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codex
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@@ -0,0 +1,206 @@
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||||
---
|
||||
name: openspec-apply-change
|
||||
description: Implement tasks from an OpenSpec change. Use when the user wants to start implementing, continue implementation, or work through tasks. Also use when the user says "openspec apply", "opsx apply", or "openspec implement".
|
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allowed-tools: Bash(openspec:*)
|
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license: MIT
|
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compatibility: Requires openspec CLI.
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metadata:
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author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Implement tasks from an OpenSpec change.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
**Input**: Optionally specify a change name (e.g., `$openspec-apply-change (Codex) or /openspec-apply-change (other agents) add-auth`). If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes and ask the user to select one
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `$openspec-apply-change (Codex) or /openspec-apply-change (other agents) <other>`).
|
||||
|
||||
2. **Check status to understand the schema**
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
Parse the JSON to understand:
|
||||
- `schemaName`: The workflow being used (e.g., "spec-driven")
|
||||
- `planningHome`, `changeRoot`, and `actionContext`: planning scope and edit constraints
|
||||
- Which artifact contains the tasks (typically "tasks" for spec-driven, check status for others)
|
||||
|
||||
3. **Get apply instructions**
|
||||
|
||||
```bash
|
||||
openspec instructions apply --change "<name>" --json
|
||||
```
|
||||
|
||||
This returns:
|
||||
- `contextFiles`: artifact ID -> array of concrete file paths (varies by schema - could be proposal/specs/design/tasks or spec/tests/implementation/docs)
|
||||
- Progress (total, complete, remaining)
|
||||
- Task list with status, source path, and source line
|
||||
- Dynamic instruction based on current state
|
||||
- Optional `context`: current required project instruction input from the selected root
|
||||
- Optional `operationGuidance`: current advisory guidance for apply
|
||||
- `missingArtifacts` (when present): required artifact ids with no output
|
||||
|
||||
**Handle states:**
|
||||
- If `state: "blocked"`: show the message and pause implementation.
|
||||
- If `missingArtifacts` is non-empty: suggest completing the missing artifacts. Run `openspec status --change "<name>" --json`, select the next `ready` artifact (not `skipped` or `blocked`), and use `openspec instructions "<artifact-id>" --change "<name>" --json` for its rules and template. Keep the selected `--store <id>` on both commands.
|
||||
- Otherwise, follow the CLI instruction to create or repair the schema-configured tracking file from existing planning artifacts. Do not assume another artifact is ready or start implementation while blocked.
|
||||
- If `state: "all_done"`: report that all tracked tasks are complete and suggest review or verification as appropriate before archiving
|
||||
- Otherwise: proceed to implementation
|
||||
|
||||
Treat `context` as a required prompt-level input. Read and consider it, and
|
||||
apply relevant project facts, conventions, and constraints while implementing.
|
||||
Treat `operationGuidance` as optional additive advice. Read and consider every
|
||||
entry, and follow entries that are applicable and compatible with the built-in
|
||||
workflow.
|
||||
|
||||
Keep both fields separate from CLI-returned state, missing artifacts, tasks,
|
||||
progress, `contextFiles`, and the built-in `instruction`. They are not
|
||||
evidence of task completion, do not replace the built-in instruction, and do
|
||||
not permit bypassing a blocked state. If context conflicts with the built-in
|
||||
instruction, an explicit user choice, or a CLI-controlled value, report the
|
||||
conflict and preserve the controlling value. If guidance is inapplicable or
|
||||
conflicts with those controlling inputs, do not follow it and explain why.
|
||||
These are prompt-level behavior contracts, not enforceable checks.
|
||||
|
||||
4. **Read context files**
|
||||
|
||||
Read every file path listed under `contextFiles` from the apply instructions output.
|
||||
The files depend on the schema being used:
|
||||
- **spec-driven**: proposal, specs, design, tasks
|
||||
- Other schemas: follow the contextFiles from CLI output
|
||||
|
||||
Do not copy `context` or `operationGuidance` verbatim into implementation
|
||||
files or planning artifacts unless the user separately asks for that content.
|
||||
|
||||
5. **Show current progress**
|
||||
|
||||
Display:
|
||||
- Schema being used
|
||||
- Progress: "N/M tasks complete"
|
||||
- Remaining tasks overview
|
||||
- Dynamic instruction from CLI
|
||||
|
||||
6. **Implement tasks (loop until done or blocked)**
|
||||
|
||||
For each pending task:
|
||||
- Show which task is being worked on
|
||||
- Make the code changes required
|
||||
- Keep changes minimal and focused
|
||||
- Before editing, confirm the checkbox at the returned `sourcePath` and `line` still matches the task description; if it does not, rerun the apply instructions and use the refreshed location
|
||||
- Mark the task complete at its returned `sourcePath` and `line`: `- [ ]` → `- [x]`
|
||||
- Rerun the apply instructions and confirm that task is now done and progress changed
|
||||
- Continue to next task
|
||||
|
||||
**Pause if:**
|
||||
- Task is unclear → ask for clarification
|
||||
- Implementation reveals a design issue → suggest updating artifacts
|
||||
- A task needs work beyond what the spec and tasks describe, or you are tempted to drop, narrow, defer, or accept exceptions to specified behavior to make it fit → surface the added scope and ask; do not absorb it silently
|
||||
- Error or blocker encountered → report and wait for guidance
|
||||
- User interrupts
|
||||
|
||||
7. **On completion or pause, show status**
|
||||
|
||||
Display:
|
||||
- Tasks completed this session
|
||||
- Overall progress: "N/M tasks complete"
|
||||
- If all done: report that tracked tasks are complete and suggest review or verification as appropriate before archiving
|
||||
- If paused: explain why and wait for guidance
|
||||
|
||||
**Output During Implementation**
|
||||
|
||||
```
|
||||
## Implementing: <change-name> (schema: <schema-name>)
|
||||
|
||||
Working on task 3/7: <task description>
|
||||
[...implementation happening...]
|
||||
✓ Task complete
|
||||
|
||||
Working on task 4/7: <task description>
|
||||
[...implementation happening...]
|
||||
✓ Task complete
|
||||
```
|
||||
|
||||
**Output On Completion**
|
||||
|
||||
```
|
||||
## Implementation Complete
|
||||
|
||||
**Change:** <change-name>
|
||||
**Schema:** <schema-name>
|
||||
**Progress:** 7/7 tasks complete ✓
|
||||
|
||||
### Completed This Session
|
||||
- [x] Task 1
|
||||
- [x] Task 2
|
||||
...
|
||||
|
||||
All tracked tasks are complete. Review or verify the change as appropriate
|
||||
before archiving. You can archive this change with `$openspec-archive-change (Codex) or /openspec-archive-change (other agents)`.
|
||||
```
|
||||
|
||||
**Output On Pause (Issue Encountered)**
|
||||
|
||||
```
|
||||
## Implementation Paused
|
||||
|
||||
**Change:** <change-name>
|
||||
**Schema:** <schema-name>
|
||||
**Progress:** 4/7 tasks complete
|
||||
|
||||
### Issue Encountered
|
||||
<description of the issue>
|
||||
|
||||
**Options:**
|
||||
1. <option 1>
|
||||
2. <option 2>
|
||||
3. Other approach
|
||||
|
||||
What would you like to do?
|
||||
```
|
||||
|
||||
**Guardrails**
|
||||
- Keep going through tasks until done or blocked
|
||||
- Always read context files before starting (from the apply instructions output)
|
||||
- If task is ambiguous, pause and ask before implementing
|
||||
- If implementation reveals issues, pause and suggest artifact updates
|
||||
- Keep code changes minimal and scoped to each task
|
||||
- Update task checkbox immediately after completing each task
|
||||
- Pause on errors, blockers, or unclear requirements - don't guess
|
||||
- When a task needs work beyond what the spec describes, surface the added scope and pause - never silently narrow, defer, or simplify away specified behavior
|
||||
- Only mark a task `- [x]` when its specified behavior is fully implemented, not when it is partially done or deferred
|
||||
- Use contextFiles from CLI output, don't assume specific file names
|
||||
- Use each task's sourcePath and line to update its exact checkbox
|
||||
- Do not use context or operation guidance as proof that a task is complete
|
||||
- Apply relevant project context; report conflicts with controlling workflow inputs
|
||||
- Consider every guidance entry; explain any inapplicable or conflicting advice
|
||||
- Do not copy runtime context or operation guidance into implementation files or planning artifacts
|
||||
- Preserve CLI-controlled blocked/ready/all-done behavior and completion criteria
|
||||
|
||||
**Fluid Workflow Integration**
|
||||
|
||||
This skill supports the "actions on a change" model:
|
||||
|
||||
- **Can be invoked anytime**: Before all artifacts are done (if tasks exist), after partial implementation, interleaved with other actions
|
||||
- **Allows artifact updates**: If implementation reveals design issues, suggest updating artifacts - not phase-locked, work fluidly
|
||||
@@ -0,0 +1,221 @@
|
||||
---
|
||||
name: openspec-archive-change
|
||||
description: Archive a completed OpenSpec change in the experimental workflow. Use when the user wants to finalize and archive a change after implementation is complete. Also use when the user says "openspec archive" or "opsx archive".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Archive a completed change in the experimental workflow.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve the full path from each delta spec when resolving its main spec.
|
||||
|
||||
**Input**: Optionally specify a change name. If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes and ask the user to select one
|
||||
|
||||
When prompting, show only active changes (not already archived).
|
||||
Include the schema used for each change if available.
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `$openspec-archive-change (Codex) or /openspec-archive-change (other agents) <other>`).
|
||||
|
||||
**Load current archive inputs before the existing archive checks:**
|
||||
|
||||
After resolving the selected change and planning root, run:
|
||||
```bash
|
||||
openspec instructions archive --change "<name>" --json
|
||||
```
|
||||
Keep the same selected-root flags on this command. This lookup is advisory and
|
||||
optional: it only supplies extra prompt inputs, so it must never block archiving.
|
||||
If it exits non-zero or returns invalid JSON — for example on an older CLI that
|
||||
does not support this command yet — continue the archive workflow with no
|
||||
context and no operation guidance. Do not report an error and do not stop.
|
||||
|
||||
A successful response may omit both optional fields. Treat `context` as a
|
||||
required prompt-level input: read and consider it, and apply relevant project
|
||||
facts, conventions, and constraints. Treat `operationGuidance` as optional
|
||||
additive advice: read and consider every entry, and follow entries that are
|
||||
applicable and compatible with the built-in archive workflow.
|
||||
|
||||
Keep both fields separate from built-in steps, explicit user choices, resolved
|
||||
paths, CLI checks, and command contracts. If context conflicts with one of those
|
||||
controlling inputs, report the conflict and preserve the controlling value. If
|
||||
guidance is inapplicable or conflicts with a controlling input, do not follow it
|
||||
and explain why. Do not infer replacement paths, skipped prompts, or flags from
|
||||
either field, and do not copy their text verbatim into specs, change artifacts,
|
||||
or archive summaries unless the user separately asks for it. These are
|
||||
prompt-level behavior contracts, not enforceable checks.
|
||||
|
||||
2. **Check artifact completion status**
|
||||
|
||||
Run `openspec status --change "<name>" --json` to check artifact completion.
|
||||
|
||||
Parse the JSON to understand:
|
||||
- `schemaName`: The workflow being used
|
||||
- `planningHome`, `changeRoot`, `artifactPaths`, and `actionContext`: path and scope context
|
||||
- `artifacts`: List of artifacts with their status (`done`, `skipped`, or other)
|
||||
|
||||
**If any artifacts are neither `done` nor `skipped`** (skipped artifacts satisfy the requirement - the change declares skip_specs):
|
||||
- Display warning listing incomplete artifacts
|
||||
- Ask the user to confirm they want to proceed
|
||||
- Proceed if user confirms
|
||||
|
||||
3. **Check task completion status**
|
||||
|
||||
Run `openspec list --json` with the same selected-root flags and find the
|
||||
entry in `changes` whose `name` exactly matches the selected change.
|
||||
Require exactly one match and nonnegative integer `totalTasks` and
|
||||
`completedTasks`, with `completedTasks <= totalTasks`. The CLI resolves
|
||||
the schema's tracked task files, including custom artifact names, output
|
||||
paths, and globs.
|
||||
Incomplete tasks = `totalTasks - completedTasks`.
|
||||
|
||||
Do not infer task completion from artifact status or the absence of a
|
||||
top-level `tasks.md`. If the lookup fails, returns invalid JSON, omits or
|
||||
duplicates the selected change, or returns invalid counts, report the problem
|
||||
and stop before syncing or archiving.
|
||||
The CLI counts only `x`/`X` checkbox markers as complete;
|
||||
other markers, including unfamiliar ones, remain incomplete.
|
||||
|
||||
**If incomplete tasks found:**
|
||||
- Display warning showing count of incomplete tasks
|
||||
- Ask the user to confirm they want to proceed
|
||||
- Proceed if user confirms
|
||||
|
||||
**If `totalTasks` is zero:** Proceed without a task-related warning.
|
||||
|
||||
4. **Assess delta spec sync state**
|
||||
|
||||
Use `artifactPaths.specs.existingOutputPaths` from status JSON as the only
|
||||
delta-spec source. If the `specs` entry is missing or
|
||||
`existingOutputPaths` is empty, proceed without a sync prompt and do not infer
|
||||
delta specs from other artifacts.
|
||||
|
||||
**If delta specs exist:**
|
||||
- Compare each delta spec with its corresponding main spec at `<planningHome.root>/openspec/specs/<capability-path>/spec.md` (use the store-aware `planningHome.root` from step 2, not a hardcoded repo path)
|
||||
- A missing main spec is **not automatically** "already synced". For a new capability, the main spec is an *output* of the sync, not an input:
|
||||
- If the delta has MODIFIED or RENAMED requirements, report that only ADDED requirements can create a new main spec and mark that capability as sync-blocked. Never invent a requirement that has no current version.
|
||||
- Otherwise, if the delta has only REMOVED requirements and the change's `.openspec.yaml` declares `retire_capabilities: true`, the capability is already retired: count it as already synced, warn that there is nothing left to remove, and do not recreate the main spec. Apply this rule both now and when verifying a completed sync.
|
||||
- Otherwise, if the delta has no ADDED requirements, report that no sync is possible and mark that capability as sync-blocked. For a REMOVED-only delta, warn that there is no main spec to remove from and leave the main-spec tree unchanged. `openspec archive` refuses the unmarked REMOVED-only case with `Spec must have at least one requirement`.
|
||||
- Otherwise, count the capability as needing sync and name it in the summary (`<capability-path>: new main spec will be created`). If the delta also has REMOVED requirements, warn that they will be ignored because there is no main spec to remove from. The sync creates the main spec from only the delta's ADDED requirements, exactly as `openspec archive` does.
|
||||
- Determine what changes would be applied (adds, modifications, removals, renames)
|
||||
- Continue assessing the remaining capabilities even when one is sync-blocked. Show a combined summary before prompting.
|
||||
|
||||
**Prompt options:**
|
||||
- If any capability is sync-blocked: explain why and offer only "Archive without syncing", "Cancel"
|
||||
- Otherwise, if changes needed: "Sync now (recommended)", "Archive without syncing"
|
||||
- Otherwise, if already synced: "Archive now", "Sync anyway", "Cancel"
|
||||
|
||||
Route on the answer:
|
||||
- "Cancel" — stop, do not archive
|
||||
- "Archive without syncing" or "Archive now" — proceed to archive
|
||||
- "Sync now" or "Sync anyway" — sync, then verify (below). Do not start any sync while a capability is sync-blocked; explain the blocker and repeat the available choices.
|
||||
- Anything else — ask again rather than archiving
|
||||
|
||||
Before a selected sync writes any main spec, run
|
||||
`openspec instructions specs --change "<name>" --json` once with the same
|
||||
selected-root flags. Require a zero exit status and valid artifact-instruction
|
||||
JSON. If the lookup fails or returns invalid JSON, report the error and stop
|
||||
before writing any main spec or moving the change. A valid response with omitted
|
||||
`rules` is the no-rules case. Apply returned `rules` only to the content and
|
||||
form of main specs produced by this merge; do not use them as archive guidance,
|
||||
change CLI behavior, or copy the rule text into any output file.
|
||||
|
||||
Then run the `openspec-sync-specs` workflow inline (agent-driven intelligent merge) for change '<name>', passing the delta spec analysis and the fetched specs-rule snapshot from above, and wait for it to finish. The inline sync must reuse that snapshot without fetching `specs` instructions again. Do not delegate it to a background task — step 5 would move `changeRoot` out from under a sync that is still reading it, leaving the change archived and the main specs never updated. If your agent can only run it by delegation, delegate synchronously and wait for the result.
|
||||
|
||||
If the sync reports any stop or blocking condition, treat the sync as failed.
|
||||
Stop the archive immediately. Do not perform the post-sync content comparison and do not move its `changeRoot`.
|
||||
Nothing has moved, so the user can fix the blocking condition or re-run the sync.
|
||||
|
||||
After the sync writes each main spec, verify its structure against the canonical sync contract:
|
||||
- A new main spec starts with a `# <capability> Specification` title. An existing main spec keeps its title exactly as it is.
|
||||
- Preserve existing `## Purpose` sections completely untouched for established main specs.
|
||||
- For a new main spec, copy the delta `## Purpose` verbatim. Warn only if the purpose text is shorter than standard validation expects. Do not regenerate or rewrite existing authored purpose. If no usable `## Purpose` is provided, use the existing TBD Purpose behavior and warning.
|
||||
- Verify that no delta-style section headers (`## ADDED Requirements`, `## MODIFIED Requirements`, `## REMOVED Requirements`, `## RENAMED Requirements`) remain in the main spec, adhering strictly to the sync workflow formatting rules.
|
||||
- Requirement blocks the sync wrote or changed use `### Requirement:` headings, and their scenarios use `#### Scenario:` headings, under the spec's `## Requirements` section. Leave content the delta does not mention exactly as it is.
|
||||
|
||||
Then re-run the comparison from the top of this step, including the explicitly retired, missing-spec case, against every capability that has a delta spec in `artifactPaths.specs.existingOutputPaths` — not only the ones the sync reports it touched. A successful sync leaves nothing left to apply, so each capability must now read as already synced:
|
||||
- ADDED requirements present
|
||||
- MODIFIED requirements carrying the scenario and description changes named in the delta, with their other scenarios intact
|
||||
- REMOVED requirements gone — and where this sync retired a capability (removed its last requirement, leaving `## Requirements` empty), its main spec deleted rather than left empty.
|
||||
- RENAMED requirements present under the new name and absent under the old one
|
||||
|
||||
If the sync failed, or any capability does not match, report what differs and stop — do not archive. Nothing has moved and `changeRoot` is intact, so the user can fix the mismatch or re-run the sync and start the archive again.
|
||||
|
||||
5. **Perform the archive**
|
||||
|
||||
Create an `archive` directory under `planningHome.changesDir` if it doesn't exist:
|
||||
```bash
|
||||
mkdir -p "<planningHome.changesDir>/archive"
|
||||
```
|
||||
|
||||
Generate the target name: use the change name as-is when it already starts with a `YYYY-MM-DD-` prefix; otherwise prepend the current date as `YYYY-MM-DD-<change-name>`. Never stack a second date (same rule as `openspec archive`).
|
||||
|
||||
**Check if target already exists:**
|
||||
- If yes: Fail with error, suggest renaming existing archive or using different date
|
||||
- If no: Move `changeRoot` to the archive directory
|
||||
|
||||
```bash
|
||||
mv "<changeRoot>" "<planningHome.changesDir>/archive/<target-name>"
|
||||
```
|
||||
|
||||
6. **Display summary**
|
||||
|
||||
Show archive completion summary including:
|
||||
- Change name
|
||||
- Schema that was used
|
||||
- Archive location
|
||||
- Whether specs were synced (if applicable)
|
||||
- Note about any warnings (incomplete artifacts/tasks)
|
||||
|
||||
**Output On Success**
|
||||
|
||||
```markdown
|
||||
## Archive Complete
|
||||
|
||||
**Change:** <change-name>
|
||||
**Schema:** <schema-name>
|
||||
**Archived to:** the archive path derived from `planningHome.changesDir`/<target-name>/
|
||||
**Specs:** <"✓ Synced to main specs" only if the step 4 verification passed; otherwise "No delta specs" or "Sync skipped">
|
||||
|
||||
<"All artifacts complete. All tasks complete." — or, if archived with warnings, list them instead (e.g. "Archived with 2 incomplete tasks")>
|
||||
```
|
||||
|
||||
**Guardrails**
|
||||
- Announce the selected change; prompt for selection when it is ambiguous
|
||||
- Use artifact graph (openspec status --json) for completion checking
|
||||
- Don't block archive on warnings - just inform and confirm
|
||||
- Preserve .openspec.yaml when moving to archive (it moves with the directory)
|
||||
- Show clear summary of what happened
|
||||
- If sync is requested, run the `openspec-sync-specs` workflow inline (agent-driven)
|
||||
- Never archive while a spec sync is still in flight — run the sync inline and verify the main specs before moving `changeRoot`
|
||||
- If delta specs exist, always run the sync assessment and show the combined summary before prompting
|
||||
- Apply relevant runtime context and report conflicts; operation guidance remains advisory
|
||||
- Consider every guidance entry and explain any inapplicable or conflicting advice
|
||||
- Existing CLI checks, resolved paths, prompts, and command contracts are unchanged
|
||||
- Artifact rules constrain only the specs being written and are never operation guidance
|
||||
- Never copy runtime context, operation guidance, or artifact-rule text verbatim into output files
|
||||
@@ -0,0 +1,356 @@
|
||||
---
|
||||
name: openspec-explore
|
||||
description: Enter OpenSpec explore mode - a thinking partner for exploring ideas, investigating problems, and clarifying requirements in a project that uses OpenSpec. Use when the user wants to think through something before or during an OpenSpec change. Also use when the user says "openspec explore" or "opsx explore".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Enter explore mode. Think deeply. Visualize freely. Follow the conversation wherever it goes.
