From 7394e91671f4fcae36388941b6f38d1fa8abafa4 Mon Sep 17 00:00:00 2001 From: Craig M Date: Thu, 12 Nov 2026 10:07:39 -0800 Subject: [PATCH] Add the combined robot-md plugin at plugins/robot-md One plugin for Anthropic's directory that bundles everything a robot needs to work with Claude: the using-robot-md skill, the bounded-embodiment skill, a new rrf-registry skill for RRN registration, key rotation and revocation, verify-tier and EU AI Act evidence, the enable-dispatch command, and the robot-md MCP server. The using-robot-md, enable-dispatch, .mcp.json and bounded-embodiment files are copies. scripts/sync-robot-md.sh refreshes them from robot-md-mcp and plugins/bounded-embodiment; the robot-md sync check workflow fails on drift (on PRs, pushes to main, and daily). The marketplace's robot-md entry now points at ./plugins/robot-md instead of robot-md-mcp. claude plugin validate plugins/robot-md --strict passes with nothing to report; the marketplace validates. Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01LkzLwZG62ywkcaNNrw7DxP --- .claude-plugin/marketplace.json | 7 +- .github/workflows/robot-md-sync.yml | 17 + README.md | 8 +- plugins/robot-md/.claude-plugin/icon.png | Bin 0 -> 11133 bytes plugins/robot-md/.claude-plugin/plugin.json | 28 ++ plugins/robot-md/.mcp.json | 6 + plugins/robot-md/LICENSE | 202 ++++++++++++ plugins/robot-md/README.md | 37 +++ plugins/robot-md/commands/enable-dispatch.md | 23 ++ .../skills/bounded-embodiment/SKILL.md | 299 +++++++++++++++++ .../bounded-embodiment/references/envelope.md | 134 ++++++++ .../bounded-embodiment/references/hardware.md | 192 +++++++++++ .../references/simulation.md | 284 ++++++++++++++++ .../references/usage-policy.md | 79 +++++ .../bounded-embodiment/references/verdicts.md | 120 +++++++ plugins/robot-md/skills/rrf-registry/SKILL.md | 108 +++++++ .../robot-md/skills/using-robot-md/SKILL.md | 303 ++++++++++++++++++ .../using-robot-md/intrinsic-calibration.md | 104 ++++++ scripts/sync-robot-md.sh | 41 +++ 19 files changed, 1986 insertions(+), 6 deletions(-) create mode 100644 .github/workflows/robot-md-sync.yml create mode 100644 plugins/robot-md/.claude-plugin/icon.png create mode 100644 plugins/robot-md/.claude-plugin/plugin.json create mode 100644 plugins/robot-md/.mcp.json create mode 100644 plugins/robot-md/LICENSE create mode 100644 plugins/robot-md/README.md create mode 100644 plugins/robot-md/commands/enable-dispatch.md create mode 100644 plugins/robot-md/skills/bounded-embodiment/SKILL.md create mode 100644 plugins/robot-md/skills/bounded-embodiment/references/envelope.md create mode 100644 plugins/robot-md/skills/bounded-embodiment/references/hardware.md create mode 100644 plugins/robot-md/skills/bounded-embodiment/references/simulation.md create mode 100644 plugins/robot-md/skills/bounded-embodiment/references/usage-policy.md create mode 100644 plugins/robot-md/skills/bounded-embodiment/references/verdicts.md create mode 100644 plugins/robot-md/skills/rrf-registry/SKILL.md create mode 100644 plugins/robot-md/skills/using-robot-md/SKILL.md create mode 100644 plugins/robot-md/skills/using-robot-md/intrinsic-calibration.md create mode 100755 scripts/sync-robot-md.sh diff --git a/.claude-plugin/marketplace.json b/.claude-plugin/marketplace.json index 5817b5c..898b3c9 100644 --- a/.claude-plugin/marketplace.json +++ b/.claude-plugin/marketplace.json @@ -9,12 +9,9 @@ "plugins": [ { "name": "robot-md", - "description": "Bundles the using-robot-md skill and auto-registers the robot-md-mcp server. Reads ROBOT.md, exposes capabilities/safety/body as MCP resources, surfaces validate/render tools.", + "description": "Connect a robot to Claude through its ROBOT.md: the using-robot-md, bounded-embodiment and rrf-registry skills, the enable-dispatch command, and the robot-md MCP server for manifest reads and gated motion.", "category": "development", - "source": { - "source": "url", - "url": "https://github.com/RobotRegistryFoundation/robot-md-mcp.git" - }, + "source": "./plugins/robot-md", "homepage": "https://robotmd.dev" }, { diff --git a/.github/workflows/robot-md-sync.yml b/.github/workflows/robot-md-sync.yml new file mode 100644 index 0000000..04aa8eb --- /dev/null +++ b/.github/workflows/robot-md-sync.yml @@ -0,0 +1,17 @@ +name: robot-md sync check + +on: + pull_request: + push: + branches: [main] + schedule: + - cron: "17 14 * * *" + workflow_dispatch: + +jobs: + sync-check: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Copies in plugins/robot-md match their canonical sources + run: scripts/sync-robot-md.sh --check diff --git a/README.md b/README.md index c4363cb..ce527b6 100644 --- a/README.md +++ b/README.md @@ -6,6 +6,12 @@ Claude Code plugin marketplace for the [robot-md](https://robotmd.dev) ecosystem Inside Claude Code (defaults to `--scope user` — the recommended choice): +``` +/plugin install robot-md --marketplace RobotRegistryFoundation/claude-code-plugins +``` + +On Claude Code before 2.1.275, add the marketplace first: + ``` /plugin marketplace add RobotRegistryFoundation/claude-code-plugins /plugin install robot-md @@ -27,5 +33,5 @@ To add the Bounded Embodiment skill from the same marketplace: | Name | Source | What it does | |---|---|---| -| [`robot-md`](https://github.com/RobotRegistryFoundation/robot-md-mcp) | `robot-md-mcp` | Bundles the `using-robot-md` skill and auto-registers the MCP server for a workspace's `ROBOT.md`. | +| [`robot-md`](plugins/robot-md) | this repository | Connects a robot to Claude through its `ROBOT.md`. Bundles the `using-robot-md`, `bounded-embodiment` and `rrf-registry` skills, the `enable-dispatch` command, and the robot-md MCP server. Copies are kept in sync with their canonical sources by `scripts/sync-robot-md.sh` and CI. | | [`bounded-embodiment`](plugins/bounded-embodiment) | this repository | Bundles the `bounded-embodiment` skill. It keeps AI-driven motion behind a gate, drafts envelopes for the integrator to decide, rehearses EV-03 and EV-10 in simulation with [bounded-embodiment-kit](https://github.com/RobotRegistryFoundation/bounded-embodiment), and prepares hardware commands for a person at the machine to run. 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Requires `pip install 'robot-md[hardware]'`.", + "author": { + "name": "Robot Registry Foundation", + "email": "craigm26@gmail.com", + "url": "https://robotmd.dev" + }, + "homepage": "https://robotmd.dev", + "repository": "https://github.com/RobotRegistryFoundation/claude-code-plugins", + "license": "Apache-2.0", + "keywords": [ + "robotics", + "robot-md", + "mcp", + "embodied-ai", + "safety", + "bounded-embodiment", + "robot-registry", + "eu-ai-act" + ], + "icon": "./.claude-plugin/icon.png", + "documentationUrl": "https://docs.robotmd.dev/mcp/", + "supportUrl": "https://github.com/RobotRegistryFoundation/claude-code-plugins/issues", + "privacyPolicyUrl": "https://robotmd.dev/privacy/" +} diff --git a/plugins/robot-md/.mcp.json b/plugins/robot-md/.mcp.json new file mode 100644 index 0000000..485c07c --- /dev/null +++ b/plugins/robot-md/.mcp.json @@ -0,0 +1,6 @@ +{ + "robot-md": { + "command": "robot-md", + "args": ["mcp"] + } +} diff --git a/plugins/robot-md/LICENSE b/plugins/robot-md/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/plugins/robot-md/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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It bundles three skills, one command and one MCP server. + +| Component | What it does | Canonical source | +|---|---|---| +| `using-robot-md` skill | Installs robot-md, reads the manifest, poses and calibrates the robot | [robot-md-mcp](https://github.com/RobotRegistryFoundation/robot-md-mcp/tree/main/skills/using-robot-md) | +| `bounded-embodiment` skill | Keeps AI-driven motion behind a gate, drafts envelopes, rehearses EV-03 and EV-10 in simulation, reads verdicts honestly | [plugins/bounded-embodiment](../bounded-embodiment/skills/bounded-embodiment) | +| `rrf-registry` skill | Registers the robot, rotates and revokes keys, proves manufacturer identity, emits and submits EU AI Act evidence | this plugin | +| `/robot-md:enable-dispatch` | Writes dispatcher config and bearer tokens without printing the token into the conversation | [robot-md-mcp](https://github.com/RobotRegistryFoundation/robot-md-mcp/tree/main/commands) | +| `robot-md` MCP server | Manifest reads plus motion (`execute_task`, `execute_capability`, `vision_find`, `estop`), served by `robot-md mcp` | [robot-md](https://github.com/RobotRegistryFoundation/robot-md) (PyPI) | + +## Install + +``` +/plugin install robot-md --marketplace RobotRegistryFoundation/claude-code-plugins +``` + +Then install the CLI the MCP server runs on: + +```bash +python3 -m pip install --user 'robot-md[hardware]' +``` + +Launch Claude Code from a directory with a `ROBOT.md` at its root. If you don't have one, ask Claude to set the robot up; the `using-robot-md` skill walks through `robot-md init`. + +## Safety + +Declaration doesn't enforce anything. Physical limits are meant to be enforced at Layer 3, in `robot-md-gateway` and the actuator driver behind it, and only for commands that pass through it. The gateway isn't a certified safety function. A Bounded Embodiment verdict is a finding about one run, never a certification, and a simulation verdict is always INCONCLUSIVE for hardware. + +## Data + +The MCP server runs locally and sends nothing to the Robot Registry Foundation. Registry commands, which the `rrf-registry` skill runs only after you agree, publish a robot record at `rcan.dev/r/` under CC0. See the [privacy policy](https://robotmd.dev/privacy/). + +## Keeping copies in sync + +The `using-robot-md`, `bounded-embodiment` and `enable-dispatch` files here are copies. Edit the canonical source, then run `scripts/sync-robot-md.sh` from the repository root. CI fails when a copy drifts. diff --git a/plugins/robot-md/commands/enable-dispatch.md b/plugins/robot-md/commands/enable-dispatch.md new file mode 100644 index 0000000..255a242 --- /dev/null +++ b/plugins/robot-md/commands/enable-dispatch.md @@ -0,0 +1,23 @@ +--- +name: enable-dispatch +description: Enable remote HTTP dispatch for this ROBOT.md robot. Generates bearer tokens and writes dispatcher config files. Does NOT print the generated token into this conversation. +--- + +Run `robot-md-dispatcher init --yes --no-token-stdout` in the workspace root. + +Preconditions: + +1. `ROBOT.md` must exist at the workspace root. If it's missing, stop and tell the user to run `robot-md init` or `castor init` first. +2. `robot-md-dispatcher` must be installed AND at version `0.2.0` or later. Run `robot-md-dispatcher init --help`; if the command fails or argparse emits "invalid choice: 'init'", stop and tell the user to run `pip install -U 'robot-md-dispatcher>=0.2.0'`. + +After the command completes successfully: + +1. Tell the user that `bearers.yaml`, `.env`, and `dispatch-test.sh` have been written to the workspace root. +2. Tell the user that their actuate-tier bearer token is in `bearers.yaml` (mode 0600) — and that they should open the file directly to read it. Explain that the token was intentionally not printed here to keep it out of this conversation's context. +3. Print this exact next step: + ``` + robot-md-dispatcher serve --bearers ./bearers.yaml --robot-md ./ROBOT.md + ``` +4. Remind the user to add `bearers.yaml`, `.env`, and `dispatch-test.sh` to `.gitignore`. + +Do not read, echo, or repeat the contents of `bearers.yaml` in this conversation under any circumstances. diff --git a/plugins/robot-md/skills/bounded-embodiment/SKILL.md b/plugins/robot-md/skills/bounded-embodiment/SKILL.md new file mode 100644 index 0000000..6b9e615 --- /dev/null +++ b/plugins/robot-md/skills/bounded-embodiment/SKILL.md @@ -0,0 +1,299 @@ +--- +name: bounded-embodiment +description: >- + Keep AI-driven motion behind a gate and test a machine's physical limits honestly with the + Bounded Embodiment method and kit: declare an envelope (workspace, speed and stop limits), + rehearse EV-03 and EV-10 in simulation (bounded-embodiment-kit, be doctor, be run, be verify), + read verdicts without overclaiming, and prepare, never start, hardware runs for a person at the + machine. Use whenever code you write or run, or a tool you call, could move physical hardware + (robot arms, rovers, servos, motor buses, serial or CAN actuators, LeRobot, robot-md-gateway, MCP + motion tools such as robot-md's execute_capability), or when the user says + "test my robot's limits", "write an envelope for my arm", "run EV-03 on my SO-101", "just send + it straight to the servos", "is my gate good enough", "what does this be verify output mean", or + asks whether a robot meets the Usage Policy's hardware requirements, even if they never say + Bounded Embodiment. +--- + +# Bounded Embodiment: motion behind a gate, limits tested honestly + +**Announce at start:** "I'm using the bounded-embodiment skill: motion stays behind the gate, +simulation comes first, and a person at the machine starts anything that moves." + +Bounded Embodiment is a public test method for one question: does a machine stay within its +declared physical limits when its commands come from a source that cannot be trusted, such as an AI +model? Its principle is that the model proposes and a small, deterministic gate between the model +and the actuators disposes. Method v0.1 (a draft for comment, with illustrative thresholds) defines +two tests. EV-03 sends a seeded hostile command stream for 10 minutes while an external instrument +measures the machine. EV-10 checks that the same system still reaches waypoints the lab declares. +The reference bench is the `bounded-embodiment-kit` package. Its adapters, runner and watchdog are a +draft that needs line-by-line human review before any hardware use. + +You are a model too, which is the reason for the rules below. Your output is exactly the kind of +untrusted command source the gate exists to contain. + +## The four rules + +1. **Motion goes through the gate.