holomime 2.3.0 → 2.5.0

package/README.md

@@ -85,7 +85,7 @@ holomime diagnose --log agent.jsonl
 holomime benchmark --personality .personality.json
 
 # Push identity to a robot or avatar
-holomime embody --body registry/bodies/figure-02.body.api
+holomime embody --body registry/bodies/figure-03.body.api
 ```
 
 ## Robotics Integrations
@@ -96,9 +96,11 @@ holomime embody --body registry/bodies/figure-02.body.api
 | MuJoCo | Behavioral therapy in simulation -- sim-to-real for behavior | `mujoco-env.ts` + `sim-therapy.ts` |
 | NVIDIA Isaac Sim | Enterprise digital twin testing with PhysX physics | `--adapter isaac` + `isaac-env.ts` |
 | LeRobot (HuggingFace) | Personality to policy parameter mapping, DPO dataset export | `lerobot.ts` |
+| NVIDIA Kimodo | Personality → motion style | `kimodo-personality-mapper.ts` |
 | Unity | Real-time personality push via HTTP/SSE | `--adapter unity` |
 | gRPC | Custom robotics stacks | `--adapter grpc` |
 | MQTT | IoT/edge robots | `--adapter mqtt` |
+| Neural Action Gate | Conscience gate for learned controllers (VLA, RL, IL) | `neural-action-gate.ts` |
 
 ## ISO Compliance
 
@@ -129,8 +131,9 @@ Pre-built body profiles for commercial robots and virtual avatars. Each defines
 
 | Template | OEM | DOF | Morphology | File |
 |----------|-----|----:|------------|------|
-| Figure 02 | Figure AI | 44 | `humanoid` | `registry/bodies/figure-02.body.api` |
+| Figure 03 | Figure AI | 44 | `humanoid` | `registry/bodies/figure-03.body.api` |
 | Unitree H1 | Unitree | 23 | `humanoid` | `registry/bodies/unitree-h1.body.api` |
+| Unitree G1 | Unitree | 23 | `humanoid` | `registry/bodies/unitree-g1.body.api` |
 | Phoenix | Sanctuary AI | 69 | `humanoid` | `registry/bodies/phoenix.body.api` |
 | Ameca | Engineered Arts | 52 | `humanoid_upper` | `registry/bodies/ameca.body.api` |
 | Asimov V1 | asimov-inc | 25 | `humanoid` | `registry/bodies/asimov-v1.body.api` |
@@ -142,7 +145,7 @@ Pre-built body profiles for commercial robots and virtual avatars. Each defines
 Same soul. Different body. One command.
 
 ```bash
-# Move your agent from Figure 02 to Spot
+# Move your agent from Figure 03 to Spot
 holomime embody --swap-body registry/bodies/spot.body.api
 
