@cuylabs/physical-capx-agent-core 0.1.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/LICENSE +201 -0
- package/README.md +132 -0
- package/dist/agent.d.ts +59 -0
- package/dist/agent.js +14 -0
- package/dist/agent.js.map +1 -0
- package/dist/chunk-57TF3E2Q.js +61 -0
- package/dist/chunk-57TF3E2Q.js.map +1 -0
- package/dist/chunk-U6REPGPH.js +109 -0
- package/dist/chunk-U6REPGPH.js.map +1 -0
- package/dist/index.d.ts +7 -0
- package/dist/index.js +29 -0
- package/dist/index.js.map +1 -0
- package/dist/session.d.ts +5 -0
- package/dist/session.js +12 -0
- package/dist/session.js.map +1 -0
- package/dist/tools.d.ts +8 -0
- package/dist/tools.js +7 -0
- package/dist/tools.js.map +1 -0
- package/docs/README.md +23 -0
- package/docs/agent-core-integration.md +76 -0
- package/examples/.env.example +37 -0
- package/examples/01-capx-runtime-solver.ts +165 -0
- package/examples/02-capx-runtime-autosolve.ts +314 -0
- package/examples/README.md +344 -0
- package/examples/_setup.ts +61 -0
- package/package.json +86 -0
- package/skills/capx-code-as-policy/SKILL.md +22 -0
package/LICENSE
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package/README.md
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# @cuylabs/physical-capx-agent-core
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Agent-core CaP-X agent adapter.
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This package composes `@cuylabs/physical-capx`,
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`@cuylabs/physical-agent-core`, and `@cuylabs/agent-core`. It provides CaP-X
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tool creation, packaged CaP-X model guidance, and `createCapxAgent(...)`.
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Use this package when the host harness is `@cuylabs/agent-core`. Use
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`@cuylabs/physical-capx` directly when a TypeScript host only needs a
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backend-neutral `CapxSession`.
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```text
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agent-core model loop
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-> @cuylabs/physical-capx-agent-core tools
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-> @cuylabs/physical-capx CapxSession
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-> capx-agent-runtime HTTP server
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-> CaP-X Python runtime, selected YAML config, simulator or robot
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```
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## Install
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```bash
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npm install @cuylabs/agent-core @cuylabs/physical-core @cuylabs/physical-agent-core @cuylabs/physical-capx @cuylabs/physical-capx-agent-core
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```
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## Use
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```typescript
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import { createCapxAgent } from "@cuylabs/physical-capx-agent-core";
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const { agent, session } = await createCapxAgent({
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model,
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startSession: true,
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toolExecutionMode: "plan",
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sessionOptions: {
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mode: "runtime",
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runtimeServerUrl: "http://127.0.0.1:8210",
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physicalMode: "simulation",
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enablePolicyCodeExecution: true,
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},
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});
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```
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The package also exposes a migration-friendly `./session` entrypoint:
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```typescript
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import {
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createCapxPhysicalTools,
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createCapxSession,
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} from "@cuylabs/physical-capx-agent-core/session";
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```
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## Runtime Loop
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The external agent owns reasoning and code generation. CaP-X owns robotics
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execution.
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```text
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start CapxSession
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-> capx_observe returns task prompt, state, frame, and codeContext
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-> agent writes one Python policy-code step
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-> capx_run_policy_code submits that code to the live runtime session
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-> agent observes the result, reward, artifacts, and next frame
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-> host or agent continues, reports completion, resets, or stops
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```
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`capx_run_policy_code` is the tool that performs physical work. It can mutate a
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simulator or move hardware, so it should stay approval-gated and dispatched by
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the host harness.
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## Tools
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This package generates the `agent-core` tools below. They are the
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TypeScript-facing tool surface for a `CapxSession`; internally they call the
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`capx-agent-runtime` HTTP API through `@cuylabs/physical-capx`.
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- `capx_status`
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- `capx_observe`
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- `capx_artifacts`
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- `capx_stop`
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- `capx_run_policy_code` when `enablePolicyCodeExecution: true`
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- `capx_turn_history`
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The raw runtime server exposes HTTP endpoints such as `/sessions`,
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`/sessions/{id}/observe`, `/sessions/{id}/execute-code`,
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`/sessions/{id}/artifacts`, and `/sessions/{id}/turns`. Its optional MCP
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|
88
|
+
wrapper has its own MCP-native tool names. The list above is the smaller
|
|
89
|
+
`agent-core` default surface.
|
|
90
|
+
|
|
91
|
+
The default model-facing surface is intentionally small. It gives the agent
|
|
92
|
+
enough context to write better Code-as-Policies Python without exposing every
|
|
93
|
+
runtime operation as a separate robot-action tool.
|
|
94
|
+
|
|
95
|
+
## CaP-X Skills
|
|
96
|
+
|
|
97
|
+
There are two different skill concepts:
|
|
98
|
+
|
|
99
|
+
- `agent-core` skills are `SKILL.md` instruction packs that teach the model how
|
|
100
|
+
to use the CaP-X tools.