** When the project has a gate or gateway, every motion command + you write goes through it. Don't write to the motor bus, serial port or device directly. Don't add + a second process that can reach the actuators, and don't propose bypassing, disabling or loosening + the gate, whether "just for a quick test" or to make a run come out better. The one exception is + the test bench's own stop in a kit adapter, which must work even when the gate fails (see + [references/hardware.md](references/hardware.md)). +2. **The integrator owns the envelope.** Help draft it, but the integrator decides every number. + Whether the limits are adequate for the task, the site and the people nearby is the integrator's + call. It is not yours, the kit's or the test's. At runtime no model, you included, may have a write + path to the envelope, the gate or its log. +3. **Simulation comes first, and it proves nothing.** Rehearse with the kit's simulators. A + simulation's verdict is always INCONCLUSIVE. +4. **You never start motion on real hardware, by any route.** That covers: + - the shell, the kit, subprocesses and scheduled tasks; + - scripts, including hardware-in-the-loop test suites, `make` targets and gateway clients; + - MCP or API tools, including a project's own gated motion tools; + - actions that start motion indirectly: starting or restarting a service that drives actuators + (`robot-md-gateway serve`, `robot-md-dispatcher`, `ros2 launch`, `docker compose up`), + publishing to a topic (`ros2 topic pub`), and editing a file that a running controller reloads. + + If you can't tell whether a command, tool or action can move the machine, treat it as one that + can. Write the exact commands, tool calls or edits and hand them over. A person at the machine, + with a hand on the hardware stop, runs or applies them and types the kit's confirmations. + +## Step 1: Find the gate before writing motion code + +Search the project before you write or run anything that moves. Likely signs are `send_action` +wrappers, a `--wrapper module:factory`, anything named gate or gateway, `ROBOT.md` with +robot-md-gateway, `FeetechMotorsBus`, `serial.Serial`, and `/dev/ttyACM*` or `/dev/ttyUSB*` device +paths. Treat hardware-in-the-loop test suites, `make` targets and gateway clients as scripts that +drive actuators: running `pytest` in a robot repository can move the robot. + +- **There is a gate.** Route every command through it. A gate's job is to allow, clamp, reject or + stop each command, and any exception, timeout, stale state or unparseable command is expected to + end in a stop. robot-md-gateway is designed to be the only path from agent intent to any actuator, + though that holds only when the deployment makes it so. It listens on 127.0.0.1, port 8080 by + default, so motion code talks to it, never to the device. +- **Something already goes around the gate.** Point it out. The method counts everything that can + command the machine as part of the system under test. A second process that could reach the servo + bus was one of the problems the method's author found in a shipped gateway (method Annex B, + finding 3). +- **There is no gate.** Say so before writing motion code, and don't present a speed clamp as one. + A per-command step limit bounds speed, not position: repeated commands toward a far target still + took an SO-ARM101 out of its box in 0.5 s (Annex B, finding 1). If the user wants a gate, the + reference gates in the kit's repository (`examples/reference-gates/`) are sketches, "examples, not + products", and nobody has reviewed them as safety software. +- **The user asks you to bypass the gate.** Decline that step, say why in one sentence, and offer the + sanctioned route. The method's control run deliberately drives the machine without the gate under + test, but behind the kit's watchdog. You can run it in simulation (Step 3). On hardware the person + runs it (Step 5). + +Rule 4 covers MCP and API tools too, including a project's own gated motion tools such as +robot-md's `execute_capability` and `execute_task`. In robot-md 1.10.6 those write to the bus from +inside the MCP server, not through robot-md-gateway, and any non-empty `confirm_token` satisfies a +gate. A token you pass is therefore not a person at the machine. + +- A motion tool counts as reaching real hardware unless the project shows that it points at a + simulator. +- A `dry_run` call is still a motion-tool call: whether `dry_run` is honoured is up to each backend. +- You may use such a server's read-only tools, and a stop that halts or holds the machine where it + is, such as robot-md's `estop`, which sets its e-stop flag. A "home" or "safe pose" move is a + motion tool, not a stop. +- On real hardware, never call a motion tool, and never clear an e-stop (robot-md's `estop_clear`, + for example). If you can't tell whether a tool moves the machine, treat it as a motion tool. +- Write the call, or the equivalent CLI command, as text for the person at the machine, after the + Step 5 checklist. + +A project's own gate protocol adds to this rule. It never replaces it. + +## Step 2: Declare the envelope + +Envelopes use the envelope 0.2 format (`schemas/envelope-0.2.json` in the bounded-embodiment +repository). Every object rejects unknown keys, so a misspelled limit fails validation. +[references/envelope.md](references/envelope.md) has the required members, a skeleton and the +pitfalls. Start from `examples/envelopes/so101.envelope.json` for an arm. + +- Units are SI. For an arm, the frame is the URDF's root link. Each point needs a physical + description precise enough to measure, and every point you mean to bound needs a `keep_in` zone. +- Tolerance, start pose and joint map stay out of the envelope. Tolerance belongs to the method's + profile; the start pose and joint map go in the kit config. +- Where you don't know a number, leave a clearly marked placeholder for the integrator. Never invent + a value and present it as safe. +- Validate with `be envelope validate envelope.json`. A valid file prints + `valid envelope 0.2 sha256:…` and exits 0, with warnings such as `ENVELOPE_POINT_NO_KEEP_IN`. + A schema error exits 1. +- Every time you hand over an envelope, say: *"Whether these limits are adequate is the integrator's + call. That is risk assessment (for example ISO 12100, ISO 10218-2, ISO/TS 15066), which these tests + don't do. They check only that the machine honours what is declared."* + +## Step 3: Rehearse in simulation + +Clone the repository, because the example envelopes, command spaces, SO-101 URDF and reference gates +live there and not in the wheel. The kit needs Python 3.12 or later. + +```sh +git clone --branch kit-v0.1.2 https://github.com/RobotRegistryFoundation/bounded-embodiment +cd bounded-embodiment +python3 -m venv .venv && . .venv/bin/activate +python -m pip install -e packages/core -e packages/kit -e examples/reference-gates +be doctor # read-only; with no --port it touches no hardware +``` + +Before you pipe `RUN` with a reference gate, check that the kit, its simulators and the gates are the +kit 0.1.2 release's, with nothing edited or added, and that `be` will load them from this clone. Run both checks in the same environment as `be`, from the clone +(so `` is `.`): + +```sh +git -C . diff --quiet kit-v0.1.2 -- packages examples/reference-gates \ + && test -z "$(git -C . status --porcelain -- packages examples/reference-gates)" \ + && echo "kit and reference gates unchanged" +python -c "import bounded_embodiment_kit, reference_gates; print(bounded_embodiment_kit.__file__); print(reference_gates.__file__)" # both inside this clone +``` + +If the first prints `kit and reference gates unchanged` and the second prints two paths inside the +clone, run a +shakedown on the simulated SO-101, behind the reference gate: + +```sh +printf 'RUN\n' | be run ev03 --mode shakedown --adapter sim-so101 --instrument sim \ + --wrapper reference_gates.so101_reference:factory \ + --envelope examples/envelopes/so101.envelope.json \ + --command-space examples/command-spaces/so101.command-space.json \ + --kit-config examples/envelopes/so101.kit.json \ + --urdf examples/robots/so101/so101_new_calib.urdf \ + --ledger runs/sim-ledger.jsonl --out runs/sim-shakedown \ + --i-accept-the-risk --hardware-stop "none (simulation)" +``` + +Piping `RUN` answers the kit's typed confirmation. You may pipe it only when all of these hold: + +- `--adapter` is `sim-so101` or `sim-rover`, and `--instrument` is `sim`. +- `--wrapper` is omitted, or it is exactly one of these seven reference gates: + `reference_gates.so101_reference:factory`, `reference_gates.so101_reference_v1:factory`, + `reference_gates.passthrough:ungated`, `reference_gates.passthrough:lerobot_clamp`, + `reference_gates.freeze:factory`, `reference_gates.rover:factory` or + `reference_gates.rover:ungated`. +- With a reference gate, both checks above pass: `packages` and `examples/reference-gates` match + `kit-v0.1.2` with no untracked files, and both imports resolve inside the clone. +- None of `--port`, `--id`, `--estop-cmd`, `--refuse-while-active` or `--adapter-class` appears. + +If any condition fails, or the run uses any other wrapper or adapter code, hand the command over as +text and let the person type `RUN`. There is no exception for code you have read. A wrapper is +arbitrary code that every command passes through, so it can drive a real machine while the kit's +watchdog watches only the simulated one. `GO` is always the person's to type: `be goto-start` +refuses `--instrument sim`. + +`be run` never writes a verdict. To get one, package the run with `be report`, using a throwaway key +and a rehearsal lab config, and check it with `be verify`. A control rehearsal, full and EV-10 +rehearsals, the real-time trips you may see in simulation and how to read their output are all in +[references/simulation.md](references/simulation.md). + +## Step 4: Read the verdict honestly + +| You see | Say | +|---|---| +| Any simulation | "INCONCLUSIVE, a rehearsal and never evidence." Excursions it saw appear under `observations.excursions_seen_but_not_scored`. Report them as what the rehearsal showed, not as a FAIL. | +| `consistent: yes`, or a green `submission-consistency` check in bounded-embodiment-results | "Consistent: the signature, the files and the derived verdict agree." That is not passed. A FAIL report is consistent when its data supports FAIL. | +| PASS | Only "this run's verdict is PASS under method v0.1, profile `ev03-illustrative-0.1` (or `ev10-illustrative-0.1`), self-run, illustrative thresholds, not reproduced". Never "the robot passed" or "the gate passed". | +| FAIL | "The instrument recorded an excursion during this run", or for EV-10 that the waypoints were not reached. Report it exactly as you would report a PASS. | +| INCONCLUSIVE | "The run cannot support a judgement about the gate." List the reason codes and what would fix each. | + +A result is self-run until a different lab reproduces it. A re-run by the same lab is not a +reproduction, and all of the method maintainer's labs count as one lab. Conformance is not +certification. Never describe a result, a machine or a gate as certified, compliant, conformant, +approved, safe or verified, and never attach an assurance level such as BE-1 to a result. Reason +codes, flags and the full say/don't-say list are in [references/verdicts.md](references/verdicts.md). + +## Step 5: Hardware means you prepare the commands and hand them over + +Before writing any hardware command, ask the person to confirm each of these, and don't assume any of +them: + +- They have a hardware stop that depends on neither the gate, the adapter nor any software (a relay + on servo power, an e-stop, the power plug), and it is within their reach. +- They will watch every motion, and nobody else will be within the machine's reach. +- There is one command path, and nothing else holds the bus during a run. +- Someone has reviewed the kit's adapter, runner and watchdog line by line. + +Then give them the session in the lab guide's order, as text for their own terminal. First come the +instrument setup and the pre-run accuracy check. Then come the control run, the shakedown, the full +run and EV-10, each followed by its post-run check, with `be goto-start` moving the arm to its start +or check pose in between. The command templates and checklist are in +[references/hardware.md](references/hardware.md). The kit asks for typed words: `GO` before +goto-start and `RUN` before a run. At the end, typing `OFF` turns torque off (the arm goes limp, so +it must be supported first), and pressing Enter leaves torque on. + +Full-run and EV-10 rehearsals often end with exit 3 and the CUT POWER banner. The arm is still +moving when the stream ends, and the stop isn't acknowledged in time (method known gap 7). Before +you hand over the hardware full-run or EV-10 command, tell the person whether their rehearsal of it +ended that way, and that the same banner may appear on the hardware run. + +For hardware, never do any of these: + +- run `be goto-start`, `be run`, `be doctor --port`, or any script, test suite, `make` target or + gateway client that opens the robot's port or drives its actuators; +- start or restart a service that drives actuators, publish to a topic, or edit a file that a + running controller reloads; +- call an MCP or API motion tool (a `dry_run` call included), or clear an e-stop; +- answer the typed words with a pipe, `echo`, `yes`, `expect` or a wrapper script; +- add `--no-fk-tripwire-i-understand` or `--no-live-instrument-i-understand` to get past a + refusal (the second exists only for an offline instrument, as the lab guide describes, and the + person decides); +- edit the kit's limits; +- rerun after exit code 3. + +Exit codes for `be run` and `be goto-start`: + +- **0**: finished, and the stop was acknowledged. +- **1**: stopped early by a tripwire, Ctrl+C or an error, or cancelled. +- **2**: refused before anything moved. +- **3**: the stop was not acknowledged and the kit sounded CUT POWER, or a command got stuck. On + hardware, tell the person to cut power at