agenticros 0.0.1 → 0.1.1

package/runtime/packages/agenticros-claude-code/dist/tools.js.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/transport.d.ts

@@ -0,0 +1,17 @@
+import type { RosTransport } from "@agenticros/core";
+import type { AgenticROSConfig } from "@agenticros/core";
+/**
+ * Get the active transport. Throws if not connected.
+ */
+export declare function getTransport(): RosTransport;
+export declare function getTransportOrNull(): RosTransport | null;
+/**
+ * Create and connect the transport. Idempotent.
+ * Fails after CONNECT_TIMEOUT_MS if Zenoh/router is unreachable.
+ */
+export declare function connect(config: AgenticROSConfig): Promise<void>;
+/**
+ * Disconnect and clear the transport. Call on process exit.
+ */
+export declare function disconnect(): Promise<void>;
+//# sourceMappingURL=transport.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/transport.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"transport.d.ts","sourceRoot":"","sources":["../src/transport.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAErD,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,kBAAkB,CAAC;AAIzD;;GAEG;AACH,wBAAgB,YAAY,IAAI,YAAY,CAK3C;AAED,wBAAgB,kBAAkB,IAAI,YAAY,GAAG,IAAI,CAExD;AAID;;;GAGG;AACH,wBAAsB,OAAO,CAAC,MAAM,EAAE,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,CAqBrE;AAED;;GAEG;AACH,wBAAsB,UAAU,IAAI,OAAO,CAAC,IAAI,CAAC,CAKhD"}

package/runtime/packages/agenticros-claude-code/dist/transport.js

@@ -0,0 +1,46 @@
+import { createTransport, getTransportConfig } from "@agenticros/core";
+let transport = null;
+/**
+ * Get the active transport. Throws if not connected.
+ */
+export function getTransport() {
+    if (!transport) {
+        throw new Error("Transport not initialized. Ensure config is loaded and connect() has been called.");
+    }
+    return transport;
+}
+export function getTransportOrNull() {
+    return transport;
+}
+const CONNECT_TIMEOUT_MS = 15_000;
+/**
+ * Create and connect the transport. Idempotent.
+ * Fails after CONNECT_TIMEOUT_MS if Zenoh/router is unreachable.
+ */
+export async function connect(config) {
+    if (transport && transport.getStatus() === "connected") {
+        return;
+    }
+    if (transport) {
+        await transport.disconnect();
+        transport = null;
+    }
+    const transportCfg = getTransportConfig(config);
+    const newTransport = await createTransport(transportCfg);
+    const timeoutPromise = new Promise((_, reject) => {
+        setTimeout(() => reject(new Error(`Transport connection timed out after ${CONNECT_TIMEOUT_MS / 1000}s. ` +
+            "Is zenohd running? (e.g. ws://localhost:10000). Check config and MCP log.")), CONNECT_TIMEOUT_MS);
+    });
+    await Promise.race([newTransport.connect(), timeoutPromise]);
+    transport = newTransport;
+}
+/**
+ * Disconnect and clear the transport. Call on process exit.
+ */
+export async function disconnect() {
+    if (transport) {
+        await transport.disconnect();
+        transport = null;
+    }
+}
+//# sourceMappingURL=transport.js.map

package/runtime/packages/agenticros-claude-code/dist/transport.js.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/zero-shot/detector.d.ts

@@ -0,0 +1,42 @@
+/**
+ * Zero-shot object detector using OWL-v2 via @huggingface/transformers.
+ *
+ * Accepts arbitrary text prompts at runtime ("person", "person in red shirt",
+ * "stroller", "bottle on the table") and returns bounding boxes for any
+ * region that matches. Truly open-vocabulary — no class list baked in.
+ *
+ * Model: Xenova/owlv2-base-patch16-finetuned (downloaded on first use,
+ * cached under ~/.cache/huggingface). Override with AGENTICROS_OWLV2_MODEL.
+ *
+ * Both `@huggingface/transformers` and `sharp` are loaded lazily on first
+ * use so a missing optional dep cannot crash MCP server startup — it only
+ * surfaces when the user actually calls the zero-shot detector.
+ */
+export interface ZeroShotDetection {
+    label: string;
+    confidence: number;
+    x: number;
+    y: number;
+    width: number;
+    height: number;
+    cx: number;
+    cy: number;
+}
+export interface ZeroShotDetectOptions {
+    threshold?: number;
+    topK?: number;
+}
+export declare class ZeroShotDetector {
+    private detector;
+    private loading;
+    private readonly modelId;
+    constructor(modelId?: string);
+    load(): Promise<void>;
+    detectByText(image: Buffer | Uint8Array, prompts: string[], opts?: ZeroShotDetectOptions): Promise<{
+        width: number;
+        height: number;
+        detections: ZeroShotDetection[];
+    }>;
+    dispose(): Promise<void>;
+}
+//# sourceMappingURL=detector.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/zero-shot/detector.d.ts.map