|
|
101
|
+
- CaP-X skills are Python helper functions in the runtime skill library.
|
|
102
|
+
|
|
103
|
+
The default agent tool surface exposes CaP-X skill-library information through
|
|
104
|
+
`capx_observe` as policy-code context. Programmatic clients can still use
|
|
105
|
+
`CapxLiveRuntime` from `@cuylabs/physical-capx` to inspect, extract, or inject
|
|
106
|
+
runtime skills deliberately with host approval.
|
|
107
|
+
|
|
108
|
+
## Boundary
|
|
109
|
+
|
|
110
|
+
Use this package only when the host runtime is `@cuylabs/agent-core`. The
|
|
111
|
+
agent-agnostic CaP-X session adapter remains in `@cuylabs/physical-capx`.
|
|
112
|
+
|
|
113
|
+
The runtime server owns the robotics side: CaP-X checkout, selected YAML
|
|
114
|
+
config, simulator or robot dependencies, CUDA/perception services, model
|
|
115
|
+
assets, output directory, skill-library path, and execution of submitted Python
|
|
116
|
+
programs.
|
|
117
|
+
|
|
118
|
+
This TypeScript package owns only the `agent-core` side: tool creation,
|
|
119
|
+
approval-aware policy-code execution, packaged model guidance, and
|
|
120
|
+
`createCapxAgent(...)`.
|
|
121
|
+
|
|
122
|
+
## Docs
|
|
123
|
+
|
|
124
|
+
- [docs/README.md](./docs/README.md)
|
|
125
|
+
- [docs/agent-core-integration.md](./docs/agent-core-integration.md)
|
|
126
|
+
- [../physical-capx/docs/how-it-works.md](../physical-capx/docs/how-it-works.md)
|
|
127
|
+
for the runtime/session adapter
|
|
128
|
+
- [examples/README.md](./examples/README.md)
|
|
129
|
+
|
|
130
|
+
## License
|
|
131
|
+
|
|
132
|
+
Apache-2.0
|
package/dist/agent.d.ts
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
1
|
+
import { Agent, createAgent } from '@cuylabs/agent-core';
|
|
2
|
+
import { PhysicalSessionStartOptions } from '@cuylabs/physical-core';
|
|
3
|
+
import { CapxSession, CapxSessionOptions } from '@cuylabs/physical-capx';
|
|
4
|
+
import { createCapxPhysicalTools } from './tools.js';
|
|
5
|
+
import '@cuylabs/agent-core/tool';
|
|
6
|
+
import '@cuylabs/physical-agent-core';
|
|
7
|
+
|
|
8
|
+
type AgentConstructionConfig = Parameters<typeof createAgent>[0];
|
|
9
|
+
declare const capxAgentSkillRoot: string;
|
|
10
|
+
declare const defaultCapxAgentSystemPrompt: string;
|
|
11
|
+
declare const defaultCapxAgentApproval: NonNullable<AgentConstructionConfig["approval"]>;
|
|
12
|
+
interface CreateCapxAgentOptions extends Omit<AgentConstructionConfig, "name" | "systemPrompt" | "tools"> {
|
|
13
|
+
/**
|
|
14
|
+
* Existing CaP-X session. Use this when another owner creates the session.
|
|
15
|
+
*/
|
|
16
|
+
session?: CapxSession;
|
|
17
|
+
/**
|
|
18
|
+
* Options used to create a CaP-X session. Required when session is omitted.
|
|
19
|
+
*/
|
|
20
|
+
sessionOptions?: CapxSessionOptions;
|
|
21
|
+
/**
|
|
22
|
+
* Start the CaP-X session before returning. Defaults to false because
|
|
23
|
+
* creating a live runtime session is an external side effect.
|
|
24
|
+
*/
|
|
25
|
+
startSession?: boolean;
|
|
26
|
+
/**
|
|
27
|
+
* Optional task metadata for session.start().
|
|
28
|
+
*/
|
|
29
|
+
startOptions?: PhysicalSessionStartOptions;
|
|
30
|
+
/**
|
|
31
|
+
* Prefix for generated CaP-X tools. Defaults to "capx".
|
|
32
|
+
*/
|
|
33
|
+
toolPrefix?: string;
|
|
34
|
+
/**
|
|
35
|
+
* Extra app-specific tools to expose alongside the CaP-X tools.
|
|
36
|
+
*/
|
|
37
|
+
tools?: AgentConstructionConfig["tools"];
|
|
38
|
+
/**
|
|
39
|
+
* Agent name. Defaults to "capx-physical-agent".
|
|
40
|
+
*/
|
|
41
|
+
name?: string;
|
|
42
|
+
/**
|
|
43
|
+
* System prompt. Defaults to a CaP-X supervision prompt.
|
|
44
|
+
*/
|
|
45
|
+
systemPrompt?: string;
|
|
46
|
+
/**
|
|
47
|
+
* Include the packaged agent-core skill that teaches the agent how to use
|
|
48
|
+
* CaP-X runtime tools. Defaults to true.