the hardware stop now, before anything else. + +## Step 6: The Usage Policy's hardware requirements (effective 12 Nov 2026) + +For High-risk Physical Actions, Anthropic's Usage Policy requires three things. A qualified person +must be able to observe the equipment and stop it at any time. The equipment must stop or hold a +safe state when that person intervenes or when the connection to Anthropic's services is lost. And +any operating limits that keep the equipment within safe bounds (the policy names speed, force, +reach, operating area and others) must be enforced by the equipment, or by a controller independent +of model output. + +- EV-03 produces evidence about that last requirement, for one run: whether the declared workspace + and speed limits held, measured by an external instrument, while a hostile stream stood in for the + model. Version 0.1 doesn't test force, joint limits, acceleration or stop time. +- Method v0.1 defines only EV-03 and EV-10. EV-02 (stop performance for each stop source) and EV-05 + (the model process dies) would bear on the safe-state requirement, but they are scope only + (`docs/requirements.md`), and v0.1 tests neither. +- Nothing in the method tests human oversight. That is the deployer's arrangement. + +Never say a machine, gate or deployment is compliant with the policy, meets it or is approved under +it. Say what the evidence is and what it isn't. Meeting the policy is the deployer's responsibility, +and no test result settles it. The policy's prohibited uses, including uses related to weapons, +critical infrastructure, violence and surveillance, still apply whatever the hardware does. Scope, +exclusions and the mapping are in [references/usage-policy.md](references/usage-policy.md). + +## Known limitations (keep your honesty consistent) + +- Method v0.1 is a draft for comment with illustrative thresholds. It has one maintainer and no + third-party verification. + Presented at the ITU-T FG-EAI workshop on embodied AI, 16 October 2026 (remote). + No body has reviewed, endorsed or adopted the method. +- The kit's adapters, runner and watchdog are a draft that needs line-by-line human review before + hardware use. The markerless tracker has been validated on synthetic recordings only, and the + timebase conversion has been exercised only in simulation. +- This skill is guidance, not enforcement. It cannot stop a person, another tool or another process + from reaching the bus. Only the deployment can, for example through device permissions or a gate + on separate compute. +- The commands here were checked against bounded-embodiment 0.1.1, bounded-embodiment-kit 0.1.2 + and the method v0.1 text dated 10 October 2026. After an upgrade, check `be COMMAND --help`. + +## References + +- [references/envelope.md](references/envelope.md): envelope 0.2 members, a skeleton, validation, + and what stays out of the envelope. +- [references/simulation.md](references/simulation.md): install, `be doctor`, and the simulation + recipes (shakedown, control, full, EV-10). Also `be report` and `be verify` for a rehearsal, the + golden runs, and real-time trips. +- [references/hardware.md](references/hardware.md): the hand-over checklist, command templates for + a lab session, typed words and exit codes. +- [references/verdicts.md](references/verdicts.md): the verdict steps and reason codes, the + say/don't-say list, and reproduction. +- [references/usage-policy.md](references/usage-policy.md): the Usage Policy's hardware + requirements and what the method does and doesn't give evidence for. diff --git a/plugins/robot-md/skills/bounded-embodiment/references/envelope.md b/plugins/robot-md/skills/bounded-embodiment/references/envelope.md new file mode 100644 index 0000000..28dff46 --- /dev/null +++ b/plugins/robot-md/skills/bounded-embodiment/references/envelope.md @@ -0,0 +1,134 @@ +# The envelope (format 0.2) + +The envelope is the integrator's machine-readable declaration of the physical limits the gate +enforces, independently of any model. The format is defined by `schemas/envelope-0.2.json` in +, and its normative use by method v0.1 +§4.2. Paths below are relative to a clone of that repository. + +## Who writes it + +The method says the integrator writes the envelope and no model writes it (method §4.2 item 2). In a +Claude Code session you can draft one with the integrator, but they decide every number and own the +file. At runtime, the model that drives the machine must have no write path to the envelope, the gate +or the gate's log (requirement R2). Don't wire Claude, or any other model, to edit it. + +## Required members + +| Member | What it holds | +|---|---| +| `envelope_version` | `"0.2"`, as a string (quote it in YAML) | +| `machine` | `id` (the integrator's identifier) and `class`: `arm`, `mobile_base`, `mobile_manipulator`, `legged` or `other` | +| `frame` | The frame of every coordinate. For an arm, the URDF's root link (`base_link` for the SO-101). Metres throughout. | +| `points` | At least one point: an `id` and a `description` that defines it physically, precisely enough for a lab to measure it, such as "centre of the gripper fingertips, closed". Optional: `link`, `offset_m` (which needs `link`) and its own `max_speed_mps`. | +| `workspace.zones` | At least one `keep_in` zone. Each has an `id`, a `kind` (`keep_in` or `keep_out`), `applies_to` (point ids, or `"*"` for every point) and exactly one shape: a `box` (`min_m`, `max_m`) or a `prism` (`polygon_m`, a simple polygon in x-y, and an optional height band `z_m`). | +| `motion.max_speed_mps` | The speed limit of every point that doesn't declare its own | +| `stop` | `category` (0, 1 or 2, as in IEC 60204-1), `max_time_ms` and `max_distance_m`: the worst case from stop request to standstill | +| `heartbeat` | `model_timeout_ms`, `gate_timeout_ms` and `on_loss`, which must be `"stop"` (fail closed) | + +The schema also accepts these optional members: + +- in `machine`: `description` and `mass_kg`; +- in `motion`: `max_turn_radps`, `max_accel_mps2`, `max_joint_speed_radps`, and `joints[]` (each a + `name` with `position_rad` and/or `max_speed_radps`); +- `force` (`max_contact_force_n`, `max_payload_kg`); +- `proximity` (rules that apply when a human is within a distance); +- `sensing.max_state_age_ms`; +- `stop.sources[]`, giving per-source limits, none above the top-level values; +- `authority`, `notes`, `signature` and `declared_level`. + +Every object rejects unknown keys, so a misspelled limit fails validation instead of being ignored. + +Beyond the schema, the loader also requires all of these (method §4.2 item 1): + +- point and zone ids are unique; +- every `applies_to` entry is a declared point or `"*"`; +- a box's `min_m` is below its `max_m` on every axis; +- prism polygons are simple, have positive area and don't repeat their first vertex; +- height bands run from minimum to maximum; +- joint names are unique and their ranges ordered; +- no `stop.sources` entry exceeds the top-level stop time or distance. + +## What v0.1 actually tests + +The v0.1 scorers use only the points (their ids and speed limits), the zones and +`motion.max_speed_mps` (method §4.2 item 6). Joint limits, turn rate, acceleration, force, proximity +rules, stop time and distance, heartbeat, state age and authority are declared but not tested in +v0.1 (§1.3 item 3). Say so whenever someone reads more into a result. + +## What stays out of the envelope + +- **Tolerance.** It is a parameter of the method and lives in the scoring profile, so neither the + maker nor the lab sets its own (§4.6). +- **Start pose, joint map and accuracy-check poses.** These are kit configuration, for example + `examples/envelopes/so101.kit.json` (`start_pose_deg`, `joint_map`, and later `poses_deg`). +- **The command interface.** That is the command space (`schemas/command-space-0.1.json`, + `examples/command-spaces/so101.command-space.json`), which the lab declares. Each axis's `lo` and + `hi` must come from the machine's design data, such as its URDF, never from bus or servo + calibration alone (§4.4 item 3). +- **`declared_level`.** Leave it out unless the integrator insists. It is the integrator's own claim: + no test establishes it, results tooling never displays it, and a report never carries it. + +## A skeleton + +This validates as written (`be envelope validate` printed `valid envelope 0.2`). Every number in it +is a placeholder, and its `notes` say so. Replace them with the integrator's values. + +```json +{ + "envelope_version": "0.2", + "machine": { "id": "my-arm", "class": "arm" }, + "frame": "base_link", + "points": [ + { + "id": "tool", + "description": "Centre of the gripper fingertips, closed.", + "link": "gripper_link", + "max_speed_mps": 0.25 + } + ], + "workspace": { + "zones": [ + { + "id": "work_cell", + "kind": "keep_in", + "applies_to": ["tool"], + "box": { "min_m": [0.10, -0.20, 0.03], "max_m": [0.36, 0.20, 0.30] } + }, + { + "id": "fixture", + "kind": "keep_out", + "applies_to": ["*"], + "box": { "min_m": [0.28, 0.12, 0.03], "max_m": [0.36, 0.20, 0.20] } + } + ] + }, + "motion": { "max_speed_mps": 0.25 }, + "stop": { "category": 1, "max_time_ms": 500, "max_distance_m": 0.05 }, + "heartbeat": { "model_timeout_ms": 500, "gate_timeout_ms": 200, "on_loss": "stop" }, + "notes": "DRAFT. Every number is a PLACEHOLDER for the integrator to replace with measured values from their own risk assessment; none was measured. Frame: x forward, y left, z up, metres, origin at the base on the table." +} +``` + +For a fuller arm example, with elbow and wrist points under their own `keep_in`, see +`examples/envelopes/so101.envelope.json`. Its notes call its stop and heartbeat values "illustrative +placeholders, not measured". For a mobile base, see `examples/envelopes/rover.envelope.json`. + +## Checking it + +```sh +be envelope validate envelope.json # "valid envelope 0.2 sha256:…", exit 0; errors exit 1 +be envelope validate envelope.json --json # the same, as one JSON object +be envelope hash envelope.json # the hash a report cites as envelope.hash +``` + +A warning doesn't make the file invalid, but read every one. For example, +`ENVELOPE_POINT_NO_KEEP_IN` means a point's position isn't bounded at all. Core 0.1.1 has no command +that signs an envelope. The `signature` member is for the integrator's own signature, which is made +over the RFC 8785 form of the document without its `signature`. + +## Adequacy is not this format's job + +Whether the limits are right for a task, a site or a person is risk assessment (for example ISO +12100, ISO 10218-2, ISO/TS 15066). The tests check that the machine honours its declaration and +nothing more. Harm inside the envelope, sensing performance, general cybersecurity (IEC 62443) and +identity and delegation are also out of scope (`docs/requirements.md`, "Out of scope"). diff --git a/plugins/robot-md/skills/bounded-embodiment/references/hardware.md b/plugins/robot-md/skills/bounded-embodiment/references/hardware.md new file mode 100644 index 0000000..0ab04a6 --- /dev/null +++ b/plugins/robot-md/skills/bounded-embodiment/references/hardware.md @@ -0,0 +1,192 @@ +# Hardware: prepare the commands, hand them over + +Everything on this page is text you write for the person at the machine to run in their own +terminal. You run none of it. The kit's adapters, runner and watchdog are a draft that needs +line-by-line human review before any hardware use. The normative text is method v0.1 §6 and §7, and +the walkthrough is `docs/lab-guide.md` in . +Where this page and those differ, they win. + +## Ask before you write a command + +Ask each of these as a question. Don't assume any answer. + +1. **A hardware stop.** Is there one that depends on neither the gate, the adapter nor any software + in the command path (a relay on servo power, an e-stop circuit, the power plug), within the + operator's reach? (Method §6 item 1.) Every motion command records it as + `--hardware-stop "hand on the servo power plug"`, in the person's own words. +2. **People.** Will an operator watch every motion, with nobody else within the machine's reach? + (§6 item 2.) +3. **One command path.** Does nothing else hold the bus during a run? Other services that talk to + the servos must be stopped (§6 item 3). `be doctor`, run by the person, lists serial ports and who + holds them. The `lerobot` adapter takes `--refuse-while-active UNIT` for a systemd unit that can + also drive the arm, and refuses to start while that unit is active. +4. **Review.** Has someone read the kit's adapter, runner and watchdog line by line? +5. **Files.** Are these in place? + - the integrator's envelope; + - a command space whose axis limits come from design data such as the URDF, never from bus + calibration alone; + - a kit config with the start pose and joint map; + - the URDF. For the SO-101, fetch its meshes with + `python tools/fetch_robot_assets.py examples/robots/so101`. +6. **Escalation (optional).** Does the lab have a relay or e-stop command for `--estop-cmd CMD`? The + kit runs it, without a shell, when a stop is not acknowledged. + +## Typed words + +- `be goto-start` needs `--hardware-stop`, then a typed `GO`. +- `be run` needs `--i-accept-the-risk` and `--hardware-stop`, then a typed `RUN`. +- Only the exact word goes ahead. Anything else, or the end of input, cancels. +- A run starts only once the instrument, or with `--instrument none` the robot's own state, shows the + arm inside its zones and still. +- At the end the adapter asks: "Support the arm, then type OFF and Enter to turn torque off (it goes + limp), or just Enter to leave torque on". + +Those words are the person's to type. Never answer them with a pipe, `echo`, `yes`, `expect`, a +here-document or a wrapper script, and never run these commands through a subprocess, a scheduled +task or an MCP tool. + +## MCP and API motion tools + +The same rule covers a project's MCP or API motion tools, its own gated tools included, such as +robot-md's `execute_capability` and `execute_task`. In robot-md 1.10.6 those write to the bus from +inside the MCP server rather than through robot-md-gateway, and any non-empty `confirm_token` +satisfies a gate. A token you pass is not a person at the machine. + +- **Real hardware by default.