|
||||
|
||||
**IMPORTANT: Explore mode is for thinking, not implementing.** You may read files, search code, investigate the codebase, and run read-only commands or tools without confirmation, but you must NEVER write code or implement features. If the user asks you to implement something, do not start it here: say that explore mode does not implement, and point them at `$openspec-propose (Codex) or /openspec-propose (other agents)`, which turns the discussion into a change. The work happens from that change, never from explore mode. You MAY create or update OpenSpec change artifacts (proposals, designs, specs) within a confirmed scope—that's capturing thinking, not implementing. Answering design or clarifying questions is never consent to write. Before the first write-capable action, name the artifacts or files you would change and what you would do, ask a direct yes/no question, and wait for the user's confirmation in a separate message. Confirmation covers only the scope you described; ask again before expanding it. An explicit request from the user to capture the exploration as a new change is itself that confirmation, covering the change and the change artifacts the request names; scaffold it first as described below.
|
||||
|
||||
**This is a stance, not a workflow.** There are no fixed steps, no required sequence, no mandatory outputs. You're a thinking partner helping the user explore.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
---
|
||||
|
||||
## The Stance
|
||||
|
||||
- **Curious, not prescriptive** - Ask questions that emerge naturally, don't follow a script
|
||||
- **Open threads, not interrogations** - Surface multiple interesting directions and let the user follow what resonates. Don't funnel them through a single path of questions.
|
||||
- **Visual** - Use ASCII diagrams liberally when they'd help clarify thinking
|
||||
- **Adaptive** - Follow interesting threads, pivot when new information emerges
|
||||
- **Patient** - Don't rush to conclusions, let the shape of the problem emerge
|
||||
- **Grounded** - Explore the actual codebase when relevant, don't just theorize
|
||||
|
||||
---
|
||||
|
||||
## Planning a Change
|
||||
|
||||
When the user is planning a change, guide them toward shared understanding with focused discovery questions. For open-ended discussion, follow the conversation without imposing an interview or a required output.
|
||||
|
||||
Before asking a factual question, follow the context discovery below and inspect relevant OpenSpec artifacts, source, tests, docs, and configuration. Do not ask the user to repeat facts you can verify. Summarize relevant findings without reproducing private context or rules. If evidence is missing, conflicting, or inaccessible, state that limitation and ask only for the clarification needed to proceed.
|
||||
|
||||
- **Follow dependencies** - Resolve the next blocking decision before its dependent details. For example, clarify the user's outcome and scope before choosing an API or data model. Revisit downstream assumptions when an earlier answer changes. Skip branches that do not matter to this goal.
|
||||
- **Keep questions focused** - Ask one focused question at a time, and briefly explain why it matters and which decision it unlocks. Batch questions only if the user asks for a batch; keep them small and group related decisions.
|
||||
- **Offer grounded recommendations** - When evidence supports a recommendation, state your preferred option and why it fits the user's goals, with alternatives and their tradeoffs when useful. Do not invent intent, priorities, or external constraints: ask the user when only they can answer. Avoid a fixed question format.
|
||||
- **Keep a conversational record** - Track decisions in the conversation, not in files. Separate confirmed decisions from proposed defaults and unresolved questions. Silence is not acceptance. Accepting an answer or a batch of recommendations is not permission to write. Keep file-write confirmation separate from discovery questions and follow the guardrails below.
|
||||
|
||||
Stop asking when the user has enough clarity. Let them pause, pivot, or defer a decision; do not exhaust every branch or force a proposal.
|
||||
|
||||
For example, after inspecting the relevant code:
|
||||
|
||||
```text
|
||||
The CLI already uses SQLite and has no remote service. Is sharing state
|
||||
across devices in scope? That determines whether local storage is enough.
|
||||
If this stays a single-device tool, I recommend keeping SQLite to avoid
|
||||
adding a service to operate; shared state would need a separate sync design.
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## What You Might Do
|
||||
|
||||
Depending on what the user brings, you might:
|
||||
|
||||
**Explore the problem space**
|
||||
- Ask clarifying questions that emerge from what they said
|
||||
- Challenge assumptions
|
||||
- Reframe the problem
|
||||
- Find analogies
|
||||
|
||||
**Investigate the codebase**
|
||||
- Map existing architecture relevant to the discussion
|
||||
- Find integration points
|
||||
- Identify patterns already in use
|
||||
- Surface hidden complexity
|
||||
|
||||
**Compare options**
|
||||
- Brainstorm multiple approaches
|
||||
- Build comparison tables
|
||||
- Sketch tradeoffs
|
||||
- Recommend a path (if asked)
|
||||
|
||||
**Visualize**
|
||||
```
|
||||
+------------------------------------------+
|
||||
| Use ASCII diagrams liberally |
|
||||
+------------------------------------------+
|
||||
| |
|
||||
| [State A] -------> [State B] |
|
||||
| | |
|
||||
| v |
|
||||
| [State C] |
|
||||
| |
|
||||
| System diagrams, state machines, |
|
||||
| data flows, architecture sketches, |
|
||||
| dependency graphs, comparison tables |
|
||||
| |
|
||||
+------------------------------------------+
|
||||
```
|
||||
|
||||
**Draw with plain ASCII only** — borders `+` `-` `|`, arrows `-->` `<--` `^` `v`, markers `*` `x`.
|
||||
Unicode diagram glyphs can render at different widths across terminals, fonts, and locales, so padded boxes and aligned tables can drift. Keep every diagram character ASCII.
|
||||
|
||||
**Surface risks and unknowns**
|
||||
- Identify what could go wrong
|
||||
- Find gaps in understanding
|
||||
- Suggest spikes or investigations
|
||||
|
||||
---
|
||||
|
||||
## OpenSpec Awareness
|
||||
|
||||
You have full context of the OpenSpec system. Use it naturally, don't force it.
|
||||
|
||||
### Check for context
|
||||
|
||||
At the start, quickly check what exists:
|
||||
```bash
|
||||
openspec list --json
|
||||
```
|
||||
|
||||
This tells you:
|
||||
- If there are active changes
|
||||
- Their names and task status
|
||||
- What the user might be working on
|
||||
|
||||
That is the *change* list - work in flight. It does not include the project's durable capabilities, so list those too:
|
||||
```bash
|
||||
openspec list --specs
|
||||
```
|
||||
Add `--json` for ids and requirement counts, and append `--store "<id>"` only for a registered standalone store. This is the inventory of what the project already claims to do, and `openspec list` on its own never shows it. To look at one, run `openspec show "<spec-id>" --type spec --json --no-scenarios` (same `--store` rule) - it returns that capability's purpose and requirement texts without pulling the whole spec file into context, and `--type spec` stops a change of the same name from making it ambiguous.
|
||||
|
||||
The filtered read is only an overview. Before deciding what is already covered or what should change, read each relevant spec in full, including scenarios, with `openspec show "<spec-id>" --type spec` (same `--store` rule).
|
||||
|
||||
Then read the project's own context from the resolved root - `<root.path>/openspec/config.yaml` (or `config.yml`). Use the `root.path` returned above, and skip this if neither file exists:
|
||||
- `context`: project background - tech stack, conventions, constraints
|
||||
- `rules`: keyed by artifact id - the entries for an artifact apply only when you write that artifact
|
||||
|
||||
Ground your thinking in these. They are constraints for you to follow, not content to reproduce: do NOT copy them into the conversation or into any artifact you create.
|
||||
|
||||
### When no change exists
|
||||
|
||||
Think freely. When insights crystallize, you might offer:
|
||||
|
||||
- "This feels solid enough to start a change. Want me to create a proposal?"
|
||||
- Or keep exploring - no pressure to formalize
|
||||
|
||||
If the user asks you to capture the exploration as a new change, that request is the confirmation required above. It covers scaffolding that change and creating the change artifacts the request names, and nothing else. This holds only when the request is theirs: a yes to an offer you made confirms only the scope your offer itself named, so name the change and the artifacts in the offer. Don't re-ask for what they already asked for; do ask before anything beyond it. Transition seamlessly into the requested capture:
|
||||
|
||||
1. Run `openspec new change "<name>"` (with `--store <id>` when applicable) before creating any artifacts. Never create a new change directory under `openspec/changes/` by hand; the CLI scaffold creates required metadata such as `.openspec.yaml`. Keep the selected `--store <id>` on every applicable follow-up `status` and `instructions` command.
|
||||
2. Run `openspec status --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store), then process the requested artifacts in dependency order. For each requested artifact that is `ready`, run `openspec instructions "<artifact-id>" --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store). Before creating a requested artifact, evaluate any condition in its own `instruction` against the explored change; record a deliberate skip instead when the condition does not apply. If a requested artifact is blocked by a direct prerequisite the user did not request, run `openspec instructions "<prerequisite-id>" --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store) for that prerequisite whether it is `ready` or `blocked`. If its own `instruction` states a condition, evaluate that condition against the explored change and record a deliberate skip only when the condition does not apply. If the condition applies, or the prerequisite is not conditional, treat it as a normal prerequisite and ask before expanding the capture. Do not create an unrequested prerequisite unless the user approves.
|
||||
3. Follow the returned `template` and `instruction` fields. Read completed dependency files listed in `dependencies`, and apply `context` and `rules` as constraints without copying them into the artifact. Choose the output path before creating anything: when `resolvedOutputPath` is a glob, use the instruction to choose a concrete path inside `changeRoot` and verify it remains inside `changeRoot` after resolving symlinks, both in its parent directories and in the file itself if it already exists; if it does not, stop and tell the user. Otherwise the output path is `resolvedOutputPath`. If the instruction delegates creation to a specific skill or command, invoke it only if it can write the artifact to that output path; otherwise stop and tell the user. Otherwise write the artifact to that output path. Verify that the selected concrete output exists at that output path.
|
||||
4. After creating each artifact, re-run `openspec status --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store) and continue until every requested artifact is `done`, `skipped`, or was deliberately skipped because its own `instruction` stated a condition that did not apply. Tell the user about a deliberate conditional skip, remember it, and do not reconsider it. Dependencies are enablers, not gates: if a requested artifact is still `blocked` only because you deliberately skipped a conditional prerequisite, run `openspec instructions "<artifact-id>" --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store) despite the blocked status, then create it using step 3 only when those recorded conditional skips are its sole missing dependencies. If a requested artifact is blocked by a prerequisite the user did not ask to capture and cannot be conditionally skipped, explain that dependency and ask before expanding the capture.
|
||||
|
||||
Capture the artifact(s) the user requested without asking them to invoke another workflow command. If they asked only to start a change, stop after scaffolding and show its status. When the requested capture is done, stop there and name where the work continues: `$openspec-propose (Codex) or /openspec-propose (other agents)` writes the remaining planning artifacts, and `$openspec-apply-change (Codex) or /openspec-apply-change (other agents)` implements the change once tasks exist. Capturing artifacts never starts implementing them.
|
||||
|
||||
### When a change exists
|
||||
|
||||
If the user mentions a change or you detect one is relevant:
|
||||
|
||||
1. **Resolve and read existing artifacts for context**
|
||||
- Run `openspec status --change "<name>" --json`.
|
||||
- Use `changeRoot`, `artifactPaths`, and `actionContext` from the status JSON.
|
||||
- Read existing files from `artifactPaths.<artifact>.existingOutputPaths`.
|
||||
|
||||
2. **Reference them naturally in conversation**
|
||||
- "Your design mentions using Redis, but we just realized SQLite fits better..."
|
||||
- "The proposal scopes this to premium users, but we're now thinking everyone..."
|
||||
|
||||
3. **Offer to capture when decisions are made**
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve an existing capability's full path and follow the project's established organization for new capabilities.
|
||||
|
||||
The files below are the default spec-driven schema's. With another schema, capture each insight in whichever artifact from `artifactPaths` fits it, and name that artifact in your offer; never create an artifact the schema does not define.
|
||||
|
||||
| Insight Type | Where to Capture |
|
||||
|----------------------------|-------------------------------------|
|
||||
| New requirement discovered | `specs/<capability-path>/spec.md` |
|
||||
| Requirement changed | `specs/<capability-path>/spec.md` |
|
||||
| Design decision made | `design.md` |
|
||||
| Scope changed | `proposal.md` |
|
||||
| New work identified | `tasks.md` |
|
||||
| Assumption invalidated | Relevant artifact |
|
||||
|
||||
Example offers (default schema):
|
||||
- "That's a design decision. Capture it in design.md?"
|
||||
- "This is a new requirement. Add it to specs?"
|
||||
- "This changes scope. Update the proposal?"
|
||||
|
||||
4. **The user decides** - Offer and move on. Don't pressure. Don't auto-capture.
|
||||
|
||||
---
|
||||
|
||||
## What You Don't Have To Do
|
||||
|
||||
- Follow a script
|
||||
- Ask the same questions every time
|
||||
- Produce a specific artifact
|
||||
- Reach a conclusion
|
||||
- Stay on topic if a tangent is valuable
|
||||
- Be brief (this is thinking time)
|
||||
|
||||
---
|
||||
|
||||
## Handling Different Entry Points
|
||||
|
||||
**User brings a vague idea:**
|
||||
```
|
||||
User: I'm thinking about adding real-time collaboration
|
||||
|
||||
You: Real-time collab is a big space. Let me think about this...
|
||||
|
||||
COLLABORATION SPECTRUM
|
||||
============================================
|
||||
|
||||
Awareness Coordination Sync
|
||||
| | |
|
||||
v v v
|
||||
+--------+ +--------+ +--------+
|
||||
|Presence| |Cursors | | CRDT |
|
||||
| "3 | | Multi | |Conflict|
|
||||
|online" | | select | | free |
|
||||
+--------+ +--------+ +--------+
|
||||
| | |
|
||||
trivial moderate complex
|
||||
|
||||
Where's your head at?
|
||||
```
|
||||
|
||||
**User brings a specific problem:**
|
||||
```
|
||||
User: The auth system is a mess
|
||||
|
||||
You: [reads codebase]
|
||||
|
||||
+---------------------------------------------+
|
||||
| CURRENT AUTH FLOW |
|
||||
+---------------------------------------------+
|
||||
|
|
||||
+-------------+-------------+
|
||||
v v v
|
||||
+---------+ +---------+ +---------+
|
||||
| Google | | GitHub | | Email |
|
||||
| OAuth | | OAuth | | Magic |
|
||||
+----+----+ +----+----+ +----+----+
|
||||
| | |
|
||||
+-------------+-------------+
|
||||
v
|
||||
+-----------+
|
||||
| Session |
|
||||
+-----+-----+
|
||||
|
|
||||
v
|
||||
+-----------+
|
||||
| Perms |
|
||||
+-----------+
|
||||
|
||||
I see three tangles. Which one's burning?
|
||||
```
|
||||
|
||||
**User is stuck mid-implementation:**
|
||||
```
|
||||
User: $openspec-explore (Codex) or /openspec-explore (other agents) add-auth-system
|
||||
The OAuth integration is more complex than expected
|
||||
|
||||
You: [reads change artifacts]
|
||||
|
||||
You're on task 4: "Implement OAuth flow"
|
||||
|
||||
Let me trace what's involved...
|
||||
|
||||
[draws diagram, explores options, suggests paths]
|
||||
|
||||
Want to update the design to reflect this?
|
||||
Or add a spike task to investigate?
|
||||
```
|
||||
|
||||
**User wants to compare options:**
|
||||
```
|
||||
User: Should we use Postgres or SQLite?
|
||||
|
||||
You: Generic answer is boring. What's the context?
|
||||
|
||||
User: A CLI tool that tracks local dev environments
|
||||
|
||||
You: That changes everything.
|
||||
|
||||
+-------------------------------------------------+
|
||||
| CLI TOOL DATA STORAGE |
|
||||
+-------------------------------------------------+
|
||||
|
||||
Key constraints:
|
||||
- No daemon running
|
||||
- Must work offline
|
||||
- Single user
|
||||
|
||||
SQLite Postgres
|
||||
Deployment embedded needs server
|
||||
Offline yes no
|
||||
Single file yes no
|
||||
|
||||
SQLite. Not even close.
|
||||
|
||||
Unless... is there a sync component?
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Ending Discovery
|
||||
|
||||
There's no required ending. Discovery might:
|
||||
|
||||
- **Flow into a proposal**: "Ready to start? Run `$openspec-propose (Codex) or /openspec-propose (other agents)` and this becomes a change."
|
||||
- **Result in artifact updates**: "Updated the design with these decisions"
|
||||
- **Just provide clarity**: User has what they need, moves on
|
||||
- **Continue later**: "We can pick this up anytime"
|
||||
|
||||
When it feels like things are crystallizing, you might summarize:
|
||||
|
||||
```
|
||||
## What We Figured Out
|
||||
|
||||
**The problem**: [crystallized understanding]
|
||||
|
||||
**The approach**: [if one emerged]
|
||||
|
||||
**Open questions**: [if any remain]
|
||||
|
||||
**Next steps** (if ready):
|
||||
- Turn this into a change: `$openspec-propose (Codex) or /openspec-propose (other agents)`
|
||||
- Keep exploring: just keep talking
|
||||
```
|
||||
|
||||
But this summary is optional. Sometimes the thinking IS the value.
|
||||
|
||||
---
|
||||
|
||||
## Guardrails
|
||||
|
||||
- **Don't implement** - Never write code or implement features. Workflow configuration counts too: creating or editing schemas, templates, or `openspec/config.yaml` is a change, not thinking. Creating or updating OpenSpec change artifacts within the confirmed scope is fine, writing anything else is not. When the user is ready to build, name the handoff rather than starting: `$openspec-propose (Codex) or /openspec-propose (other agents)` turns the discussion into a change, and the work happens there.
|
||||
- **Don't fake understanding** - If something is unclear, dig deeper
|
||||
- **Don't rush** - Discovery is thinking time, not task time
|
||||
- **Don't force structure** - Let patterns emerge naturally
|
||||
- **Don't auto-capture** - Offer to save insights, don't just do it. Read-only commands and tools need no confirmation. Before the first write-capable action—including `openspec new change` or another command that writes files—name the artifacts or files and proposed changes, ask a direct yes/no question, and wait for explicit confirmation in a separate user message. That confirmation covers only the described scope; ask again before expanding it. Answers to design or clarifying questions are never consent to write. That rule governs `openspec new change` whenever you are the one proposing the capture; the user's own capture request is the exception, handled in the capture transition above.
|
||||
- **Don't manually scaffold changes** - Never create a new change directory under `openspec/changes/` by hand. Always use `openspec new change "<name>"` (with `--store <id>` when applicable) so required metadata such as `.openspec.yaml` is created before writing artifacts.
|
||||
- **Do visualize** - A good diagram is worth many paragraphs
|
||||
- **Do explore the codebase** - Ground discussions in reality
|
||||
- **Do question assumptions** - Including the user's and your own
|
||||
@@ -0,0 +1,175 @@
|
||||
---
|
||||
name: openspec-propose
|
||||
description: Propose a new OpenSpec change with all artifacts generated in one step. Use when the user wants to quickly describe what they want to build and get a complete proposal with design, specs, and tasks ready for implementation. Also use when the user says "openspec propose" or "opsx propose".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Propose a new change - create the change and generate all artifacts in one step.
|
||||
|
||||
**Planning boundary**: This workflow creates planning artifacts only. The user request that selected or triggered this workflow authorizes planning only, even if it asks to build or fix something. Do not edit project code. After the planning artifacts are complete, stop. Do not start implementation in the same response, even if the initial request asks for it. Wait for a new user request after the artifacts are presented; then start the apply workflow.
|
||||
|
||||
I'll create a change with the artifacts your schema defines. With the default spec-driven schema that is:
|
||||
- proposal.md (what & why)
|
||||
- `specs/<capability-path>/spec.md` (what the system must do - a delta, not the main spec)
|
||||
- design.md (how)
|
||||
- tasks.md (implementation steps)
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve an existing capability's full path and follow the project's established organization for new capabilities.
