@cuylabs/physical-core 0.1.1

package/LICENSE

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package/README.md

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+# @cuylabs/physical-core
+
+Agent-agnostic physical AI contracts.
+
+This package defines shared TypeScript shapes for physical sessions,
+observations, artifacts, capabilities, safety policy, execution traces, and
+task outcomes. It does not depend on an agent runtime.
+
+It is intentionally backend-neutral. It gives applications a common vocabulary
+for simulator and hardware sessions while backend packages connect those
+contracts to concrete robotics frameworks, runtime services, middleware, and
+hardware stacks.
+
+`@cuylabs/physical-core` is not a robotics runtime and it is not a replacement
+for a backend's native environment. It defines the common contract for
+observing a physical session, inspecting artifacts, describing capabilities,
+capturing execution traces, and carrying safety metadata across higher-level
+agent or workflow systems.
+
+## Install
+
+```bash
+npm install @cuylabs/physical-core
+```
+
+## Use
+
+```typescript
+import type { PhysicalSession } from "@cuylabs/physical-core";
+
+const session: PhysicalSession = await createYourPhysicalSession();
+const state = await session.getState();
+```
+
+## Package Boundary
+
+Use this package when you need:
+
+- a common `PhysicalSession` interface for simulator and hardware backends
+- typed observations, artifacts, execution traces, and task outcomes
+- safety metadata that can be consumed by host applications, approval systems,
+  and UIs
+- backend-neutral contracts that do not depend on any agent runtime
+
+Do not put backend-specific launchers, prompts, simulators, perception models,
+robot APIs, or model-facing tools here. Those belong in runtime packages such
+as `@cuylabs/physical-capx` or binding packages such as
+`@cuylabs/physical-agent-core`.
+
+## Mental Model
+
+A physical integration has three layers:
+
+1. The host or agent harness decides what to do next.
+2. The physical adapter translates shared session calls into a concrete
+   robotics backend.
+3. The robotics backend owns the simulator, robot, sensors, task state, and
+   low-level execution.
+
+`@cuylabs/physical-core` is the middle contract. It makes physical state and
+side-effecting actions legible to higher-level software without forcing every
+robotics backend to expose the same native APIs.
+
+## Boundary
+
+This package owns reusable physical AI vocabulary. Agent-runtime tools belong in
+binding packages such as `@cuylabs/physical-agent-core`. Backend-specific
+runtime clients belong in packages such as `@cuylabs/physical-capx`.
+
+## Docs
+
+- [docs/README.md](./docs/README.md) for the documentation map
+- [docs/architecture.md](./docs/architecture.md) for package boundaries
+- [docs/safety.md](./docs/safety.md) for approval and replay expectations
+
+## License
+
+Apache-2.0

