.width && item.height ? `size=${item.width}x${item.height}` : null,\n    item.mimeType ? `mime=${item.mimeType}` : null,\n    item.frame ? `frame=${item.frame}` : null,\n    item.uri ? `uri=${item.uri}` : null,\n    item.dataUrl ? \"dataUrl=available in tool metadata\" : null,\n  ].filter(Boolean);\n\n  return details.length > 0 ? details.join(\", \") : \"image captured\";\n}\n\nfunction formatObservationItem(\n  item: PhysicalObservationItem,\n  index: number,\n): string {\n  const header = `## Observation ${index + 1}: ${item.source} (${item.kind})`;\n\n  if (item.kind === \"text\") {\n    return `${header}\\n${truncateText(item.text, MAX_OBSERVATION_ITEM_CHARS)}`;\n  }\n\n  if (item.kind === \"rgb\" || item.kind === \"depth\") {\n    return `${header}\\n${formatImageObservation(item)}`;\n  }\n\n  if (!(\"data\" in item)) {\n    return `${header}\\nNo structured payload was provided.`;\n  }\n\n  return `${header}\\n${truncateText(\n    stringifyObservationData(item.data),\n    MAX_OBSERVATION_ITEM_CHARS,\n  )}`;\n}\n\nfunction formatObservationOutput(observation: PhysicalObservation): string {\n  const summary =\n    observation.summary ??\n    `${observation.items.length} observation item(s) captured.`;\n  if (observation.items.length === 0) {\n    return summary;\n  }\n\n  const sections = [\n    summary,\n    ...observation.items.map((item, index) =>\n      formatObservationItem(item, index),\n    ),\n  ];\n  const output = sections.join(\"\\n\\n\");\n  return truncateText(output, MAX_OBSERVATION_OUTPUT_CHARS);\n}\n\nfunction parseImageData(\n  item: PhysicalObservationItem,\n): { data: string; mediaType: string } | undefined {\n  if (item.kind !== \"rgb\" && item.kind !== \"depth\") {\n    return undefined;\n  }\n\n  if (!item.dataUrl) {\n    return undefined;\n  }\n\n  const match = item.dataUrl.match(/^data:([^;,]+)(?:;[^,]*)?,(.*)$/s);\n  if (!match) {\n    return undefined;\n  }\n\n  return {\n    mediaType: item.mimeType ?? match[1] ?? \"image/png\",\n    data: match[2] ?? \"\",\n  };\n}\n\nfunction createObservationModelOutput(\n  observation: PhysicalObservation,\n  output: string,\n): ToolModelOutput {\n  const parts: ToolModelContentPart[] = [{ type: \"text\", text: output }];\n\n  for (const item of observation.items) {\n    const image = parseImageData(item);\n    if (!image) {\n      continue;\n    }\n    parts.push({\n      type: \"file-data\",\n      data: image.data,\n      mediaType: image.mediaType,\n    });\n  }\n\n  return parts.length > 1\n    ? {\n        type: \"content\",\n        value: parts,\n      }\n    : {\n        type: \"text\",\n        value: output,\n      };\n}\n\nexport function createPhysicalStatusTool(\n  session: PhysicalSession,\n  options?: PhysicalToolOptions,\n) {\n  return Tool.define(\n    toolName(\"status\", options),\n    {\n      description:\n        \"Read the current physical session state and lifecycle status without moving or changing the environment.\",\n      parameters: z.object({}),\n      capabilities: {\n        parallelSafe: true,\n        readOnly: true,\n        riskLevel: \"safe\",\n      },\n      execute: async () => {\n        const state = await session.getState();\n        return {\n          title: \"Physical Session Status\",\n          output: describePhysicalState(state),\n          metadata: {\n            physical: {\n              sessionId: session.id,\n              status: state.status,\n              state,\n            },\n          } as PhysicalToolMetadata,\n        };\n      },\n    },\n    {\n      capabilitiesHint: {\n        parallelSafe: true,\n        readOnly: true,\n        riskLevel: \"safe\",\n      },\n    },\n  );\n}\n\nexport function createPhysicalObserveTool(\n  session: PhysicalSession,\n  options?: PhysicalToolOptions,\n) {\n  return Tool.define(\n    toolName(\"observe\", options),\n    {\n      description:\n        \"Capture the latest physical-world observation and session context for the active robot or simulator without moving or changing the environment.