|
|
49
|
+
*/
|
|
50
|
+
includeDefaultSkill?: boolean;
|
|
51
|
+
}
|
|
52
|
+
interface CapxAgent {
|
|
53
|
+
agent: Agent;
|
|
54
|
+
session: CapxSession;
|
|
55
|
+
tools: ReturnType<typeof createCapxPhysicalTools>;
|
|
56
|
+
}
|
|
57
|
+
declare function createCapxAgent(options: CreateCapxAgentOptions): Promise<CapxAgent>;
|
|
58
|
+
|
|
59
|
+
export { type CapxAgent, type CreateCapxAgentOptions, capxAgentSkillRoot, createCapxAgent, defaultCapxAgentApproval, defaultCapxAgentSystemPrompt };
|
package/dist/agent.js
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
1
|
+
import {
|
|
2
|
+
capxAgentSkillRoot,
|
|
3
|
+
createCapxAgent,
|
|
4
|
+
defaultCapxAgentApproval,
|
|
5
|
+
defaultCapxAgentSystemPrompt
|
|
6
|
+
} from "./chunk-U6REPGPH.js";
|
|
7
|
+
import "./chunk-57TF3E2Q.js";
|
|
8
|
+
export {
|
|
9
|
+
capxAgentSkillRoot,
|
|
10
|
+
createCapxAgent,
|
|
11
|
+
defaultCapxAgentApproval,
|
|
12
|
+
defaultCapxAgentSystemPrompt
|
|
13
|
+
};
|
|
14
|
+
//# sourceMappingURL=agent.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"sources":[],"sourcesContent":[],"mappings":"","names":[]}
|
|
@@ -0,0 +1,61 @@
|
|
|
1
|
+
// src/tools.ts
|
|
2
|
+
import { Tool } from "@cuylabs/agent-core/tool";
|
|
3
|
+
import {
|
|
4
|
+
createPhysicalSessionTools
|
|
5
|
+
} from "@cuylabs/physical-agent-core";
|
|
6
|
+
import { CapxSession } from "@cuylabs/physical-capx";
|
|
7
|
+
import { z } from "zod";
|
|
8
|
+
function createCapxPhysicalTools(session, options = {}) {
|
|
9
|
+
const tools = createPhysicalSessionTools(session, {
|
|
10
|
+
prefix: "capx",
|
|
11
|
+
...options
|
|
12
|
+
});
|
|
13
|
+
if (session instanceof CapxSession && session.options.policyExecutionMode === "live-runtime") {
|
|
14
|
+
tools.push(createCapxTurnHistoryTool(session, options));
|
|
15
|
+
}
|
|
16
|
+
return tools;
|
|
17
|
+
}
|
|
18
|
+
function capxToolName(name, options) {
|
|
19
|
+
return `${options?.prefix ?? "capx"}_${name}`;
|
|
20
|
+
}
|
|
21
|
+
function createCapxTurnHistoryTool(session, options) {
|
|
22
|
+
return Tool.define(
|
|
23
|
+
capxToolName("turn_history", options),
|
|
24
|
+
{
|
|
25
|
+
description: "List policy-code turns executed through the live CaP-X runtime session.",
|
|
26
|
+
parameters: z.object({}),
|
|
27
|
+
capabilities: {
|
|
28
|
+
parallelSafe: true,
|
|
29
|
+
readOnly: true,
|
|
30
|
+
riskLevel: "safe"
|
|
31
|
+
},
|
|
32
|
+
execute: async () => {
|
|
33
|
+
const turns = await session.getRuntimeTurnHistory();
|
|
34
|
+
return {
|
|
35
|
+
title: "CaP-X Turn History",
|
|
36
|
+
output: turns.length === 0 ? "No CaP-X runtime turns have executed yet." : `${turns.length} CaP-X runtime turn(s).`,
|
|
37
|
+
metadata: {
|
|
38
|
+
physical: {
|
|
39
|
+
sessionId: session.id
|
|
40
|
+
},
|
|
41
|
+
capx: {
|
|
42
|
+
turns
|
|
43
|
+
}
|
|
44
|
+
}
|
|
45
|
+
};
|
|
46
|
+
}
|
|
47
|
+
},
|
|
48
|
+
{
|
|
49
|
+
capabilitiesHint: {
|
|
50
|
+
parallelSafe: true,
|
|
51
|
+
readOnly: true,
|
|
52
|
+
riskLevel: "safe"
|
|
53
|
+
}
|
|
54
|
+
}
|
|
55
|
+
);
|
|
56
|
+
}
|
|
57
|
+
|
|
58
|
+
export {
|
|
59
|
+
createCapxPhysicalTools
|
|
60
|
+
};
|
|
61
|
+
//# sourceMappingURL=chunk-57TF3E2Q.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"sources":["../src/tools.ts"],"sourcesContent":["import { Tool } from \"@cuylabs/agent-core/tool\";\nimport {\n createPhysicalSessionTools,\n type PhysicalToolOptions,\n} from \"@cuylabs/physical-agent-core\";\nimport type { PhysicalSession } from \"@cuylabs/physical-core\";\nimport { CapxSession } from \"@cuylabs/physical-capx\";\nimport { z } from \"zod\";\n\nexport function createCapxPhysicalTools(\n session: PhysicalSession | CapxSession,\n options: PhysicalToolOptions = {},\n) {\n const tools = createPhysicalSessionTools(session, {\n prefix: \"capx\",\n ...options,\n });\n if (\n session instanceof CapxSession &&\n session.options.policyExecutionMode === \"live-runtime\"\n ) {\n tools.push(createCapxTurnHistoryTool(session, options));\n }\n return tools;\n}\n\nfunction capxToolName(name: string, options?: PhysicalToolOptions): string {\n return `${options?.prefix ?? \"capx\"}_${name}`;\n}\n\nfunction createCapxTurnHistoryTool(\n session: CapxSession,\n options?: PhysicalToolOptions,\n) {\n return Tool.define(\n capxToolName(\"turn_history\", options),\n {\n description:\n \"List policy-code turns executed through the live CaP-X runtime session.\",\n parameters: z.object({}),\n capabilities: {\n parallelSafe: true,\n readOnly: true,\n riskLevel: \"safe\",\n },\n execute: async () => {\n const turns = await session.getRuntimeTurnHistory();\n return {\n title: \"CaP-X Turn History\",\n output:\n turns.length === 0\n ? \"No CaP-X runtime turns have executed yet.\"\n : `${turns.length} CaP-X runtime turn(s).`,\n metadata: {\n physical: {\n sessionId: session.id,\n },\n capx: {\n turns,\n },\n },\n };\n },\n },\n {\n capabilitiesHint: {\n parallelSafe: true,\n readOnly: true,\n riskLevel: \"safe\",\n },\n },\n );\n}\n"],"mappings":";AAAA,SAAS,YAAY;AACrB;AAAA,EACE;AAAA,OAEK;AAEP,SAAS,mBAAmB;AAC5B,SAAS,SAAS;AAEX,SAAS,wBACd,SACA,UAA+B,CAAC,GAChC;AACA,QAAM,QAAQ,2BAA2B,SAAS;AAAA,IAChD,QAAQ;AAAA,IACR,GAAG;AAAA,EACL,CAAC;AACD,MACE,mBAAmB,eACnB,QAAQ,QAAQ,wBAAwB,gBACxC;AACA,UAAM,KAAK,0BAA0B,SAAS,OAAO,CAAC;AAAA,EACxD;AACA,SAAO;AACT;AAEA,SAAS,aAAa,MAAc,SAAuC;AACzE,SAAO,GAAG,SAAS,UAAU,MAAM,IAAI,IAAI;AAC7C;AAEA,SAAS,0BACP,SACA,SACA;AACA,SAAO,KAAK;AAAA,IACV,aAAa,gBAAgB,OAAO;AAAA,IACpC;AAAA,MACE,aACE;AAAA,MACF,YAAY,EAAE,OAAO,CAAC,CAAC;AAAA,MACvB,cAAc;AAAA,QACZ,cAAc;AAAA,QACd,UAAU;AAAA,QACV,WAAW;AAAA,MACb;AAAA,MACA,SAAS,YAAY;AACnB,cAAM,QAAQ,MAAM,QAAQ,sBAAsB;AAClD,eAAO;AAAA,UACL,OAAO;AAAA,UACP,QACE,MAAM,WAAW,IACb,8CACA,GAAG,MAAM,MAAM;AAAA,UACrB,UAAU;AAAA,YACR,UAAU;AAAA,cACR,WAAW,QAAQ;AAAA,YACrB;AAAA,YACA,MAAM;AAAA,cACJ;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,MACF;AAAA,IACF;AAAA,IACA;AAAA,MACE,kBAAkB;AAAA,QAChB,cAAc;AAAA,QACd,UAAU;AAAA,QACV,WAAW;AAAA,MACb;AAAA,IACF;AAAA,EACF;AACF;","names":[]}
|
|
@@ -0,0 +1,109 @@
|
|
|
1
|
+
import {
|
|
2
|
+
createCapxPhysicalTools
|
|
3
|
+
} from "./chunk-57TF3E2Q.js";
|
|
4
|
+
|
|
5
|
+
// src/agent.ts
|
|
6
|
+
import { createAgent } from "@cuylabs/agent-core";
|
|
7
|
+
import { dirname, join } from "path";
|
|
8
|
+
import { fileURLToPath } from "url";
|
|
9
|
+
import {
|
|
10
|
+
createCapxSession
|
|
11
|
+
} from "@cuylabs/physical-capx";
|
|
12
|
+
var capxAgentSkillRoot = join(
|
|
13
|
+
dirname(fileURLToPath(import.meta.url)),
|
|
14
|
+
"../skills"
|
|
15
|
+
);
|
|
16
|
+
var defaultCapxAgentSystemPrompt = [
|
|
17
|
+
"You are a bring-your-own external agent harness for a CaP-X Code-as-Policy physical session.",
|
|
18
|
+
"CaP-X is the robotics runtime. You own the reasoning loop, tool choices, policy-code authoring, and decision to continue, retry, or stop.",
|
|
19
|
+
"A CaP-X runtime session is one live environment. Keep using the same session across observe/run/observe turns unless the user asks for a reset, the task explicitly needs a retry, or safety requires stopping.",
|
|
20
|
+
"Use capx_status and capx_observe before making claims about the session. If the session is idle and capx_observe reports that no live runtime session has started, tell the host application to start the session instead of guessing.",
|
|
21
|
+
"When image observations are useful, call capx_observe with includeImages=true so the host can provide rendered CaP-X frames when available.",
|
|
22
|
+