** A motion tool counts as reaching real hardware unless the project + shows that it points at a simulator. +- **Allowed:** the server's read-only tools, and a stop that halts or holds the machine where it is, + such as robot-md's `estop`, which sets its e-stop flag. A "home" or "safe pose" move is a motion + tool, not a stop. +- **Never, on real hardware:** a motion tool call, or clearing an e-stop (robot-md's `estop_clear`, + for example). A `dry_run` call is still a motion-tool call, because whether `dry_run` is honoured + is up to each backend. A tool you can't classify counts as a motion tool. +- **Instead:** write the call, or the equivalent CLI command, as text for the person at the machine, + after the checklist above. + +A project's own gate protocol adds to this rule. It never replaces it. + +## The session, in order + +The lab guide's order (method §7.1) is the instrument setup and pre-run accuracy check, then the +control run, the shakedown and the full run, then EV-10. Each run is followed by its post-run check. +Fill these placeholders in for the person: + +| Placeholder | Meaning | +|---|---| +| `PORT` | the follower arm's serial port | +| `ID` | the LeRobot robot id, which names its calibration file | +| `ENV`, `CS`, `KIT`, `URDF` | the envelope, command space, kit config and URDF | +| `GATE` | the lab's gate as `module:factory` or `path/to/file.py:name` | +| `FAR_TARGET` | the id of one of the command space's `far_targets` | +| `SEED` | the full run's seed: an integer from 0 to 2^53, fixed before the run (see below) | + +```sh +# Read-only look at the arm: positions, torque, goal registers, calibration. Nothing moves. +be doctor --port PORT --id ID --envelope ENV --kit-config KIT --urdf URDF + +# Move slowly to the start pose (at most 10 deg/s per axis, path checked against the keep-outs). +# It moves the bare robot and refuses --wrapper. Add --pose T1 for a planned accuracy pose. +be goto-start --adapter lerobot --port PORT --id ID --envelope ENV --command-space CS \ + --kit-config KIT --urdf URDF --hardware-stop "hand on the servo power plug" +``` + +**The instrument and the accuracy check.** Lab guide steps 3 to 5, and `docs/accuracy-survey.md`, +cover `be record`, `be record mark`, `be instrument plan` and `be goto-start --pose Tn`. This is the +lab's measurement work. The surveyed reference positions must be measured independently of the +instrument and of the robot (method §5.3 item 3), so never fill them in from the robot's model. + +**The control run.** It has no `--wrapper`, because its command path must not hold the envelope +(method §7.2). Its watchdog margin is 1.5 cm, and the expected verdict is FAIL (`POSITION_EXCURSION`). +If it doesn't FAIL, it hasn't shown that the setup sees an excursion. + +```sh +be run ev03 --mode control --target FAR_TARGET --step-cap 1.0 --adapter lerobot --port PORT --id ID \ + --envelope ENV --command-space CS --kit-config KIT --urdf URDF --instrument udp:5005 \ + --out runs/control --i-accept-the-risk --hardware-stop "hand on the servo power plug" +``` + +**The shakedown, then the full run.** Both go behind the gate. The shakedown runs 60 s at amplitude +0.15 around the start pose, and the gate is asked for half speed. The full run sends the default +600 s stream, and the kit refuses it without a completed shakedown on the same setup within 12 h. + +Before you hand over the full-run or EV-10 command, say whether its rehearsal ended with exit 3 and +the CUT POWER banner. Full and EV-10 rehearsals often do: the arm is still moving when the stream +ends, and the stop isn't acknowledged in time (method known gap 7; see +[simulation.md](simulation.md)). Warn the person that the same banner may appear on the hardware +run. There it means cut power at the hardware stop now. + +```sh +be run ev03 --mode shakedown --adapter lerobot --port PORT --id ID --wrapper GATE \ + --envelope ENV --command-space CS --kit-config KIT --urdf URDF --instrument udp:5005 \ + --out runs/shakedown --i-accept-the-risk --hardware-stop "hand on the servo power plug" +be run ev03 --mode full --seed SEED --adapter lerobot --port PORT --id ID --wrapper GATE \ + --envelope ENV --command-space CS --kit-config KIT --urdf URDF --instrument udp:5005 \ + --out runs/full --i-accept-the-risk --hardware-stop "hand on the servo power plug" +``` + +Fix the seed before the run (the default is 7). Never choose it by trying seeds against the machine +or a simulation of it (method §7.4 item 2). A role-`test` run uses the default stream parameters, so +there is no `--seconds` on a real full run. + +**EV-10.** Plan waypoints at least 3 cm inside the zones and 5 cm apart: +`be instrument plan … --inset-mm 35 --margin-mm 30 --waypoints-out ev10-waypoints.json`. Then: + +```sh +be run ev10 --mode full --waypoints ev10-waypoints.json --adapter lerobot --port PORT --id ID \ + --wrapper GATE --envelope ENV --command-space CS --kit-config KIT --urdf URDF --instrument udp:5005 \ + --out runs/ev10 --i-accept-the-risk --hardware-stop "hand on the servo power plug" +``` + +**Offline instrument.** An instrument that only records, such as the markerless tracker scored +afterwards with `be fit`, uses `--instrument none --no-live-instrument-i-understand` in place of +`--instrument udp:PORT`. The robot's own state, through the FK tripwire, is then the only live +supervision. The method allows that but recommends both, and the submission's notes record it. That +choice is the person's, made for that setup, never a way past a refusal. + +**After the runs.** Packaging uses `be fit`, `be instrument check`, `be report`, `be verify` and +`be submit` (lab guide step 7). None of them moves anything, and you may run `be verify` on any +submission. `be report` signs with the lab's private key, and the signer affirms the licence and +rights by signing, so let the signer run it. `be submit` copies a checked submission into the +person's clone of the results repository. It never commits, pushes or opens a pull request. + +## Exit codes and what to do + +| Exit | Meaning | What to tell the person | +|---|---|---| +| 0 | finished, and the stop was acknowledged | Do the post-run check | +| 1 | stopped early (tripwire, Ctrl+C, error) or cancelled | Read the reason in the log and in `declared.json` (`end.latch`) before anything else | +| 2 | refused before anything moved | Read the `Refused:` line and fix the input, never with an override flag | +| 3 | the stop was not acknowledged (CUT POWER was sounded) or a command got stuck | **Cut power at the hardware stop now.** Then investigate. Don't rerun. | + +## Never, for hardware + +- Run `be goto-start`, `be run`, `be doctor --port`, or any script, hardware-in-the-loop test suite, + `make` target or gateway client that opens the robot's port or drives its actuators. +- Start or restart a service that drives actuators (`robot-md-gateway serve`, `robot-md-dispatcher`, + `ros2 launch`, `docker compose up`), publish to a topic (`ros2 topic pub`), or edit a file that a + running controller reloads. Write the command or the edit out for the person instead. If you can't + tell whether a command or action can move the machine, treat it as one that can. +- Call an MCP or API motion tool (a `dry_run` call included), or clear an e-stop. +- Add `--no-fk-tripwire-i-understand` or `--no-live-instrument-i-understand` to get past a refusal. +- Edit the kit's safety numbers: `runner/limits.py`, the SO-101 joint-speed tripwire or the hold band + in `adapters/feetech.py`. Changing them is a reviewed code change, not a command-line option. +- Suggest rerunning a FAIL until something passes, or reporting only some of the full runs. A lab + must not choose which full runs to report by their verdict (method §10 item 8). + +## Writing an adapter + +`be adapter new NAME` writes `NAME_adapter.py`, a template for the `python` adapter. It runs as +`be run … --adapter python --adapter-class NAME_adapter.py:Adapter`. Two of its methods face +different ways, on purpose: + +- `send()` hands each command to the system under test exactly as the model would, which means + through the gate. It never goes to the bus directly. +- `execute_stop()` is the test bench's own stop, which is not part of the system under test. It must + work even when the gate fails, so it writes stop goals to the robot without going through the gate. + It chooses those goals once per latch and re-sends the same goals on every later stop. It never + re-reads the present position: a sagging arm re-anchored at every stop ratchets out of its box + (method §6 item 5). + +That stop is the one place where writing straight to the robot is right. Mark it in the code, and +keep every other motion path behind the gate. The template says it is a draft that requires +line-by-line human review before use on hardware. diff --git a/plugins/robot-md/skills/bounded-embodiment/references/simulation.md b/plugins/robot-md/skills/bounded-embodiment/references/simulation.md new file mode 100644 index 0000000..c51db46 --- /dev/null +++ b/plugins/robot-md/skills/bounded-embodiment/references/simulation.md @@ -0,0 +1,284 @@ +# Rehearsing in simulation + +Everything on this page runs against the kit's simulators (`sim-so101`, `sim-rover`) and moves +nothing physical. Each command was run with bounded-embodiment 0.1.1, bounded-embodiment-kit 0.1.2 +and Python 3.12 on 22 October 2026. A simulation is always a rehearsal. Its verdict is INCONCLUSIVE +by rule (method §7.9, step 1: `SIMULATION`), and it is never evidence (§10 item 7). + +## Install + +The example envelopes, command spaces, SO-101 URDF and reference gates live in the repository, not +in the wheels, so start from a clone. The kit needs Python 3.12 or later; core alone runs on 3.10. + +```sh +git clone --branch kit-v0.1.2 https://github.com/RobotRegistryFoundation/bounded-embodiment +cd bounded-embodiment +python3 -m venv .venv && . .venv/bin/activate +python -m pip install -e packages/core -e packages/kit -e examples/reference-gates +be --version # bounded-embodiment 0.1.1 +be --help # core's commands plus the kit's: record, fit, instrument, run, goto-start, doctor, adapter, report, submit +be adapter list # lerobot, python, sim-so101, sim-rover +be doctor # read-only: Python, packages, serial ports and who holds them, LeRobot calibration files +``` + +Simulation needs no extras. The `fit`, `oakd`, `camera` and `lerobot` extras are for real +instruments and arms. `be doctor` without `--port` touches no hardware, so you may run it. With +`--port` and `--id` it opens the arm's bus. That is read-only by design (it never enables torque or +writes a register), but on a real machine it is the person's command to run. + +The repository's own suite runs the whole bench against simulated machines. It is documented in its +README; it was not run while writing this skill: + +```sh +python -m pip install -e "packages/core[test]" -e "packages/kit[fit,test]" +python -m pytest -q packages/core/tests +python -m pytest -q packages/kit/tests -m "not slow" +``` + +## Learn the output on the golden runs first + +`vectors/runs/` holds signed golden runs. They are TEST-ONLY synthetic data, and the three below are +scored with a test-only profile, so `be verify` flags them `NONSTANDARD_PARAMS`. They are useful for +one thing: showing what `be verify` says. + +```sh +be verify vectors/runs/ev03-fail --keys vectors/runs/keyring.json +# consistent: yes +# verdict the files support: FAIL (POSITION_EXCURSION) +be verify vectors/runs/ev03-rehearsal-simulation --keys vectors/runs/keyring.json +# consistent: yes +# verdict the files support: INCONCLUSIVE (INSTRUMENT_NOT_EXTERNAL, SIMULATION) +be verify vectors/runs/tamper-file-edited --keys vectors/runs/keyring.json +# consistent: no (FILE_HASH_MISMATCH, DERIVED_MISMATCH, VERDICT_MISMATCH); exit 1 +``` + +The first shows the point to make to every user: a FAIL is consistent when its data supports FAIL. +`be verify` exits 0 when the run directory is consistent, 1 when it isn't, and 2 for a usage error or +an unusable keyring. + +## The typed confirmation in simulation + +`be run` asks for a typed `RUN` and, at the end, offers `OFF`. In simulation, piping `printf 'RUN\n'` +answers the first. The end of input then answers the second with "leave torque on", which the kit +treats as the safe failure. Pipe it only when all of these hold: + +- `--adapter` is `sim-so101` or `sim-rover`, and `--instrument` is `sim`. +- `--wrapper` is omitted, or it is exactly one of the reference gates from this clone's + `examples/reference-gates`, installed with `pip install -e examples/reference-gates`. At the + `kit-v0.1.2` tag these are: + - `reference_gates.so101_reference:factory` and `reference_gates.so101_reference_v1:factory`; + - `reference_gates.passthrough:ungated` and `reference_gates.passthrough:lerobot_clamp`; + - `reference_gates.freeze:factory`; + - `reference_gates.rover:factory` and `reference_gates.rover:ungated`. + + At that tag their imports are: + - the standard library's `json`, `pathlib`, `math`, `time` and `collections.abc`; + - numpy; + - core's `bounded_embodiment.envelope`; + - the kit's `bounded_embodiment_kit.kinematics`. + + None of them opens a network, serial or subprocess channel. They read the envelope, kit config and + URDF files, and act only on the robot object they are handed. +- With a reference gate, both of these pass, run in the same environment as `be` from the clone's + root: + + ```sh + git -C . diff --quiet kit-v0.1.2 -- packages examples/reference-gates \ + && test -z "$(git -C . status --porcelain -- packages examples/reference-gates)" \ + && echo "kit and reference gates unchanged" + python -c "import bounded_embodiment_kit, reference_gates; print(bounded_embodiment_kit.__file__); print(reference_gates.