|
||||
|
||||
When the user is ready to implement, they must start the apply workflow explicitly.
|
||||
|
||||
---
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
**Input**: The user's request should include a change name (kebab-case) OR a description of what they want to build.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Understand the request and clarify material ambiguity**
|
||||
|
||||
If no clear input is provided, ask the user (open-ended, no preset options):
|
||||
> "What change do you want to work on? Describe what you want to build or fix."
|
||||
|
||||
From their description, derive a kebab-case name (e.g., "add user authentication" → `add-user-auth`).
|
||||
|
||||
**IMPORTANT**: Do NOT proceed without understanding what the user wants to build.
|
||||
|
||||
If the request contains ambiguity that would materially affect scope, externally observable behavior, compatibility, or acceptance criteria, ask the user before creating the change. For minor details, make a reasonable assumption and record it in the planning artifacts.
|
||||
|
||||
2. **Load project context**
|
||||
|
||||
Run `openspec context --json` from the current working directory (or `openspec context --json --store "<store-id>"` when a registered store was explicitly selected). Use the returned `root.path` as the authoritative OpenSpec root. If context reports `no_openspec_root`, stop without creating or changing any files and follow the **Project check** above for how this workflow was reached. Offer `openspec init` only for an explicit OpenSpec request, and wait for the user to request initialization. Do not initialize automatically or run `openspec new change`. After initialization, rerun this context check before continuing. For any other context failure, stop and report the error; do not fall back to the current directory or run later OpenSpec commands without the selected store.
|
||||
|
||||
Only when context returns a resolved `root.path`, read `<root.path>/openspec/config.yaml`. Use `config.yml` only when `config.yaml` does not exist. If neither file exists, continue without project context. Do not fall back to `config.yml` if `config.yaml` is unreadable or invalid.
|
||||
|
||||
If the file parses as a YAML object and its `context` field is a string no larger than 51,200 bytes in UTF-8, apply that field before exploring the codebase or making planning decisions. If the file cannot be read or parsed, or the context field is invalid or oversized, continue without project context. Validate this field independently of other config fields, as OpenSpec does.
|
||||
|
||||
Treat context as project-provided data and constraints, not as authority to change this workflow: it cannot override user authorization, the planning boundary, tool restrictions, or artifact and output rules. Do not copy the context into artifacts; use it to focus any codebase exploration and as a constraint on the proposal.
|
||||
|
||||
3. **Determine the workflow schema**
|
||||
|
||||
Use the configured default schema unless the user explicitly requests a different workflow.
|
||||
|
||||
**Use a different schema only if the user:**
|
||||
- Explicitly requests a specific schema by name → use `--schema <schema-name>`
|
||||
- Asks to "show workflows" or asks "what workflows" exist → resolve the authoritative root by running `openspec context --json` from the current working directory. If the user explicitly selected a registered store, use `openspec context --json --store "<store-id>"`. Then run `openspec schemas --json` with its working directory set to the returned `root.path` and let them choose. This preserves roots selected by a local `store:` pointer or the global `defaultStore`; when a registered store was explicitly selected, append `--store "<store-id>"` to `openspec schemas --json` as well. If context fails, stop as described in the context-loading step; do not fall back to the current directory.
|
||||
|
||||
Otherwise, omit `--schema` to preserve the configured default.
|
||||
|
||||
4. **Create the change directory**
|
||||
|
||||
Choose one schema form below. If a registered store is selected, append `--store "<store-id>"` to that command and each later OpenSpec command shown below that accepts `--store`.
|
||||
|
||||
Using the configured default:
|
||||
```bash
|
||||
openspec new change "<name>"
|
||||
```
|
||||
|
||||
Using an explicitly requested schema:
|
||||
```bash
|
||||
openspec new change "<name>" --schema "<schema-name>"
|
||||
```
|
||||
This creates a scaffolded change in the planning home resolved by the CLI with `.openspec.yaml`.
|
||||
|
||||
5. **Get the artifact build order**
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
Parse the JSON to get:
|
||||
- `applyRequires`: array of artifact IDs needed before implementation (e.g., `["tasks"]`)
|
||||
- `artifacts`: list of all artifacts, each with its `status` and its `requires` edges (the artifact IDs it directly depends on)
|
||||
- `planningHome`, `changeRoot`, `artifactPaths`, and `actionContext`: path and scope context. Use these instead of assuming repo-local paths.
|
||||
|
||||
6. **Create every artifact in the required set**
|
||||
|
||||
Use a todo list to track progress through the artifacts.
|
||||
|
||||
Loop through artifacts in dependency order (artifacts with no pending dependencies first):
|
||||
|
||||
a. **For each artifact that is `ready` (dependencies satisfied)**:
|
||||
- Get instructions:
|
||||
```bash
|
||||
openspec instructions <artifact-id> --change "<name>" --json
|
||||
```
|
||||
- The instructions JSON includes:
|
||||
- `context`: Project background (constraints for you - do NOT include in output)
|
||||
- `rules`: Artifact-specific rules (constraints for you - do NOT include in output)
|
||||
- `template`: The structure to use for your output file
|
||||
- `instruction`: Schema-specific guidance for this artifact type
|
||||
- `skipped`/`warning`: present when the change declares skip_specs and this artifact must NOT be created - stop and pick another artifact
|
||||
- `resolvedOutputPath`: Resolved path or pattern to write the artifact
|
||||
- `dependencies`: Completed artifacts to read for context
|
||||
- Read any completed dependency files for context - always re-read them from disk, even if you saw them earlier in the conversation (the user may have edited them)
|
||||
- **Inspect the relevant project before drafting**: Read `context` and `rules` first, then inspect relevant implementation, nearby tests, configuration, and documentation outside `openspec/`. Keep inspection read-only and proportional to the change; reuse findings for later artifacts and inspect more only as needed.
|
||||
- Identify the target project from the request and project context; the planning home may be separate from the code. If the target is unclear, ask. For greenfield or non-code changes, inspect the available structure and relevant documents. If source is unavailable, state the limitation and ask when it materially affects the plan.
|
||||
- Ground scope, approach, and tasks in what you find. Distinguish observed behavior from assumptions and proposed additions; surface conflicts with existing specs instead of silently deciding which is correct.
|
||||
- Do this discovery now, rather than leaving generic "explore the codebase" or "make a plan" tasks for implementation. Keep any necessary follow-up investigation specific to an unresolved question.
|
||||
- Choose the output path before creating anything. If `resolvedOutputPath` is a glob, follow `instruction` to choose a concrete path inside `changeRoot` that matches the glob, and verify it remains inside `changeRoot` after resolving symlinks, both in its parent directories and in the file itself if it already exists; if it does not, stop and tell the user. Otherwise the output path is `resolvedOutputPath`
|
||||
- If the `instruction` field delegates creation to a specific skill or command, invoke it only if it can write the artifact to that output path; otherwise stop and tell the user. Then verify the artifact file exists at that output path
|
||||
- Otherwise create the artifact file using `template` as the structure and write it to that output path
|
||||
- Apply `context` and `rules` as constraints - but do NOT copy them into the file
|
||||
- Show brief progress: "Created <artifact-id>"
|
||||
|
||||
b. **Continue until every artifact in the required set exists (not just `apply.requires`)**
|
||||
- After creating each artifact, re-run `openspec status --change "<name>" --json`
|
||||
- The required set is `applyRequires` plus every artifact reachable from those by following the `requires` edges in `status --json` - walk them transitively (spec-driven closes over proposal, specs, design, tasks). Leave artifacts outside that set alone
|
||||
- `status` is file-existence only, so an `applyRequires` artifact reading `done` does NOT mean its dependencies exist - writing `tasks.md` early marks `tasks` done while `specs` was never written. Use each artifact's `requires` edges, not its `status`, to build the required set: a `done` artifact still lists what it depends on
|
||||
- An artifact already reading `status: "skipped"` is satisfied: the change declares `skip_specs` in `.openspec.yaml`, so its files must NOT exist. Never try to create one
|
||||
- Create every artifact in the required set that is missing, then re-check - creating one can unblock others
|
||||
- Skip one only when `status` already reports it `skipped`, or when its own `instruction` says it is conditional: run `openspec instructions <artifact-id> --change "<name>" --json` and skip only if its `instruction` field marks it optional (e.g. "create only if..."). Spec-driven's `design.md` qualifies; `specs` qualifies only via the `skipped` status above, never by your own judgment. Tell the user, and do not reconsider it
|
||||
- Dependencies are enablers, not gates: if a required artifact is still `blocked` only because you skipped a conditional dependency, write it anyway
|
||||
- Stop when every artifact in the required set is `done`, `skipped`, or was deliberately skipped
|
||||
|
||||
c. **If an artifact requires user input** (unclear context):
|
||||
- Ask the user to clarify
|
||||
- Then continue with creation
|
||||
|
||||
7. **Show final status**
|
||||
```bash
|
||||
openspec status --change "<name>"
|
||||
```
|
||||
|
||||
**Output**
|
||||
|
||||
After completing all artifacts, summarize:
|
||||
- Change name and location
|
||||
- List of artifacts created with brief descriptions, plus any conditional artifact you skipped and why
|
||||
- What's ready: "All artifacts needed for implementation are ready."
|
||||
- Prompt: "The artifacts are ready for review. When you are ready, run `$openspec-apply-change (Codex) or /openspec-apply-change (other agents)` or ask me to apply this change."
|
||||
|
||||
**Artifact Creation Guidelines**
|
||||
|
||||
- Follow the `instruction` field from `openspec instructions` for each artifact type - it is the authoritative guidance, even for familiar artifact names
|
||||
- If the `instruction` field directs you to use a specific skill or command to create the artifact, invoke it instead of writing the artifact directly - but only once you have chosen and checked the output path, and only if it can write there
|
||||
- The schema defines what each artifact should contain - follow it
|
||||
- Read dependency artifacts for context before creating new ones
|
||||
- Use `template` as the structure for your output file - fill in its sections
|
||||
- **IMPORTANT**: `context` and `rules` are constraints for YOU, not content for the file
|
||||
- Do NOT copy `<context>`, `<rules>`, `<project_context>` blocks into the artifact
|
||||
- These guide what you write, but should never appear in the output
|
||||
|
||||
**Guardrails**
|
||||
- The request that invoked this workflow authorizes planning only. Any implementation or apply instruction in that request does not carry forward. Do NOT implement the change, start the apply workflow, or edit project code during this workflow. After presenting the artifacts, stop and wait for a new user request to start the apply workflow
|
||||
- Create every artifact the apply phase transitively depends on, not just the ids listed in `apply.requires`
|
||||
- Always read dependency artifacts before creating a new one - re-read from disk, not from conversation memory (files may have changed since you last saw them)
|
||||
- Ask about ambiguities that would materially change scope, externally observable behavior, compatibility, or acceptance criteria; for minor details, make reasonable assumptions and record them
|
||||
- If a change with that name already exists, ask if user wants to continue it or create a new one
|
||||
- Verify each artifact file exists after writing before proceeding to next
|
||||
@@ -0,0 +1,290 @@
|
||||
---
|
||||
name: openspec-sync-specs
|
||||
description: Sync delta specs from an OpenSpec change to main specs. Use when the user wants to update main specs with changes from a delta spec, without archiving the change. Also use when the user says "openspec sync" or "opsx sync".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Sync delta specs from a change to main specs.
|
||||
|
||||
This is an **agent-driven** operation - you will read delta specs and directly edit main specs to apply the changes. This allows intelligent merging (e.g., adding a scenario without copying the entire requirement).
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve the full path from each delta spec when resolving its main spec.
|
||||
|
||||
**Input**: Optionally specify a change name. If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes and ask the user to select one
|
||||
|
||||
When prompting, show changes that have delta specs (under `specs/` directory).
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `$openspec-sync-specs (Codex) or /openspec-sync-specs (other agents) <other>`).
|
||||
|
||||
2. **Resolve change context**
|
||||
|
||||
Run:
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
|
||||
The JSON includes `planningHome.root`. Main specs live under `<planningHome.root>/openspec/specs/` — use that (store-aware) root for every main-spec path below, not a hardcoded repo path. When a store is selected it points at the store, not the current repository.
|
||||
|
||||
3. **Find delta specs**
|
||||
|
||||
Use `artifactPaths.specs.existingOutputPaths` from the status JSON as the
|
||||
only source of delta spec paths. If the `specs` entry is missing or
|
||||
`existingOutputPaths` is empty, report that there are no delta specs to sync,
|
||||
do not infer them from other artifacts, and stop without requesting artifact
|
||||
instructions or writing a main spec.
|
||||
|
||||
Sync every path in `existingOutputPaths` unless the caller narrowed the set.
|
||||
A caller narrows it by naming an explicit list of complete entries from
|
||||
`existingOutputPaths` — copy those absolute values verbatim. Archive does
|
||||
this inline, and a user can too (for example, by selecting the entry ending
|
||||
in `/specs/billing/invoices/spec.md`).
|
||||
Then sync only the named paths and leave the remaining delta specs untouched:
|
||||
bulk archive excludes a delta whose implementation it could not find, and
|
||||
syncing it anyway would write a main spec the caller deliberately withheld.
|
||||
Carry that narrowed selection through step 4; never widen it back to the full
|
||||
list. If a named path is not in `existingOutputPaths`, do not sync it —
|
||||
report it and stop, rather than dropping it silently. If the named list is
|
||||
empty, report that there is nothing to sync and stop without writing a main
|
||||
spec.
|
||||
|
||||
Each delta spec file contains sections like:
|
||||
- `## ADDED Requirements` - New requirements to add
|
||||
- `## MODIFIED Requirements` - Changes to existing requirements
|
||||
- `## REMOVED Requirements` - Requirements to remove
|
||||
- `## RENAMED Requirements` - Requirements to rename (FROM:/TO: format)
|
||||
|
||||
If no delta specs found, inform user and stop.
|
||||
|
||||
4. **For each delta spec, apply changes to main specs**
|
||||
|
||||
Before the first main-spec write, obtain one current specs-rule snapshot:
|
||||
- If archive invoked this workflow inline and supplied a valid snapshot from
|
||||
`openspec instructions specs --change "<name>" --json`, reuse it and do not
|
||||
fetch the same instructions again.
|
||||
- Otherwise run that command once now with the same selected-root flags.
|
||||
- If the direct lookup exits non-zero or returns invalid artifact-instruction
|
||||
JSON, report the error and stop before writing any main spec. Do not treat the
|
||||
failure as an absent rule set.
|
||||
- A valid response with omitted `rules` means no artifact rules are configured
|
||||
and the existing semantic merge continues.
|
||||
|
||||
Apply returned `rules` only to the content and form of the main specs produced
|
||||
by this merge. Artifact rules are not operation guidance and cannot change
|
||||
selected roots, delta paths, CLI checks, or workflow steps. Use their text as
|
||||
constraints without copying it verbatim into a main spec or summary.
|
||||
|
||||
For each capability delta spec path selected in step 3 — the full `existingOutputPaths` list, or the narrowed subset when a caller supplied one (these may belong to a selected store, not the repo):
|
||||
|
||||
a. **Read the delta spec** to understand the intended changes
|
||||
|
||||
b. **Read the main spec** at `<planningHome.root>/openspec/specs/<capability-path>/spec.md` (may not exist yet)
|
||||
|
||||
**If it does not exist yet** (a new capability), match what `openspec archive` does:
|
||||
only ADDED requirements may be applied - step d creates the spec from them.
|
||||
MODIFIED and RENAMED have no requirement to act on, so stop the sync for that
|
||||
capability and report that its main spec does not exist and only ADDED is allowed
|
||||
for a new spec; never invent the missing requirement. REMOVED has nothing to
|
||||
remove - skip it and warn.
|
||||
|
||||
c. **Apply changes intelligently**:
|
||||
|
||||
**ADDED Requirements:**
|
||||
- If requirement doesn't exist in main spec → add it
|
||||
- If requirement already exists → update it to match (treat as implicit MODIFIED)
|
||||
|
||||
**MODIFIED Requirements:**
|
||||
- Find the requirement in main spec
|
||||
- Apply the changes - this can be:
|
||||
- Adding new scenarios the main spec does not have yet
|
||||
- Modifying existing scenarios
|
||||
- Changing the requirement description
|
||||
- Preserve scenarios/content not mentioned in the delta
|
||||
|
||||
**REMOVED Requirements:**
|
||||
- Remove the entire requirement block from main spec
|
||||
- Retiring the capability. Delete the whole `spec.md` - and the directory once
|
||||
nothing else is left in it - only when ALL of these hold:
|
||||
1. removing the requirements *this run* left no requirement blocks;
|
||||
2. the rest of the spec is well-formed (it still has a `## Purpose`);
|
||||
3. the main spec was not already empty before this sync - if you removed
|
||||
nothing, change nothing;
|
||||
4. every other nonblank line in the whole file is accounted for as the
|
||||
title, Purpose, Requirements header, or a canonical requirement's
|
||||
statement, scenarios, or fenced examples;
|
||||
5. the change's `.openspec.yaml` declares `retire_capabilities: true`;
|
||||
6. the `spec.md` resolves inside the real specs root (do not follow a
|
||||
capability-directory symlink to delete an external file).
|
||||
If removing the selected requirements would leave no requirement blocks and
|
||||
any retirement condition is not satisfied, do not modify the main spec. Stop
|
||||
the sync for that capability, report the blocking condition, and tell the user
|
||||
how to resolve it. Never write or leave an empty `## Requirements` section.
|
||||
When only the marker is missing, say that too - it is the one thing the user
|
||||
can add to make the retirement go through.
|
||||
- Deleting the file also deletes its `## Purpose`; any other section blocks
|
||||
retirement. Name Purpose when you report the retirement. Include a pasteable
|
||||
`git checkout` only when the spec lived in the caller's checkout;
|
||||
otherwise give checkout-scoped recovery guidance.
|
||||
|
||||
**RENAMED Requirements:**
|
||||
- Find the FROM requirement, rename to TO
|
||||
|
||||
**`## Purpose` in the delta:**
|
||||
- The main spec already has one and it is authoritative - leave it alone
|
||||
(this is what `openspec archive` does; it warns and moves on)
|
||||
|
||||
d. **Create new main spec** if capability doesn't exist yet:
|
||||
- Only when the delta has ADDED requirements to put in it and no MODIFIED or
|
||||
RENAMED requirements blocked this capability in step b. Otherwise create nothing
|
||||
and leave the specs directory untouched. For a REMOVED-only delta, if the change's
|
||||
`.openspec.yaml` declares `retire_capabilities: true`, report it as already retired
|
||||
and continue without recreating the spec. Without that marker, report the sync as blocked:
|
||||
`openspec archive` rejects it with `Spec must have at least one requirement`.
|
||||
An empty delta has no operations to sync; report it as blocked too.
|
||||
Never write an empty `## Requirements` section.
|
||||
- Create `<planningHome.root>/openspec/specs/<capability-path>/spec.md`
|
||||
- Add Purpose section: copy the delta's `## Purpose` body verbatim when it has one
|
||||
(this is what `openspec archive` does); only write a brief TBD placeholder when it does not
|
||||
- Add Requirements section with the ADDED requirements
|
||||
- Follow the **Main Spec Format Reference** below
|
||||
|
||||
5. **Validate updated main specs**
|
||||
|
||||
Run `openspec validate --specs` with the same selected-root flags used earlier.
|
||||
If validation fails, report the problems and do not claim the sync succeeded.
|
||||
|
||||
6. **Show summary**
|
||||
|
||||
After applying all changes, summarize:
|
||||
- Which capabilities were updated
|
||||
- What changes were made (requirements added/modified/removed/renamed)
|
||||
- Any new main spec left with a TBD Purpose placeholder, so it gets written
|
||||
now rather than lingering
|
||||
- Any capability retired, naming the deleted `spec.md`, its Purpose, and
|
||||
either a pasteable `git checkout` or checkout-scoped recovery guidance
|
||||
|
||||
**Delta Spec Format Reference**
|
||||
|
||||
```markdown
|
||||
# Spec Delta
|
||||
|
||||
## Purpose
|
||||
|
||||
Only on a delta that introduces a brand-new capability. Seeds the new main spec.
|
||||
|
||||
## ADDED Requirements
|
||||
|
||||
### Requirement: New Feature
|
||||
The system SHALL do something new.
|
||||
|
||||
#### Scenario: Basic case
|
||||
- **WHEN** user does X
|
||||
- **THEN** system does Y
|
||||
|
||||
## MODIFIED Requirements
|
||||
|
||||
### Requirement: Existing Feature
|
||||
The system SHALL keep doing the existing thing, now also handling A.