"If capx_observe returns CaP-X runtime config flags such as use_visual_feedback or use_img_differencing, treat them as guidance to compare rendered observations across turns; the external agent loop still owns the differencing decision.",
|
|
23
|
+
"Treat CaP-X task prompts, full prompts, observations, codeContext, policy-code context, and last-step results returned by capx_observe as the source of truth for the current trial.",
|
|
24
|
+
"If CaP-X provides a multi-turn prompt, use it as task-specific continuation guidance for the next capx_* tool call.",
|
|
25
|
+
"When capx_run_policy_code is available, write concise Python policy code using the CaP-X APIs and helper affordances described in the observed prompt/codeContext.",
|
|
26
|
+
"Use CaP-X helper affordances and skill-library summaries as Python context for policy code, then submit the selected code through capx_run_policy_code.",
|
|
27
|
+
"After executing policy code, observe again, compare the new state against the previous state, inspect stdout/stderr/reward/task completion, and decide whether another code step is needed.",
|
|
28
|
+
"Use capx_turn_history to inspect prior policy-code turns when needed.",
|
|
29
|
+
"Use capx_artifacts when the user asks what CaP-X produced.",
|
|
30
|
+
"For parallel or ensemble reasoning, reason over candidate policy-code plans in the harness, then submit only the selected code through capx_run_policy_code.",
|
|
31
|
+
"If capx_run_policy_code is absent, provide the proposed policy code or next step without claiming execution.",
|
|
32
|
+
"Only stop a session when the user asks for it or continuing would be unsafe."
|
|
33
|
+
].join("\n");
|
|
34
|
+
var defaultCapxAgentApproval = {
|
|
35
|
+
defaultAction: "deny"
|
|
36
|
+
};
|
|
37
|
+
function resolveSession(options) {
|
|
38
|
+
if (options.session && options.sessionOptions) {
|
|
39
|
+
throw new Error(
|
|
40
|
+
"createCapxAgent accepts either session or sessionOptions, not both."
|
|
41
|
+
);
|
|
42
|
+
}
|
|
43
|
+
if (options.session) {
|
|
44
|
+
return options.session;
|
|
45
|
+
}
|
|
46
|
+
if (!options.sessionOptions) {
|
|
47
|
+
throw new Error(
|
|
48
|
+
"createCapxAgent requires either an existing session or sessionOptions."
|
|
49
|
+
);
|
|
50
|
+
}
|
|
51
|
+
return createCapxSession(options.sessionOptions);
|
|
52
|
+
}
|
|
53
|
+
function withDefaultCapxSkill(prompt, includeDefaultSkill) {
|
|
54
|
+
if (!includeDefaultSkill) {
|
|
55
|
+
return prompt;
|
|
56
|
+
}
|
|
57
|
+
const roots = prompt?.skills?.roots ?? [];
|
|
58
|
+
return {
|
|
59
|
+
...prompt,
|
|
60
|
+
skills: {
|
|
61
|
+
...prompt?.skills,
|
|
62
|
+
roots: roots.includes(capxAgentSkillRoot) ? roots : [...roots, capxAgentSkillRoot]
|
|
63
|
+
}
|
|
64
|
+
};
|
|
65
|
+
}
|
|
66
|
+
async function createCapxAgent(options) {
|
|
67
|
+
const {
|
|
68
|
+
session: _session,
|
|
69
|
+
sessionOptions: _sessionOptions,
|
|
70
|
+
startSession = false,
|
|
71
|
+
startOptions,
|
|
72
|
+
toolPrefix = "capx",
|
|
73
|
+
tools = [],
|
|
74
|
+
name = "capx-physical-agent",
|
|
75
|
+
systemPrompt = defaultCapxAgentSystemPrompt,
|
|
76
|
+
includeDefaultSkill = true,
|
|
77
|
+
approval,
|
|
78
|
+
prompt,
|
|
79
|
+
toolExecutionMode,
|
|
80
|
+
...agentOptions
|
|
81
|
+
} = options;
|
|
82
|
+
const session = resolveSession(options);
|
|
83
|
+
if (startSession) {
|
|
84
|
+
await session.start(startOptions);
|
|
85
|
+
}
|
|
86
|
+
const capxTools = createCapxPhysicalTools(session, { prefix: toolPrefix });
|
|
87
|
+
const agent = createAgent({
|
|
88
|
+
...agentOptions,
|
|
89
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+
name,
|
|
90
|
+
systemPrompt,
|
|
91
|
+
tools: [...capxTools, ...tools],
|
|
92
|
+
prompt: withDefaultCapxSkill(prompt, includeDefaultSkill),
|
|
93
|
+
toolExecutionMode: toolExecutionMode ?? "plan",