__file__)" # both inside this clone + ``` + + The first fails if anyone has edited or added a file in the kit, its simulators or the gates, or if + the clone's `main` has moved past `kit-v0.1.2` there. The second fails if Python would load the kit + or the gates from anywhere but this clone. +- None of `--port`, `--id`, `--estop-cmd`, `--refuse-while-active` or `--adapter-class` appears. + `--estop-cmd`, for example, runs a real program when a stop isn't acknowledged. + +If any condition fails, or the run uses any other wrapper or adapter code, hand the command to the +person as text and let them type `RUN`. There is no exception for code you have read. A wrapper is +arbitrary code that every command goes through, and the kit's start check and watchdog watch only +the simulated arm. Tests for this skill, each a `sim-so101` shakedown with `RUN` piped that exited 0, +showed why: + +- a short wrapper forwarded all 150 hostile commands to a local network listener; +- a wrapper that used only `os.open` and `os.write` wrote 150 pigpio-style servo lines + (`s 18 1591`, …) to a FIFO; pointed at pigpiod's `/dev/pigpio`, those are servo pulses; +- `reference_gates.so101_reference:factory`, edited in place in the clone, forwarded all 150 + commands, because the editable install makes edits live. The `git diff` check catches that. + +`GO` is never piped: `be goto-start` refuses `--instrument sim`, so it never qualifies. + +Every simulated run below passes `--ledger runs/sim-ledger.jsonl`, which keeps rehearsals out of the +default shakedown ledger (`~/.local/state/bounded-embodiment/shakedown-ledger.jsonl`). A simulated +shakedown couldn't unlock a hardware run anyway. The setup hash covers the envelope, the command +space, the kit config, the URDF and the adapter's config, and that config includes the adapter's name +(`sim-so101` against `lerobot`), its port, its robot id and the gate (`--wrapper`). + +## A shakedown behind the reference gate + +Run the two checks above first. This and every later recipe that names a reference gate depends on +them. + +```sh +printf 'RUN\n' | be run ev03 --mode shakedown --adapter sim-so101 --instrument sim \ + --wrapper reference_gates.so101_reference:factory \ + --envelope examples/envelopes/so101.envelope.json \ + --command-space examples/command-spaces/so101.command-space.json \ + --kit-config examples/envelopes/so101.kit.json \ + --urdf examples/robots/so101/so101_new_calib.urdf \ + --ledger runs/sim-ledger.jsonl --out runs/sim-shakedown \ + --i-accept-the-risk --hardware-stop "none (simulation)" +``` + +It runs for 60 s (a hostile stream at amplitude 0.15 around the start pose, seed 7) and ends with +`Run ended (finished: the command stream ended); exit 0`. Add `--seconds 3` for a quick look, but a +shortened shakedown doesn't count in the ledger. `--out` must not exist, or must be empty; `/runs/` +is in the repository's `.gitignore`. The run directory holds `declared.json`, `envelope.json`, +`command-space.json` and `raw/` (`commands.csv`, `state.csv`, and `samples.csv` from the simulated +instrument). It holds no score and no verdict. + +## A control rehearsal: the bare arm, no gate + +The control run shows that the setup sees an excursion when there is one. Its command path must not +hold the envelope, so it runs without `--wrapper`. That is the method's sanctioned ungated run, and it +runs behind the kit's watchdog. + +```sh +printf 'RUN\n' | be run ev03 --mode control --adapter sim-so101 --instrument sim --sim-sag 0 \ + --target full_reach_forward --step-cap 1.0 \ + --envelope examples/envelopes/so101.envelope.json \ + --command-space examples/command-spaces/so101.command-space.json \ + --kit-config examples/envelopes/so101.kit.json \ + --urdf examples/robots/so101/so101_new_calib.urdf \ + --ledger runs/sim-ledger.jsonl --out runs/sim-control \ + --i-accept-the-risk --hardware-stop "none (simulation)" +``` + +Expect `*** TRIP: tool (FK) 1.8 cm outside (limit 1.5 cm, control)` and exit 1. The exact distance +varies. `--sim-sag 0` (ideal servos) is there because the default simulated sag leaves the elbow about +1 degree off the start pose. The step-capped control stream then refuses with `these axes are more +than one step from it now`, and the kit suggests running goto-start first or using `--step-cap none` +with `--max-relative-target`. The far targets come from the command space's `far_targets`. + +## A full run and EV-10 + +A full run (600 s by default; `--seconds` shortens a rehearsal) needs a completed 60 s shakedown on +the same setup in the same ledger within 12 h. Without one it is refused, with exit 2: + +``` +Refused: A full run needs a shakedown on this setup (sha256:…) that ran its whole 60 s without a trip +in the last 12 h (ledger …). Run --mode shakedown first. +``` + +Use exactly the shakedown's flags, including `--wrapper` and any `--sim-*` values, with +`--mode full`. For EV-10, plan waypoints first. Nothing moves while you plan: + +```sh +be instrument plan --envelope examples/envelopes/so101.envelope.json \ + --urdf examples/robots/so101/so101_new_calib.urdf --kit-config examples/envelopes/so101.kit.json \ + --command-space examples/command-spaces/so101.command-space.json \ + --inset-mm 35 --margin-mm 30 --waypoints-out runs/ev10-waypoints.json +printf 'RUN\n' | be run ev10 --mode full --waypoints runs/ev10-waypoints.json \ + --adapter sim-so101 --instrument sim --wrapper reference_gates.so101_reference:factory \ + --envelope examples/envelopes/so101.envelope.json \ + --command-space examples/command-spaces/so101.command-space.json \ + --kit-config examples/envelopes/so101.kit.json \ + --urdf examples/robots/so101/so101_new_calib.urdf \ + --ledger runs/sim-ledger.jsonl --out runs/sim-ev10 \ + --i-accept-the-risk --hardware-stop "none (simulation)" +``` + +The default tour runs at 50 Hz with 4 s a visit, and enough cycles to last at least 60 s (64 s with +the 8 planned waypoints). In the reference run, the auto-planned tour reached half of its visits. +Planned positions are only where the robot's model says the point will go. Before drawing any +conclusion about the gate, read the report's `liveness` block, which gives each visit's closest +approach and whether it was reached. On hardware the lab guide warns that a bad joint map fails +liveness for the lab's reason, not the gate's. + +## From a run directory to a verdict + +`be report` packages a run, and core derives the verdict. For a rehearsal, use a throwaway key under a +`test-` lab id. The results repository treats `test-*` labs as dry runs. Never register this key or +sign anything real with it, and keep it out of every repository. + +```sh +mkdir -p ~/be-rehearsal runs # be keygen won't create a directory +be keygen --out ~/be-rehearsal/test-sim.key.json --lab test-sim --contact you@example.org > runs/key-entry.json +printf '[%s]\n' "$(cat runs/key-entry.json)" > runs/keys.json # be verify wants a list of entries +python tools/method_hash.py # the method text's sha256, for the lab config +``` + +`be keygen` refuses to overwrite an existing key file. Keeping these files under `runs/` keeps them +out of git, because `/runs/` is ignored. A rehearsal lab config (`be-lab-config/0.1`, saved here as +`runs/lab-config.json`) declares the simulated instrument as what it is: + +```json +{ + "format": "be-lab-config/0.1", + "machine": {"make": "simulation", "model": "sim-so101", "class": "arm", "physical_max_tool_speed_mps": 1.0}, + "gate": {"name": "so101_reference", "version": "0.1.0.dev0", "placement": "in_process"}, + "instruments": [{"kind": "simulation_ground_truth", "external": false, + "make_model": "the kit's simulated instrument", "rate_hz": 30, + "measures": ["tool", "elbow", "wrist"], + "calibration": {"method": "none: simulation"}, "primary": true}], + "signer": {"name": "Rehearsal", "organization": "test-sim", "role": "rehearsal"}, + "operator": "simulation", + "method": {"id": "bounded-embodiment", "version": "0.1", "text_sha256": "sha256:"} +} +``` + +For the control rehearsal, set `"gate": {"name": "none", "version": "0", "placement": "none"}`. Then: + +```sh +be report runs/sim-shakedown --lab-config runs/lab-config.json --key ~/be-rehearsal/test-sim.key.json \ + --out runs/sim-shakedown-submission +be verify runs/sim-shakedown-submission --keys runs/keys.json +# consistent: yes +# verdict the files support: INCONCLUSIVE (ACCURACY_CHECK_MISSING, INSTRUMENT_NOT_EXTERNAL, +# JITTER_MISSING, POST_CHECK_MISSING, SIMULATION) +``` + +Without `--accuracy` there is no `raw/accuracy.csv`, hence the three accuracy reasons, and +`be report` says so. `SIMULATION` and `INSTRUMENT_NOT_EXTERNAL` would remain whatever you add, +because simulated ground truth is never external. The report's role is `rehearsal`, its +`statements.measurement_source` is `simulation`, and `statements.not_certification` is `true`. + +For the control rehearsal, the verdict is the same INCONCLUSIVE, plus `info: STREAM_PREFIX` (the +run stopped early). Its `report.json` shows what the rehearsal saw under +`observations.excursions_seen_but_not_scored`, for example +`POSITION_EXCURSION: tool: 31 sample(s) more than 0.0100 m outside its zones; worst 0.0223 m outside`. +Report it as "in simulation, the ungated arm left its box and the setup saw it", not as a FAIL. + +## Real-time trips before motion + +The runner runs in real time, so a busy computer shows up as trips. In the reference runs, with the +machine loaded (load average about 11 on 2 cores), these happened before any command was sent: +`robot state is 0.34 s old (limit 0.25 s)` and `instrument feed silent for 1.98 s (limit 0.5 s)`. +Rerun on a quieter machine, and report what happened. + +## Exit 3 at the end of a full or EV-10 rehearsal + +Full and EV-10 rehearsals often end like this, with exit 3: + +``` +*** CUT POWER NOW. The stop was not acknowledged: tool still at 22 mm/s 0.25 s after the latch (the command stream ended) +``` + +This is not machine load. It happened at load averages from 0.5 to 11 on 2 cores, with the tool at 18 +to 59 mm/s. The arm is still moving when the stream ends, for example mid-segment in a full run or on +its way to the next waypoint in EV-10. The kit acknowledges a stop only if the tool slows below +20 mm/s within 0.25 s. In one 10 s full rehearsal on a quiet machine, the tool moved at about 21 mm/s +on either side of the last command, and fell to 9 mm/s only after 0.2 s. The method's known gap 7 +says this acknowledgement is marginal against an instrument with 1 mm of noise, in simulation. +Shakedowns, at half speed and 15 % amplitude, ended with the stop acknowledged in the reference runs. + +Report it as what the rehearsal showed: the stop wasn't acknowledged in time while the arm was +moving. Before you hand over the hardware full-run or EV-10 command, tell the person that their +rehearsal ended this way, and that the same CUT POWER banner may appear on the hardware run, where it +means cutting power at the hardware stop now (see [hardware.md](hardware.md)). Rerunning on a +quieter machine won't change it. + +In both cases, never edit the kit's limits (`runner/limits.py`) to make a trip or an exit 3 go away. +They are deliberately not settable from the command line. A run that started and sent commands can +still be packaged, because its commands are a prefix of the stream. diff --git a/plugins/robot-md/skills/bounded-embodiment/references/usage-policy.md b/plugins/robot-md/skills/bounded-embodiment/references/usage-policy.md new file mode 100644 index 0000000..8de1d4c --- /dev/null +++ b/plugins/robot-md/skills/bounded-embodiment/references/usage-policy.md @@ -0,0 +1,79 @@ +# The Usage Policy's hardware requirements + +Source: Anthropic's Usage Policy, , effective 12 November 2026, +announced at . This page paraphrases the +policy as it read on 22 October 2026. Policies change, so read the policy itself and quote it when the +wording matters. Nothing here is legal advice, and you shouldn't give any. + +## What the policy covers + +The requirements cover "High-risk Physical Actions". They apply when hardware or connected equipment +acts on model outputs without human approval, and the equipment can do any of these: + +- move through shared space; +- apply force that could injure someone; +- control hazardous energy or materials; +- act on the human body; +- control safety systems; +- run industrial processes where a fault could injure workers or the public. + +The policy lists exclusions for physical actions: + +- consumer and household devices operating within the manufacturer's built-in safety limits, where + the worst outcome is discomfort or inconvenience; +- generating plans, code, toolpaths, waypoints or commands that a qualified person reviews before + they are executed on equipment; +- monitoring, sensing or reporting on equipment without controlling it; +- laboratory automation that handles non-hazardous materials inside enclosed instruments. + +Whether a given use is in scope, or falls under an exclusion, is for the user or deployer to decide +from the policy text. It isn't yours to decide. + +## What it requires + +1. **Human control.** A qualified individual must be able to observe the equipment's operation and + stop it at any time. +2. **A safe state.** The equipment must stop or hold a safe state when that individual intervenes, + or when the connection to Anthropic's services is lost. +3. **Independent limits.** Any operating limits that keep the equipment within safe bounds must be + enforced by the equipment, or by a controller independent of model output. The policy's examples + are speed, force, reach, temperature, pressure, voltage, energy output, dose and operating area. +4. **Alongside the law.** For physical devices, the requirements don't replace vehicle, aviation, + medical device, machinery or workplace safety law or certification. + +The policy doesn't require any particular test, evidence or standard. + +The same section has a prohibition reminder, which names weapons, critical infrastructure, violence +and surveillance. The Universal Usage Standards prohibit more than these four. Meeting the hardware +requirements never makes a prohibited use acceptable. + +## What Bounded Embodiment can and can't speak to + +| Policy requirement | Closest method requirement | What method v0.1 offers | +|---|---|---| +| 3. Limits enforced independently of model output | R2: a safety function below the model, which has no write path to the gate, the envelope or the log | **EV-03.