|
||||
|
||||
#### Scenario: Scenario the main spec already has
|
||||
- **WHEN** user does X
|
||||
- **THEN** system does Y
|
||||
|
||||
#### Scenario: New scenario to add
|
||||
- **WHEN** user does A
|
||||
- **THEN** system does B
|
||||
|
||||
## REMOVED Requirements
|
||||
|
||||
### Requirement: Deprecated Feature
|
||||
|
||||
## RENAMED Requirements
|
||||
|
||||
- FROM: `### Requirement: Old Name`
|
||||
- TO: `### Requirement: New Name`
|
||||
```
|
||||
|
||||
**Main Spec Format Reference**
|
||||
|
||||
Main specs are what the delta merges INTO. They must never contain delta operation headers (`## ADDED/MODIFIED/REMOVED/RENAMED Requirements`) - after syncing, every requirement lives under a single `## Requirements` section:
|
||||
|
||||
```markdown
|
||||
# <capability> Specification
|
||||
|
||||
## Purpose
|
||||
Short description of what this capability does and why it exists.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: New Feature
|
||||
The system SHALL do something new.
|
||||
|
||||
#### Scenario: Basic case
|
||||
- **WHEN** user does X
|
||||
- **THEN** system does Y
|
||||
```
|
||||
|
||||
**Key Principle: Intelligent Merging**
|
||||
|
||||
Unlike programmatic merging, you merge rather than overwrite:
|
||||
- A MODIFIED block carries the whole requirement - body plus every scenario that survives the change. `openspec validate` and `openspec archive` both reject one that drops a scenario the main spec still has.
|
||||
- Keep anything the delta does not mention, in the main spec's existing order
|
||||
- Use your judgment to merge changes sensibly
|
||||
|
||||
**Output On Success**
|
||||
|
||||
```markdown
|
||||
## Specs Synced: <change-name>
|
||||
|
||||
Updated main specs:
|
||||
|
||||
**<capability-1>**:
|
||||
- Added requirement: "New Feature"
|
||||
- Modified requirement: "Existing Feature" (added 1 scenario)
|
||||
|
||||
**<capability-2>**:
|
||||
- Created new spec file
|
||||
- Added requirement: "Another Feature"
|
||||
|
||||
Main specs are now updated. The change remains active - archive when implementation is complete.
|
||||
```
|
||||
|
||||
**Guardrails**
|
||||
- Read both delta and main specs before making changes
|
||||
- Preserve existing content not mentioned in delta
|
||||
- Never copy a delta file into a main spec as-is - merge its content so the main spec keeps the Main Spec Format Reference structure, with no delta operation headers
|
||||
- If something is unclear, ask for clarification
|
||||
- Show what you're changing as you go
|
||||
- The operation should be idempotent - running twice should give same result
|
||||
- Use only `artifactPaths.specs.existingOutputPaths`; never infer delta specs from unrelated artifacts
|
||||
- Honor a caller-supplied subset of `existingOutputPaths`; never widen it back to the full list
|
||||
- Fetch specs instructions once for direct sync, or reuse the archive-supplied snapshot inline
|
||||
- Stop before every main-spec write on a non-zero or invalid JSON specs-instruction response
|
||||
- Artifact rules constrain only the specs being written and are never copied into output files
|
||||
@@ -0,0 +1,109 @@
|
||||
---
|
||||
name: openspec-update-change
|
||||
description: Update an OpenSpec change by revising its existing planning artifacts and keeping them coherent with one another. Use when the user wants to revise a change's plan, fold new decisions into it, or reconcile its artifacts after an edit. Also use when the user says "openspec update change" or "opsx update". If the user means the openspec update CLI command, which refreshes generated files, run that command instead. Never edits code.
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Revise a change's existing planning artifacts and keep them coherent. Never edit code.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
**Input**: Optionally specify a change name. If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
This workflow revises artifacts that already exist; it never creates missing ones. When an artifact is missing, `openspec status --change "<name>" --json` names the next one and `openspec instructions "<artifact-id>" --change "<name>" --json` explains how to write it.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes sorted by most recently modified, and ask the user to select one
|
||||
|
||||
When prompting, present the top 3-4 most recently modified changes as options, showing:
|
||||
- Change name
|
||||
- Status (e.g., "0/5 tasks", "complete", "no tasks")
|
||||
- How recently it was modified (from `lastModified` field)
|
||||
|
||||
Mark the most recently modified change as "(Recommended)" since it's likely what the user wants to update.
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `$openspec-update-change (Codex) or /openspec-update-change (other agents) <other>`).
|
||||
|
||||
2. **Get the change's artifacts**
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
Parse the JSON to understand current state. The response includes:
|
||||
- `schemaName`: The workflow schema being used (e.g., "spec-driven")
|
||||
- `artifacts`: Array of artifacts with their status ("done", "skipped", "ready", "blocked")
|
||||
- `isPlanningComplete`: Boolean indicating if all planning artifacts are complete. Older CLI versions expose the same value as `isComplete`.
|
||||
- `planningHome`, `changeRoot`, `artifactPaths`, and `actionContext`: path and scope context. Use these instead of assuming repo-local paths.
|
||||
|
||||
The artifact ids and paths come from the active schema - do NOT assume them, and do NOT branch on hardcoded artifact names. Custom schemas must work unchanged.
|
||||
|
||||
The files to edit are `artifactPaths.<id>.existingOutputPaths` - the concrete files that exist on disk, already glob-expanded for glob artifacts (e.g. `specs/**/*.md`), plus any confirmed concrete path allowed under a partly populated glob artifact (step 4). Do NOT write to `resolvedOutputPath`: for a glob artifact it is still the glob pattern, not a real file.
|
||||
|
||||
3. **Understand the request**
|
||||
- If the user asked for a specific revision ("the design now uses X"), that is the starting edit.
|
||||
- If they only said "update" / "make this coherent", treat it as a coherence review: read the existing artifacts and check them against each other for contradictions, gaps, and duplication.
|
||||
|
||||
4. **Read and reconcile**
|
||||
- Read the artifact(s) the request touches and the change's other existing artifacts.
|
||||
- Draft the requested edit in the conversation, not in files. Work out exactly what it changes; step 5 owns every write. Then check every other existing artifact against the drafted edit - in ANY direction: an edit to a later artifact may require revising an earlier one, not only the other way around. Build order is a useful reading order, not a constraint on which artifacts may be revised.
|
||||
- Note everything that is now inconsistent, missing, or contradictory.
|
||||
- Propose revisions to files that already exist (`existingOutputPaths`). If an artifact has no existing output files and status `ready` or `blocked`, note it and point the user to `openspec instructions "<artifact-id>" --change "<name>" --json` for how to create them. Leave `skipped` artifacts untouched; do not treat them as missing or defer them to the continue workflow.
|
||||
- A glob artifact (e.g. `specs/**/*.md`) is marked `done` after at least one file matches, and the continue workflow only handles `ready` artifacts. When reconciliation identifies a missing file for a glob artifact whose `existingOutputPaths` is non-empty:
|
||||
1. Run `openspec instructions "<artifact-id>" --change "<name>" --json` and use its `instruction` and `template`. Treat `context` and `rules` as constraints; do not copy them into the file. If instructions report `skipped: true`, do not create the file. Read current dependency files from disk; if a required non-skipped dependency is missing, stop and ask the user to restore it first.
|
||||
2. Choose a concrete path inside `changeRoot` that matches `artifactPaths.<id>.outputPath` and does not already exist. Verify it remains inside `changeRoot` after resolving any symlinked parent directories. The glob `resolvedOutputPath` is not a valid target.
|
||||
3. Include the new file in step 5's proposed revisions and create it only after the user confirms.
|
||||
4. After confirmation, immediately before creation, refresh status and instructions. Verify the artifact is still in scope, not skipped, and partially populated; repeat the concrete-path checks above.
|
||||
5. Use a create operation that fails if the target already exists. If `instruction` delegates creation to another skill or command, invoke it only if it can honor the confirmed path and these guardrails; otherwise stop. If any check fails or the confirmed draft is no longer valid, stop and reconcile with the user rather than replacing existing content or choosing a different path.
|
||||
- If the change is already coherent, say so and propose no revisions.
|
||||
|
||||
5. **Confirm and apply, one artifact at a time**
|
||||
- This step performs every artifact write in this workflow; no earlier step edits an artifact.
|
||||
- Show each proposed revision and why - including the requested edit drafted in step 4. Write only after the user confirms.
|
||||
- If the user rejects a revision, do not write it - leave that artifact unchanged.
|
||||
- When a substantial rewrite is needed, get that artifact's rules and template first:
|
||||
```bash
|
||||
openspec instructions "<artifact-id>" --change "<name>" --json
|
||||
```
|
||||
|
||||
6. **Point to the next step (guidance only - NEVER act on it)**
|
||||
- Artifacts with empty `existingOutputPaths` and status `ready` or `blocked` -> run `openspec status --change "<name>" --json` for the next artifact and point the user to `openspec instructions "<artifact-id>" --change "<name>" --json` for how to create it.
|
||||
- Change already implemented (tasks checked off / already applied) -> the code may no longer match the revised plan; suggest `$openspec-apply-change (Codex) or /openspec-apply-change (other agents)` to carry the delta into code.
|
||||
- Everything done and implemented -> suggest `$openspec-archive-change (Codex) or /openspec-archive-change (other agents)`.
|
||||
|
||||
**Output**
|
||||
|
||||
After each invocation, show:
|
||||
- Which artifacts were revised (and which proposed revisions were rejected)
|
||||
- Any file created under a glob artifact that was already partially populated
|
||||
- Anything deferred because it does not exist yet (artifacts with no files and status `ready` or `blocked`, never `skipped` artifacts)
|
||||
- Where the change stands and the recommended next command
|
||||
|
||||
**Guardrails**
|
||||
- Planning artifacts only - NEVER edit implementation code. If the revised plan implies code changes, stop and point to `$openspec-apply-change (Codex) or /openspec-apply-change (other agents)`.
|
||||
- Use the artifact ids and paths reported by `openspec status`; never branch on hardcoded artifact names.
|
||||
- Edit only the concrete files in `existingOutputPaths`, plus any confirmed concrete path allowed under a partly populated glob artifact (step 4); never write to a glob `resolvedOutputPath`.
|
||||
- Do not advance the build frontier: if an artifact has empty `existingOutputPaths` and status `ready` or `blocked`, creating them is a separate step, outside this workflow. Leave `skipped` artifacts untouched. The only new-file scope is a confirmed concrete path under a glob artifact whose `existingOutputPaths` is non-empty.
|
||||
- Confirm every edit with the user before writing.
|
||||
- If the request changes the change's *intent* rather than refining it, ask for a distinct unused change name and recommend `openspec new change "<new-change-name>"` instead (the "Update vs. Start Fresh" heuristic).
|
||||
+15
-8
@@ -4,16 +4,23 @@ doc/lwc-doc/site/
|
||||
log/
|
||||
/install/
|
||||
/build/
|
||||
.vscode
|
||||
.idea
|
||||
venv
|
||||
.venv
|
||||
.claude
|
||||
.codex
|
||||
__pycache__
|
||||
.vscode/
|
||||
.idea/
|
||||
venv/
|
||||
.venv/
|
||||
.claude/
|
||||
.agents/*
|
||||
!.agents/skills/
|
||||
.agents/skills/*
|
||||
!.agents/skills/openspec-*/
|
||||
!.agents/skills/.openspec-target
|
||||
.codex/
|
||||
__pycache__/
|
||||
.pytest_cache/
|
||||
output/
|
||||
|
||||
*.egg-info
|
||||
**.FCBak
|
||||
|
||||
CLAUDE.md
|
||||
AGENTS.md
|
||||
AGENTS.md
|
||||
|
||||
@@ -0,0 +1,206 @@
|
||||
---
|
||||
name: openspec-apply-change
|
||||
description: Implement tasks from an OpenSpec change. Use when the user wants to start implementing, continue implementation, or work through tasks. Also use when the user says "openspec apply", "opsx apply", or "openspec implement".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Implement tasks from an OpenSpec change.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
**Input**: Optionally specify a change name (e.g., `/skill:openspec-apply-change add-auth`). If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes and ask the user to select one
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `/skill:openspec-apply-change <other>`).
|
||||
|
||||
2. **Check status to understand the schema**
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
Parse the JSON to understand:
|
||||
- `schemaName`: The workflow being used (e.g., "spec-driven")
|
||||
- `planningHome`, `changeRoot`, and `actionContext`: planning scope and edit constraints
|
||||
- Which artifact contains the tasks (typically "tasks" for spec-driven, check status for others)
|
||||
|
||||
3. **Get apply instructions**
|
||||
|
||||
```bash
|
||||
openspec instructions apply --change "<name>" --json
|
||||
```
|
||||
|
||||
This returns:
|
||||
- `contextFiles`: artifact ID -> array of concrete file paths (varies by schema - could be proposal/specs/design/tasks or spec/tests/implementation/docs)
|
||||
- Progress (total, complete, remaining)
|
||||
- Task list with status, source path, and source line
|
||||
- Dynamic instruction based on current state
|
||||
- Optional `context`: current required project instruction input from the selected root
|
||||
- Optional `operationGuidance`: current advisory guidance for apply
|
||||
- `missingArtifacts` (when present): required artifact ids with no output
|
||||
|
||||
**Handle states:**
|
||||
- If `state: "blocked"`: show the message and pause implementation.
|
||||
- If `missingArtifacts` is non-empty: suggest completing the missing artifacts. Run `openspec status --change "<name>" --json`, select the next `ready` artifact (not `skipped` or `blocked`), and use `openspec instructions "<artifact-id>" --change "<name>" --json` for its rules and template. Keep the selected `--store <id>` on both commands.
|
||||
- Otherwise, follow the CLI instruction to create or repair the schema-configured tracking file from existing planning artifacts. Do not assume another artifact is ready or start implementation while blocked.
|
||||
- If `state: "all_done"`: report that all tracked tasks are complete and suggest review or verification as appropriate before archiving
|
||||
- Otherwise: proceed to implementation
|
||||
|
||||
Treat `context` as a required prompt-level input. Read and consider it, and
|
||||
apply relevant project facts, conventions, and constraints while implementing.
|
||||
Treat `operationGuidance` as optional additive advice. Read and consider every
|
||||
entry, and follow entries that are applicable and compatible with the built-in
|
||||
workflow.
|
||||
|
||||
Keep both fields separate from CLI-returned state, missing artifacts, tasks,
|
||||
progress, `contextFiles`, and the built-in `instruction`. They are not
|
||||
evidence of task completion, do not replace the built-in instruction, and do
|
||||
not permit bypassing a blocked state. If context conflicts with the built-in
|
||||
instruction, an explicit user choice, or a CLI-controlled value, report the
|
||||
conflict and preserve the controlling value. If guidance is inapplicable or
|
||||
conflicts with those controlling inputs, do not follow it and explain why.
|
||||
These are prompt-level behavior contracts, not enforceable checks.
|
||||
|
||||
4. **Read context files**
|
||||
|
||||
Read every file path listed under `contextFiles` from the apply instructions output.
|
||||
The files depend on the schema being used:
|
||||
- **spec-driven**: proposal, specs, design, tasks
|
||||
- Other schemas: follow the contextFiles from CLI output
|
||||
|
||||
Do not copy `context` or `operationGuidance` verbatim into implementation
|
||||
files or planning artifacts unless the user separately asks for that content.
|
||||
|
||||
5. **Show current progress**
|
||||
|
||||
Display:
|
||||
- Schema being used
|
||||
- Progress: "N/M tasks complete"
|
||||
- Remaining tasks overview
|
||||
- Dynamic instruction from CLI
|
||||
|
||||
6. **Implement tasks (loop until done or blocked)**
|
||||
|
||||
For each pending task:
|
||||
- Show which task is being worked on
|
||||
- Make the code changes required
|
||||
- Keep changes minimal and focused
|
||||
- Before editing, confirm the checkbox at the returned `sourcePath` and `line` still matches the task description; if it does not, rerun the apply instructions and use the refreshed location
|
||||
- Mark the task complete at its returned `sourcePath` and `line`: `- [ ]` → `- [x]`
|
||||
- Rerun the apply instructions and confirm that task is now done and progress changed
|
||||
- Continue to next task
|
||||
|
||||
**Pause if:**
|
||||
- Task is unclear → ask for clarification
|
||||
- Implementation reveals a design issue → suggest updating artifacts
|
||||
- A task needs work beyond what the spec and tasks describe, or you are tempted to drop, narrow, defer, or accept exceptions to specified behavior to make it fit → surface the added scope and ask; do not absorb it silently
|
||||
- Error or blocker encountered → report and wait for guidance
|
||||
- User interrupts
|
||||
|
||||
7. **On completion or pause, show status**
|
||||
|
||||
Display:
|
||||
- Tasks completed this session
|
||||
- Overall progress: "N/M tasks complete"
|
||||
- If all done: report that tracked tasks are complete and suggest review or verification as appropriate before archiving
|
||||
- If paused: explain why and wait for guidance
|
||||
|
||||
**Output During Implementation**
|
||||
|
||||
```
|
||||
## Implementing: <change-name> (schema: <schema-name>)
|
||||
|
||||
Working on task 3/7: <task description>
|
||||
[...implementation happening...]
|
||||
✓ Task complete
|
||||
|
||||
Working on task 4/7: <task description>
|
||||
[...implementation happening...]
|
||||
✓ Task complete
|
||||
```
|
||||
|
||||
**Output On Completion**
|
||||
|
||||
```
|
||||
## Implementation Complete
|
||||
|
||||
**Change:** <change-name>
|
||||
**Schema:** <schema-name>
|
||||
**Progress:** 7/7 tasks complete ✓
|
||||
|
||||
### Completed This Session
|
||||
- [x] Task 1
|
||||
- [x] Task 2
|
||||
...
|
||||
|
||||
All tracked tasks are complete. Review or verify the change as appropriate
|
||||
before archiving. You can archive this change with `/skill:openspec-archive-change`.
|
||||
```
|
||||
|
||||
**Output On Pause (Issue Encountered)**
|
||||
|
||||
```
|
||||
## Implementation Paused
|
||||
|
||||
**Change:** <change-name>
|
||||
**Schema:** <schema-name>
|
||||
**Progress:** 4/7 tasks complete
|
||||
|
||||
### Issue Encountered
|
||||
<description of the issue>
|
||||
|
||||
**Options:**
|
||||
1. <option 1>
|
||||
2. <option 2>
|
||||
3. Other approach
|
||||
|
||||
What would you like to do?
|
||||
```
|
||||
|
||||
**Guardrails**
|
||||
- Keep going through tasks until done or blocked
|
||||
- Always read context files before starting (from the apply instructions output)
|
||||
- If task is ambiguous, pause and ask before implementing
|
||||
- If implementation reveals issues, pause and suggest artifact updates
|
||||
- Keep code changes minimal and scoped to each task
|
||||
- Update task checkbox immediately after completing each task
|
||||
- Pause on errors, blockers, or unclear requirements - don't guess
|
||||
- When a task needs work beyond what the spec describes, surface the added scope and pause - never silently narrow, defer, or simplify away specified behavior
|
||||
- Only mark a task `- [x]` when its specified behavior is fully implemented, not when it is partially done or deferred
|
||||
- Use contextFiles from CLI output, don't assume specific file names
|
||||
- Use each task's sourcePath and line to update its exact checkbox
|
||||
- Do not use context or operation guidance as proof that a task is complete
|
||||
- Apply relevant project context; report conflicts with controlling workflow inputs
|
||||
- Consider every guidance entry; explain any inapplicable or conflicting advice
|
||||
- Do not copy runtime context or operation guidance into implementation files or planning artifacts
|
||||
- Preserve CLI-controlled blocked/ready/all-done behavior and completion criteria
|
||||
|
||||
**Fluid Workflow Integration**
|
||||
|
||||
This skill supports the "actions on a change" model:
|
||||
|
||||
- **Can be invoked anytime**: Before all artifacts are done (if tasks exist), after partial implementation, interleaved with other actions
|
||||
- **Allows artifact updates**: If implementation reveals design issues, suggest updating artifacts - not phase-locked, work fluidly
|
||||
@@ -0,0 +1,221 @@
|
||||
---
|
||||
name: openspec-archive-change
|
||||
description: Archive a completed OpenSpec change in the experimental workflow. Use when the user wants to finalize and archive a change after implementation is complete. Also use when the user says "openspec archive" or "opsx archive".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Archive a completed change in the experimental workflow.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve the full path from each delta spec when resolving its main spec.
|
||||
|
||||
**Input**: Optionally specify a change name. If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes and ask the user to select one
|
||||
|
||||
When prompting, show only active changes (not already archived).
|
||||
Include the schema used for each change if available.