package/dist/index.d.ts

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+type PhysicalRiskLevel = "safe" | "low" | "medium" | "high" | "dangerous";
+type PhysicalSessionStatus = "idle" | "starting" | "ready" | "running" | "awaiting-input" | "complete" | "stopping" | "stopped" | "error";
+type PhysicalExecutionMode = "simulation" | "hardware" | "hybrid" | "unknown";
+type PhysicalObservationKind = "rgb" | "depth" | "point-cloud" | "joint-state" | "pose" | "text" | "video" | "artifact";
+type PhysicalFrame = "world" | "robot-base" | "camera" | "tool" | string;
+interface PhysicalVector3 {
+    x: number;
+    y: number;
+    z: number;
+}
+interface PhysicalQuaternionWxyz {
+    w: number;
+    x: number;
+    y: number;
+    z: number;
+}
+interface PhysicalPose {
+    position: PhysicalVector3;
+    orientation?: PhysicalQuaternionWxyz;
+    frame?: PhysicalFrame;
+}
+interface PhysicalImageObservation {
+    kind: "rgb" | "depth";
+    source: string;
+    width?: number;
+    height?: number;
+    mimeType?: string;
+    dataUrl?: string;
+    uri?: string;
+    frame?: PhysicalFrame;
+    timestamp?: number;
+}
+interface PhysicalTextObservation {
+    kind: "text";
+    source: string;
+    text: string;
+    timestamp?: number;
+}
+interface PhysicalStructuredObservation {
+    kind: Exclude<PhysicalObservationKind, "rgb" | "depth" | "text">;
+    source: string;
+    data: unknown;
+    frame?: PhysicalFrame;
+    timestamp?: number;
+}
+type PhysicalObservationItem = PhysicalImageObservation | PhysicalTextObservation | PhysicalStructuredObservation;
+interface PhysicalObservation {
+    sessionId: string;
+    status?: PhysicalSessionStatus;
+    taskId?: string;
+    summary?: string;
+    items: PhysicalObservationItem[];
+    metadata?: Record<string, unknown>;
+    timestamp: number;
+}
+interface PhysicalTaskSpec {
+    id: string;
+    description: string;
+    goal?: string;
+    environment?: string;
+    mode?: PhysicalExecutionMode;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalSafetyPolicy {
+    riskLevel?: PhysicalRiskLevel;
+    requiresApproval?: boolean;
+    requiresHumanPresence?: boolean;
+    allowedModes?: PhysicalExecutionMode[];
+    emergencyStopRequired?: boolean;
+    notes?: string[];
+}
+interface PhysicalCapability {
+    name: string;
+    description: string;
+    safety?: PhysicalSafetyPolicy;
+    inputSchema?: unknown;
+    outputSchema?: unknown;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalExecutionRequest {
+    code: string;
+    language?: "python" | "typescript" | "javascript" | string;
+    timeoutMs?: number;
+    dryRun?: boolean;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalOutcome {
+    success: boolean;
+    reward?: number;
+    taskCompleted?: boolean;
+    terminated?: boolean;
+    truncated?: boolean;
+    reason?: string;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalArtifact {
+    id: string;
+    kind: "code" | "log" | "image" | "video" | "json" | "directory" | "other";
+    uri: string;
+    label?: string;
+    mimeType?: string;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalExecutionTrace {
+    id: string;
+    startedAt: number;
+    completedAt?: number;
+    request?: PhysicalExecutionRequest;
+    stdout?: string;
+    stderr?: string;
+    observations?: PhysicalObservation[];
+    artifacts?: PhysicalArtifact[];
+    outcome?: PhysicalOutcome;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalSessionState {
+    sessionId: string;
+    status: PhysicalSessionStatus;
+    task?: PhysicalTaskSpec;
+    mode?: PhysicalExecutionMode;
+    startedAt?: number;
+    updatedAt: number;
+    message?: string;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalSessionStartOptions {
+    task?: PhysicalTaskSpec;
+    metadata?: Record<string, unknown>;
+}
+interface PhysicalObserveOptions {
+    includeImages?: boolean;
+    includeArtifacts?: boolean;
+    maxItems?: number;
+}
+interface PhysicalListArtifactsOptions {
+    kind?: PhysicalArtifact["kind"];
+    limit?: number;
+}
+interface PhysicalSession {
+    readonly id: string;
+    readonly capabilities?: readonly PhysicalCapability[];
+    getState(): Promise<PhysicalSessionState> | PhysicalSessionState;
+    start?(options?: PhysicalSessionStartOptions): Promise<PhysicalSessionState>;
+    reset?(options?: PhysicalSessionStartOptions): Promise<PhysicalSessionState>;
+    observe?(options?: PhysicalObserveOptions): Promise<PhysicalObservation>;
+    executeCode?(request: PhysicalExecutionRequest): Promise<PhysicalExecutionTrace>;
+    listArtifacts?(options?: PhysicalListArtifactsOptions): Promise<PhysicalArtifact[]>;
+    stop(reason?: string): Promise<PhysicalSessionState>;
+}
+interface PhysicalAdapter<TOptions = unknown> {
+    readonly name: string;
+    createSession(options: TOptions): Promise<PhysicalSession> | PhysicalSession;
+}
+interface PhysicalToolMetadata {
+    physical?: {
+        sessionId: string;
+        status?: PhysicalSessionStatus;
+        observation?: PhysicalObservation;
+        trace?: PhysicalExecutionTrace;
+        artifacts?: PhysicalArtifact[];
+        state?: PhysicalSessionState;
+    };
+    [key: string]: unknown;
+}
+
+declare const defaultPhysicalSafetyPolicy: Required<Pick<PhysicalSafetyPolicy, "riskLevel" | "requiresApproval" | "requiresHumanPresence">>;
+declare function normalizePhysicalSafetyPolicy(policy: PhysicalSafetyPolicy | undefined): PhysicalSafetyPolicy;
+declare function isModeAllowed(mode: PhysicalExecutionMode | undefined, policy: PhysicalSafetyPolicy | undefined): boolean;
+declare function describePhysicalState(state: PhysicalSessionState): string;
+
+export { type PhysicalAdapter, type PhysicalArtifact, type PhysicalCapability, type PhysicalExecutionMode, type PhysicalExecutionRequest, type PhysicalExecutionTrace, type PhysicalFrame, type PhysicalImageObservation, type PhysicalListArtifactsOptions, type PhysicalObservation, type PhysicalObservationItem, type PhysicalObservationKind, type PhysicalObserveOptions, type PhysicalOutcome, type PhysicalPose, type PhysicalQuaternionWxyz, type PhysicalRiskLevel, type PhysicalSafetyPolicy, type PhysicalSession, type PhysicalSessionStartOptions, type PhysicalSessionState, type PhysicalSessionStatus, type PhysicalStructuredObservation, type PhysicalTaskSpec, type PhysicalTextObservation, type PhysicalToolMetadata, type PhysicalVector3, defaultPhysicalSafetyPolicy, describePhysicalState, isModeAllowed, normalizePhysicalSafetyPolicy };