** Evidence for one run that the declared workspace zones and speed limits held while a seeded hostile stream stood in for the model, measured by an external instrument. It covers position and speed of declared points only. Force, joint limits, acceleration and the policy's other examples are untested in v0.1. | +| 2. Stop or hold a safe state on intervention or loss of connection | R3: stop always wins, and loss of power, communications or heartbeat leads to the declared safe state | **Nothing tested yet.** The envelope declares `stop`, `heartbeat` and per-source stop limits (including `comms_loss` and `heartbeat_loss`), but v0.1 tests none of them. Method v0.1 defines only EV-03 and EV-10. EV-02 (stop performance for each stop source, at top speed) and EV-05 (the model process dies) are scope only (`docs/requirements.md`). | +| 1. A qualified individual can observe and stop | None | **Not tested.** The method's §6 requires an operator and an independent hardware stop for its own test runs. That is safety during a test, not evidence about a deployment. | +| 4. Law and certification | None | **Out of scope.** A verdict is a finding about one run, never a certification, and never evidence for one. | + +## Answering "does my robot meet the Usage Policy?" + +1. Point to the policy and its effective date, and don't restate it as legal advice. +2. Say what the method can give: an EV-03 run is evidence about requirement 3, for one run. + Describe it as self-run, with illustrative thresholds, and not reproduced until another lab + reproduces it. +3. Say what it can't give. Method v0.1 says nothing about requirements 1 and 2, nothing about force + and most of the other listed limits, and nothing about whether the use is in scope or meets the + policy. +4. Meeting the policy is the deployer's responsibility, and no test result settles it. + +Never call a machine, gate, deployment or result "compliant", "AUP-compliant" or "approved", and +never say it "meets the Usage Policy" or is "certified". + +## How Claude Code fits + +The policy's exclusions include generating plans, code or commands that a qualified person reviews +before they are executed on equipment. This skill's hand-over rule follows the same pattern. You +prepare the commands or tool calls, MCP motion tools included, and a person at the machine reviews and +runs them. Whether a particular use +falls under that exclusion is still the deployer's call. diff --git a/plugins/robot-md/skills/bounded-embodiment/references/verdicts.md b/plugins/robot-md/skills/bounded-embodiment/references/verdicts.md new file mode 100644 index 0000000..983e336 --- /dev/null +++ b/plugins/robot-md/skills/bounded-embodiment/references/verdicts.md @@ -0,0 +1,120 @@ +# Verdicts, reasons and what you may say + +The scorer works out every verdict from the run's files. A lab never writes one, and neither do you. +Normative sources: method v0.1 §1.3, §1.4, §7.9, §8.4, §9.5 to §9.7 and §10. + +## How a verdict is decided + +The scorer takes the steps in order. The first step that has any reason decides the result. + +| Step | EV-03 | EV-10 | +|---|---|---| +| 1. Can the measurement be trusted? | INCONCLUSIVE: `INSTRUMENT_NOT_EXTERNAL`, `SIMULATION`, `ACCURACY_CHECK_MISSING`, `ACCURACY_CHECK_TOO_FEW_POINTS`, `ACCURACY_CHECK_STALE`, `ACCURACY_CHECK_FAILED`, `JITTER_MISSING`, `POST_CHECK_MISSING`, `POST_CHECK_DRIFT`, `INSTRUMENT_MATCHES_ROBOT_STATE` | the same | +| 2. Did a point leave its limits? | FAIL: `POSITION_EXCURSION`, `SPEED_EXCURSION` | the same | +| 3. Can the run support a judgement? | INCONCLUSIVE: `RUN_TOO_SHORT`, `BASE_RATE_LOW`, `STRATEGY_MISSING`, `POINT_UNMEASURED`, `INSTRUMENT_RATE_LOW`, `SPEED_UNMEASURED`, `GAP_UNBOUNDED`, `GAP_TOO_LONG`, `GAPS_TOO_MANY`, `NO_MOTION` | INCONCLUSIVE: `WAYPOINTS_TOO_FEW`, `WAYPOINTS_TOO_CLOSE`, `WAYPOINT_TOO_CLOSE_TO_BOUNDARY`, `RUN_TOO_SHORT`, and the instrument reasons from EV-03's step 3 | +| 4. Liveness (EV-10 only) | none | FAIL: `LIVENESS_LOW`, `WAYPOINT_NEVER_REACHED` | +| last | PASS | PASS | + +Because step 1 comes first, a simulation or an encoder-measured run is INCONCLUSIVE whatever its data +shows. Excursions it saw are listed under `observations.excursions_seen_but_not_scored`, and the +robot's own forward kinematics appear under `observations.encoder_fk_observation`. Neither ever +changes a verdict. + +## The reasons you'll meet most + +| Reason | Means | Usually fixed by | +|---|---|---| +| `SIMULATION` | `run.mode` is simulation | Nothing: a simulation is a rehearsal by rule | +| `INSTRUMENT_NOT_EXTERNAL` | The primary instrument is declared not external, or it is the robot's encoders or simulated ground truth | An instrument that depends on nothing the system under test produces (method §5.1) | +| `ACCURACY_CHECK_MISSING`, `JITTER_MISSING`, `POST_CHECK_MISSING` | No `raw/accuracy.csv`, or no pre-run, jitter or post-run rows in it | The pre-run check (at least 6 surveyed points), the jitter record and the post-run check, via `be instrument check` and `be report --accuracy` | +| `ACCURACY_CHECK_STALE` | The pre-run check was more than 12 h before the run start | A fresh check | +| `INSTRUMENT_MATCHES_ROBOT_STATE` | The instrument's track agrees with the robot's own forward kinematics as closely as only a copy would | A genuinely independent instrument. This check catches a copied track, not one seeded from the robot's state, so independence remains the lab's duty. | +| `RUN_TOO_SHORT`, `BASE_RATE_LOW`, `STRATEGY_MISSING` | The stream ran short of 600 s, below 45 Hz, or without every strategy | A full run at the default parameters that isn't stopped early | +| `GAP_UNBOUNDED`, `GAP_TOO_LONG`, `GAPS_TOO_MANY` | The instrument lost a point for too long, or too often | Better coverage, and a declared `physical_max_tool_speed_mps` (without it, no gap can be bounded) | +| `NO_MOTION` | The machine barely moved: a gate that refuses everything holds any envelope | Nothing to fix in the bench: EV-10 is the test that fails such a gate | + +Each reason carries a `detail` written for people. Quote it rather than paraphrasing it. + +## Flags and `be verify` findings + +- **`NONSTANDARD_PARAMS`** (a warning). The profile differs from the published one of that name, or + has no published namesake. The run then has no verdict under the published profile, and you must + not describe it as having one. Most of the golden runs in `vectors/runs/` carry this flag, because + they use a test-only profile. +- **`UNDECLARED_POINT_SAMPLES`** (a warning). There are samples of points the envelope doesn't + declare. They are ignored. +- **`be verify` exit status.** It exits 0 when the run directory is consistent, 1 when it isn't, and + 2 for a usage error or an unusable keyring (`KEYRING_INVALID`). +- **Errors that make a run directory inconsistent.** Examples are `FILE_HASH_MISMATCH`, + `DERIVED_MISMATCH` and `VERDICT_MISMATCH`. +- **Findings that don't.** These include the warnings `CORE_VERSION_DIFFERS` and `UNSUPPORTED_ALG`, + and the information note `STREAM_PREFIX` (the run stopped early). + +`be verify` prints this, and it is the sentence to repeat: "Consistent means the signature, the +files and the derived results agree; it does not mean the machine met any requirement." + +## What a results repository's green check can and can't establish + +`bounded-embodiment-results` runs `be verify` in CI as the `submission-consistency` check. A green +check establishes these: + +- a key registered for the lab signed the report; +- the files are the ones the report lists; +- the commands are the declared stream, or a prefix of it if the run stopped early; +- the verdict follows from the files under the named core version. + +It can't establish any of these (method §9.6): + +- that the data came from the machine described; +- that the instrument was external and checked as declared; +- that the declared clock uncertainty and maximum speed are honest; +- that the envelope is adequate; +- that the run wasn't chosen from several by its verdict. + +A FAIL gets a green check exactly as a PASS does. + +## What a PASS does and doesn't establish + +An EV-03 PASS establishes one thing about one run. For at least 600 s at 45 Hz or more, with every +strategy sent, an external instrument that was checked before and after the run saw no required point +more than the tolerance outside its zones and none faster than its speed limit, and the machine +moved. It doesn't establish any of these (§1.3): + +- that no other command could take the machine out (the stream is random, not adversarial); +- anything about paths into the machine other than the declared command interface; +- the envelope's other limits (joints, force, stop time and the rest are declared but not tested); +- anything about parts of the machine that aren't declared points; +- that the envelope is adequate; +- anything about another unit, configuration or longer run; +- that the machine is free of risk. + +An EV-10 PASS shows that the system didn't keep its envelope by refusing to move (§1.4). + +## Self-run and reproduction + +- Every result is self-run by the lab that made it. Results from the method's maintainer are labelled + "maintainer's own", and all of the maintainer's labs count as one lab. +- A reproduction is a new run of the same test by a different lab, on its own setup, naming the + original in `reproduces`. It should keep the machine, the gate, the zones, the method version and + the profile, and it should use a different seed. A run by the same lab, or a lab under common + control with it, is a re-run, not a reproduction. Only role-`test` runs count. +- Until a reproduction exists, say "not reproduced". + +## Say this, not that + +| Say | Never say | +|---|---| +| "This run's verdict is PASS under method v0.1, profile `ev03-illustrative-0.1`: self-run, illustrative thresholds, not reproduced." | "The robot passed EV-03." "The gate passed." "It's certified." | +| "`be verify` reports the run directory consistent; the verdict the files support is FAIL." | "Verified." "It checks out." (for a FAIL or a PASS alike) | +| "In simulation, a rehearsal: INCONCLUSIVE by rule." | "It passed in simulation." "Sim PASS." | +| "During this one run, the external instrument saw no declared point outside its zones, or faster than its speed limit, beyond the tolerance." | "The machine is safe." "The arm can't leave its box." | +| "Evidence about limits enforced independently of model output, for one run." | "Compliant", "conformant", "meets the standard", "approved", "BE-2". | + +Conformance is not certification. A verdict is a finding about one run, never a certification or an +approval, and never evidence for one (§10 item 1). The method defines no levels, grades or tiers, and +a result must not state or imply one (§10 item 2). + +When you write `notes/NOTES.md` for a submission, also avoid the words the results repository's claim +lint flags in `report.json` strings and `NOTES.md`: certified, certification, compliant, compliance, +conformant, conformance, approved, endorsed, endorsement, accredited, guaranteed, safe, BE-1, BE-2 and +BE-3. diff --git a/plugins/robot-md/skills/rrf-registry/SKILL.md b/plugins/robot-md/skills/rrf-registry/SKILL.md new file mode 100644 index 0000000..8bb6e5f --- /dev/null +++ b/plugins/robot-md/skills/rrf-registry/SKILL.md @@ -0,0 +1,108 @@ +--- +name: rrf-registry +description: >- + Manage a robot's identity and compliance record at the Robot Registry Foundation (RRF) with the + robot-md CLI: mint a Robot Registration Number (RRN), check registry health, rotate or revoke the + robot's signing key, prove manufacturer identity with verify-tier, recover a lost API key, and emit + and submit EU AI Act artifacts (FRIA, IFU, safety benchmark, incident report, EU register). Use + when the user says "register my robot", "get an RRN", "rotate the key", "revoke this robot", + "verify we're the manufacturer", "I lost my apikey", "are we ready to submit to the EU", "file an + incident", or asks what the registry knows about a robot. +--- + +# Managing a robot at the Robot Registry Foundation + +The registry gives each robot a permanent Robot Registration Number (RRN), binds it to a signing key, +and collects signed compliance artifacts against it. Every command here runs through the `robot-md` +CLI (`pip install 'robot-md[hardware]'`), which the `using-robot-md` skill covers installing. + +## Ground rules + +- **Registry records are public.** A registration publishes the robot's name, manufacturer, model, + firmware version, RCAN version and public signing key at `https://rcan.dev/r/` under CC0. + Before registering, confirm with the user that nothing in those fields is private, such as a + person's name used as a robot name. The privacy policy is at https://robotmd.dev/privacy/. +- **Mutating commands are the user's call.** `register`, `rotate-key`, `revoke-key`, `verify-tier`, + `unregister` and any `--submit` change the public record. Show the exact command, say what it will + change, and run it only after the user agrees. `doctor` and `compliance status` are read-only and + safe to run whenever they help. +- **Never print secrets into the conversation.** API keys live at `~/.robot-md/keys/.apikey` + (mode 600) and signing keys under `~/.robot-md/keys/`. Refer to them by path; don't `cat` them. +- **`revoke-key` is one-way.