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package/runtime/packages/agenticros-claude-code/dist/zero-shot/detector.js

@@ -0,0 +1,114 @@
+/**
+ * Zero-shot object detector using OWL-v2 via @huggingface/transformers.
+ *
+ * Accepts arbitrary text prompts at runtime ("person", "person in red shirt",
+ * "stroller", "bottle on the table") and returns bounding boxes for any
+ * region that matches. Truly open-vocabulary — no class list baked in.
+ *
+ * Model: Xenova/owlv2-base-patch16-finetuned (downloaded on first use,
+ * cached under ~/.cache/huggingface). Override with AGENTICROS_OWLV2_MODEL.
+ *
+ * Both `@huggingface/transformers` and `sharp` are loaded lazily on first
+ * use so a missing optional dep cannot crash MCP server startup — it only
+ * surfaces when the user actually calls the zero-shot detector.
+ */
+const DEFAULT_MODEL = "Xenova/owlv2-base-patch16-finetuned";
+let transformersModule = null;
+let sharpFn = null;
+async function loadDeps() {
+    if (transformersModule && sharpFn) {
+        return { transformers: transformersModule, sharp: sharpFn };
+    }
+    try {
+        const [tMod, sharpMod] = await Promise.all([
+            import("@huggingface/transformers"),
+            import("sharp"),
+        ]);
+        const tAny = tMod;
+        transformersModule = tAny.default ?? tMod;
+        const sharpAny = sharpMod;
+        sharpFn = sharpAny.default ?? sharpMod;
+    }
+    catch (err) {
+        const hint = err instanceof Error ? err.message : String(err);
+        throw new Error(`Zero-shot detection requires the optional packages '@huggingface/transformers' and 'sharp'. ` +
+            `Install them in this workspace (pnpm install) to enable open-vocabulary detection. ` +
+            `Underlying error: ${hint}`);
+    }
+    return { transformers: transformersModule, sharp: sharpFn };
+}
+export class ZeroShotDetector {
+    detector = null;
+    loading = null;
+    modelId;
+    constructor(modelId) {
+        this.modelId =
+            modelId ??
+                (process.env["AGENTICROS_OWLV2_MODEL"]?.trim() || DEFAULT_MODEL);
+    }
+    async load() {
+        if (this.detector)
+            return;
+        if (this.loading)
+            return this.loading;
+        this.loading = (async () => {
+            const { transformers } = await loadDeps();
+            process.stderr.write(`[AgenticROS] zero-shot: loading ${this.modelId} (first run downloads ~150 MB)…\n`);
+            this.detector = (await transformers.pipeline("zero-shot-object-detection", this.modelId, { dtype: "q8" }));
+            process.stderr.write(`[AgenticROS] zero-shot: model ready\n`);
+        })();
+        try {
+            await this.loading;
+        }
+        finally {
+            this.loading = null;
+        }
+    }
+    async detectByText(image, prompts, opts = {}) {
+        if (!this.detector)
+            await this.load();
+        if (prompts.length === 0)
+            return { width: 0, height: 0, detections: [] };
+        const { transformers, sharp: sharpFnLocal } = await loadDeps();
+        const decoded = await sharpFnLocal(image)
+            .removeAlpha()
+            .raw()
+            .toBuffer({ resolveWithObject: true });
+        const w = decoded.info.width;
+        const h = decoded.info.height;
+        const rawImg = new transformers.RawImage(new Uint8Array(decoded.data), w, h, 3);
+        const pipelineOpts = {
+            threshold: opts.threshold ?? 0.1,
+        };
+        if (opts.topK != null)
+            pipelineOpts.top_k = opts.topK;
+        const out = await this.detector(rawImg, prompts, pipelineOpts);
+        // Single-image input → Array<{label, score, box}>; the pipeline returns the
+        // batched form only for batched input. Normalize defensively.
+        const raw = Array.isArray(out) && Array.isArray(out[0])
+            ? out[0]
+            : out;
+        const detections = raw.map((d) => {
+            const width = d.box.xmax - d.box.xmin;
+            const height = d.box.ymax - d.box.ymin;
+            return {
+                label: d.label,
+                confidence: d.score,
+                x: d.box.xmin,
+                y: d.box.ymin,
+                width,
+                height,
+                cx: d.box.xmin + width / 2,
+                cy: d.box.ymin + height / 2,
+            };
+        });
+        return { width: w, height: h, detections };
+    }
+    async dispose() {
+        if (this.detector) {
+            await this.detector.dispose();
+            this.detector = null;
+        }
+    }
+}
+//# sourceMappingURL=detector.js.map

package/runtime/packages/agenticros-claude-code/dist/zero-shot/detector.js.map

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package/runtime/packages/agenticros-claude-code/package.json

