agenticros 0.1.12 → 0.1.14

package/README.md

@@ -11,7 +11,8 @@ workspace healthy from a single binary.
 npx agenticros init     # workspace + plugin + API key + doctor
 agenticros              # interactive menu
 agenticros up real      # bring up the real-robot stack
-agenticros up sim-amr   # bring up a simulated 2-wheel AMR (Phase 2)
+agenticros up sim-amr   # bring up a simulated 2-wheel AMR
+agenticros up sim-arm   # bring up a simulated 6-DOF arm
 agenticros doctor       # health check
 agenticros down         # stop everything we started
 ```
@@ -49,7 +50,7 @@ Three ways, listed easiest first:
 | `agenticros init` | First-time setup wizard. Idempotent. |
 | `agenticros up real` | Bring up the real-robot stack (RealSense + motors + MCP). |
 | `agenticros up sim-amr` | Bring up the simulated 2-wheel AMR. |
-| `agenticros up sim-arm` | Bring up the simulated UR5e arm + MoveIt2. |
+| `agenticros up sim-arm` | Bring up the simulated 6-DOF arm (UR5e-shaped, per-joint position control). |
 | `agenticros down` | Stop everything we started. |
 | `agenticros doctor` | Coloured health-check table; `--json` for CI. |
 | `agenticros status` | Snapshot of running components + last mode. |

package/dist/commands/doctor.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"doctor.d.ts","sourceRoot":"","sources":["../../src/commands/doctor.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAkBH,MAAM,MAAM,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,KAAK,CAAC;AAElD,MAAM,WAAW,WAAW;IAC1B,EAAE,EAAE,MAAM,CAAC;IACX,KAAK,EAAE,MAAM,CAAC;IACd,QAAQ,EAAE,QAAQ,CAAC;IACnB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,IAAI,CAAC,EAAE,MAAM,CAAC;CACf;AAED,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,WAAW,EAAE,CAAC;IACtB,OAAO,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAA;KAAE,CAAC;CACzD;AAED,MAAM,WAAW,aAAa;IAC5B,IAAI,CAAC,EAAE,OAAO,CAAC;CAChB;AAED,wBAAsB,aAAa,CAAC,IAAI,EAAE,aAAa,GAAG,OAAO,CAAC,MAAM,CAAC,CA+BxE;AAED,sFAAsF;AACtF,wBAAsB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC,CAGrD;AAED,wBAAsB,eAAe,IAAI,OAAO,CAAC,YAAY,CAAC,CAkU7D"}

package/dist/commands/doctor.js

@@ -14,6 +14,8 @@ import { getCliPaths } from "../util/paths.js";
 import { detectRosDistro, hasGazeboHarmonic } from "../util/env.js";
 import { colors, header, ok, warn, err, info } from "../util/logger.js";
 import { activeConfigPath, profilesDir, readActiveMode } from "../util/profiles.js";
+import { ensureToolsAlsoAllow, readAgenticrosContractTools, readOpenclawConfig, } from "../util/openclaw-config.js";
+import { listSkills } from "../util/skills.js";
 export async function doctorCommand(opts) {
     const report = await runDoctorChecks();
     if (opts.json) {
@@ -223,6 +225,91 @@ export async function runDoctorChecks() {
         severity: existsSync(ocConfig) ? "green" : "red",
         hint: existsSync(ocConfig) ? undefined : "Run `agenticros init` to install the OpenClaw plugin.",
     });
+    // tools.alsoAllow vs plugin contracts.tools. OpenClaw 2026.6+ tool profiles
+    // ("coding", "standard", …) are strict allowlists applied BEFORE plugin tools
+    // are merged in - missing entries here is why "OpenClaw says it has no
+    // ros2_camera_snapshot" even when the plugin loaded successfully. We do a
+    // dry-run sync (write:false) to compute the delta without touching the file.