\",\n      parameters: z.object({\n        includeImages: z\n          .boolean()\n          .optional()\n          .describe(\n            \"Whether image observations should be included when available.\",\n          ),\n        includeArtifacts: z\n          .boolean()\n          .optional()\n          .describe(\n            \"Whether artifact references should be included when available.\",\n          ),\n        maxItems: z\n          .number()\n          .int()\n          .positive()\n          .optional()\n          .describe(\"Maximum number of observation items to return.\"),\n      }),\n      capabilities: {\n        parallelSafe: true,\n        readOnly: true,\n        riskLevel: \"safe\",\n      },\n      execute: async (params) => {\n        if (!session.observe) {\n          return {\n            title: \"Observation Unsupported\",\n            output: \"This physical session does not expose observations.\",\n            metadata: {\n              physical: {\n                sessionId: session.id,\n              },\n            } as PhysicalToolMetadata,\n          };\n        }\n\n        const observeOptions: PhysicalObserveOptions = {\n          includeImages: params.includeImages,\n          includeArtifacts: params.includeArtifacts,\n          maxItems: params.maxItems,\n        };\n        const observation = await session.observe(observeOptions);\n        const output = formatObservationOutput(observation);\n        return {\n          title: \"Physical Observation\",\n          output,\n          metadata: {\n            modelOutput: createObservationModelOutput(observation, output),\n            physical: {\n              sessionId: session.id,\n              status: observation.status,\n              observation,\n            },\n          } as PhysicalToolMetadata,\n        };\n      },\n    },\n    {\n      capabilitiesHint: {\n        parallelSafe: true,\n        readOnly: true,\n        riskLevel: \"safe\",\n      },\n    },\n  );\n}\n\nexport function createPhysicalRunCodeTool(\n  session: PhysicalSession,\n  options?: PhysicalToolOptions,\n) {\n  return Tool.define(\n    toolName(\"run_policy_code\", options),\n    {\n      description:\n        \"Execute policy code inside the active physical session after observing the current context. This can move a robot or mutate a simulator.\",\n      parameters: z.object({\n        code: z.string().min(1).describe(\"Executable policy code.\"),\n        language: z\n          .string()\n          .optional()\n          .describe(\"Code language. 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Use only when requested or when continuing would be unsafe.\",\n      parameters: z.object({\n        reason: z\n          .string()\n          .optional()\n          .describe(\"Reason for stopping the session.\"),\n      }),\n      capabilities: {\n        parallelSafe: false,\n        readOnly: false,\n        destructive: true,\n        riskLevel: \"dangerous\",\n        onInterrupt: \"cancel\",\n      },\n      replayPolicy: {\n        mode: \"manual\",\n        sideEffectLevel: \"external\",\n        reason:\n          \"Stopping a physical session is a control-plane side effect and should not be replayed automatically.