package/dist/index.js

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+// 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(", ");
+}
+export {
+  defaultPhysicalSafetyPolicy,
+  describePhysicalState,
+  isModeAllowed,
+  normalizePhysicalSafetyPolicy
+};
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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+{"version":3,"sources":["../src/safety.ts"],"sourcesContent":["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=${state.status}`];\n  if (state.mode) {\n    parts.push(`mode=${state.mode}`);\n  }\n  if (state.task?.id) {\n    parts.push(`task=${state.task.id}`);\n  }\n  if (state.message) {\n    parts.push(`message=${state.message}`);\n  }\n  return parts.join(\", \");\n}\n"],"mappings":";AAMO,IAAM,8BAKT;AAAA,EACF,WAAW;AAAA,EACX,kBAAkB;AAAA,EAClB,uBAAuB;AACzB;AAEO,SAAS,8BACd,QACsB;AACtB,SAAO;AAAA,IACL,GAAG;AAAA,IACH,GAAI,UAAU,CAAC;AAAA,EACjB;AACF;AAEO,SAAS,cACd,MACA,QACS;AACT,MAAI,CAAC,QAAQ,gBAAgB,OAAO,aAAa,WAAW,GAAG;AAC7D,WAAO;AAAA,EACT;AACA,MAAI,CAAC,MAAM;AACT,WAAO;AAAA,EACT;AACA,SAAO,OAAO,aAAa,SAAS,IAAI;AAC1C;AAEO,SAAS,sBAAsB,OAAqC;AACzE,QAAM,QAAQ,CAAC,UAAU,MAAM,MAAM,EAAE;AACvC,MAAI,MAAM,MAAM;AACd,UAAM,KAAK,QAAQ,MAAM,IAAI,EAAE;AAAA,EACjC;AACA,MAAI,MAAM,MAAM,IAAI;AAClB,UAAM,KAAK,QAAQ,MAAM,KAAK,EAAE,EAAE;AAAA,EACpC;AACA,MAAI,MAAM,SAAS;AACjB,UAAM,KAAK,WAAW,MAAM,OAAO,EAAE;AAAA,EACvC;AACA,SAAO,MAAM,KAAK,IAAI;AACxB;","names":[]}

package/docs/README.md

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+# @cuylabs/physical-core Docs
+
+`@cuylabs/physical-core` defines agent-agnostic physical AI contracts.
+
+Use it for shared session, observation, artifact, capability, safety, trace, and
+outcome types. It should not depend on an agent runtime or a concrete robotics
+backend.
+
+Start here:
+
+- [Architecture](./architecture.md) explains the package boundary and why
+  robotics-specific semantics live outside the core contracts.
+- [Safety](./safety.md) describes how physical capabilities should interact
+  with approvals, replay, and stop controls.
+
+## Core Concepts
+
+`PhysicalSession` is the central contract. A session represents one simulator,
+robot, or embodied runtime episode. It can expose status, observation,
+artifacts, optional reset/start operations, optional code execution, and stop
+control.
+
+`PhysicalObservation` is a timestamped set of observation items. Items can be
+images, depth, point clouds, joint state, poses, text summaries, video
+references, or artifacts.
+
+`PhysicalCapability` is descriptive metadata for what a backend can do. It
+exists separately from model-facing tools because physical capabilities need
+safety policy, world-state assumptions, and backend metadata.
+
+`PhysicalExecutionTrace` captures what happened after a policy or command was
+executed: stdout, stderr, observations, artifacts, and outcome.