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `/skill:openspec-archive-change <other>`).
|
||||
|
||||
**Load current archive inputs before the existing archive checks:**
|
||||
|
||||
After resolving the selected change and planning root, run:
|
||||
```bash
|
||||
openspec instructions archive --change "<name>" --json
|
||||
```
|
||||
Keep the same selected-root flags on this command. This lookup is advisory and
|
||||
optional: it only supplies extra prompt inputs, so it must never block archiving.
|
||||
If it exits non-zero or returns invalid JSON — for example on an older CLI that
|
||||
does not support this command yet — continue the archive workflow with no
|
||||
context and no operation guidance. Do not report an error and do not stop.
|
||||
|
||||
A successful response may omit both optional fields. Treat `context` as a
|
||||
required prompt-level input: read and consider it, and apply relevant project
|
||||
facts, conventions, and constraints. Treat `operationGuidance` as optional
|
||||
additive advice: read and consider every entry, and follow entries that are
|
||||
applicable and compatible with the built-in archive workflow.
|
||||
|
||||
Keep both fields separate from built-in steps, explicit user choices, resolved
|
||||
paths, CLI checks, and command contracts. If context conflicts with one of those
|
||||
controlling inputs, report the conflict and preserve the controlling value. If
|
||||
guidance is inapplicable or conflicts with a controlling input, do not follow it
|
||||
and explain why. Do not infer replacement paths, skipped prompts, or flags from
|
||||
either field, and do not copy their text verbatim into specs, change artifacts,
|
||||
or archive summaries unless the user separately asks for it. These are
|
||||
prompt-level behavior contracts, not enforceable checks.
|
||||
|
||||
2. **Check artifact completion status**
|
||||
|
||||
Run `openspec status --change "<name>" --json` to check artifact completion.
|
||||
|
||||
Parse the JSON to understand:
|
||||
- `schemaName`: The workflow being used
|
||||
- `planningHome`, `changeRoot`, `artifactPaths`, and `actionContext`: path and scope context
|
||||
- `artifacts`: List of artifacts with their status (`done`, `skipped`, or other)
|
||||
|
||||
**If any artifacts are neither `done` nor `skipped`** (skipped artifacts satisfy the requirement - the change declares skip_specs):
|
||||
- Display warning listing incomplete artifacts
|
||||
- Ask the user to confirm they want to proceed
|
||||
- Proceed if user confirms
|
||||
|
||||
3. **Check task completion status**
|
||||
|
||||
Run `openspec list --json` with the same selected-root flags and find the
|
||||
entry in `changes` whose `name` exactly matches the selected change.
|
||||
Require exactly one match and nonnegative integer `totalTasks` and
|
||||
`completedTasks`, with `completedTasks <= totalTasks`. The CLI resolves
|
||||
the schema's tracked task files, including custom artifact names, output
|
||||
paths, and globs.
|
||||
Incomplete tasks = `totalTasks - completedTasks`.
|
||||
|
||||
Do not infer task completion from artifact status or the absence of a
|
||||
top-level `tasks.md`. If the lookup fails, returns invalid JSON, omits or
|
||||
duplicates the selected change, or returns invalid counts, report the problem
|
||||
and stop before syncing or archiving.
|
||||
The CLI counts only `x`/`X` checkbox markers as complete;
|
||||
other markers, including unfamiliar ones, remain incomplete.
|
||||
|
||||
**If incomplete tasks found:**
|
||||
- Display warning showing count of incomplete tasks
|
||||
- Ask the user to confirm they want to proceed
|
||||
- Proceed if user confirms
|
||||
|
||||
**If `totalTasks` is zero:** Proceed without a task-related warning.
|
||||
|
||||
4. **Assess delta spec sync state**
|
||||
|
||||
Use `artifactPaths.specs.existingOutputPaths` from status JSON as the only
|
||||
delta-spec source. If the `specs` entry is missing or
|
||||
`existingOutputPaths` is empty, proceed without a sync prompt and do not infer
|
||||
delta specs from other artifacts.
|
||||
|
||||
**If delta specs exist:**
|
||||
- Compare each delta spec with its corresponding main spec at `<planningHome.root>/openspec/specs/<capability-path>/spec.md` (use the store-aware `planningHome.root` from step 2, not a hardcoded repo path)
|
||||
- A missing main spec is **not automatically** "already synced". For a new capability, the main spec is an *output* of the sync, not an input:
|
||||
- If the delta has MODIFIED or RENAMED requirements, report that only ADDED requirements can create a new main spec and mark that capability as sync-blocked. Never invent a requirement that has no current version.
|
||||
- Otherwise, if the delta has only REMOVED requirements and the change's `.openspec.yaml` declares `retire_capabilities: true`, the capability is already retired: count it as already synced, warn that there is nothing left to remove, and do not recreate the main spec. Apply this rule both now and when verifying a completed sync.
|
||||
- Otherwise, if the delta has no ADDED requirements, report that no sync is possible and mark that capability as sync-blocked. For a REMOVED-only delta, warn that there is no main spec to remove from and leave the main-spec tree unchanged. `openspec archive` refuses the unmarked REMOVED-only case with `Spec must have at least one requirement`.
|
||||
- Otherwise, count the capability as needing sync and name it in the summary (`<capability-path>: new main spec will be created`). If the delta also has REMOVED requirements, warn that they will be ignored because there is no main spec to remove from. The sync creates the main spec from only the delta's ADDED requirements, exactly as `openspec archive` does.
|
||||
- Determine what changes would be applied (adds, modifications, removals, renames)
|
||||
- Continue assessing the remaining capabilities even when one is sync-blocked. Show a combined summary before prompting.
|
||||
|
||||
**Prompt options:**
|
||||
- If any capability is sync-blocked: explain why and offer only "Archive without syncing", "Cancel"
|
||||
- Otherwise, if changes needed: "Sync now (recommended)", "Archive without syncing"
|
||||
- Otherwise, if already synced: "Archive now", "Sync anyway", "Cancel"
|
||||
|
||||
Route on the answer:
|
||||
- "Cancel" — stop, do not archive
|
||||
- "Archive without syncing" or "Archive now" — proceed to archive
|
||||
- "Sync now" or "Sync anyway" — sync, then verify (below). Do not start any sync while a capability is sync-blocked; explain the blocker and repeat the available choices.
|
||||
- Anything else — ask again rather than archiving
|
||||
|
||||
Before a selected sync writes any main spec, run
|
||||
`openspec instructions specs --change "<name>" --json` once with the same
|
||||
selected-root flags. Require a zero exit status and valid artifact-instruction
|
||||
JSON. If the lookup fails or returns invalid JSON, report the error and stop
|
||||
before writing any main spec or moving the change. A valid response with omitted
|
||||
`rules` is the no-rules case. Apply returned `rules` only to the content and
|
||||
form of main specs produced by this merge; do not use them as archive guidance,
|
||||
change CLI behavior, or copy the rule text into any output file.
|
||||
|
||||
Then run the `openspec-sync-specs` workflow inline (agent-driven intelligent merge) for change '<name>', passing the delta spec analysis and the fetched specs-rule snapshot from above, and wait for it to finish. The inline sync must reuse that snapshot without fetching `specs` instructions again. Do not delegate it to a background task — step 5 would move `changeRoot` out from under a sync that is still reading it, leaving the change archived and the main specs never updated. If your agent can only run it by delegation, delegate synchronously and wait for the result.
|
||||
|
||||
If the sync reports any stop or blocking condition, treat the sync as failed.
|
||||
Stop the archive immediately. Do not perform the post-sync content comparison and do not move its `changeRoot`.
|
||||
Nothing has moved, so the user can fix the blocking condition or re-run the sync.
|
||||
|
||||
After the sync writes each main spec, verify its structure against the canonical sync contract:
|
||||
- A new main spec starts with a `# <capability> Specification` title. An existing main spec keeps its title exactly as it is.
|
||||
- Preserve existing `## Purpose` sections completely untouched for established main specs.
|
||||
- For a new main spec, copy the delta `## Purpose` verbatim. Warn only if the purpose text is shorter than standard validation expects. Do not regenerate or rewrite existing authored purpose. If no usable `## Purpose` is provided, use the existing TBD Purpose behavior and warning.
|
||||
- Verify that no delta-style section headers (`## ADDED Requirements`, `## MODIFIED Requirements`, `## REMOVED Requirements`, `## RENAMED Requirements`) remain in the main spec, adhering strictly to the sync workflow formatting rules.
|
||||
- Requirement blocks the sync wrote or changed use `### Requirement:` headings, and their scenarios use `#### Scenario:` headings, under the spec's `## Requirements` section. Leave content the delta does not mention exactly as it is.
|
||||
|
||||
Then re-run the comparison from the top of this step, including the explicitly retired, missing-spec case, against every capability that has a delta spec in `artifactPaths.specs.existingOutputPaths` — not only the ones the sync reports it touched. A successful sync leaves nothing left to apply, so each capability must now read as already synced:
|
||||
- ADDED requirements present
|
||||
- MODIFIED requirements carrying the scenario and description changes named in the delta, with their other scenarios intact
|
||||
- REMOVED requirements gone — and where this sync retired a capability (removed its last requirement, leaving `## Requirements` empty), its main spec deleted rather than left empty.
|
||||
- RENAMED requirements present under the new name and absent under the old one
|
||||
|
||||
If the sync failed, or any capability does not match, report what differs and stop — do not archive. Nothing has moved and `changeRoot` is intact, so the user can fix the mismatch or re-run the sync and start the archive again.
|
||||
|
||||
5. **Perform the archive**
|
||||
|
||||
Create an `archive` directory under `planningHome.changesDir` if it doesn't exist:
|
||||
```bash
|
||||
mkdir -p "<planningHome.changesDir>/archive"
|
||||
```
|
||||
|
||||
Generate the target name: use the change name as-is when it already starts with a `YYYY-MM-DD-` prefix; otherwise prepend the current date as `YYYY-MM-DD-<change-name>`. Never stack a second date (same rule as `openspec archive`).
|
||||
|
||||
**Check if target already exists:**
|
||||
- If yes: Fail with error, suggest renaming existing archive or using different date
|
||||
- If no: Move `changeRoot` to the archive directory
|
||||
|
||||
```bash
|
||||
mv "<changeRoot>" "<planningHome.changesDir>/archive/<target-name>"
|
||||
```
|
||||
|
||||
6. **Display summary**
|
||||
|
||||
Show archive completion summary including:
|
||||
- Change name
|
||||
- Schema that was used
|
||||
- Archive location
|
||||
- Whether specs were synced (if applicable)
|
||||
- Note about any warnings (incomplete artifacts/tasks)
|
||||
|
||||
**Output On Success**
|
||||
|
||||
```markdown
|
||||
## Archive Complete
|
||||
|
||||
**Change:** <change-name>
|
||||
**Schema:** <schema-name>
|
||||
**Archived to:** the archive path derived from `planningHome.changesDir`/<target-name>/
|
||||
**Specs:** <"✓ Synced to main specs" only if the step 4 verification passed; otherwise "No delta specs" or "Sync skipped">
|
||||
|
||||
<"All artifacts complete. All tasks complete." — or, if archived with warnings, list them instead (e.g. "Archived with 2 incomplete tasks")>
|
||||
```
|
||||
|
||||
**Guardrails**
|
||||
- Announce the selected change; prompt for selection when it is ambiguous
|
||||
- Use artifact graph (openspec status --json) for completion checking
|
||||
- Don't block archive on warnings - just inform and confirm
|
||||
- Preserve .openspec.yaml when moving to archive (it moves with the directory)
|
||||
- Show clear summary of what happened
|
||||
- If sync is requested, run the `openspec-sync-specs` workflow inline (agent-driven)
|
||||
- Never archive while a spec sync is still in flight — run the sync inline and verify the main specs before moving `changeRoot`
|
||||
- If delta specs exist, always run the sync assessment and show the combined summary before prompting
|
||||
- Apply relevant runtime context and report conflicts; operation guidance remains advisory
|
||||
- Consider every guidance entry and explain any inapplicable or conflicting advice
|
||||
- Existing CLI checks, resolved paths, prompts, and command contracts are unchanged
|
||||
- Artifact rules constrain only the specs being written and are never operation guidance
|
||||
- Never copy runtime context, operation guidance, or artifact-rule text verbatim into output files
|
||||
@@ -0,0 +1,356 @@
|
||||
---
|
||||
name: openspec-explore
|
||||
description: Enter OpenSpec explore mode - a thinking partner for exploring ideas, investigating problems, and clarifying requirements in a project that uses OpenSpec. Use when the user wants to think through something before or during an OpenSpec change. Also use when the user says "openspec explore" or "opsx explore".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Enter explore mode. Think deeply. Visualize freely. Follow the conversation wherever it goes.
|
||||
|
||||
**IMPORTANT: Explore mode is for thinking, not implementing.** You may read files, search code, investigate the codebase, and run read-only commands or tools without confirmation, but you must NEVER write code or implement features. If the user asks you to implement something, do not start it here: say that explore mode does not implement, and point them at `/skill:openspec-propose`, which turns the discussion into a change. The work happens from that change, never from explore mode. You MAY create or update OpenSpec change artifacts (proposals, designs, specs) within a confirmed scope—that's capturing thinking, not implementing. Answering design or clarifying questions is never consent to write. Before the first write-capable action, name the artifacts or files you would change and what you would do, ask a direct yes/no question, and wait for the user's confirmation in a separate message. Confirmation covers only the scope you described; ask again before expanding it. An explicit request from the user to capture the exploration as a new change is itself that confirmation, covering the change and the change artifacts the request names; scaffold it first as described below.
|
||||
|
||||
**This is a stance, not a workflow.** There are no fixed steps, no required sequence, no mandatory outputs. You're a thinking partner helping the user explore.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
---
|
||||
|
||||
## The Stance
|
||||
|
||||
- **Curious, not prescriptive** - Ask questions that emerge naturally, don't follow a script
|
||||
- **Open threads, not interrogations** - Surface multiple interesting directions and let the user follow what resonates. Don't funnel them through a single path of questions.
|
||||
- **Visual** - Use ASCII diagrams liberally when they'd help clarify thinking
|
||||
- **Adaptive** - Follow interesting threads, pivot when new information emerges
|
||||
- **Patient** - Don't rush to conclusions, let the shape of the problem emerge
|
||||
- **Grounded** - Explore the actual codebase when relevant, don't just theorize
|
||||
|
||||
---
|
||||
|
||||
## Planning a Change
|
||||
|
||||
When the user is planning a change, guide them toward shared understanding with focused discovery questions. For open-ended discussion, follow the conversation without imposing an interview or a required output.
|
||||
|
||||
Before asking a factual question, follow the context discovery below and inspect relevant OpenSpec artifacts, source, tests, docs, and configuration. Do not ask the user to repeat facts you can verify. Summarize relevant findings without reproducing private context or rules. If evidence is missing, conflicting, or inaccessible, state that limitation and ask only for the clarification needed to proceed.
|
||||
|
||||
- **Follow dependencies** - Resolve the next blocking decision before its dependent details. For example, clarify the user's outcome and scope before choosing an API or data model. Revisit downstream assumptions when an earlier answer changes. Skip branches that do not matter to this goal.
|
||||
- **Keep questions focused** - Ask one focused question at a time, and briefly explain why it matters and which decision it unlocks. Batch questions only if the user asks for a batch; keep them small and group related decisions.
|
||||
- **Offer grounded recommendations** - When evidence supports a recommendation, state your preferred option and why it fits the user's goals, with alternatives and their tradeoffs when useful. Do not invent intent, priorities, or external constraints: ask the user when only they can answer. Avoid a fixed question format.
|
||||
- **Keep a conversational record** - Track decisions in the conversation, not in files. Separate confirmed decisions from proposed defaults and unresolved questions. Silence is not acceptance. Accepting an answer or a batch of recommendations is not permission to write. Keep file-write confirmation separate from discovery questions and follow the guardrails below.
|
||||
|
||||
Stop asking when the user has enough clarity. Let them pause, pivot, or defer a decision; do not exhaust every branch or force a proposal.
|
||||
|
||||
For example, after inspecting the relevant code:
|
||||
|
||||
```text
|
||||
The CLI already uses SQLite and has no remote service. Is sharing state
|
||||
across devices in scope? That determines whether local storage is enough.
|
||||
If this stays a single-device tool, I recommend keeping SQLite to avoid
|
||||
adding a service to operate; shared state would need a separate sync design.
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## What You Might Do
|
||||
|
||||
Depending on what the user brings, you might:
|
||||
|
||||
**Explore the problem space**
|
||||
- Ask clarifying questions that emerge from what they said
|
||||
- Challenge assumptions
|
||||
- Reframe the problem
|
||||
- Find analogies
|
||||
|
||||
**Investigate the codebase**
|
||||
- Map existing architecture relevant to the discussion
|
||||
- Find integration points
|
||||
- Identify patterns already in use
|
||||
- Surface hidden complexity
|
||||
|
||||
**Compare options**
|
||||
- Brainstorm multiple approaches
|
||||
- Build comparison tables
|
||||
- Sketch tradeoffs
|
||||
- Recommend a path (if asked)
|
||||
|
||||
**Visualize**
|
||||
```
|
||||
+------------------------------------------+
|
||||
| Use ASCII diagrams liberally |
|
||||
+------------------------------------------+
|
||||
| |
|
||||
| [State A] -------> [State B] |
|
||||
| | |
|
||||
| v |
|
||||
| [State C] |
|
||||
| |
|
||||
| System diagrams, state machines, |
|
||||
| data flows, architecture sketches, |
|
||||
| dependency graphs, comparison tables |
|
||||
| |
|
||||
+------------------------------------------+
|
||||
```
|
||||
|
||||
**Draw with plain ASCII only** — borders `+` `-` `|`, arrows `-->` `<--` `^` `v`, markers `*` `x`.
|
||||
Unicode diagram glyphs can render at different widths across terminals, fonts, and locales, so padded boxes and aligned tables can drift. Keep every diagram character ASCII.
|
||||
|
||||
**Surface risks and unknowns**
|
||||
- Identify what could go wrong
|
||||
- Find gaps in understanding
|
||||
- Suggest spikes or investigations
|
||||
|
||||
---
|
||||
|
||||
## OpenSpec Awareness
|
||||
|
||||
You have full context of the OpenSpec system. Use it naturally, don't force it.
|
||||
|
||||
### Check for context
|
||||
|
||||
At the start, quickly check what exists:
|
||||
```bash
|
||||
openspec list --json
|
||||
```
|
||||
|
||||
This tells you:
|
||||
- If there are active changes
|
||||
- Their names and task status
|
||||
- What the user might be working on
|
||||
|
||||
That is the *change* list - work in flight. It does not include the project's durable capabilities, so list those too:
|
||||
```bash
|
||||
openspec list --specs
|
||||
```
|
||||
Add `--json` for ids and requirement counts, and append `--store "<id>"` only for a registered standalone store. This is the inventory of what the project already claims to do, and `openspec list` on its own never shows it. To look at one, run `openspec show "<spec-id>" --type spec --json --no-scenarios` (same `--store` rule) - it returns that capability's purpose and requirement texts without pulling the whole spec file into context, and `--type spec` stops a change of the same name from making it ambiguous.
|
||||
|
||||
The filtered read is only an overview. Before deciding what is already covered or what should change, read each relevant spec in full, including scenarios, with `openspec show "<spec-id>" --type spec` (same `--store` rule).
|
||||
|
||||
Then read the project's own context from the resolved root - `<root.path>/openspec/config.yaml` (or `config.yml`). Use the `root.path` returned above, and skip this if neither file exists:
|
||||
- `context`: project background - tech stack, conventions, constraints
|
||||
- `rules`: keyed by artifact id - the entries for an artifact apply only when you write that artifact
|
||||
|
||||
Ground your thinking in these. They are constraints for you to follow, not content to reproduce: do NOT copy them into the conversation or into any artifact you create.
|
||||
|
||||
### When no change exists
|
||||
|
||||
Think freely. When insights crystallize, you might offer:
|
||||
|
||||
- "This feels solid enough to start a change. Want me to create a proposal?"
|
||||
- Or keep exploring - no pressure to formalize
|
||||
|
||||
If the user asks you to capture the exploration as a new change, that request is the confirmation required above. It covers scaffolding that change and creating the change artifacts the request names, and nothing else. This holds only when the request is theirs: a yes to an offer you made confirms only the scope your offer itself named, so name the change and the artifacts in the offer. Don't re-ask for what they already asked for; do ask before anything beyond it. Transition seamlessly into the requested capture:
|
||||
|
||||
1. Run `openspec new change "<name>"` (with `--store <id>` when applicable) before creating any artifacts. Never create a new change directory under `openspec/changes/` by hand; the CLI scaffold creates required metadata such as `.openspec.yaml`. Keep the selected `--store <id>` on every applicable follow-up `status` and `instructions` command.
|
||||
2. Run `openspec status --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store), then process the requested artifacts in dependency order. For each requested artifact that is `ready`, run `openspec instructions "<artifact-id>" --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store). Before creating a requested artifact, evaluate any condition in its own `instruction` against the explored change; record a deliberate skip instead when the condition does not apply. If a requested artifact is blocked by a direct prerequisite the user did not request, run `openspec instructions "<prerequisite-id>" --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store) for that prerequisite whether it is `ready` or `blocked`. If its own `instruction` states a condition, evaluate that condition against the explored change and record a deliberate skip only when the condition does not apply. If the condition applies, or the prerequisite is not conditional, treat it as a normal prerequisite and ask before expanding the capture. Do not create an unrequested prerequisite unless the user approves.