 # The soul, mind, and conscience stay the same.

package/dist/index.js

@@ -13784,6 +13784,212 @@ function loadSpecWithStack(specPath) {
   }
   return loadSpec(specPath);
 }
+
+// src/integrations/kimodo-personality-mapper.ts
+function mapPersonalityToMotionStyle(bigFive) {
+  const agreeFacets = bigFive.agreeableness.facets;
+  const gentleness = (agreeFacets.cooperation + agreeFacets.warmth) / 2;
+  const approachGentleness = Math.sqrt(gentleness);
+  const consFacets = bigFive.conscientiousness.facets;
+  const precisionDrive = (consFacets.attention_to_detail + consFacets.orderliness) / 2;
+  const movementPrecision = 0.3 + precisionDrive * 0.7;
+  const extraFacets = bigFive.extraversion.facets;
+  const expressiveness = (extraFacets.enthusiasm + extraFacets.assertiveness) / 2;
+  const gestureAmplitude = 0.2 + expressiveness * 0.8;
+  const stabilityFacets = bigFive.emotional_stability.facets;
+  const smoothnessDrive = (stabilityFacets.stress_tolerance + stabilityFacets.adaptability) / 2;
+  const motionSmoothness = 0.4 + smoothnessDrive * 0.6;
+  const openFacets = bigFive.openness.facets;
+  const varietyDrive = (openFacets.willingness_to_experiment + openFacets.imagination) / 2;
+  const movementVariety = 0.1 + varietyDrive * 0.6;
+  const rawPace = 0.7 + extraFacets.initiative * 0.6;
+  const paceMultiplier = rawPace * (1 - approachGentleness * 0.3);
+  return {
+    approachGentleness,
+    movementPrecision,
+    gestureAmplitude,
+    motionSmoothness,
+    movementVariety,
+    paceMultiplier: Math.max(0.3, Math.min(1.5, paceMultiplier))
+  };
+}
+function generateMotionConstraints(style, safetyEnvelope) {
+  const constraints = [];
+  const maxSpeed = safetyEnvelope?.max_linear_speed_m_s ?? 2;
+  constraints.push({
+    type: "root_waypoint_2d",
+    description: "Personality-adjusted movement speed",
+    parameters: {
+      max_speed: maxSpeed * style.paceMultiplier,
+      smoothing: style.motionSmoothness
+    }
+  });
+  if (safetyEnvelope?.min_proximity_m) {
+    constraints.push({
+      type: "end_effector",
+      description: "Personality-adjusted approach distance",
+      parameters: {
+        min_distance: safetyEnvelope.min_proximity_m * (1 + style.approachGentleness * 0.5),
+        approach_speed_scale: 1 - style.approachGentleness * 0.6
+      }
+    });
+  }
+  constraints.push({
+    type: "full_body_joint",
+    description: "Personality-adjusted gesture range",
+    parameters: {
+      amplitude_scale: style.gestureAmplitude,
+      precision_scale: style.movementPrecision,
+      variety_scale: style.movementVariety
+    }
+  });
+  return constraints;
+}
+function buildMotionRequest(prompt, bigFive, options) {
+  const style = mapPersonalityToMotionStyle(bigFive);
+  const constraints = generateMotionConstraints(style, options?.safetyEnvelope);
+  return {
+    prompt,
+    model: options?.model ?? "G1",
+    style,
+    constraints,
+    duration: options?.duration
+  };
+}
+
+// src/adapters/neural-action-gate.ts
+var NeuralActionGate = class {
+  safetyEnvelope;
+  denyRules;
+  stats;
+  mediationMode;
+  constructor(options = {}) {
+    this.safetyEnvelope = options.safetyEnvelope ?? {};
+    this.denyRules = options.denyRules ?? [];
+    this.mediationMode = options.mediationMode ?? "clamp";
+    this.stats = { totalEvaluated: 0, allowed: 0, blocked: 0, modified: 0, passRate: 1 };
+  }
+  /**
+   * Evaluate a single action vector before motor execution.
+   *
+   * @param action - Raw action vector from neural net (joint angles, velocities, etc.)
+   * @param context - Current state context for safety checks
+   * @returns Evaluation result with allowed/modified action
+   */
+  evaluate(action, context) {
+    this.stats.totalEvaluated++;
+    if (context?.taskDescription) {
+      for (const rule of this.denyRules) {
+        const patterns = rule.patterns ?? [rule.action];
+        for (const pattern of patterns) {
+          if (context.taskDescription.toLowerCase().includes(pattern.toLowerCase())) {
+            this.stats.blocked++;
+            this.updatePassRate();
+            return {
+              allowed: false,
+              action,
+              modified: false,
+              reason: `Blocked by conscience rule: ${rule.reason || rule.action}`,
+              ruleTriggered: rule.action
+            };
+          }
+        }
+      }
+    }
+    const violations = [];
+    if (this.safetyEnvelope.minProximity && context?.humanProximity !== void 0 && context.humanProximity < this.safetyEnvelope.minProximity) {
+      violations.push(`Human proximity ${context.humanProximity}m < minimum ${this.safetyEnvelope.minProximity}m`);
+    }
+    if (this.safetyEnvelope.maxLinearSpeed && context?.currentSpeed !== void 0 && context.currentSpeed > this.safetyEnvelope.maxLinearSpeed) {
+      violations.push(`Speed ${context.currentSpeed}m/s > maximum ${this.safetyEnvelope.maxLinearSpeed}m/s`);
+    }
+    if (this.safetyEnvelope.maxContactForce && context?.contactForce !== void 0 && context.contactForce > this.safetyEnvelope.maxContactForce) {
+      violations.push(`Contact force ${context.contactForce}N > maximum ${this.safetyEnvelope.maxContactForce}N`);
+    }
+    if (violations.length > 0) {
+      if (this.mediationMode === "block") {
+        this.stats.blocked++;
+        this.updatePassRate();
+        return {
+          allowed: false,
+          action,
+          modified: false,
+          reason: `Safety violation: ${violations.join("; ")}`,
+          ruleTriggered: "safety_envelope"
+        };
+      }
+      if (this.mediationMode === "clamp") {
+        const clampedAction = this.clampAction(action, context);
+        this.stats.modified++;
+        this.stats.allowed++;
+        this.updatePassRate();
+        return {
+          allowed: true,
+          action: clampedAction,
+          modified: true,
+          reason: `Clamped to safe range: ${violations.join("; ")}`,
+          ruleTriggered: "safety_envelope"
+        };
+      }
+      this.stats.allowed++;
+      this.updatePassRate();
+      return {
+        allowed: true,
+        action,
+        modified: false,
+        reason: `Warning: ${violations.join("; ")}`,
+        ruleTriggered: "safety_envelope"
+      };
+    }
+    this.stats.allowed++;
+    this.updatePassRate();
+    return { allowed: true, action, modified: false };
+  }
+  /**
+   * Evaluate a batch of actions (for trajectory planning).
+   */
+  evaluateBatch(actions, context) {
+    return actions.map((action) => this.evaluate(action, context));
+  }
+  /**
+   * Get gate statistics.
+   */
+  getStats() {
+    return { ...this.stats };
+  }
+  /**
+   * Reset statistics.
+   */
+  resetStats() {
+    this.stats = { totalEvaluated: 0, allowed: 0, blocked: 0, modified: 0, passRate: 1 };
+  }
+  /**
+   * Update safety envelope at runtime (e.g., when entering a new zone).
+   */
+  updateSafetyEnvelope(envelope) {
+    this.safetyEnvelope = { ...this.safetyEnvelope, ...envelope };
+  }
+  /**
+   * Add a deny rule at runtime.
+   */
+  addDenyRule(rule) {
+    this.denyRules.push(rule);
+  }
+  // ── Private ─────────────────────────────────────────────────
+  clampAction(action, context) {
+    let scaleFactor = 1;
+    if (this.safetyEnvelope.maxLinearSpeed && context?.currentSpeed && context.currentSpeed > this.safetyEnvelope.maxLinearSpeed) {
+      scaleFactor = Math.min(scaleFactor, this.safetyEnvelope.maxLinearSpeed / context.currentSpeed);
+    }
+    if (this.safetyEnvelope.maxContactForce && context?.contactForce && context.contactForce > this.safetyEnvelope.maxContactForce) {
+      scaleFactor = Math.min(scaleFactor, this.safetyEnvelope.maxContactForce / context.contactForce);
+    }
+    return action.map((v) => v * scaleFactor);
+  }
+  updatePassRate() {
+    this.stats.passRate = this.stats.totalEvaluated > 0 ? this.stats.allowed / this.stats.totalEvaluated : 1;
+  }
+};
 export {
   ARCHETYPES,
   ATTACHMENT_STYLES,
@@ -13802,6 +14008,7 @@ export {
   MarketplaceClient,
   MemoryLevel,
   ModelRouter,
+  NeuralActionGate,
   OllamaProvider,
   OpenAIProvider,
   PROVIDER_PARAMS,
@@ -13823,6 +14030,7 @@ export {
   bodySchema,
   buildAgentTherapistPrompt,
   buildAnonymizedReport,
+  buildMotionRequest,
   buildPatientSystemPrompt,
   buildReACTContext,
   buildReACTFraming,
@@ -13924,6 +14132,7 @@ export {
   generateGapRecommendation,
   generateIndexMarkdown,
   generateMonitoringCertificate,
+  generateMotionConstraints,
   generateMutations,
   generatePrescriptions,
   generateProgressReport,
@@ -13987,6 +14196,7 @@ export {
   loadStandard,
   loadTranscripts,
   loadTreatmentPlan,
+  mapPersonalityToMotionStyle,
   memoryNodeSchema,
   memoryOperationSchema,
   memorySchema,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "holomime",
-  "version": "2.3.0",
+  "version": "2.5.0",
   "description": "Behavioral therapy infrastructure for AI agents — Big Five psychology, structured treatment, behavioral alignment",
   "type": "module",
   "bin": {