|
|
94
|
+
approval: approval ?? { ...defaultCapxAgentApproval }
|
|
95
|
+
});
|
|
96
|
+
return {
|
|
97
|
+
agent,
|
|
98
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+
session,
|
|
99
|
+
tools: capxTools
|
|
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|
+
};
|
|
101
|
+
}
|
|
102
|
+
|
|
103
|
+
export {
|
|
104
|
+
capxAgentSkillRoot,
|
|
105
|
+
defaultCapxAgentSystemPrompt,
|
|
106
|
+
defaultCapxAgentApproval,
|
|
107
|
+
createCapxAgent
|
|
108
|
+
};
|
|
109
|
+
//# sourceMappingURL=chunk-U6REPGPH.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"sources":["../src/agent.ts"],"sourcesContent":["import { createAgent, type Agent } from \"@cuylabs/agent-core\";\nimport type { PhysicalSessionStartOptions } from \"@cuylabs/physical-core\";\nimport { dirname, join } from \"node:path\";\nimport { fileURLToPath } from \"node:url\";\nimport {\n CapxSession,\n createCapxSession,\n type CapxSessionOptions,\n} from \"@cuylabs/physical-capx\";\nimport { createCapxPhysicalTools } from \"./tools.js\";\n\ntype AgentConstructionConfig = Parameters<typeof createAgent>[0];\n\nexport const capxAgentSkillRoot = join(\n dirname(fileURLToPath(import.meta.url)),\n \"../skills\",\n);\n\nexport const defaultCapxAgentSystemPrompt = [\n \"You are a bring-your-own external agent harness for a CaP-X Code-as-Policy physical session.\",\n \"CaP-X is the robotics runtime. You own the reasoning loop, tool choices, policy-code authoring, and decision to continue, retry, or stop.\",\n \"A CaP-X runtime session is one live environment. Keep using the same session across observe/run/observe turns unless the user asks for a reset, the task explicitly needs a retry, or safety requires stopping.\",\n \"Use capx_status and capx_observe before making claims about the session. If the session is idle and capx_observe reports that no live runtime session has started, tell the host application to start the session instead of guessing.\",\n \"When image observations are useful, call capx_observe with includeImages=true so the host can provide rendered CaP-X frames when available.\",\n \"If capx_observe returns CaP-X runtime config flags such as use_visual_feedback or use_img_differencing, treat them as guidance to compare rendered observations across turns; the external agent loop still owns the differencing decision.\",\n \"Treat CaP-X task prompts, full prompts, observations, codeContext, policy-code context, and last-step results returned by capx_observe as the source of truth for the current trial.\",\n \"If CaP-X provides a multi-turn prompt, use it as task-specific continuation guidance for the next capx_* tool call.\",\n \"When capx_run_policy_code is available, write concise Python policy code using the CaP-X APIs and helper affordances described in the observed prompt/codeContext.\",\n \"Use CaP-X helper affordances and skill-library summaries as Python context for policy code, then submit the selected code through capx_run_policy_code.\",\n \"After executing policy code, observe again, compare the new state against the previous state, inspect stdout/stderr/reward/task completion, and decide whether another code step is needed.\",\n \"Use capx_turn_history to inspect prior policy-code turns when needed.\",\n \"Use capx_artifacts when the user asks what CaP-X produced.\",\n \"For parallel or ensemble reasoning, reason over candidate policy-code plans in the harness, then submit only the selected code through capx_run_policy_code.\",\n \"If capx_run_policy_code is absent, provide the proposed policy code or next step without claiming execution.\",\n \"Only stop a session when the user asks for it or continuing would be unsafe.