@@ -0,0 +1,29 @@
+{
+  "name": "@agenticros/claude-code",
+  "version": "0.0.1",
+  "type": "module",
+  "description": "AgenticROS MCP server for Claude Code CLI — chat with your ROS2 robot from the terminal",
+  "main": "./dist/index.js",
+  "bin": {
+    "agenticros-mcp": "./dist/index.js"
+  },
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit"
+  },
+  "dependencies": {
+    "@agenticros/core": "workspace:*",
+    "@agenticros/ros-camera": "workspace:*",
+    "@huggingface/transformers": "^3.0.0",
+    "@modelcontextprotocol/sdk": "^1.0.0",
+    "onnxruntime-node": "^1.20.0",
+    "sharp": "^0.33.0",
+    "zod": "^3.24.0"
+  },
+  "devDependencies": {
+    "@types/node": "^20.17.0",
+    "typescript": "^5.7.0"
+  },
+  "author": "PlaiPin",
+  "license": "Apache-2.0"
+}

package/runtime/packages/agenticros-claude-code/src/config.ts

@@ -0,0 +1,96 @@
+import fs from "node:fs";
+import path from "node:path";
+import os from "node:os";
+import type { AgenticROSConfig } from "@agenticros/core";
+import { parseConfig } from "@agenticros/core";
+
+/**
+ * Optional MCP / process env override: set `robot.namespace` without editing JSON.
+ * Useful in `claude_desktop_config.json` or `.mcp.json` under `env`.
+ * Must match the robot’s ROS namespace exactly (often no dashes in the UUID segment).
+ */
+function applyMcpEnvOverrides(config: AgenticROSConfig): AgenticROSConfig {
+  const ns = process.env.AGENTICROS_ROBOT_NAMESPACE?.trim();
+  if (!ns) return config;
+  return {
+    ...config,
+    robot: {
+      ...config.robot,
+      namespace: ns,
+    },
+  };
+}
+
+/**
+ * Resolve path to AgenticROS config file.
+ * Prefer AGENTICROS_CONFIG_PATH; else ~/.agenticros/config.json.
+ * Optional: fallback to OpenClaw config and read plugins.entries.agenticros.config.
+ */
+function getConfigPath(): string {
+  const env = process.env.AGENTICROS_CONFIG_PATH;
+  if (env && env.trim().length > 0) {
+    return path.resolve(env);
+  }
+  return path.join(os.homedir(), ".agenticros", "config.json");
+}
+
+/**
+ * Try to read config from OpenClaw file (plugins.entries.agenticros.config).
+ */
+function tryOpenClawConfig(): Record<string, unknown> | null {
+  const openclawEnv = process.env.OPENCLAW_CONFIG;
+  const openclawPath = openclawEnv && openclawEnv.trim().length > 0
+    ? path.resolve(openclawEnv)
+    : path.join(os.homedir(), ".openclaw", "openclaw.json");
+  try {
+    const raw = fs.readFileSync(openclawPath, "utf8");
+    const parsed = JSON.parse(raw) as Record<string, unknown>;
+    const entries = parsed?.plugins && typeof (parsed.plugins as Record<string, unknown>).entries === "object"
+      ? (parsed.plugins as Record<string, unknown>).entries as Record<string, unknown>
+      : null;
+    const agenticros = entries?.agenticros && typeof entries.agenticros === "object"
+      ? entries.agenticros as Record<string, unknown>
+      : null;
+    const config = agenticros?.config;
+    if (config !== null && typeof config === "object") {
+      return config as Record<string, unknown>;
+    }
+  } catch {
+    // ignore
+  }
+  return null;
+}
+
+/**
+ * Load and parse AgenticROS config.
+ * 1) AGENTICROS_CONFIG_PATH or ~/.agenticros/config.json (full JSON object = config).
+ * 2) If that file does not exist, try OpenClaw config and read plugins.entries.agenticros.config.
+ */
+export function loadConfig(): AgenticROSConfig {
+  const primaryPath = getConfigPath();
+  try {
+    const raw = fs.readFileSync(primaryPath, "utf8");
+    const parsed = JSON.parse(raw) as unknown;
+    if (parsed !== null && typeof parsed === "object") {
+      const cfg = parseConfig(parsed as Record<string, unknown>);
+      if (process.stderr && typeof process.stderr.write === "function") {
+        process.stderr.write(`[AgenticROS] Config from ${primaryPath}\n`);
+      }
+      return applyMcpEnvOverrides(cfg);
+    }
+  } catch (err) {
+    const nodeErr = err as NodeJS.ErrnoException;
+    if (nodeErr.code === "ENOENT") {
+      const openclawConfig = tryOpenClawConfig();
+      if (openclawConfig) {
+        return applyMcpEnvOverrides(parseConfig(openclawConfig));
+      }
+      throw new Error(
+        `AgenticROS config not found at ${primaryPath}. Create it or set AGENTICROS_CONFIG_PATH. ` +
+        "See README for an example config.",
+      );
+    }
+    throw err;
+  }
+  return applyMcpEnvOverrides(parseConfig({}));
+}