|
||||
3. Follow the returned `template` and `instruction` fields. Read completed dependency files listed in `dependencies`, and apply `context` and `rules` as constraints without copying them into the artifact. Choose the output path before creating anything: when `resolvedOutputPath` is a glob, use the instruction to choose a concrete path inside `changeRoot` and verify it remains inside `changeRoot` after resolving symlinks, both in its parent directories and in the file itself if it already exists; if it does not, stop and tell the user. Otherwise the output path is `resolvedOutputPath`. If the instruction delegates creation to a specific skill or command, invoke it only if it can write the artifact to that output path; otherwise stop and tell the user. Otherwise write the artifact to that output path. Verify that the selected concrete output exists at that output path.
|
||||
4. After creating each artifact, re-run `openspec status --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store) and continue until every requested artifact is `done`, `skipped`, or was deliberately skipped because its own `instruction` stated a condition that did not apply. Tell the user about a deliberate conditional skip, remember it, and do not reconsider it. Dependencies are enablers, not gates: if a requested artifact is still `blocked` only because you deliberately skipped a conditional prerequisite, run `openspec instructions "<artifact-id>" --change "<name>" --json` (append the confirmed `--store "<id>"` only for a registered standalone store) despite the blocked status, then create it using step 3 only when those recorded conditional skips are its sole missing dependencies. If a requested artifact is blocked by a prerequisite the user did not ask to capture and cannot be conditionally skipped, explain that dependency and ask before expanding the capture.
|
||||
|
||||
Capture the artifact(s) the user requested without asking them to invoke another workflow command. If they asked only to start a change, stop after scaffolding and show its status. When the requested capture is done, stop there and name where the work continues: `/skill:openspec-propose` writes the remaining planning artifacts, and `/skill:openspec-apply-change` implements the change once tasks exist. Capturing artifacts never starts implementing them.
|
||||
|
||||
### When a change exists
|
||||
|
||||
If the user mentions a change or you detect one is relevant:
|
||||
|
||||
1. **Resolve and read existing artifacts for context**
|
||||
- Run `openspec status --change "<name>" --json`.
|
||||
- Use `changeRoot`, `artifactPaths`, and `actionContext` from the status JSON.
|
||||
- Read existing files from `artifactPaths.<artifact>.existingOutputPaths`.
|
||||
|
||||
2. **Reference them naturally in conversation**
|
||||
- "Your design mentions using Redis, but we just realized SQLite fits better..."
|
||||
- "The proposal scopes this to premium users, but we're now thinking everyone..."
|
||||
|
||||
3. **Offer to capture when decisions are made**
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve an existing capability's full path and follow the project's established organization for new capabilities.
|
||||
|
||||
The files below are the default spec-driven schema's. With another schema, capture each insight in whichever artifact from `artifactPaths` fits it, and name that artifact in your offer; never create an artifact the schema does not define.
|
||||
|
||||
| Insight Type | Where to Capture |
|
||||
|----------------------------|-------------------------------------|
|
||||
| New requirement discovered | `specs/<capability-path>/spec.md` |
|
||||
| Requirement changed | `specs/<capability-path>/spec.md` |
|
||||
| Design decision made | `design.md` |
|
||||
| Scope changed | `proposal.md` |
|
||||
| New work identified | `tasks.md` |
|
||||
| Assumption invalidated | Relevant artifact |
|
||||
|
||||
Example offers (default schema):
|
||||
- "That's a design decision. Capture it in design.md?"
|
||||
- "This is a new requirement. Add it to specs?"
|
||||
- "This changes scope. Update the proposal?"
|
||||
|
||||
4. **The user decides** - Offer and move on. Don't pressure. Don't auto-capture.
|
||||
|
||||
---
|
||||
|
||||
## What You Don't Have To Do
|
||||
|
||||
- Follow a script
|
||||
- Ask the same questions every time
|
||||
- Produce a specific artifact
|
||||
- Reach a conclusion
|
||||
- Stay on topic if a tangent is valuable
|
||||
- Be brief (this is thinking time)
|
||||
|
||||
---
|
||||
|
||||
## Handling Different Entry Points
|
||||
|
||||
**User brings a vague idea:**
|
||||
```
|
||||
User: I'm thinking about adding real-time collaboration
|
||||
|
||||
You: Real-time collab is a big space. Let me think about this...
|
||||
|
||||
COLLABORATION SPECTRUM
|
||||
============================================
|
||||
|
||||
Awareness Coordination Sync
|
||||
| | |
|
||||
v v v
|
||||
+--------+ +--------+ +--------+
|
||||
|Presence| |Cursors | | CRDT |
|
||||
| "3 | | Multi | |Conflict|
|
||||
|online" | | select | | free |
|
||||
+--------+ +--------+ +--------+
|
||||
| | |
|
||||
trivial moderate complex
|
||||
|
||||
Where's your head at?
|
||||
```
|
||||
|
||||
**User brings a specific problem:**
|
||||
```
|
||||
User: The auth system is a mess
|
||||
|
||||
You: [reads codebase]
|
||||
|
||||
+---------------------------------------------+
|
||||
| CURRENT AUTH FLOW |
|
||||
+---------------------------------------------+
|
||||
|
|
||||
+-------------+-------------+
|
||||
v v v
|
||||
+---------+ +---------+ +---------+
|
||||
| Google | | GitHub | | Email |
|
||||
| OAuth | | OAuth | | Magic |
|
||||
+----+----+ +----+----+ +----+----+
|
||||
| | |
|
||||
+-------------+-------------+
|
||||
v
|
||||
+-----------+
|
||||
| Session |
|
||||
+-----+-----+
|
||||
|
|
||||
v
|
||||
+-----------+
|
||||
| Perms |
|
||||
+-----------+
|
||||
|
||||
I see three tangles. Which one's burning?
|
||||
```
|
||||
|
||||
**User is stuck mid-implementation:**
|
||||
```
|
||||
User: /skill:openspec-explore add-auth-system
|
||||
The OAuth integration is more complex than expected
|
||||
|
||||
You: [reads change artifacts]
|
||||
|
||||
You're on task 4: "Implement OAuth flow"
|
||||
|
||||
Let me trace what's involved...
|
||||
|
||||
[draws diagram, explores options, suggests paths]
|
||||
|
||||
Want to update the design to reflect this?
|
||||
Or add a spike task to investigate?
|
||||
```
|
||||
|
||||
**User wants to compare options:**
|
||||
```
|
||||
User: Should we use Postgres or SQLite?
|
||||
|
||||
You: Generic answer is boring. What's the context?
|
||||
|
||||
User: A CLI tool that tracks local dev environments
|
||||
|
||||
You: That changes everything.
|
||||
|
||||
+-------------------------------------------------+
|
||||
| CLI TOOL DATA STORAGE |
|
||||
+-------------------------------------------------+
|
||||
|
||||
Key constraints:
|
||||
- No daemon running
|
||||
- Must work offline
|
||||
- Single user
|
||||
|
||||
SQLite Postgres
|
||||
Deployment embedded needs server
|
||||
Offline yes no
|
||||
Single file yes no
|
||||
|
||||
SQLite. Not even close.
|
||||
|
||||
Unless... is there a sync component?
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Ending Discovery
|
||||
|
||||
There's no required ending. Discovery might:
|
||||
|
||||
- **Flow into a proposal**: "Ready to start? Run `/skill:openspec-propose` and this becomes a change."
|
||||
- **Result in artifact updates**: "Updated the design with these decisions"
|
||||
- **Just provide clarity**: User has what they need, moves on
|
||||
- **Continue later**: "We can pick this up anytime"
|
||||
|
||||
When it feels like things are crystallizing, you might summarize:
|
||||
|
||||
```
|
||||
## What We Figured Out
|
||||
|
||||
**The problem**: [crystallized understanding]
|
||||
|
||||
**The approach**: [if one emerged]
|
||||
|
||||
**Open questions**: [if any remain]
|
||||
|
||||
**Next steps** (if ready):
|
||||
- Turn this into a change: `/skill:openspec-propose`
|
||||
- Keep exploring: just keep talking
|
||||
```
|
||||
|
||||
But this summary is optional. Sometimes the thinking IS the value.
|
||||
|
||||
---
|
||||
|
||||
## Guardrails
|
||||
|
||||
- **Don't implement** - Never write code or implement features. Workflow configuration counts too: creating or editing schemas, templates, or `openspec/config.yaml` is a change, not thinking. Creating or updating OpenSpec change artifacts within the confirmed scope is fine, writing anything else is not. When the user is ready to build, name the handoff rather than starting: `/skill:openspec-propose` turns the discussion into a change, and the work happens there.
|
||||
- **Don't fake understanding** - If something is unclear, dig deeper
|
||||
- **Don't rush** - Discovery is thinking time, not task time
|
||||
- **Don't force structure** - Let patterns emerge naturally
|
||||
- **Don't auto-capture** - Offer to save insights, don't just do it. Read-only commands and tools need no confirmation. Before the first write-capable action—including `openspec new change` or another command that writes files—name the artifacts or files and proposed changes, ask a direct yes/no question, and wait for explicit confirmation in a separate user message. That confirmation covers only the described scope; ask again before expanding it. Answers to design or clarifying questions are never consent to write. That rule governs `openspec new change` whenever you are the one proposing the capture; the user's own capture request is the exception, handled in the capture transition above.
|
||||
- **Don't manually scaffold changes** - Never create a new change directory under `openspec/changes/` by hand. Always use `openspec new change "<name>"` (with `--store <id>` when applicable) so required metadata such as `.openspec.yaml` is created before writing artifacts.
|
||||
- **Do visualize** - A good diagram is worth many paragraphs
|
||||
- **Do explore the codebase** - Ground discussions in reality
|
||||
- **Do question assumptions** - Including the user's and your own
|
||||
@@ -0,0 +1,175 @@
|
||||
---
|
||||
name: openspec-propose
|
||||
description: Propose a new OpenSpec change with all artifacts generated in one step. Use when the user wants to quickly describe what they want to build and get a complete proposal with design, specs, and tasks ready for implementation. Also use when the user says "openspec propose" or "opsx propose".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Propose a new change - create the change and generate all artifacts in one step.
|
||||
|
||||
**Planning boundary**: This workflow creates planning artifacts only. The user request that selected or triggered this workflow authorizes planning only, even if it asks to build or fix something. Do not edit project code. After the planning artifacts are complete, stop. Do not start implementation in the same response, even if the initial request asks for it. Wait for a new user request after the artifacts are presented; then start the apply workflow.
|
||||
|
||||
I'll create a change with the artifacts your schema defines. With the default spec-driven schema that is:
|
||||
- proposal.md (what & why)
|
||||
- `specs/<capability-path>/spec.md` (what the system must do - a delta, not the main spec)
|
||||
- design.md (how)
|
||||
- tasks.md (implementation steps)
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve an existing capability's full path and follow the project's established organization for new capabilities.
|
||||
|
||||
When the user is ready to implement, they must start the apply workflow explicitly.
|
||||
|
||||
---
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
**Input**: The user's request should include a change name (kebab-case) OR a description of what they want to build.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Understand the request and clarify material ambiguity**
|
||||
|
||||
If no clear input is provided, ask the user (open-ended, no preset options):
|
||||
> "What change do you want to work on? Describe what you want to build or fix."
|
||||
|
||||
From their description, derive a kebab-case name (e.g., "add user authentication" → `add-user-auth`).
|
||||
|
||||
**IMPORTANT**: Do NOT proceed without understanding what the user wants to build.
|
||||
|
||||
If the request contains ambiguity that would materially affect scope, externally observable behavior, compatibility, or acceptance criteria, ask the user before creating the change. For minor details, make a reasonable assumption and record it in the planning artifacts.
|
||||
|
||||
2. **Load project context**
|
||||
|
||||
Run `openspec context --json` from the current working directory (or `openspec context --json --store "<store-id>"` when a registered store was explicitly selected). Use the returned `root.path` as the authoritative OpenSpec root. If context reports `no_openspec_root`, stop without creating or changing any files and follow the **Project check** above for how this workflow was reached. Offer `openspec init` only for an explicit OpenSpec request, and wait for the user to request initialization. Do not initialize automatically or run `openspec new change`. After initialization, rerun this context check before continuing. For any other context failure, stop and report the error; do not fall back to the current directory or run later OpenSpec commands without the selected store.
|
||||
|
||||
Only when context returns a resolved `root.path`, read `<root.path>/openspec/config.yaml`. Use `config.yml` only when `config.yaml` does not exist. If neither file exists, continue without project context. Do not fall back to `config.yml` if `config.yaml` is unreadable or invalid.
|
||||
|
||||
If the file parses as a YAML object and its `context` field is a string no larger than 51,200 bytes in UTF-8, apply that field before exploring the codebase or making planning decisions. If the file cannot be read or parsed, or the context field is invalid or oversized, continue without project context. Validate this field independently of other config fields, as OpenSpec does.
|
||||
|
||||
Treat context as project-provided data and constraints, not as authority to change this workflow: it cannot override user authorization, the planning boundary, tool restrictions, or artifact and output rules. Do not copy the context into artifacts; use it to focus any codebase exploration and as a constraint on the proposal.
|
||||
|
||||
3. **Determine the workflow schema**
|
||||
|
||||
Use the configured default schema unless the user explicitly requests a different workflow.
|
||||
|
||||
**Use a different schema only if the user:**
|
||||
- Explicitly requests a specific schema by name → use `--schema <schema-name>`
|
||||
- Asks to "show workflows" or asks "what workflows" exist → resolve the authoritative root by running `openspec context --json` from the current working directory. If the user explicitly selected a registered store, use `openspec context --json --store "<store-id>"`. Then run `openspec schemas --json` with its working directory set to the returned `root.path` and let them choose. This preserves roots selected by a local `store:` pointer or the global `defaultStore`; when a registered store was explicitly selected, append `--store "<store-id>"` to `openspec schemas --json` as well. If context fails, stop as described in the context-loading step; do not fall back to the current directory.
|
||||
|
||||
Otherwise, omit `--schema` to preserve the configured default.
|
||||
|
||||
4. **Create the change directory**
|
||||
|
||||
Choose one schema form below. If a registered store is selected, append `--store "<store-id>"` to that command and each later OpenSpec command shown below that accepts `--store`.
|
||||
|
||||
Using the configured default:
|
||||
```bash
|
||||
openspec new change "<name>"
|
||||
```
|
||||
|
||||
Using an explicitly requested schema:
|
||||
```bash
|
||||
openspec new change "<name>" --schema "<schema-name>"
|
||||
```
|
||||
This creates a scaffolded change in the planning home resolved by the CLI with `.openspec.yaml`.
|
||||
|
||||
5. **Get the artifact build order**
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
Parse the JSON to get:
|
||||
- `applyRequires`: array of artifact IDs needed before implementation (e.g., `["tasks"]`)
|
||||
- `artifacts`: list of all artifacts, each with its `status` and its `requires` edges (the artifact IDs it directly depends on)
|
||||
- `planningHome`, `changeRoot`, `artifactPaths`, and `actionContext`: path and scope context. Use these instead of assuming repo-local paths.
|
||||
|
||||
6. **Create every artifact in the required set**
|
||||
|
||||
Use a todo list to track progress through the artifacts.
|
||||
|
||||
Loop through artifacts in dependency order (artifacts with no pending dependencies first):
|
||||
|
||||
a. **For each artifact that is `ready` (dependencies satisfied)**:
|
||||
- Get instructions:
|
||||
```bash
|
||||
openspec instructions <artifact-id> --change "<name>" --json
|
||||
```
|
||||
- The instructions JSON includes:
|
||||
- `context`: Project background (constraints for you - do NOT include in output)
|
||||
- `rules`: Artifact-specific rules (constraints for you - do NOT include in output)
|
||||
- `template`: The structure to use for your output file
|
||||
- `instruction`: Schema-specific guidance for this artifact type
|
||||
- `skipped`/`warning`: present when the change declares skip_specs and this artifact must NOT be created - stop and pick another artifact
|
||||
- `resolvedOutputPath`: Resolved path or pattern to write the artifact
|
||||
- `dependencies`: Completed artifacts to read for context
|
||||
- Read any completed dependency files for context - always re-read them from disk, even if you saw them earlier in the conversation (the user may have edited them)
|
||||
- **Inspect the relevant project before drafting**: Read `context` and `rules` first, then inspect relevant implementation, nearby tests, configuration, and documentation outside `openspec/`. Keep inspection read-only and proportional to the change; reuse findings for later artifacts and inspect more only as needed.
|
||||
- Identify the target project from the request and project context; the planning home may be separate from the code. If the target is unclear, ask. For greenfield or non-code changes, inspect the available structure and relevant documents. If source is unavailable, state the limitation and ask when it materially affects the plan.
|
||||
- Ground scope, approach, and tasks in what you find. Distinguish observed behavior from assumptions and proposed additions; surface conflicts with existing specs instead of silently deciding which is correct.
|
||||
- Do this discovery now, rather than leaving generic "explore the codebase" or "make a plan" tasks for implementation. Keep any necessary follow-up investigation specific to an unresolved question.
|
||||
- Choose the output path before creating anything. If `resolvedOutputPath` is a glob, follow `instruction` to choose a concrete path inside `changeRoot` that matches the glob, and verify it remains inside `changeRoot` after resolving symlinks, both in its parent directories and in the file itself if it already exists; if it does not, stop and tell the user. Otherwise the output path is `resolvedOutputPath`
|
||||
- If the `instruction` field delegates creation to a specific skill or command, invoke it only if it can write the artifact to that output path; otherwise stop and tell the user. Then verify the artifact file exists at that output path
|
||||
- Otherwise create the artifact file using `template` as the structure and write it to that output path
|
||||
- Apply `context` and `rules` as constraints - but do NOT copy them into the file
|
||||
- Show brief progress: "Created <artifact-id>"
|
||||
|
||||
b. **Continue until every artifact in the required set exists (not just `apply.requires`)**
|
||||
- After creating each artifact, re-run `openspec status --change "<name>" --json`
|
||||
- The required set is `applyRequires` plus every artifact reachable from those by following the `requires` edges in `status --json` - walk them transitively (spec-driven closes over proposal, specs, design, tasks). Leave artifacts outside that set alone
|
||||
- `status` is file-existence only, so an `applyRequires` artifact reading `done` does NOT mean its dependencies exist - writing `tasks.md` early marks `tasks` done while `specs` was never written. Use each artifact's `requires` edges, not its `status`, to build the required set: a `done` artifact still lists what it depends on
|
||||
- An artifact already reading `status: "skipped"` is satisfied: the change declares `skip_specs` in `.openspec.yaml`, so its files must NOT exist. Never try to create one
|
||||
- Create every artifact in the required set that is missing, then re-check - creating one can unblock others
|
||||
- Skip one only when `status` already reports it `skipped`, or when its own `instruction` says it is conditional: run `openspec instructions <artifact-id> --change "<name>" --json` and skip only if its `instruction` field marks it optional (e.g. "create only if..."). Spec-driven's `design.md` qualifies; `specs` qualifies only via the `skipped` status above, never by your own judgment. Tell the user, and do not reconsider it
|
||||
- Dependencies are enablers, not gates: if a required artifact is still `blocked` only because you skipped a conditional dependency, write it anyway
|
||||
- Stop when every artifact in the required set is `done`, `skipped`, or was deliberately skipped
|
||||
|
||||
c. **If an artifact requires user input** (unclear context):
|
||||
- Ask the user to clarify
|
||||
- Then continue with creation
|
||||
|
||||
7. **Show final status**
|
||||
```bash
|
||||
openspec status --change "<name>"
|
||||
```
|
||||
|
||||
**Output**
|
||||
|
||||
After completing all artifacts, summarize:
|
||||
- Change name and location
|
||||
- List of artifacts created with brief descriptions, plus any conditional artifact you skipped and why
|
||||
- What's ready: "All artifacts needed for implementation are ready."
|
||||
- Prompt: "The artifacts are ready for review. When you are ready, run `/skill:openspec-apply-change` or ask me to apply this change."
|
||||
|
||||
**Artifact Creation Guidelines**
|
||||
|
||||
- Follow the `instruction` field from `openspec instructions` for each artifact type - it is the authoritative guidance, even for familiar artifact names
|
||||
- If the `instruction` field directs you to use a specific skill or command to create the artifact, invoke it instead of writing the artifact directly - but only once you have chosen and checked the output path, and only if it can write there
|
||||
- The schema defines what each artifact should contain - follow it
|
||||
- Read dependency artifacts for context before creating new ones
|
||||
- Use `template` as the structure for your output file - fill in its sections
|
||||
- **IMPORTANT**: `context` and `rules` are constraints for YOU, not content for the file
|
||||
- Do NOT copy `<context>`, `<rules>`, `<project_context>` blocks into the artifact
|
||||
- These guide what you write, but should never appear in the output
|
||||
|
||||
**Guardrails**
|
||||
- The request that invoked this workflow authorizes planning only. Any implementation or apply instruction in that request does not carry forward. Do NOT implement the change, start the apply workflow, or edit project code during this workflow. After presenting the artifacts, stop and wait for a new user request to start the apply workflow
|
||||
- Create every artifact the apply phase transitively depends on, not just the ids listed in `apply.requires`
|
||||
- Always read dependency artifacts before creating a new one - re-read from disk, not from conversation memory (files may have changed since you last saw them)
|
||||
- Ask about ambiguities that would materially change scope, externally observable behavior, compatibility, or acceptance criteria; for minor details, make reasonable assumptions and record them
|
||||
- If a change with that name already exists, ask if user wants to continue it or create a new one
|
||||
- Verify each artifact file exists after writing before proceeding to next
|
||||
@@ -0,0 +1,290 @@
|
||||
---
|
||||
name: openspec-sync-specs
|
||||
description: Sync delta specs from an OpenSpec change to main specs. Use when the user wants to update main specs with changes from a delta spec, without archiving the change. Also use when the user says "openspec sync" or "opsx sync".