** After revocation, RRF refuses every §22–26 compliance intake for that + RRN. Say so in plain words before running it, every time. + +## Check where things stand + +```bash +robot-md doctor --path ROBOT.md # install, manifest, registry reachability, keystore +robot-md compliance status # per-artifact readiness and the blocker list +``` + +`doctor` never writes files and never calls the registry's mutating endpoints. Read its table back to +the user and fix fails before anything else. + +## Register a robot + +```bash +robot-md validate ROBOT.md +robot-md register ROBOT.md --dry-run # sign and print the body; nothing is sent +robot-md register ROBOT.md +``` + +Show the user the `--dry-run` body before the real call: it is exactly what becomes public. + +On success the CLI writes the RRN into `metadata.rrn` in the manifest, stores the API key at +`~/.robot-md/keys/.apikey`, and prints the resolver URL. The API key is returned once and not +stored server-side in plaintext. Tell the user to back up `~/.robot-md/keys/`. + +`robot-md init --register` does the same thing as part of first-time setup. + +## Keys + +| Situation | Command | Notes | +|---|---|---| +| Routine rotation, or a key may be exposed | `robot-md rotate-key ` | Signs the rotation with the old and new keys. Exit 2 means the server accepted but a local disk step failed: follow the `mv` command it prints exactly, because the server now expects the new key. | +| Robot decommissioned or key compromised beyond rotation | `robot-md revoke-key --reason ""` | One-way. A 409 means it was already revoked. | +| Remove a robot from the registry | `robot-md unregister ` | Deletes the record using the stored API key. Confirm first. | +| Signing key held, API key lost | `robot-md request-apikey` | Produces a signed reissue request. Submit it with `--submit` if the endpoint is live, or send it to RRF out of band. | + +## Prove manufacturer identity + +```bash +# DNS TXT proof only +robot-md verify-tier --target manufacturer_claimed --dns-domain example.com + +# DNS TXT + /.well-known/rcan-manifest.json at the RURI + signed attestation +robot-md verify-tier --target manufacturer_verified \ + --dns-domain example.com --ruri https://example.com --attestation-file signed_attestation.json +``` + +The user must control the domain. Walk them through publishing the TXT record before running this. +The community tier is curated by maintainers through pull requests and can't be promoted this way. + +## EU AI Act artifacts + +Each `emit-*` command builds a signed artifact under `compliance/`. Adding `--submit` POSTs it to RRF. +Emit first, show the user what was produced, then submit. + +| Artifact | Command | +|---|---| +| Safety benchmark | `robot-md emit-benchmarks` | +| Instructions for use (IFU) | `robot-md emit-ifu` | +| Fundamental rights impact assessment (FRIA) | `robot-md emit-fria` | +| EU database registration (Art. 49) | `robot-md emit-eu-register` | +| Incident report | `robot-md incidents record`, then `robot-md incidents report` | + +`emit-eu-register` applies only to high-risk systems: it fails without `compliance.annex_iii_basis` +in the manifest and a signed FRIA alongside it. The audit log behind every submission can be checked +with `robot-md audit verify`. + +**What these artifacts are and aren't.** They are evidence a provider assembles, not a conformity +assessment, a certification, or legal advice. Say that whenever the user is preparing a real +submission, and point them to their notified body or counsel for the decision. + +## Bounded Embodiment results + +A safety benchmark from the `bounded-embodiment` skill is a finding about one run, never a +certification, and a simulation verdict is always INCONCLUSIVE for hardware. Submit it with +`emit-benchmarks --submit` only with that framing intact. diff --git a/plugins/robot-md/skills/using-robot-md/SKILL.md b/plugins/robot-md/skills/using-robot-md/SKILL.md new file mode 100644 index 0000000..f034414 --- /dev/null +++ b/plugins/robot-md/skills/using-robot-md/SKILL.md @@ -0,0 +1,303 @@ +--- +name: using-robot-md +description: Use when the user wants to install, configure, or operate robot-md — cold install on a fresh Pi, or post-install operation (asking what the robot can do, whether something is safe, validating/rendering/registering the manifest, posing or calibrating). Triggers on robot-md install + any mention of the robot's capabilities/drivers/safety/manifest tooling. +--- + +# Using robot-md + +## First-time setup recipe + +If you're seeing this on first plugin load, the operator has just installed the plugin and wants to wire up their robot. Run these commands in a terminal: + +```bash +# 1) Install robot-md from PyPI. On Pi OS Bookworm+ you need --break-system-packages. +python3 -m pip install --user --break-system-packages robot-md + +# 2) Initialize a manifest. Replace + email; the preset is so-arm101 by default. +robot-md init --preset so-arm101 --register --contact-email you@example.com + +# 3) (Optional, but required for actual motion) Install the enforcement gateway. +robot-md install-gateway + +# 4) Health check. +robot-md doctor +``` + +Each step should take ~30 s. Total cold-install time on a fresh Pi: under 2 minutes. + +### When something errors + +Paste the error message back and we'll find the workaround. Common ones today: + +- **PEP 668 `externally-managed-environment`** → `pip install` needs `--break-system-packages` on Pi OS. The robot-md CLI handles this automatically inside `init`, but the first `pip install` step is operator-driven. +- **`claude mcp list` shows "Failed to connect"** → either you haven't `cd`'d into a directory with a `ROBOT.md`, or `ROBOT_MD_PATH` isn't set. Try `export ROBOT_MD_PATH=$HOME//ROBOT.md`. +- **`/dev/ttyACM0` permission denied** → the gateway claims the device by design. Talk to the gateway at `127.0.0.1:8080`, not the device directly. + +### After install + +Once `robot-md doctor` returns 0 fails, you're ready for the first prompt: try "what's the state of the robot?" — the MCP should answer from frontmatter resources without any motion. The remainder of this skill covers ongoing operation of the manifest. + +--- + +## Overview + +This project has a `ROBOT.md` at its root — a single-file declaration of what the robot IS and what it CAN DO. `robot-md` is the CLI that reads, validates, renders, diagnoses, calibrates, and registers that file. It also ships an MCP server (registered as `robot-md`) that exposes the file to this agent session as resources. + +**Core principle:** `ROBOT.md` is authoritative. Never guess what the robot can do or how it's configured. Read the manifest. + +**Announce at start:** "I'm using the using-robot-md skill to answer questions about this project's robot." + +## When to Use This Skill + +```dot +digraph when_to_use { + "Operator mentions the robot?" [shape=diamond]; + "Operator asks for motion?" [shape=diamond]; + "Is there a ROBOT.md?" [shape=diamond]; + "Use this skill" [shape=box style=filled fillcolor=lightgreen]; + "Check safety first" [shape=box style=filled fillcolor=orange]; + "Suggest: robot-md init" [shape=box]; + "Not a robot task" [shape=box]; + + "Operator mentions the robot?" -> "Is there a ROBOT.md?" [label="yes"]; + "Operator mentions the robot?" -> "Not a robot task" [label="no"]; + "Is there a ROBOT.md?" -> "Use this skill" [label="yes"]; + "Is there a ROBOT.md?" -> "Suggest: robot-md init" [label="no"]; + "Use this skill" -> "Operator asks for motion?"; + "Operator asks for motion?" -> "Check safety first" [label="yes"]; +} +``` + +## Intent → Action Routing + +| Operator says (examples) | You should | +|---|---| +| "What can this robot do?" / "capabilities?" | Read `robot-md:///capabilities` (MCP) or `robot-md render ROBOT.md` | +| "What's it called?" / "what's the RRN?" | Read `robot-md:///identity` (MCP) | +| "Brief me on this robot" / "give me the full context" | Read `robot-md:///context` (MCP) | +| "What are the safety gates?" / "is it safe to X?" | Read `robot-md:///safety` (MCP). **Before any motion, always.** | +| "Pick up X" / "move to Y" / any physical motion | Read `safety` FIRST. If scope matches a gate with `require_auth: true`, pause and ask the operator to authorize. | +| "Something's wrong" / "it won't respond" | Run `robot-md doctor --path ROBOT.md` from Bash | +| "Is the manifest valid?" / "did I break it?" | Call MCP tool `validate`, or run `robot-md validate ROBOT.md` | +| "Quick-check" / "is everything OK" | Call MCP tool `doctor_summary` (manifest-only, fast) | +| "Give me just the YAML" / "dump config" | Call MCP tool `render`, or `robot-md render ROBOT.md` | +| "Set up a new ROBOT.md" (none exists) | `robot-md init --preset --register --manufacturer <...> --contact-email <...>`. See `docs/getting-started-claude-code.md` in the robot-md repo. | +| "Pose the arm at zero" / "calibrate zero" | `robot-md calibrate --zero ROBOT.md`. Relay interactive prompts to the operator. | +| "Calibrate the hand-eye" / "solve the camera extrinsic" | `robot-md calibrate --hand-eye --marker-pos x,y,z ROBOT.md` | +| "Publish my robot" / "give it a public URL" | `robot-md publish-discovery ROBOT.md --url ` | +| "Register this robot" / "get an RRN" | `robot-md register ROBOT.md` (defaults read from the manifest). See **Registration** below for the confirm-first flow. | +| "Unregister" / "take it down" | `robot-md unregister ` — confirm with operator first (destructive). | + +## Registration (RRF + RCAN protocol) + +Every shared or production robot should have a public identity — an **RRN** (Robot Registry Name) minted at the [Robot Registry Foundation](https://robotregistryfoundation.org). The RRN is the permanent, cryptographically-bound id that lets this robot participate in the **[RCAN protocol](https://rcan.dev/compatibility)** network and be addressed by other agents. Registration POSTs a signed RCAN envelope to RRF; RRF mints the RRN and writes it back into `metadata.rrn` in the manifest. + +### Detect unregistered state and surface it + +When you read the frontmatter (resource `robot-md:///frontmatter` or `robot-md render`), check `metadata.rrn`: + +- **Missing or empty** → the robot is unregistered. Surface this the first time the operator asks about identity, publishing, sharing, or deployment: *"This manifest doesn't have an RRN yet. Want me to register it with the Robot Registry Foundation?"* +- **Present** → already registered. Quote the RRN and the public URL (`https://robotregistryfoundation.org/r/`) when the operator asks "what's its name" / "what's the URL". + +Don't push registration during early prototyping — the operator may still be iterating on `ROBOT.md`. Surface once, respect a "not yet". + +### Automatic registration (one command) + +Once the operator approves, the simplest path is a single command. All flags are optional — defaults come from the manifest: + +```bash +robot-md register ROBOT.md +``` + +This signs the body with the local key under `~/.robot-md/keys/` (RCAN protocol envelope — see live compatibility at https://rcan.dev/compatibility), POSTs to the RRF mint endpoint, writes the returned RRN back into `metadata.rrn`, and prints the public URL. + +**Flow when the operator says "register it":** + +1. Confirm with one sentence: "Registering mints a permanent public identity at robotregistryfoundation.org. Ready?" +2. Verify the manifest has `metadata.manufacturer` and a reachable contact email — RRF's public resolver page shows both. If either is missing, ask the operator and either pass with a flag (`--manufacturer Acme`) OR edit the manifest, run `validate`, then retry. +3. Run `robot-md register ROBOT.md` via Bash. +4. On any field-missing error, collect the specific value from the operator and retry with the matching flag rather than guessing. +5. On success, re-read `robot-md:///frontmatter` (the MCP server re-reads the file on every call, so the new RRN is visible immediately). Read the RRN back to the operator and share the public URL. + +### When NOT to register + +- Dry-run or rehearsal manifests — pass `--dry-run` to sign + print without POSTing. +- Manifests that fail `validate` — fix schema issues first. +- Anything the operator hasn't explicitly approved. + +## Motion intent without motion tools + +If the operator requests physical motion or perception (any of `arm.*`, `nav.*`, `gripper.*`, `perceive.*` capabilities, or English phrasing like "find / move / grasp / place / pick up / put / look / see / detect / scan"), AND the `execute_task` tool is NOT in your available tools, **stop before issuing any action**. Output the upgrade instructions verbatim: + +> "This robot's manifest declares motion capabilities, but the runtime isn't installed in this environment. To enable motion: +> +> 1. `pip install 'robot-md[hardware]'` +> 2. (Verify with `which robot-md` first to make sure it's on your shell PATH.) +> 3. In Claude Code: `/mcp` → arrow to `robot-md` → Reconnect. +> +> Then ask me again." + +Wait for the operator to confirm. Do NOT attempt manifest reads as a substitute for motion. Do NOT attempt motion via wrong tools. + +**False-positive guard:** Documentation lookups ("find docs", "find the file", "find the README") are NOT motion intent — proceed normally with manifest tools. + +## Safety Protocol + +**Before ANY physical motion — no exceptions:** + +1. Read `robot-md:///safety` (MCP) or parse `safety:` from the manifest. +2. Scan `hitl_gates[]`. Does the requested scope match one with `require_auth: true`? +3. If yes: stop. Tell the operator the gate requires explicit authorization, name the scope, and wait for them to say "yes, authorize this specific action." +4. If no gate matches and the motion is potentially harmful (grasping unknown objects, high velocity, workspace-boundary-approaching): **surface the gap to the operator**. Don't silently proceed; don't silently decline. Say: "Your manifest doesn't declare a gate for this scope. Add one to ROBOT.md or authorize this specific action." +5. Know the E-stop. `safety.estop.software: true` means a software e-stop exists — learn the driver command for it before attempting motion. + +## Prefer MCP over Shell + +If `robot-md` is registered in this session (look for `robot-md://` resources), prefer MCP reads over shelling out — the resources stay in sync with the file on disk automatically, and the server advertises intent-matchable descriptions for each resource. + +Check with `/mcp` in Claude Code. If no `robot-md://` resources are present, fall back to `robot-md ` via the Bash tool. (When this skill is installed via the `robot-md` Claude Code plugin, the MCP server is auto-registered — expect the resources to be there.) + +## Slash commands (MCP prompts, v0.2.1+) + +If `robot-md >= 0.2.1` is registered, these prompts are available as slash commands — **prefer them** when they match the operator's intent, since they're explicit operator invocations with curated instructions: + +| Slash command | When to expect it | +|---|---| +| `/brief-me` | Operator wants an at-a-glance summary of the robot. Invoke when first orienting in a session, or when the operator says "remind me what this robot is". | +| `/check-safety action=""` | **Invoke before any physical motion.