package/runtime/packages/agenticros-claude-code/src/depth.ts

@@ -0,0 +1,173 @@
+/**
+ * Sample distance (meters) from a ROS2 depth image topic.
+ * Copied from OpenClaw adapter so we don't depend on the full plugin.
+ */
+
+import type { RosTransport } from "@agenticros/core";
+import {
+  ROS_MSG_IMAGE,
+  coerceRosImageDataToBuffer,
+  normalizeDepthImageEncoding,
+  rosBoolField,
+  rosNumericField,
+  rosStringField,
+} from "@agenticros/ros-camera";
+
+function depthImageDataBytes(data: unknown): Uint8Array {
+  try {
+    return new Uint8Array(coerceRosImageDataToBuffer(data));
+  } catch (e) {
+    const hint = e instanceof Error ? e.message : String(e);
+    const kind =
+      data == null
+        ? "null"
+        : `${typeof data}${typeof data === "object" && data !== null ? ` (${(data as object).constructor?.name ?? "Object"})` : ""}`;
+    throw new Error(`Depth image bytes: ${hint} (data field: ${kind})`);
+  }
+}
+
+function bytesPerPixelForDepthEncoding(encoding: string): number {
+  return normalizeDepthImageEncoding(encoding) === "32FC1" ? 4 : 2;
+}
+
+const DEPTH_SAMPLE_MAX_M = 40;
+const DEPTH_REPORT_PERCENTILE = 12;
+
+function sanitizeDepthSamplesMeters(values: number[]): number[] {
+  return values.filter((v) => Number.isFinite(v) && v > 0 && v <= DEPTH_SAMPLE_MAX_M);
+}
+
+function percentileLowerSorted(sortedAsc: number[], p: number): number {
+  const n = sortedAsc.length;
+  if (n === 0) return NaN;
+  if (n === 1) return sortedAsc[0]!;
+  const pp = Math.max(0, Math.min(100, p));
+  const idx = Math.min(n - 1, Math.floor((pp / 100) * n));
+  return sortedAsc[idx]!;
+}
+
+export function sampleDepthMeters(
+  width: number,
+  height: number,
+  step: number,
+  encoding: string,
+  data: Uint8Array,
+  centerFraction = 0.3,
+  isBigEndian = false,
+): number[] {
+  const enc = normalizeDepthImageEncoding(encoding);
+  const values: number[] = [];
+  const cx = width / 2;
+  const cy = height / 2;
+  const halfW = Math.max(1, Math.floor((width * centerFraction) / 2));
+  const halfH = Math.max(1, Math.floor((height * centerFraction) / 2));
+  const x0 = Math.max(0, Math.floor(cx - halfW));
+  const x1 = Math.min(width, Math.floor(cx + halfW));
+  const y0 = Math.max(0, Math.floor(cy - halfH));
+  const y1 = Math.min(height, Math.floor(cy + halfH));
+
+  if (enc === "16UC1") {
+    for (let y = y0; y < y1; y++) {
+      for (let x = x0; x < x1; x++) {
+        const off = y * step + x * 2;
+        if (off + 2 > data.length) continue;
+        const lo = data[off];
+        const hi = data[off + 1];
+        const v = isBigEndian ? (lo << 8) | hi : (hi << 8) | lo;
+        if (v > 0) values.push(v / 1000);
+      }
+    }
+  } else if (enc === "32FC1") {
+    for (let y = y0; y < y1; y++) {
+      for (let x = x0; x < x1; x++) {
+        const off = y * step + x * 4;
+        if (off + 4 > data.length) continue;
+        const v = new DataView(data.buffer, data.byteOffset + off, 4).getFloat32(0, !isBigEndian);
+        if (Number.isFinite(v) && v > 0) values.push(v);
+      }
+    }
+  } else {
+    throw new Error(
+      `Unsupported depth encoding: "${encoding}" (interpreted as "${enc}"). Use 16UC1/mono16 (mm) or 32FC1 (m).`,
+    );
+  }
+  return values;
+}
+
+function median(sorted: number[]): number {
+  if (sorted.length === 0) return NaN;
+  const m = sorted.length >> 1;
+  if (sorted.length % 2 === 1) return sorted[m];
+  return (sorted[m - 1] + sorted[m]) / 2;
+}
+
+export interface DepthSampleResult {
+  distance_m: number;
+  median_m: number;
+  valid: boolean;
+  topic: string;
+  encoding: string;
+  width: number;
+  height: number;