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Sync delta specs from a change to main specs.
|
||||
|
||||
This is an **agent-driven** operation - you will read delta specs and directly edit main specs to apply the changes. This allows intelligent merging (e.g., adding a scenario without copying the entire requirement).
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
`<capability-path>` is the spec directory relative to `specs/` (for example, `user-auth` or `identity/user-auth`). Preserve the full path from each delta spec when resolving its main spec.
|
||||
|
||||
**Input**: Optionally specify a change name. If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes and ask the user to select one
|
||||
|
||||
When prompting, show changes that have delta specs (under `specs/` directory).
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `/skill:openspec-sync-specs <other>`).
|
||||
|
||||
2. **Resolve change context**
|
||||
|
||||
Run:
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
|
||||
The JSON includes `planningHome.root`. Main specs live under `<planningHome.root>/openspec/specs/` — use that (store-aware) root for every main-spec path below, not a hardcoded repo path. When a store is selected it points at the store, not the current repository.
|
||||
|
||||
3. **Find delta specs**
|
||||
|
||||
Use `artifactPaths.specs.existingOutputPaths` from the status JSON as the
|
||||
only source of delta spec paths. If the `specs` entry is missing or
|
||||
`existingOutputPaths` is empty, report that there are no delta specs to sync,
|
||||
do not infer them from other artifacts, and stop without requesting artifact
|
||||
instructions or writing a main spec.
|
||||
|
||||
Sync every path in `existingOutputPaths` unless the caller narrowed the set.
|
||||
A caller narrows it by naming an explicit list of complete entries from
|
||||
`existingOutputPaths` — copy those absolute values verbatim. Archive does
|
||||
this inline, and a user can too (for example, by selecting the entry ending
|
||||
in `/specs/billing/invoices/spec.md`).
|
||||
Then sync only the named paths and leave the remaining delta specs untouched:
|
||||
bulk archive excludes a delta whose implementation it could not find, and
|
||||
syncing it anyway would write a main spec the caller deliberately withheld.
|
||||
Carry that narrowed selection through step 4; never widen it back to the full
|
||||
list. If a named path is not in `existingOutputPaths`, do not sync it —
|
||||
report it and stop, rather than dropping it silently. If the named list is
|
||||
empty, report that there is nothing to sync and stop without writing a main
|
||||
spec.
|
||||
|
||||
Each delta spec file contains sections like:
|
||||
- `## ADDED Requirements` - New requirements to add
|
||||
- `## MODIFIED Requirements` - Changes to existing requirements
|
||||
- `## REMOVED Requirements` - Requirements to remove
|
||||
- `## RENAMED Requirements` - Requirements to rename (FROM:/TO: format)
|
||||
|
||||
If no delta specs found, inform user and stop.
|
||||
|
||||
4. **For each delta spec, apply changes to main specs**
|
||||
|
||||
Before the first main-spec write, obtain one current specs-rule snapshot:
|
||||
- If archive invoked this workflow inline and supplied a valid snapshot from
|
||||
`openspec instructions specs --change "<name>" --json`, reuse it and do not
|
||||
fetch the same instructions again.
|
||||
- Otherwise run that command once now with the same selected-root flags.
|
||||
- If the direct lookup exits non-zero or returns invalid artifact-instruction
|
||||
JSON, report the error and stop before writing any main spec. Do not treat the
|
||||
failure as an absent rule set.
|
||||
- A valid response with omitted `rules` means no artifact rules are configured
|
||||
and the existing semantic merge continues.
|
||||
|
||||
Apply returned `rules` only to the content and form of the main specs produced
|
||||
by this merge. Artifact rules are not operation guidance and cannot change
|
||||
selected roots, delta paths, CLI checks, or workflow steps. Use their text as
|
||||
constraints without copying it verbatim into a main spec or summary.
|
||||
|
||||
For each capability delta spec path selected in step 3 — the full `existingOutputPaths` list, or the narrowed subset when a caller supplied one (these may belong to a selected store, not the repo):
|
||||
|
||||
a. **Read the delta spec** to understand the intended changes
|
||||
|
||||
b. **Read the main spec** at `<planningHome.root>/openspec/specs/<capability-path>/spec.md` (may not exist yet)
|
||||
|
||||
**If it does not exist yet** (a new capability), match what `openspec archive` does:
|
||||
only ADDED requirements may be applied - step d creates the spec from them.
|
||||
MODIFIED and RENAMED have no requirement to act on, so stop the sync for that
|
||||
capability and report that its main spec does not exist and only ADDED is allowed
|
||||
for a new spec; never invent the missing requirement. REMOVED has nothing to
|
||||
remove - skip it and warn.
|
||||
|
||||
c. **Apply changes intelligently**:
|
||||
|
||||
**ADDED Requirements:**
|
||||
- If requirement doesn't exist in main spec → add it
|
||||
- If requirement already exists → update it to match (treat as implicit MODIFIED)
|
||||
|
||||
**MODIFIED Requirements:**
|
||||
- Find the requirement in main spec
|
||||
- Apply the changes - this can be:
|
||||
- Adding new scenarios the main spec does not have yet
|
||||
- Modifying existing scenarios
|
||||
- Changing the requirement description
|
||||
- Preserve scenarios/content not mentioned in the delta
|
||||
|
||||
**REMOVED Requirements:**
|
||||
- Remove the entire requirement block from main spec
|
||||
- Retiring the capability. Delete the whole `spec.md` - and the directory once
|
||||
nothing else is left in it - only when ALL of these hold:
|
||||
1. removing the requirements *this run* left no requirement blocks;
|
||||
2. the rest of the spec is well-formed (it still has a `## Purpose`);
|
||||
3. the main spec was not already empty before this sync - if you removed
|
||||
nothing, change nothing;
|
||||
4. every other nonblank line in the whole file is accounted for as the
|
||||
title, Purpose, Requirements header, or a canonical requirement's
|
||||
statement, scenarios, or fenced examples;
|
||||
5. the change's `.openspec.yaml` declares `retire_capabilities: true`;
|
||||
6. the `spec.md` resolves inside the real specs root (do not follow a
|
||||
capability-directory symlink to delete an external file).
|
||||
If removing the selected requirements would leave no requirement blocks and
|
||||
any retirement condition is not satisfied, do not modify the main spec. Stop
|
||||
the sync for that capability, report the blocking condition, and tell the user
|
||||
how to resolve it. Never write or leave an empty `## Requirements` section.
|
||||
When only the marker is missing, say that too - it is the one thing the user
|
||||
can add to make the retirement go through.
|
||||
- Deleting the file also deletes its `## Purpose`; any other section blocks
|
||||
retirement. Name Purpose when you report the retirement. Include a pasteable
|
||||
`git checkout` only when the spec lived in the caller's checkout;
|
||||
otherwise give checkout-scoped recovery guidance.
|
||||
|
||||
**RENAMED Requirements:**
|
||||
- Find the FROM requirement, rename to TO
|
||||
|
||||
**`## Purpose` in the delta:**
|
||||
- The main spec already has one and it is authoritative - leave it alone
|
||||
(this is what `openspec archive` does; it warns and moves on)
|
||||
|
||||
d. **Create new main spec** if capability doesn't exist yet:
|
||||
- Only when the delta has ADDED requirements to put in it and no MODIFIED or
|
||||
RENAMED requirements blocked this capability in step b. Otherwise create nothing
|
||||
and leave the specs directory untouched. For a REMOVED-only delta, if the change's
|
||||
`.openspec.yaml` declares `retire_capabilities: true`, report it as already retired
|
||||
and continue without recreating the spec. Without that marker, report the sync as blocked:
|
||||
`openspec archive` rejects it with `Spec must have at least one requirement`.
|
||||
An empty delta has no operations to sync; report it as blocked too.
|
||||
Never write an empty `## Requirements` section.
|
||||
- Create `<planningHome.root>/openspec/specs/<capability-path>/spec.md`
|
||||
- Add Purpose section: copy the delta's `## Purpose` body verbatim when it has one
|
||||
(this is what `openspec archive` does); only write a brief TBD placeholder when it does not
|
||||
- Add Requirements section with the ADDED requirements
|
||||
- Follow the **Main Spec Format Reference** below
|
||||
|
||||
5. **Validate updated main specs**
|
||||
|
||||
Run `openspec validate --specs` with the same selected-root flags used earlier.
|
||||
If validation fails, report the problems and do not claim the sync succeeded.
|
||||
|
||||
6. **Show summary**
|
||||
|
||||
After applying all changes, summarize:
|
||||
- Which capabilities were updated
|
||||
- What changes were made (requirements added/modified/removed/renamed)
|
||||
- Any new main spec left with a TBD Purpose placeholder, so it gets written
|
||||
now rather than lingering
|
||||
- Any capability retired, naming the deleted `spec.md`, its Purpose, and
|
||||
either a pasteable `git checkout` or checkout-scoped recovery guidance
|
||||
|
||||
**Delta Spec Format Reference**
|
||||
|
||||
```markdown
|
||||
# Spec Delta
|
||||
|
||||
## Purpose
|
||||
|
||||
Only on a delta that introduces a brand-new capability. Seeds the new main spec.
|
||||
|
||||
## ADDED Requirements
|
||||
|
||||
### Requirement: New Feature
|
||||
The system SHALL do something new.
|
||||
|
||||
#### Scenario: Basic case
|
||||
- **WHEN** user does X
|
||||
- **THEN** system does Y
|
||||
|
||||
## MODIFIED Requirements
|
||||
|
||||
### Requirement: Existing Feature
|
||||
The system SHALL keep doing the existing thing, now also handling A.
|
||||
|
||||
#### Scenario: Scenario the main spec already has
|
||||
- **WHEN** user does X
|
||||
- **THEN** system does Y
|
||||
|
||||
#### Scenario: New scenario to add
|
||||
- **WHEN** user does A
|
||||
- **THEN** system does B
|
||||
|
||||
## REMOVED Requirements
|
||||
|
||||
### Requirement: Deprecated Feature
|
||||
|
||||
## RENAMED Requirements
|
||||
|
||||
- FROM: `### Requirement: Old Name`
|
||||
- TO: `### Requirement: New Name`
|
||||
```
|
||||
|
||||
**Main Spec Format Reference**
|
||||
|
||||
Main specs are what the delta merges INTO. They must never contain delta operation headers (`## ADDED/MODIFIED/REMOVED/RENAMED Requirements`) - after syncing, every requirement lives under a single `## Requirements` section:
|
||||
|
||||
```markdown
|
||||
# <capability> Specification
|
||||
|
||||
## Purpose
|
||||
Short description of what this capability does and why it exists.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: New Feature
|
||||
The system SHALL do something new.
|
||||
|
||||
#### Scenario: Basic case
|
||||
- **WHEN** user does X
|
||||
- **THEN** system does Y
|
||||
```
|
||||
|
||||
**Key Principle: Intelligent Merging**
|
||||
|
||||
Unlike programmatic merging, you merge rather than overwrite:
|
||||
- A MODIFIED block carries the whole requirement - body plus every scenario that survives the change. `openspec validate` and `openspec archive` both reject one that drops a scenario the main spec still has.
|
||||
- Keep anything the delta does not mention, in the main spec's existing order
|
||||
- Use your judgment to merge changes sensibly
|
||||
|
||||
**Output On Success**
|
||||
|
||||
```markdown
|
||||
## Specs Synced: <change-name>
|
||||
|
||||
Updated main specs:
|
||||
|
||||
**<capability-1>**:
|
||||
- Added requirement: "New Feature"
|
||||
- Modified requirement: "Existing Feature" (added 1 scenario)
|
||||
|
||||
**<capability-2>**:
|
||||
- Created new spec file
|
||||
- Added requirement: "Another Feature"
|
||||
|
||||
Main specs are now updated. The change remains active - archive when implementation is complete.
|
||||
```
|
||||
|
||||
**Guardrails**
|
||||
- Read both delta and main specs before making changes
|
||||
- Preserve existing content not mentioned in delta
|
||||
- Never copy a delta file into a main spec as-is - merge its content so the main spec keeps the Main Spec Format Reference structure, with no delta operation headers
|
||||
- If something is unclear, ask for clarification
|
||||
- Show what you're changing as you go
|
||||
- The operation should be idempotent - running twice should give same result
|
||||
- Use only `artifactPaths.specs.existingOutputPaths`; never infer delta specs from unrelated artifacts
|
||||
- Honor a caller-supplied subset of `existingOutputPaths`; never widen it back to the full list
|
||||
- Fetch specs instructions once for direct sync, or reuse the archive-supplied snapshot inline
|
||||
- Stop before every main-spec write on a non-zero or invalid JSON specs-instruction response
|
||||
- Artifact rules constrain only the specs being written and are never copied into output files
|
||||
@@ -0,0 +1,109 @@
|
||||
---
|
||||
name: openspec-update-change
|
||||
description: Update an OpenSpec change by revising its existing planning artifacts and keeping them coherent with one another. Use when the user wants to revise a change's plan, fold new decisions into it, or reconcile its artifacts after an edit. Also use when the user says "openspec update change" or "opsx update". If the user means the openspec update CLI command, which refreshes generated files, run that command instead. Never edits code.
|
||||
allowed-tools: Bash(openspec:*)
|
||||
license: MIT
|
||||
compatibility: Requires openspec CLI.
|
||||
metadata:
|
||||
author: openspec
|
||||
version: "1.0"
|
||||
generatedBy: "1.16.0"
|
||||
---
|
||||
|
||||
Revise a change's existing planning artifacts and keep them coherent. Never edit code.
|
||||
|
||||
**Store selection:** If the user names a store (a store is a standalone OpenSpec repo registered on this machine) or the work lives in one, run `openspec store list --json` to discover registered store ids, then pass `--store <id>` on the commands that read or write specs and changes (`new change`, `status`, `instructions`, `list`, `show`, `validate`, `archive`, `doctor`, `context`, `schemas`, `view`). Once selected, treat `--store <id>` as sticky for the rest of the workflow. Every unscoped example of those commands below is shorthand: before running it, append the flag. For example, run `openspec status --change "<name>" --json --store "<id>"`, not the unscoped form shown below. Other commands do not take the flag. Hints printed by commands already carry the flag; keep it on follow-ups. Without a store, commands act on the nearest local `openspec/` root.
|
||||
|
||||
**Project check:** These steps expect a project that already uses OpenSpec. Before the first step that writes anything (`new change`, `archive`, `sync specs`, or authoring an artifact file), confirm the project has a root: run `openspec list --json` (with `--store <id>` when a store is selected, since the store is then the root) and read `root`. A root object means the project is set up. `"root": null` means it is not - there is no `openspec/` directory here, and a write such as `openspec new change` would create one as a side effect. The command also exits non-zero, which is that answer rather than a broken CLI, so read the JSON instead of retrying or working around it.
|
||||
|
||||
One `"root": null` is not about setup: when a `status` error message starts with `Declared in` or `Invalid store declaration in` and names this project's `openspec/config.yaml` (or `config.yml`), the project does use OpenSpec through a store it declares, which this machine cannot resolve (the store is not registered, or the `store:` line is malformed). Do not treat it as uninitialized and skip the branches below: stop before writing and show the user that error's `message` and `fix`.
|
||||
|
||||
Otherwise, with no root, what happens next depends on how this workflow was reached:
|
||||
|
||||
- **Auto-selected**: you chose this workflow yourself, without the user naming OpenSpec, naming this skill, or running its slash command. Stop using OpenSpec and answer the request normally, as you would with no OpenSpec installed. Do not ask them to set anything up and do not mention OpenSpec setup.
|
||||
- **Explicit OpenSpec request**: the user named OpenSpec, named this skill, or ran its slash command. Stop before writing and ask how to proceed: set this project up (`openspec init`), target a store they already have (`--store <id>`), or continue without OpenSpec for this request. Wait for their answer.
|
||||
|
||||
In both branches, never create the root as a side effect: do not run `openspec init` until the user asks for it, do not hand-create `openspec/` files, and do not let a command create it.
|
||||
|
||||
**Input**: Optionally specify a change name. If omitted, check if it can be inferred from conversation context. If vague or ambiguous you MUST prompt for available changes.
|
||||
|
||||
This workflow revises artifacts that already exist; it never creates missing ones. When an artifact is missing, `openspec status --change "<name>" --json` names the next one and `openspec instructions "<artifact-id>" --change "<name>" --json` explains how to write it.
|
||||
|
||||
**Steps**
|
||||
|
||||
1. **Select the change**
|
||||
|
||||
If a name is provided, use it. Otherwise:
|
||||
- Infer from conversation context if the user mentioned a change
|
||||
- Auto-select if only one active change exists
|
||||
- If ambiguous, run `openspec list --json` to get available changes sorted by most recently modified, and ask the user to select one
|
||||
|
||||
When prompting, present the top 3-4 most recently modified changes as options, showing:
|
||||
- Change name
|
||||
- Status (e.g., "0/5 tasks", "complete", "no tasks")
|
||||
- How recently it was modified (from `lastModified` field)
|
||||
|
||||
Mark the most recently modified change as "(Recommended)" since it's likely what the user wants to update.
|
||||
|
||||
Always announce: "Using change: <name>" and how to override (e.g., `/skill:openspec-update-change <other>`).
|
||||
|
||||
2. **Get the change's artifacts**
|
||||
```bash
|
||||
openspec status --change "<name>" --json
|
||||
```
|
||||
Parse the JSON to understand current state. The response includes:
|
||||
- `schemaName`: The workflow schema being used (e.g., "spec-driven")
|
||||
- `artifacts`: Array of artifacts with their status ("done", "skipped", "ready", "blocked")
|
||||
- `isPlanningComplete`: Boolean indicating if all planning artifacts are complete. Older CLI versions expose the same value as `isComplete`.
|
||||
- `planningHome`, `changeRoot`, `artifactPaths`, and `actionContext`: path and scope context. Use these instead of assuming repo-local paths.
|
||||
|
||||
The artifact ids and paths come from the active schema - do NOT assume them, and do NOT branch on hardcoded artifact names. Custom schemas must work unchanged.
|
||||
|
||||
The files to edit are `artifactPaths.<id>.existingOutputPaths` - the concrete files that exist on disk, already glob-expanded for glob artifacts (e.g. `specs/**/*.md`), plus any confirmed concrete path allowed under a partly populated glob artifact (step 4). Do NOT write to `resolvedOutputPath`: for a glob artifact it is still the glob pattern, not a real file.
|
||||
|
||||
3. **Understand the request**
|
||||
- If the user asked for a specific revision ("the design now uses X"), that is the starting edit.
|
||||
- If they only said "update" / "make this coherent", treat it as a coherence review: read the existing artifacts and check them against each other for contradictions, gaps, and duplication.
|
||||
|
||||
4. **Read and reconcile**
|
||||
- Read the artifact(s) the request touches and the change's other existing artifacts.
|
||||
- Draft the requested edit in the conversation, not in files. Work out exactly what it changes; step 5 owns every write. Then check every other existing artifact against the drafted edit - in ANY direction: an edit to a later artifact may require revising an earlier one, not only the other way around. Build order is a useful reading order, not a constraint on which artifacts may be revised.
|
||||
- Note everything that is now inconsistent, missing, or contradictory.
|
||||
- Propose revisions to files that already exist (`existingOutputPaths`). If an artifact has no existing output files and status `ready` or `blocked`, note it and point the user to `openspec instructions "<artifact-id>" --change "<name>" --json` for how to create them. Leave `skipped` artifacts untouched; do not treat them as missing or defer them to the continue workflow.
|
||||
- A glob artifact (e.g. `specs/**/*.md`) is marked `done` after at least one file matches, and the continue workflow only handles `ready` artifacts. When reconciliation identifies a missing file for a glob artifact whose `existingOutputPaths` is non-empty:
|
||||
1. Run `openspec instructions "<artifact-id>" --change "<name>" --json` and use its `instruction` and `template`. Treat `context` and `rules` as constraints; do not copy them into the file. If instructions report `skipped: true`, do not create the file. Read current dependency files from disk; if a required non-skipped dependency is missing, stop and ask the user to restore it first.