\",\n      },\n      execute: async ({ reason }) => {\n        const state = await session.stop(reason);\n        return {\n          title: \"Physical Session Stopped\",\n          output: describePhysicalState(state),\n          metadata: {\n            physical: {\n              sessionId: session.id,\n              status: state.status,\n              state,\n            },\n          } as PhysicalToolMetadata,\n        };\n      },\n    },\n    {\n      capabilitiesHint: {\n        parallelSafe: false,\n        readOnly: false,\n        destructive: true,\n        riskLevel: \"dangerous\",\n        onInterrupt: \"cancel\",\n      },\n    },\n  );\n}\n\nexport function createPhysicalArtifactsTool(\n  session: PhysicalSession,\n  options?: PhysicalToolOptions,\n) {\n  return Tool.define(\n    toolName(\"artifacts\", options),\n    {\n      description:\n        \"List artifacts produced by the active physical session, such as logs, generated code, images, videos, or result directories.\",\n      parameters: z.object({\n        kind: z\n          .enum([\"code\", \"log\", \"image\", \"video\", \"json\", \"directory\", \"other\"])\n          .optional()\n          .describe(\"Optional artifact kind filter.\"),\n        limit: z\n          .number()\n          .int()\n          .positive()\n          .optional()\n          .describe(\"Maximum number of artifacts to return.\"),\n      }),\n      capabilities: {\n        parallelSafe: true,\n        readOnly: true,\n        riskLevel: \"safe\",\n      },\n      execute: async (params) => {\n        if (!session.listArtifacts) {\n          return {\n            title: \"Artifacts Unsupported\",\n            output: \"This physical session does not expose artifacts.\",\n            metadata: {\n              physical: {\n                sessionId: session.id,\n              },\n            } as PhysicalToolMetadata,\n          };\n        }\n\n        const listOptions: PhysicalListArtifactsOptions = {\n          kind: params.kind,\n          limit: params.limit,\n        };\n        const artifacts = await session.listArtifacts(listOptions);\n        const output =\n          artifacts.length === 0\n            ? \"No physical-session artifacts found.\"\n            : artifacts\n                .map((artifact) => `${artifact.kind}: ${artifact.uri}`)\n                .join(\"\\n\");\n        return {\n          title: \"Physical Artifacts\",\n          output,\n          metadata: {\n            physical: {\n              sessionId: session.id,\n              artifacts,\n            },\n          } as PhysicalToolMetadata,\n        };\n      },\n    },\n    {\n      capabilitiesHint: {\n        parallelSafe: true,\n        readOnly: true,\n        riskLevel: \"safe\",\n      },\n    },\n  );\n}\n\nexport function createPhysicalSessionTools(\n  session: PhysicalSession,\n  options?: PhysicalToolOptions,\n) {\n  const tools: Tool.AnyInfo[] = [\n    createPhysicalStatusTool(session, options),\n    createPhysicalObserveTool(session, options),\n    createPhysicalArtifactsTool(session, options),\n    createPhysicalStopTool(session, options),\n  ];\n\n  if (session.executeCode) {\n    tools.splice(2, 0, createPhysicalRunCodeTool(session, options));\n  }\n\n  return tools;\n}\n","import type {\n  PhysicalExecutionMode,\n  PhysicalSafetyPolicy,\n  PhysicalSessionState,\n} from \"./types.js\";\n\nexport const defaultPhysicalSafetyPolicy: Required<\n  Pick<\n    PhysicalSafetyPolicy,\n    \"riskLevel\" | \"requiresApproval\" | \"requiresHumanPresence\"\n  >\n> = {\n  riskLevel: \"dangerous\",\n  requiresApproval: true,\n  requiresHumanPresence: true,\n};\n\nexport function normalizePhysicalSafetyPolicy(\n  policy: PhysicalSafetyPolicy | undefined,\n): PhysicalSafetyPolicy {\n  return {\n    ...defaultPhysicalSafetyPolicy,\n    ...(policy ?? {}),\n  };\n}\n\nexport function isModeAllowed(\n  mode: PhysicalExecutionMode | undefined,\n  policy: PhysicalSafetyPolicy | undefined,\n): boolean {\n  if (!policy?.allowedModes || policy.allowedModes.length === 0) {\n    return true;\n  }\n  if (!mode) {\n    return false;\n  }\n  return policy.allowedModes.includes(mode);\n}\n\nexport function describePhysicalState(state: PhysicalSessionState): string {\n  const parts = [`status=${state.status}`];\n  if (state.mode) {\n    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