+  sample_count: number;
+  min_m: number;
+  max_m: number;
+}
+
+export async function getDepthDistance(
+  transport: RosTransport,
+  topic: string,
+  timeoutMs = 5000,
+): Promise<DepthSampleResult> {
+  const result = await new Promise<Record<string, unknown>>((resolve, reject) => {
+    const sub = transport.subscribe(
+      { topic, type: ROS_MSG_IMAGE },
+      (msg: Record<string, unknown>) => {
+        clearTimeout(timer);
+        sub.unsubscribe();
+        resolve(msg);
+      },
+    );
+    const timer = setTimeout(() => {
+      sub.unsubscribe();
+      reject(
+        new Error(
+          `Depth snapshot timeout on ${topic} (${timeoutMs}ms). No sensor_msgs/Image received—check topic and that it publishes raw depth (not CompressedImage only). With Zenoh, check the gateway log for CDR decode warnings.`,
+        ),
+      );
+    }, timeoutMs);
+  });
+
+  const encoding = normalizeDepthImageEncoding(rosStringField(result.encoding, "16UC1"));
+  const bpp = bytesPerPixelForDepthEncoding(encoding);
+  const width = rosNumericField(result.width, "width");
+  const height = rosNumericField(result.height, "height");
+  const step =
+    result.step != null && result.step !== ""
+      ? rosNumericField(result.step, "step")
+      : width * bpp;
+  const isBigEndian = rosBoolField(result.is_bigendian);
+  const data = depthImageDataBytes(result.data);
+
+  const values = sanitizeDepthSamplesMeters(
+    sampleDepthMeters(width, height, step, encoding, data, 0.3, isBigEndian),
+  );
+  const sorted = values.slice().sort((a, b) => a - b);
+  const distance_m = percentileLowerSorted(sorted, DEPTH_REPORT_PERCENTILE);
+  const median_m = median(sorted);
+  const min_m = sorted.length ? sorted[0] : NaN;
+  const max_m = sorted.length ? sorted[sorted.length - 1] : NaN;
+
+  return {
+    distance_m: Math.round(distance_m * 1000) / 1000,
+    median_m: Math.round(median_m * 1000) / 1000,
+    valid: sorted.length > 0 && Number.isFinite(distance_m),
+    topic,
+    encoding,
+    width,
+    height,
+    sample_count: sorted.length,
+    min_m: Math.round(min_m * 1000) / 1000,
+    max_m: Math.round(max_m * 1000) / 1000,
+  };
+}

package/runtime/packages/agenticros-claude-code/src/find-object/coco-classes.ts

@@ -0,0 +1,38 @@
+/**
+ * COCO 80-class names (index = YOLOv8 class ID). Lower-cased for lookup.
+ */
+
+export const COCO_CLASSES = [
+  "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck",
+  "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench",
+  "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra",
+  "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee",
+  "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove",
+  "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup",
+  "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange",
+  "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch",
+  "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse",
+  "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink",
+  "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier",
+  "toothbrush",
+] as const;
+
+const ALIASES: Record<string, string> = {
+  phone: "cell phone",
+  cellphone: "cell phone",
+  mobile: "cell phone",
+  smartphone: "cell phone",
+  tv: "tv",
+  television: "tv",
+  monitor: "tv",
+  sofa: "couch",
+  plant: "potted plant",
+  bike: "bicycle",
+};
+
+export function resolveCocoClassId(name: string): number | null {
+  const key = name.trim().toLowerCase();
+  const canonical = ALIASES[key] ?? key;
+  const idx = COCO_CLASSES.indexOf(canonical as (typeof COCO_CLASSES)[number]);
+  return idx >= 0 ? idx : null;
+}