\",\n].join(\"\\n\");\n\nexport const defaultCapxAgentApproval: NonNullable<\n AgentConstructionConfig[\"approval\"]\n> = {\n defaultAction: \"deny\",\n};\n\nexport interface CreateCapxAgentOptions extends Omit<\n AgentConstructionConfig,\n \"name\" | \"systemPrompt\" | \"tools\"\n> {\n /**\n * Existing CaP-X session. Use this when another owner creates the session.\n */\n session?: CapxSession;\n /**\n * Options used to create a CaP-X session. Required when session is omitted.\n */\n sessionOptions?: CapxSessionOptions;\n /**\n * Start the CaP-X session before returning. Defaults to false because\n * creating a live runtime session is an external side effect.\n */\n startSession?: boolean;\n /**\n * Optional task metadata for session.start().\n */\n startOptions?: PhysicalSessionStartOptions;\n /**\n * Prefix for generated CaP-X tools. Defaults to \"capx\".\n */\n toolPrefix?: string;\n /**\n * Extra app-specific tools to expose alongside the CaP-X tools.\n */\n tools?: AgentConstructionConfig[\"tools\"];\n /**\n * Agent name. Defaults to \"capx-physical-agent\".\n */\n name?: string;\n /**\n * System prompt. Defaults to a CaP-X supervision prompt.\n */\n systemPrompt?: string;\n /**\n * Include the packaged agent-core skill that teaches the agent how to use\n * CaP-X runtime tools. Defaults to true.\n */\n includeDefaultSkill?: boolean;\n}\n\nexport interface CapxAgent {\n agent: Agent;\n session: CapxSession;\n tools: ReturnType<typeof createCapxPhysicalTools>;\n}\n\nfunction resolveSession(options: CreateCapxAgentOptions): CapxSession {\n if (options.session && options.sessionOptions) {\n throw new Error(\n \"createCapxAgent accepts either session or sessionOptions, not both.\",\n );\n }\n if (options.session) {\n return options.session;\n }\n if (!options.sessionOptions) {\n throw new Error(\n \"createCapxAgent requires either an existing session or sessionOptions.\",\n );\n }\n return createCapxSession(options.sessionOptions);\n}\n\nfunction withDefaultCapxSkill(\n prompt: AgentConstructionConfig[\"prompt\"],\n includeDefaultSkill: boolean,\n): AgentConstructionConfig[\"prompt\"] {\n if (!includeDefaultSkill) {\n return prompt;\n }\n\n const roots = prompt?.skills?.roots ?? [];\n return {\n ...prompt,\n skills: {\n ...prompt?.skills,\n roots: roots.includes(capxAgentSkillRoot)\n ? roots\n : [...roots, capxAgentSkillRoot],\n },\n };\n}\n\nexport async function createCapxAgent(\n options: CreateCapxAgentOptions,\n): Promise<CapxAgent> {\n const {\n session: _session,\n sessionOptions: _sessionOptions,\n startSession = false,\n startOptions,\n toolPrefix = \"capx\",\n tools = [],\n name = \"capx-physical-agent\",\n systemPrompt = defaultCapxAgentSystemPrompt,\n includeDefaultSkill = true,\n approval,\n prompt,\n toolExecutionMode,\n ...agentOptions\n } = options;\n const session = resolveSession(options);\n\n if (startSession) {\n await session.start(startOptions);\n }\n\n const capxTools = createCapxPhysicalTools(session, { prefix: toolPrefix });\n const agent = createAgent({\n ...agentOptions,\n name,\n systemPrompt,\n tools: [...capxTools, ...tools],\n prompt: withDefaultCapxSkill(prompt, includeDefaultSkill),\n toolExecutionMode: toolExecutionMode ?? \"plan\",\n approval: approval ?? { ...defaultCapxAgentApproval },\n });\n\n return {\n agent,\n session,\n tools: capxTools,\n };\n}\n"],"mappings":";;;;;AAAA,SAAS,mBAA+B;AAExC,SAAS,SAAS,YAAY;AAC9B,SAAS,qBAAqB;AAC9B;AAAA,EAEE;AAAA,OAEK;AAKA,IAAM,qBAAqB;AAAA,EAChC,QAAQ,cAAc,YAAY,GAAG,CAAC;AAAA,EACtC;AACF;AAEO,IAAM,+BAA+B;AAAA,EAC1C;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,EACA;AACF,EAAE,KAAK,IAAI;AAEJ,IAAM,2BAET;AAAA,EACF,eAAe;AACjB;AAoDA,SAAS,eAAe,SAA8C;AACpE,MAAI,QAAQ,WAAW,QAAQ,gBAAgB;AAC7C,UAAM,IAAI;AAAA,MACR;AAAA,IACF;AAAA,EACF;AACA,MAAI,QAAQ,SAAS;AACnB,WAAO,QAAQ;AAAA,EACjB;AACA,MAAI,CAAC,QAAQ,gBAAgB;AAC3B,UAAM,IAAI;AAAA,MACR;AAAA,IACF;AAAA,EACF;AACA,SAAO,kBAAkB,QAAQ,cAAc;AACjD;AAEA,SAAS,qBACP,QACA,qBACmC;AACnC,MAAI,CAAC,qBAAqB;AACxB,WAAO;AAAA,EACT;AAEA,QAAM,QAAQ,QAAQ,QAAQ,SAAS,CAAC;AACxC,SAAO;AAAA,IACL,GAAG;AAAA,IACH,QAAQ;AAAA,MACN,GAAG,QAAQ;AAAA,MACX,OAAO,MAAM,SAAS,kBAAkB,IACpC,QACA,CAAC,GAAG,OAAO,kBAAkB;AAAA,IACnC;AAAA,EACF;AACF;AAEA,eAAsB,gBACpB,SACoB;AACpB,QAAM;AAAA,IACJ,SAAS;AAAA,IACT,gBAAgB;AAAA,IAChB,eAAe;AAAA,IACf;AAAA,IACA,aAAa;AAAA,IACb,QAAQ,CAAC;AAAA,IACT,OAAO;AAAA,IACP,eAAe;AAAA,IACf,sBAAsB;AAAA,IACtB;AAAA,IACA;AAAA,IACA;AAAA,IACA,GAAG;AAAA,EACL,IAAI;AACJ,QAAM,UAAU,eAAe,OAAO;AAEtC,MAAI,cAAc;AAChB,UAAM,QAAQ,MAAM,YAAY;AAAA,EAClC;AAEA,QAAM,YAAY,wBAAwB,SAAS,EAAE,QAAQ,WAAW,CAAC;AACzE,QAAM,QAAQ,YAAY;AAAA,IACxB,GAAG;AAAA,IACH;AAAA,IACA;AAAA,IACA,OAAO,CAAC,GAAG,WAAW,GAAG,KAAK;AAAA,IAC9B,QAAQ,qBAAqB,QAAQ,mBAAmB;AAAA,IACxD,mBAAmB,qBAAqB;AAAA,IACxC,UAAU,YAAY,EAAE,GAAG,yBAAyB;AAAA,EACtD,CAAC;AAED,SAAO;AAAA,IACL;AAAA,IACA;AAAA,IACA,OAAO;AAAA,EACT;AACF;","names":[]}
|
package/dist/index.d.ts
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
1
|
+
export { CapxAgent, CreateCapxAgentOptions, capxAgentSkillRoot, createCapxAgent, defaultCapxAgentApproval, defaultCapxAgentSystemPrompt } from './agent.js';
|
|
2
|
+
export { CapxArtifactDiscoveryOptions, CapxLiveRuntime, CapxPolicyExecutionMode, CapxRunMode, CapxSession, CapxSessionOptions, RuntimeCodeAffordance, RuntimeCodeContext, RuntimeExecutionResult, RuntimeFrame, RuntimeObservation, RuntimeSkillExtraction, RuntimeSkillInjection, RuntimeSkillLibrary, RuntimeTurn, createCapxSession, discoverCapxArtifacts } from '@cuylabs/physical-capx';
|
|
3
|
+
export { createCapxPhysicalTools } from './tools.js';
|
|
4
|
+
import '@cuylabs/agent-core';
|
|
5
|
+
import '@cuylabs/physical-core';
|
|
6
|
+
import '@cuylabs/agent-core/tool';
|
|
7
|
+
import '@cuylabs/physical-agent-core';
|
package/dist/index.js
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
1
|
+
import {
|
|
2
|
+
capxAgentSkillRoot,
|
|
3
|
+
createCapxAgent,
|
|
4
|
+
defaultCapxAgentApproval,
|
|
5
|
+
defaultCapxAgentSystemPrompt
|
|
6
|
+
} from "./chunk-U6REPGPH.js";
|
|
7
|
+
import {
|
|
8
|
+
createCapxPhysicalTools
|
|
9
|
+
} from "./chunk-57TF3E2Q.js";
|
|
10
|
+
|
|
11
|
+
// src/index.ts
|
|
12
|
+
import {
|
|
13
|
+
discoverCapxArtifacts,
|
|
14
|
+
CapxLiveRuntime,
|
|
15
|
+
CapxSession,
|
|
16
|
+
createCapxSession
|
|
17
|
+
} from "@cuylabs/physical-capx";
|
|
18
|
+
export {
|
|
19
|
+
CapxLiveRuntime,
|
|
20
|
+
CapxSession,
|
|
21
|
+
capxAgentSkillRoot,
|
|
22
|
+
createCapxAgent,
|
|
23
|
+
createCapxPhysicalTools,
|
|
24
|
+
createCapxSession,
|
|
25
|
+
defaultCapxAgentApproval,
|
|
26
|
+
defaultCapxAgentSystemPrompt,
|
|
27
|
+
discoverCapxArtifacts
|
|
28
|
+
};
|
|
29
|
+
//# sourceMappingURL=index.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"sources":["../src/index.ts"],"sourcesContent":["export {\n capxAgentSkillRoot,\n createCapxAgent,\n defaultCapxAgentApproval,\n defaultCapxAgentSystemPrompt,\n type CapxAgent,\n type CreateCapxAgentOptions,\n} from \"./agent.js\";\nexport {\n discoverCapxArtifacts,\n CapxLiveRuntime,\n CapxSession,\n createCapxSession,\n type RuntimeCodeAffordance,\n type RuntimeCodeContext,\n type RuntimeExecutionResult,\n type RuntimeFrame,\n type RuntimeObservation,\n type RuntimeSkillExtraction,\n type RuntimeSkillInjection,\n type RuntimeSkillLibrary,\n type RuntimeTurn,\n} from \"@cuylabs/physical-capx\";\nexport { createCapxPhysicalTools } from \"./tools.js\";\nexport type {\n CapxArtifactDiscoveryOptions,\n CapxPolicyExecutionMode,\n CapxRunMode,\n CapxSessionOptions,\n} from \"@cuylabs/physical-capx\";\n"],"mappings":";;;;;;;;;;;AAQA;AAAA,EACE;AAAA,EACA;AAAA,EACA;AAAA,EACA;AAAA,OAUK;","names":[]}
|