package/docs/architecture.md

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+# Physical Core Architecture
+
+`@cuylabs/physical-core` keeps physical-world concepts independent from any one
+agent runtime while still making them available to applications that need to
+coordinate embodied systems.
+
+```text
+Application or agent harness
+  -> PhysicalSession
+    -> backend adapter
+      -> simulator, robot, sensors, task state, and artifacts
+```
+
+The shared contract should stay small. It is allowed to know about physical
+sessions, observations, capabilities, traces, outcomes, artifacts, and safety
+policy. It should not know how to launch CaP-X, connect to ROS 2, authenticate
+to a simulator, manage robot hardware, or send joint commands.
+
+The agent or workflow loop stays above this package. A host decides when to
+observe, how to reason over observations, whether to generate policy code,
+whether to ask for approval, and whether to continue or stop. This package only
+defines the shared physical vocabulary those loops can use.
+
+## What Belongs Here
+
+- Backend-neutral session and observation types
+- Capability and safety metadata
+- Execution trace, outcome, and artifact records
+- Replay and stop-control semantics for physical side effects
+
+## What Belongs In Binding Packages
+
+- Model-facing tools for a specific agent runtime
+- Approval integration for a specific host framework
+- Prompt or instruction packages for a specific model loop
+- Agent construction helpers
+
+For `@cuylabs/agent-core`, those pieces live in
+`@cuylabs/physical-agent-core`.
+
+## What Belongs In Backend Packages
+
+- Process launch and lifecycle for a specific runtime
+- Transport protocols and service clients
+- Backend-specific artifact discovery
+- Simulator or robot-specific observation mapping
+- Backend-specific helper APIs, such as turn history, skill libraries, or
+  rendered frames
+- Any command vocabulary that only makes sense for one backend
+
+For CaP-X, those pieces live in `@cuylabs/physical-capx`.
+
+## CaP-X Mapping
+
+CaP-X maps naturally as a backend adapter because it is already a Python
+robotics framework for Code-as-Policies robot manipulation:
+
+```text
+CaP-X YAML config       -> PhysicalTaskSpec
+CaP-X env/trial        -> PhysicalSession
+CaP-X render/logs      -> PhysicalObservation
+CaP-X outputs folder   -> PhysicalArtifact[]
+CaP-X reward/completed -> PhysicalOutcome
+```
+
+The adapter should not duplicate CaP-X internals. It should launch, connect to,
+or call CaP-X and translate the results into these contracts. For live
+agent-owned CaP-X loops, the adapter talks to a runtime bridge such as
+`capx-agent-runtime`; `@cuylabs/physical-core` itself still only defines the
+generic session and safety contract.
+
+That split enables bring-your-own-agent. Any agent or workflow host can use the
+same physical contracts, CaP-X can remain the Python robotics runtime, and
+agent-specific packages can add their own tool and approval surfaces.

package/docs/safety.md

@@ -0,0 +1,37 @@
+# Physical Safety
+
+Physical contracts are conservative by default.
+
+Direct execution of policy code should be treated as:
+
+- `riskLevel: "dangerous"`
+- non-parallel
+- manually replayed
+- side-effecting outside the language runtime
+- approval-gated when hardware or irreversible simulator state is involved
+
+That default is intentional. Replaying a tool call that moved a simulator or
+robot can change state again, and replaying against hardware can be unsafe.
+
+## Approval Expectations
+
+Applications should require explicit approval for hardware sessions and for any
+capability that can cause motion, contact, heating, cutting, navigation, or
+other physical side effects.
+
+Simulation-only sessions can loosen the policy, but they should still treat
+state-mutating execution as non-parallel and non-replayable unless the backend
+provides snapshots and deterministic restore.
+
+## Stop Control
+
+Every concrete `PhysicalSession` must implement `stop(reason)`. The exact
+guarantee depends on the backend, but the method is the common control-plane
+surface for UIs, middleware, runtime interruption, and emergency-stop flows.
+
+## Metadata
+
+Safety policy in `@cuylabs/physical-core` is descriptive. It does not enforce
+approval by itself. Binding packages and host applications are responsible for
+turning `PhysicalSafetyPolicy` metadata into approval prompts, dispatch policy,
+logs, and runtime controls.

package/package.json

@@ -0,0 +1,53 @@
+{
+  "name": "@cuylabs/physical-core",
+  "version": "0.1.1",
+  "description": "Agent-agnostic physical AI contracts for sessions, observations, capabilities, safety, and traces",
+  "type": "module",
+  "main": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "import": "./dist/index.js",
+      "default": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "docs",
+    "README.md"
+  ],
+  "devDependencies": {
+    "@types/node": "^22.0.0",
+    "tsup": "^8.0.0",
+    "typescript": "^5.7.0",
+    "vitest": "^4.0.18"
+  },
+  "keywords": [
+    "physical-ai",
+    "robotics",
+    "embodied-ai",
+    "safety"
+  ],
+  "author": "cuylabs",
+  "license": "Apache-2.0",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/cuylabs-ai/physical-ai-ts.git",
+    "directory": "packages/physical-core"
+  },
+  "engines": {
+    "node": ">=20"
+  },
+  "publishConfig": {
+    "access": "public"
+  },
+  "scripts": {
+    "build": "tsup --config tsup.config.ts",
+    "dev": "tsup --config tsup.config.ts --watch",
+    "typecheck": "tsc --noEmit",
+    "test": "vitest run",
+    "test:watch": "vitest",
+    "clean": "rm -rf dist"
+  }
+}