package/registry/bodies/figure-03.body.api

@@ -0,0 +1,32 @@
+{
+  "version": "1.0",
+  "morphology": "humanoid",
+  "modalities": ["gesture", "locomotion", "gaze", "voice", "posture", "manipulation"],
+  "safety_envelope": {
+    "max_linear_speed_m_s": 1.5,
+    "max_angular_speed_rad_s": 2.0,
+    "min_proximity_m": 0.5,
+    "max_contact_force_n": 50,
+    "emergency_stop_decel_m_s2": 6.0,
+    "max_reach_m": 0.85,
+    "operating_temperature_c": [0, 40]
+  },
+  "hardware_profile": {
+    "oem": "Figure AI",
+    "model": "Figure 03",
+    "actuator_count": 35,
+    "sensors": ["stereo_camera", "depth_camera", "imu", "force_torque", "tactile", "microphone"],
+    "compute": "onboard",
+    "compute_detail": "dual embedded GPU"
+  },
+  "motion_engine": {
+    "backend": "helix",
+    "architecture": "VLA",
+    "system2_model": "7B VLM",
+    "system2_hz": 9,
+    "system1_model": "80M transformer",
+    "system1_hz": 200,
+    "dof": 35,
+    "end_to_end": true
+  }
+}

package/registry/bodies/unitree-g1.body.api

@@ -0,0 +1,27 @@
+{
+  "version": "1.0",
+  "morphology": "humanoid",
+  "modalities": ["gesture", "locomotion", "gaze", "voice", "posture", "manipulation"],
+  "safety_envelope": {
+    "max_linear_speed_m_s": 2.0,
+    "max_angular_speed_rad_s": 2.0,
+    "min_proximity_m": 0.5,
+    "max_contact_force_n": 30,
+    "emergency_stop_decel_m_s2": 6.0,
+    "max_reach_m": 0.55,
+    "operating_temperature_c": [-5, 40]
+  },
+  "hardware_profile": {
+    "oem": "Unitree",
+    "model": "G1",
+    "actuator_count": 43,
+    "sensors": ["stereo_camera", "depth_camera", "imu", "force_torque", "microphone", "lidar"],
+    "compute": "onboard"
+  },
+  "motion_engine": {
+    "backend": "kimodo",
+    "supported_models": ["G1", "SMPL-X", "SOMA"],
+    "constraint_types": ["full_body_joint", "root_waypoint_2d", "end_effector"],
+    "text_to_motion": true
+  }
+}