+    if (existsSync(ocConfig)) {
+        const cfg = readOpenclawConfig();
+        const tools = readAgenticrosContractTools(paths.repoRoot ?? paths.installDir);
+        if (cfg && tools && tools.length > 0) {
+            const dry = ensureToolsAlsoAllow(tools, { cfg, write: false });
+            if (dry && dry.added.length > 0) {
+                const profile = cfg["tools"]?.["profile"];
+                const profileStr = typeof profile === "string" ? profile : "(default)";
+                checks.push({
+                    id: "tools-alsoallow",
+                    label: `OpenClaw tools.alsoAllow missing ${dry.added.length} AgenticROS tool(s)`,
+                    severity: "red",
+                    detail: `tools.profile = ${profileStr}; chat agent will not see: ${dry.added.slice(0, 4).join(", ")}${dry.added.length > 4 ? ", …" : ""}`,
+                    hint: "Run `agenticros skills sync` (or re-run `agenticros init`) to repair the allowlist.",
+                });
+            }
+            else {
+                checks.push({
+                    id: "tools-alsoallow",
+                    label: `OpenClaw tools.alsoAllow covers every AgenticROS tool`,
+                    severity: "green",
+                });
+            }
+        }
+    }
+    // Skills (only meaningful once the OpenClaw config exists).
+    if (existsSync(ocConfig)) {
+        try {
+            const skills = listSkills();
+            if (skills.brokenPaths.length > 0) {
+                checks.push({
+                    id: "skills",
+                    label: `Skills: ${skills.registered.length} registered, ${skills.brokenPaths.length} broken`,
+                    severity: "yellow",
+                    detail: skills.available.length > 0 ? `${skills.available.length} cloned but unregistered` : undefined,
+                    hint: "Run `agenticros skills` to inspect; broken paths point at directories that no longer contain a valid skill.",
+                });
+            }
+            else if (skills.registered.length > 0) {
+                const ids = skills.registered.map((s) => s.id).join(", ");
+                const unbuilt = skills.registered.filter((s) => s.dir && s.built === false);
+                if (unbuilt.length > 0) {
+                    checks.push({
+                        id: "skills",
+                        label: `Skills: ${skills.registered.length} registered, ${unbuilt.length} not built (${unbuilt.map((s) => s.id).join(", ")})`,
+                        severity: "yellow",
+                        hint: `Build them so the OpenClaw plugin can load their tools:\n` +
+                            unbuilt.map((s) => `      cd ${s.dir} && pnpm build`).join("\n"),
+                    });
+                }
+                else {
+                    checks.push({
+                        id: "skills",
+                        label: `Skills: ${skills.registered.length} registered (${ids})`,
+                        severity: "green",
+                        detail: skills.available.length > 0
+                            ? `${skills.available.length} cloned but unregistered`
+                            : undefined,
+                        hint: skills.available.length > 0
+                            ? "Run `agenticros skills discover` to register the cloned-but-unregistered ones."
+                            : undefined,
+                    });
+                }
+            }
+            else {
+                checks.push({
+                    id: "skills",
+                    label: "Skills: none registered",
+                    severity: "yellow",
+                    detail: skills.available.length > 0 ? `${skills.available.length} cloned but unregistered` : "(none cloned)",
+                    hint: skills.available.length > 0
+                        ? "Run `agenticros skills discover` to register cloned skills."
+                        : "Skills are optional. Clone any `agenticros-skill-*` repo near this one to make it discoverable.",
+                });
+            }
+        }
+        catch {
+            // Skip silently if listing fails (already covered by openclaw-config check).
+        }
+    }
     // OpenClaw gateway service.
     try {
         const { exitCode } = await execa("systemctl", ["--user", "is-active", "openclaw-gateway.service"], { reject: false });

package/dist/commands/doctor.js.map

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package/dist/commands/init.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAgBH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CA8KlE"}
+{"version":3,"file":"init.d.ts","sourceRoot":"","sources":["../../src/commands/init.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAqBH,MAAM,WAAW,WAAW;IAC1B,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAsLlE"}

package/dist/commands/init.js

@@ -21,6 +21,7 @@ import { execa } from "execa";
 import { runDoctorChecks } from "./doctor.js";
 import { getCliPaths, resetPathsCache } from "../util/paths.js";
 import { header, info, ok, warn, err, dim, withSpinner } from "../util/logger.js";
+import { ensureToolsAlsoAllow, openclawConfigExists, readAgenticrosContractTools, } from "../util/openclaw-config.js";
 import { ensureProfilesExist, switchMode } from "../util/profiles.js";
 import { writeState } from "../util/state.js";
 import { isWorkspaceBuilt, isWorkspaceInstalled } from "../util/workspace.js";
@@ -162,6 +163,13 @@ export async function initCommand(opts) {
     else {
         ok("OpenClaw plugin already installed (skip).");
     }
+    // Step: keep `tools.alsoAllow` in sync with the plugin manifest.