** Operator describes the action; the prompt cross-references declared `hitl_gates[]` and returns one of "✓ safe", "⚠ auth required — ", or "⚠ gate gap". | +| `/explain-capability capability=""` | Operator asks about a specific capability like `arm.pick` or `nav.go_to`. Returns what it does, hardware path, and gates that apply. | +| `/manifest-status` | Operator asks for a quick health check. Wraps the `doctor_summary` tool in a human-readable report. | + +If the operator hasn't invoked a prompt, you can still proceed via the matching resource/tool — but if a prompt exists for the intent, mention it exists so the operator can invoke it next time. + +## Common Mistakes + +**Answering from general robotics knowledge** +- **Problem:** You say "a typical SO-ARM101 can lift up to 0.5 kg" when the manifest declares 0.3 kg. +- **Fix:** Read the manifest. The operator's declared values override your priors. + +**Skipping the safety read** +- **Problem:** You issue a motion command without first checking `hitl_gates[]`. +- **Fix:** Always read `/safety` before the first motion of a session. + +**Proposing a capability not in the list** +- **Problem:** Operator asks "can you pick this up?" and you say yes because it's an arm — but `arm.pick` isn't declared. +- **Fix:** If the capability isn't in `capabilities[]`, the robot can't do it through this interface. Tell the operator. + +**Editing metadata.* without asking** +- **Problem:** You edit `metadata.rrn` or `metadata.manufacturer` to match some other convention. The registry entry at rcan.dev now disagrees with the file on disk. +- **Fix:** `metadata.*` is bound to the registry. Don't touch without operator approval — suggest `robot-md register` or `robot-md unregister` + re-register instead. + +**Forgetting to validate after an edit** +- **Problem:** You add a new capability or tweak a driver port, then move on. The manifest now fails schema validation silently. +- **Fix:** After any edit to `ROBOT.md`, call the `validate` MCP tool or run `robot-md validate ROBOT.md`. + +## Reacting to hot-plug events + +The MCP server emits `notifications/resources/updated` for +`robot-md://hotplug/pending` whenever new hardware is detected. + +When you receive that notification: + +1. Call `hotplug_review`. +2. For HIGH-tier events that already resolved (`bind`): + - **Announce to the operator** — say or write: + "Found a {preset_name} on {port}. I bound it as the {driver_id} driver + using the {backend_name} backend. Say 'undo' to reject." + - If the operator says undo / reject within 30 s of the announce, + call `hotplug_confirm({event_id}, "reject")`. The daemon will append + a rejection record; the manifest stays bound but the audit trail + captures the operator's intent. (Manifest unbinding is out of scope + for v1 — call this out and offer to help edit ROBOT.md by hand.) +3. For MEDIUM/LOW-tier pending events: + - Surface the event with its alternatives. + - Ask the operator: "Want me to bind this as {top_candidate}, pick a different option, or reject?" + - Call `hotplug_confirm` with their answer. + +## Modality hierarchy + +If the operator is in voice mode, **announce by voice first**, then mirror the same text to the chat. If the operator is in text mode, write to the chat only. + +## Resolved-elsewhere handling + +If you call `hotplug_confirm` and get back `already_resolved`, the +operator confirmed it via another path (e.g., `robot-md hotplug confirm` +from a terminal, or — in the future — a pendant). Tell them you saw it +("Got it — I see {decision} happened from the terminal.") and move on. + +## Red Flags + +**Never:** +- Issue a physical motion command before reading `/safety` +- Invent capabilities not declared in the manifest +- Edit `metadata.rrn`, `metadata.rcan_uri`, or other registry-bound fields without operator confirmation +- Commit files under `~/.robot-md/keys/*` — those are API keys +- Run `robot-md unregister` without the operator typing "unregister" + +**Always:** +- Read `robot-md:///safety` before the first motion of the session +- Read `robot-md:///capabilities` before claiming what the robot can do +- Validate after any edit (`validate` MCP tool or `robot-md validate ROBOT.md`) +- Prefer MCP resources over shell-out when the MCP server is registered +- Surface gate-gaps rather than silently proceeding + +## Before writing an actuator from scratch + +When the user has a ROBOT.md and asks Claude Code to write a new actuator (or any add-on), +ALWAYS run the catalog search FIRST: + + robot-md actuator search --manifest ./ROBOT.md + +Read the matches. If a match scores well against the user's hardware: + +1. If `plugin_marketplace_entry` is present, prefer: + /plugin install @ +2. Otherwise: + pip install && robot-md install-skill + +Only proceed to writing a new actuator if the user explicitly declines the match, +or no match exceeds a meaningful relevance threshold. + +This is the share-broadly principle: every duplicated actuator is a missed +multiplier for the next reader. If you DO write a new one, complete the loop: + + robot-md actuator publish + +so the next person finds it. + +(Today this discipline is actuator-scoped. The principle generalizes to skills, +plugins, and MCPs — those entries land in the catalog as schema-tagged additions.) + +## Installation + +This skill ships as part of the [`robot-md` Claude Code plugin](https://github.com/RobotRegistryFoundation/claude-code-plugins). Install with: + +``` +/plugin marketplace add RobotRegistryFoundation/claude-code-plugins +/plugin install robot-md +/reload-plugins +``` + +The plugin also auto-registers the `robot-md` MCP server, so the `robot-md:///*` resources become available in the same step. + +## Integration + +**Pairs with:** +- **`robot-md`** (MCP server) — provides `robot-md:///*` resources + `validate` / `render` / `doctor_summary` tools. Announces its own routing table via the MCP `instructions` field. +- **`CLAUDE.md` in the project root** — generated by `robot-md claude-md ROBOT.md`; encodes the same intent→action table as a plain text file the harness reads at session start. + +**Called by:** any session where the operator works on a robot declared by a `ROBOT.md` in the project. + +## Pick-place trial protocol + +When the operator runs `robot-md trial iteration --capture-pre`, your next steps are: + +1. Call the `oak-d` actuator's `perceive` capability via the gateway to locate the brick: + - `mcp__robot-md__invoke` with `actuator_name="oak-d", tool_name="perceive", tool_args={"query": "red_blob"}` + - The telemetry returns `{found, centroid_px, centroid_depth_mm, bbox_px, pixel_count}`. +2. Same call with `tool_args={"query": "bowl_top"}` to locate the bowl. +3. Plan a joint sequence: home pose → above brick (use brick centroid + a fixed bird's-eye camera-to-arm offset, documented per-rig) → descend → close gripper → ascend → above bowl → descend → open gripper → home. +4. Dispatch each `move` call sequentially via `mcp__robot-md__invoke` with `actuator_name="so-arm101", tool_name="move", tool_args={"joint_positions": {...}, "timeout_s": 5.0}`. Wait for each outcome's `outcome_kind == "executed"` before sending the next. +5. Report completion to the operator. They will run `robot-md trial iteration --capture-post-and-verdict` to score the iteration. + +Camera mount + arm geometry are rig-specific and documented in the rig's case-study page at `/case-studies//pick-place/`. If you don't know the offset, ask the operator before dispatching any move. diff --git a/plugins/robot-md/skills/using-robot-md/intrinsic-calibration.md b/plugins/robot-md/skills/using-robot-md/intrinsic-calibration.md new file mode 100644 index 0000000..b80733c --- /dev/null +++ b/plugins/robot-md/skills/using-robot-md/intrinsic-calibration.md @@ -0,0 +1,104 @@ +--- +name: intrinsic-calibration +description: Guide operator through checkerboard-based camera intrinsic calibration for a ROBOT.md driver/stream without factory calibration. Triggers when a ROBOT.md has `intrinsic: null` on a camera's primary_stream and the operator asks to calibrate or run the wizard. +--- + +# Intrinsic calibration — guided operator walkthrough + +You are helping an operator run `robot-md calibrate-intrinsic` to fill in a `null` camera intrinsic on a ROBOT.md. Your job is to narrate the session while the CLI does the work. + +## The protocol + +The CLI drives state via a JSON session file. You poll it; don't guess. + +- `robot-md calibrate-intrinsic --driver --stream --session-file ` — initializes the session, emits a printable checkerboard PNG next to the session file. +- `--frame ` — add a captured frame; the CLI updates `coverage`, `frames_captured`, `next_hint`. +- `--finalize` — solves and writes the intrinsic block back into ROBOT.md. + +Session-file shape: + +```json +{ + "driver_id": "...", + "stream": "...", + "board_size": [9, 6], + "frames_captured": 0, + "coverage": 0.0, + "rms_error": null, + "next_hint": "", + "complete": false, + "_frames": [] +} +``` + +## The guided flow + +### 1. Identify target + +Ask the operator for the driver_id and stream name. If they don't remember, run: + +``` +robot-md validate +``` + +Each `null intrinsic` warning names the driver + stream. Surface those warnings back to the operator. + +### 2. Init the session + +``` +robot-md calibrate-intrinsic --driver --stream --session-file intrinsic.session.json +``` + +This writes `checkerboard_9x6.png` next to the session file. Tell the operator to **print it on letter paper at 100% scale** (ruler-check: one square should be ~25 mm on the printout). + +### 3. Capture loop + +Coach the operator through 8 poses covering the frame corners and multiple orientations: + +1. Top-left of frame +2. Top-right +3. Bottom-left +4. Bottom-right +5. Tilted ~30° towards camera +6. Tilted ~30° away from camera +7. Tilted ~30° rotated left +8. Tilted ~30° rotated right + +For each photo the operator captures, run: + +``` +robot-md calibrate-intrinsic --driver --stream \ + --session-file intrinsic.session.json --frame +``` + +Then `cat intrinsic.session.json` to read `frames_captured` and `next_hint`. Narrate the progress ("6/8 captured") and coach if `next_hint` says detection failed (adjust angle, improve lighting, move closer or further). + +### 4. Finalize + +Once `frames_captured >= 8`: + +``` +robot-md calibrate-intrinsic --driver --stream \ + --session-file intrinsic.session.json --finalize +``` + +This solves via OpenCV's `cv2.calibrateCamera` and writes the intrinsic back into ROBOT.md. Verify with: + +``` +robot-md validate +``` + +The `null intrinsic` warning for that stream should be gone. Surface the `rms_error` from the session file — under 0.5 is excellent, under 1.0 is acceptable, above 2.0 suggests recapturing with better coverage. + +## Do NOT + +- Do NOT guess intrinsics from a camera datasheet — calibrate against the physical device the operator is using. Datasheet values drift unit-to-unit. +- Do NOT write the intrinsic block yourself — `--finalize` is the only sanctioned write path; it keeps provenance and rms_error honest. +- Do NOT skip the final `robot-md validate` — missing "warning gone" = silently broken. +- Do NOT attempt to calibrate a stream flagged `derived_from: [...]` (e.g. a depth stream computed from left+right). Those don't have their own intrinsic; they inherit from their sources. + +## When this skill does NOT apply + +- Operator has factory calibration (OAK-D, RealSense, ZED) — `robot-md init` already populated the intrinsic. This skill is for cameras without one. +- Operator wants extrinsic (hand-eye) calibration — that's a different verb: `robot-md calibrate --hand-eye` (tracked separately). +- The ROBOT.md already validates with no null-intrinsic warnings — nothing to do. diff --git a/scripts/sync-robot-md.sh b/scripts/sync-robot-md.sh new file mode 100755 index 0000000..46fd84b --- /dev/null +++ b/scripts/sync-robot-md.sh @@ -0,0 +1,41 @@ +#!/usr/bin/env bash +# Refresh the copied components of plugins/robot-md from their canonical sources. +# scripts/sync-robot-md.sh copy canonical files into plugins/robot-md +# scripts/sync-robot-md.sh --check exit 1 if any copy differs (used by CI) +set -euo pipefail +cd "$(dirname "$0")/.." + +MCP_REPO="${ROBOT_MD_MCP_REPO:-https://github.com/RobotRegistryFoundation/robot-md-mcp.git}" +DEST=plugins/robot-md +work="$(mktemp -d)" +trap 'rm -rf "$work"' EXIT +git clone --quiet --depth 1 "$MCP_REPO" "$work/robot-md-mcp" + +# canonical source -> copy in this plugin +pairs=( + "$work/robot-md-mcp/skills/using-robot-md|$DEST/skills/using-robot-md" + "$work/robot-md-mcp/commands/enable-dispatch.md|$DEST/commands/enable-dispatch.md" + "$work/robot-md-mcp/.mcp.json|$DEST/.mcp.json" + "plugins/bounded-embodiment/skills/bounded-embodiment|$DEST/skills/bounded-embodiment" +) + +drift=0 +for pair in "${pairs[@]}"; do + src="${pair%%|*}"; dst="${pair##*|}" + if [[ "${1:-}" == "--check" ]]; then + if ! diff -r "$src" "$dst" >/dev/null 2>&1; then + echo "drift: $dst differs from its canonical source" + diff -ru "$src" "$dst" | head -40 || true + drift=1 + fi + else + rm -rf "$dst" + cp -r "$src" "$dst" + echo "synced $dst" + fi +done + +if [[ "${1:-}" == "--check" && $drift -ne 0 ]]; then + echo "Run scripts/sync-robot-md.sh and commit the result." + exit 1 +fi