+    // OpenClaw 2026.6+ tool profiles (e.g. "coding") are strict allowlists; any
+    // `api.registerTool(...)` call the plugin makes is silently filtered out
+    // unless the tool id is opted into `tools.alsoAllow`. Without this step the
+    // chat agent loads the AgenticROS plugin successfully yet still tells the
+    // user "I don't have ros2_camera_snapshot / ros2_* tools exposed".
+    syncToolsAlsoAllow(repoRoot);
     // Step: robot config.
     if (opts.force || !userConfigExists()) {
         await promptAndWriteRobotConfig();
@@ -266,6 +274,36 @@ function openclawPluginInstalled() {
     const home = process.env["HOME"] ?? "";
     return existsSync(join(home, ".openclaw", "openclaw.json"));
 }
+/**
+ * Merge the plugin manifest's `contracts.tools` into the user's OpenClaw
+ * `tools.alsoAllow`. No-op when either the OpenClaw config or the manifest
+ * isn't present yet (e.g. a sim-only install where the OpenClaw plugin step
+ * was skipped). Side-effect free in that case.
+ */
+function syncToolsAlsoAllow(repoRoot) {
+    if (!openclawConfigExists()) {
+        dim("OpenClaw config not present; skipping tools.alsoAllow sync.");
+        return;
+    }
+    const tools = readAgenticrosContractTools(repoRoot);
+    if (!tools || tools.length === 0) {
+        dim("AgenticROS plugin manifest not found yet; tools.alsoAllow sync deferred.");
+        return;
+    }
+    const result = ensureToolsAlsoAllow(tools);
+    if (!result) {
+        warn("Could not read OpenClaw config to update tools.alsoAllow.");
+        return;
+    }
+    if (result.changed) {
+        ok(`Added ${result.added.length} AgenticROS tool(s) to OpenClaw tools.alsoAllow ` +
+            "(strict tool profile would otherwise hide them from the chat agent).");
+        dim(`  + ${result.added.join(", ")}`);
+    }
+    else {
+        ok("OpenClaw tools.alsoAllow already covers every AgenticROS tool (skip).");
+    }
+}
 function userConfigExists() {
     return existsSync(join(getCliPaths().userDataDir, "config.json"));
 }

package/dist/commands/init.js.map

@@ -1 +1 @@
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package/dist/commands/skills.d.ts

@@ -0,0 +1,24 @@
+/**
+ * `agenticros skills` — manage the AgenticROS OpenClaw plugin's skill list.
+ *
+ * Subactions:
+ *   list / show / ls        Print registered + discovered skills (default).
+ *   discover / scan         Interactive picker over candidates found on disk.
+ *   add <path|name>         Register a skill by directory path or npm name.
+ *   remove / rm <id|name>   Unregister a skill from the OpenClaw config.
+ *   sync                    Re-run `scripts/sync-skill-tools.mjs` so the
+ *                           plugin manifest's `contracts.tools` allowlist
+ *                           matches the skills currently registered.
+ *
+ * All mutations target `~/.openclaw/openclaw.json` (or `$OPENCLAW_CONFIG`),
+ * because that is what the OpenClaw plugin actually reads at gateway start.
+ * The MCP server and the Gemini CLI do not (yet) load skills, so the active
+ * `~/.agenticros/config.json` profile is left untouched — the user is free to
+ * add per-skill behavior config there via the existing `agenticros config set`.
+ */
+export interface SkillsOptions {
+    action?: string;
+    arg?: string;
+}
+export declare function skillsCommand(opts: SkillsOptions): Promise<void>;
+//# sourceMappingURL=skills.d.ts.map

package/dist/commands/skills.d.ts.map

@@ -0,0 +1 @@
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