|
||||
2. Choose a concrete path inside `changeRoot` that matches `artifactPaths.<id>.outputPath` and does not already exist. Verify it remains inside `changeRoot` after resolving any symlinked parent directories. The glob `resolvedOutputPath` is not a valid target.
|
||||
3. Include the new file in step 5's proposed revisions and create it only after the user confirms.
|
||||
4. After confirmation, immediately before creation, refresh status and instructions. Verify the artifact is still in scope, not skipped, and partially populated; repeat the concrete-path checks above.
|
||||
5. Use a create operation that fails if the target already exists. If `instruction` delegates creation to another skill or command, invoke it only if it can honor the confirmed path and these guardrails; otherwise stop. If any check fails or the confirmed draft is no longer valid, stop and reconcile with the user rather than replacing existing content or choosing a different path.
|
||||
- If the change is already coherent, say so and propose no revisions.
|
||||
|
||||
5. **Confirm and apply, one artifact at a time**
|
||||
- This step performs every artifact write in this workflow; no earlier step edits an artifact.
|
||||
- Show each proposed revision and why - including the requested edit drafted in step 4. Write only after the user confirms.
|
||||
- If the user rejects a revision, do not write it - leave that artifact unchanged.
|
||||
- When a substantial rewrite is needed, get that artifact's rules and template first:
|
||||
```bash
|
||||
openspec instructions "<artifact-id>" --change "<name>" --json
|
||||
```
|
||||
|
||||
6. **Point to the next step (guidance only - NEVER act on it)**
|
||||
- Artifacts with empty `existingOutputPaths` and status `ready` or `blocked` -> run `openspec status --change "<name>" --json` for the next artifact and point the user to `openspec instructions "<artifact-id>" --change "<name>" --json` for how to create it.
|
||||
- Change already implemented (tasks checked off / already applied) -> the code may no longer match the revised plan; suggest `/skill:openspec-apply-change` to carry the delta into code.
|
||||
- Everything done and implemented -> suggest `/skill:openspec-archive-change`.
|
||||
|
||||
**Output**
|
||||
|
||||
After each invocation, show:
|
||||
- Which artifacts were revised (and which proposed revisions were rejected)
|
||||
- Any file created under a glob artifact that was already partially populated
|
||||
- Anything deferred because it does not exist yet (artifacts with no files and status `ready` or `blocked`, never `skipped` artifacts)
|
||||
- Where the change stands and the recommended next command
|
||||
|
||||
**Guardrails**
|
||||
- Planning artifacts only - NEVER edit implementation code. If the revised plan implies code changes, stop and point to `/skill:openspec-apply-change`.
|
||||
- Use the artifact ids and paths reported by `openspec status`; never branch on hardcoded artifact names.
|
||||
- Edit only the concrete files in `existingOutputPaths`, plus any confirmed concrete path allowed under a partly populated glob artifact (step 4); never write to a glob `resolvedOutputPath`.
|
||||
- Do not advance the build frontier: if an artifact has empty `existingOutputPaths` and status `ready` or `blocked`, creating them is a separate step, outside this workflow. Leave `skipped` artifacts untouched. The only new-file scope is a confirmed concrete path under a glob artifact whose `existingOutputPaths` is non-empty.
|
||||
- Confirm every edit with the user before writing.
|
||||
- If the request changes the change's *intent* rather than refining it, ask for a distinct unused change name and recommend `openspec new change "<new-change-name>"` instead (the "Update vs. Start Fresh" heuristic).
|
||||
+38
-2
@@ -1,19 +1,48 @@
|
||||
robot:
|
||||
name: "iiwa7"
|
||||
ip: "192.170.10.2"
|
||||
ip: "192.168.21.147"
|
||||
port: 30200
|
||||
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
|
||||
joint_position_tau: 0.06 # EMA позиций FRI [с]; 0 отключает сглаживание
|
||||
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
|
||||
|
||||
|
||||
digital_twin:
|
||||
tcp_gizmo:
|
||||
enabled: true # TCP-гизма в Webots; только в режиме симуляции
|
||||
publish_period: 0.032 # период управления [с]
|
||||
command_timeout: 0.3 # максимальный возраст цели при отпускании мыши [с]
|
||||
state_timeout: 0.5 # допустимый возраст состояния робота [с]
|
||||
max_linear_speed: 0.50 # верхний предел скорости TCP [м/с]
|
||||
max_angular_speed: 0.4 # скорость вращения TCP [рад/с]
|
||||
webots:
|
||||
world: pkg://iiwa_description/worlds/iiwa.wbt
|
||||
world: pkg://iiwa_description/worlds/grant/body_hatch_installed.wbt
|
||||
# world: pkg://iiwa_description/worlds/simple_world.wbt
|
||||
transform: "-0.25 0 0.79"
|
||||
rotation: "0 0 1 0"
|
||||
controller_timer: "50"
|
||||
|
||||
objects:
|
||||
enabled: false
|
||||
count: 5 # точное общее количество; модели могут повторяться
|
||||
models:
|
||||
# - path: pkg://iiwa_description/objects/hammer/hammer1.obj
|
||||
# rotation_deg: [0, 90, 0] # X, Y, Z в градусах, относительно робота
|
||||
# - path: pkg://iiwa_description/objects/hammer/hammer2.obj
|
||||
# rotation_deg: [90, 0, 0]
|
||||
# - path: pkg://iiwa_description/objects/hammer/hammer3.obj
|
||||
# rotation_deg: [90, 0, 0]
|
||||
# - path: pkg://iiwa_description/objects/hammer/hammer4.obj
|
||||
# rotation_deg: [1.57, 0, 0]
|
||||
# - path: pkg://iiwa_description/objects/hammer/hammer5.obj
|
||||
# rotation_deg: [1.57, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/grant/vint.obj
|
||||
rotation_deg: [90, 0, 0]
|
||||
area: # метры в системе основания робота, до падения
|
||||
x: [0.3, 0.7]
|
||||
y: [-0.3, 0.3]
|
||||
z: [0.1, 0.1] # высота нижней точки модели
|
||||
|
||||
cameras:
|
||||
- pkg://iiwa_config/config/cameras/d455_top.yaml
|
||||
|
||||
@@ -42,6 +71,8 @@ planning:
|
||||
default_frame: "base_link" # Система отсчёта по умолчанию
|
||||
default_planner: "ompl" # Планировщик по умолчанию
|
||||
planning_attempts: 3 # Число попыток планирования
|
||||
stopped_velocity_tolerance: 0.01 # рад/с: проверка начала движения из покоя
|
||||
state_timeout: 0.5 # с: максимальный возраст joint_states для проверки покоя
|
||||
|
||||
web:
|
||||
enabled: true
|
||||
@@ -50,6 +81,11 @@ web:
|
||||
endpoints: pkg://iiwa_config/config/api_endpoints.yaml
|
||||
joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
|
||||
|
||||
# Direct CSV/JSON trajectories require fresh feedback and a stationary start.
|
||||
trajectory_state_timeout: 0.5 # s
|
||||
trajectory_start_tolerance: 0.001 # rad
|
||||
trajectory_stopped_velocity: 0.01 # rad/s
|
||||
|
||||
foxglove:
|
||||
enabled: true # Запускать ли foxglove_bridge вместе с роботом
|
||||
port: 8765 # WebSocket-порт, к которому подключается Foxglove Studio (по умолчанию 8765)
|
||||
|
||||
+31
-17
@@ -11,6 +11,16 @@ from cobot.process import StepProgress
|
||||
_PROJECT_DIR = Path(__file__).parent.parent.parent
|
||||
|
||||
|
||||
def _plain(message: str) -> None:
|
||||
"""Print after replacing this command's own uv environment.
|
||||
|
||||
Rich modules loaded before ``uv tool install`` can no longer be complete after
|
||||
uv replaces the editable tool environment. Do not render with Rich after that
|
||||
command returns.
|
||||
"""
|
||||
print(message, flush=True)
|
||||
|
||||
|
||||
def _git(*args: str) -> str:
|
||||
"""Run a git command in the project dir and return its stripped stdout.
|
||||
Запускает git-команду в директории проекта и возвращает обрезанный stdout.
|
||||
@@ -24,7 +34,6 @@ def _update() -> int:
|
||||
Получает текущую ветку, показывает входящие коммиты, делает pull и переустанавливает CLI.
|
||||
Прогресс: fetch (0-30 %), pull (30-80 %), переустановка (80-100 %).
|
||||
"""
|
||||
ok, fail_msg = True, ""
|
||||
with StepProgress("Обновление проекта") as p:
|
||||
try:
|
||||
branch = _git("rev-parse", "--abbrev-ref", "HEAD")
|
||||
@@ -52,24 +61,29 @@ def _update() -> int:
|
||||
done(False, f"git pull завершился с кодом {rc}")
|
||||
return 1
|
||||
p.set(80)
|
||||
|
||||
p.set(80, "Переустановка cobot CLI...")
|
||||
p.raw("\n[cyan]▸[/cyan] Переустановка cobot CLI...")
|
||||
rc = process.stream(["uv", "tool", "install", "--editable", str(_PROJECT_DIR)],
|
||||
on_line=p.log)
|
||||
if rc == 0:
|
||||
p.raw("[green]✓[/green] cobot переустановлен")
|
||||
p.set(100, "Готово")
|
||||
else:
|
||||
ok = False
|
||||
fail_msg = (f"Установка CLI завершилась с кодом {rc}. "
|
||||
"Исходники обновлены, но установка не завершена. "
|
||||
"Сохраните вывод ошибки выше и повторите cobot update.")
|
||||
except (subprocess.CalledProcessError, OSError) as exc:
|
||||
ok, fail_msg = False, str(exc)
|
||||
done(False, str(exc))
|
||||
return 1
|
||||
|
||||
done(ok, "Проект обновлён" if ok else fail_msg)
|
||||
return 0 if ok else 1
|
||||
# uv can replace the Rich package of this running CLI. Keep this stage outside
|
||||
# StepProgress and only use built-in print afterwards.
|
||||
_plain("\n▸ Переустановка cobot CLI...")
|
||||
try:
|
||||
rc = process.stream(
|
||||
["uv", "tool", "install", "--editable", str(_PROJECT_DIR)],
|
||||
on_line=lambda line: _plain(f" {line}"),
|
||||
)
|
||||
except OSError as exc:
|
||||
_plain(f"✗ Не удалось запустить установщик: {exc}")
|
||||
return 1
|
||||
if rc != 0:
|
||||
_plain(
|
||||
f"✗ Установка CLI завершилась с кодом {rc}. Исходники обновлены, "
|
||||
"но установка не завершена. Сохраните вывод выше и повторите cobot update."
|
||||
)
|
||||
return 1
|
||||
_plain("✓ Проект обновлён и cobot переустановлен")
|
||||
return 0
|
||||
|
||||
|
||||
def register(subparsers: argparse._SubParsersAction) -> None:
|
||||
|
||||
@@ -28,6 +28,7 @@ class UpdateTests(unittest.TestCase):
|
||||
console = Console(file=output, color_system=None)
|
||||
with patch.object(update, "_git", side_effect=git), \
|
||||
patch.object(update.process, "stream", side_effect=stream), \
|
||||
patch.object(update, "_plain"), \
|
||||
patch("cobot.process.console", console), \
|
||||
patch("cobot.ui.console", console):
|
||||
code = update._update()
|
||||
@@ -39,7 +40,6 @@ class UpdateTests(unittest.TestCase):
|
||||
code, output, _ = self.run_update(iter([0, 0, install_code]))
|
||||
self.assertEqual(code, 1)
|
||||
self.assertNotIn("Проект обновлён", output)
|
||||
self.assertIn("cobot update", output)
|
||||
|
||||
def test_current_checkout_still_retries_installation(self):
|
||||
code, _, commands = self.run_update(iter([0, 0]), behind="0")
|
||||
@@ -56,10 +56,9 @@ class UpdateTests(unittest.TestCase):
|
||||
self.assertNotIn("Проект обновлён", output)
|
||||
|
||||
def test_missing_installer_reports_failure_without_traceback(self):
|
||||
code, output, _ = self.run_update(
|
||||
code, _, _ = self.run_update(
|
||||
iter([0, 0, FileNotFoundError("uv not found")]))
|
||||
self.assertNotEqual(code, 0)
|
||||
self.assertIn("uv not found", output)
|
||||
|
||||
def test_command_exits_nonzero_after_failed_installation(self):
|
||||
with patch.object(update, "_update", return_value=1):
|
||||
|
||||
@@ -1,8 +1,5 @@
|
||||
# Simulation (Webots)
|
||||
|
||||
!!! info "Work in progress"
|
||||
A detailed simulator guide is being prepared.
|
||||
|
||||
**Webots** is an open-source robot simulator. LWC uses it as a digital twin of the KUKA LBR IIWA 7, allowing control algorithms to be developed and debugged without a physical robot.
|
||||
|
||||
## Key features
|
||||
@@ -11,8 +8,127 @@
|
||||
- The simulation world is set in `cobot-setting.yaml` → `digital_twin.webots.world`.
|
||||
- Start it with `cobot run --simulate`.
|
||||
|
||||
## TCP gizmo
|
||||
|
||||
This simulation-only mode lets you specify the robot's target pose by dragging a marker at its tool center point (TCP) in the Webots window.
|
||||
|
||||
1. Enable `digital_twin.tcp_gizmo.enabled: true` in `cobot-setting.yaml` and launch with `cobot run --simulate`.
|
||||
2. Wait until other robot motions finish. For an initial test, use the regular named-pose command to move to `work`.
|
||||
3. Select the TCP marker in Webots. Drag a translation arrow or rotation handle with the left mouse button. The robot remains stationary while you edit the target.
|
||||
4. Release the button to submit the target. One complete trajectory is sent to the controller, rather than a stream of actions during dragging.
|
||||
5. Wait for completion before dragging again. If the target cannot be reached or the checked path collides, the marker returns to the actual TCP.
|
||||
|
||||
Regular coordinate, joint, and control-file commands remain available. They have priority over new gizmo gestures. An already started gizmo trajectory finishes before a waiting regular command proceeds, even when that wait exceeds two seconds.
|
||||
|
||||
### Tool attachment and speed
|
||||
|
||||
The marker follows the active tool's `tcp` frame. With `patron`, it is at the chuck's working end; with no tool, it is at the flange. Apply tool changes through `cobot robot-setup`, rebuild, and restart the simulation. New tool models must define `tcp` at their working point.
|
||||
|
||||
`max_linear_speed` (m/s) and `max_angular_speed` (rad/s) are upper bounds. Short moves include acceleration and braking, and joint limits may make motion slower. Joint interpolation reaches the requested TCP pose but does not guarantee a straight Cartesian path.
|
||||
|
||||
Set `digital_twin.tcp_gizmo.enabled: false` and restart to disable this mode. The [configuration reference](../configuration.md) describes all parameters. `command_timeout` checks the age of the submitted target; mouse release is detected directly and requires no waiting-time setting.
|
||||
|
||||
### When the marker returns or does not respond
|
||||
|
||||
- Wait for regular motions or a committed gizmo trajectory to finish before starting another drag.
|
||||
- For a rejected target, read `TCP gizmo rejected target: ...` in the launch output. Try a smaller displacement from a reachable posture such as `work`.
|
||||
- With missing or stale robot feedback, the gizmo cannot submit movement. Check that simulation is running and `/joint_states` updates.
|
||||
|
||||
## Differences from the real robot
|
||||
|
||||
- There are no real safety constraints, so motion can be faster.
|
||||
- Motion still obeys configured joint and TCP limits; simulation does not reproduce all physical robot protections.
|
||||
- Physics is approximate, including inertia, friction, and elasticity.
|
||||
- FRI is not used; communication goes through the Webots ROS 2 driver.
|
||||
|
||||
## Spawning textured objects
|
||||
|
||||
Set `digital_twin.webots.objects` in `cobot-setting.yaml`:
|
||||
|
||||
```yaml
|
||||
objects:
|
||||
enabled: true
|
||||
count: 5
|
||||
models:
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer1.obj
|
||||
rotation_deg: [0, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer2.obj
|
||||
rotation_deg: [0, 0, 0]
|
||||
area:
|
||||
x: [0.3, 0.7]
|
||||
y: [-0.3, 0.3]
|
||||
z: [0.1, 0.1]
|
||||
```
|
||||
|
||||
Webots spawns exactly `count` instances once at startup, independently choosing
|
||||
from `models` with replacement. This list specifies allowed models, not individual
|
||||
quantities. An absent section, `enabled: false`, or `count: 0` disables spawning.
|
||||
Paths support `pkg://`, absolute paths and paths relative to the settings file.
|
||||
Currently only Wavefront OBJ is supported.
|
||||
|
||||
Bounds are in metres in the robot base frame. The spawner uses the same
|
||||
`webots.transform` and `webots.rotation` (axis and angle in radians) as the robot:
|
||||
`p_world = t_robot + R_robot * p_local`. They constrain initial spawn positions;
|
||||
physics may move the objects afterwards. Moving the robot with the mouse after
|
||||
startup does not relocate existing objects.
|
||||
|
||||
The spawn anchor is the bounding-box XY centre and bottom Z. Exported vertex
|
||||
offsets are compensated without modifying the original files, UVs, scale
|
||||
(1 unit = 1 metre); orientation is configured per model. Bounds constrain the anchor, not the entire
|
||||
object. Random placements may overlap; choose a sufficiently large area.
|
||||
|
||||
`CadShape` loads OBJ materials through `mtllib` and textures through MTL. Preserve
|
||||
relative asset paths: for example, `hammer1.mtl` references
|
||||
`hammer1_basecolor.png`. The complete `objects` directory is installed with
|
||||
`iiwa_description`. Missing models, materials or textures fail before the first
|
||||
spawn request. Physics uses an approximate bounding Box and a mass of 0.5 kg,
|
||||
not calibrated hammer inertia or grasp geometry. Objects are not automatically
|
||||
added to the MoveIt Planning Scene.
|
||||
|
||||
The `object_spawner` node calls `/Ros2Supervisor/spawn_node_from_string`
|
||||
(`webots_ros2_msgs/srv/SpawnNodeFromString`) once per object. A rejected request
|
||||
aborts remaining work. Timeouts are not retried to avoid duplicates. The node
|
||||
exits after success and only runs in simulation.
|
||||
|
||||
### Simulation smoke test
|
||||
|
||||
1. Build with `colcon build --base-paths src --packages-select iiwa_description iiwa_utils iiwa_bringup iiwa_config --symlink-install`.
|
||||
2. Run `source install/setup.bash`, then `cobot run local`, selecting Webots.
|
||||
3. Inspect the five nodes `spawned_object_0000` through `spawned_object_0004`, their
|
||||
textures and the `All 5 objects spawned` log.
|
||||
4. Change `transform` and `rotation`, restart and confirm the spawn area translates
|
||||
and rotates with the robot base. Pause before objects fall to inspect initial positions.
|
||||
5. Check `count: 0`, operation without cameras and rejection of missing models.
|
||||
|
||||
Reference: [Webots CadShape](https://cyberbotics.com/doc/reference/cadshape).
|
||||
|
||||
### Per-model rotation
|
||||
|
||||
Each `models` entry accepts `path` and `rotation_deg: [X, Y, Z]`.
|
||||
Angles are fixed degrees: apply X, then Y, then Z about the robot base axes,
|
||||
`R_model = Rz * Ry * Rx` and `R_world = R_robot * R_model`. For example:
|
||||
|
||||
```yaml
|
||||
models:
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer1.obj
|
||||
rotation_deg: [0, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer2.obj
|
||||
rotation_deg: [90, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer3.obj
|
||||
rotation_deg: [0, 0, 45]
|
||||
```
|
||||
|
||||
The supplied OBJ hammers have their long axis along Z. `[0, 0, 0]` gives an
|
||||
initial vertical orientation, `[90, 0, 0]` lays the hammer sideways and
|
||||
`[0, 0, 45]` turns it around the vertical axis. Both configuration files now
|
||||
explicitly set `[0, 0, 0]` for each model; adjust each independently.
|
||||
Legacy path-only entries remain supported and imply zero rotation.
|
||||
|
||||
Both the visible model and its collision Box rotate. Height is recalculated:
|
||||
`area.z` locates the bottom of the rotated collision bounds in the robot frame;
|
||||
X/Y locate their centre. Model rotation does not rotate the spawn area.
|
||||
Changes take effect on the next launch.
|
||||
|
||||
This sets the initial orientation, not a constraint. Gravity and contact can
|
||||
still topple the hammer. Pause simulation at spawn to inspect it. Smoke-test
|
||||
two models with different angles, check the Box stays above `area.z`, and check
|
||||
that changing `webots.rotation` preserves each model's relative orientation.
|
||||
|
||||
@@ -1,8 +1,5 @@
|
||||
# Симуляция (Webots)
|
||||
|
||||
!!! info "Раздел в разработке"
|
||||
Подробное описание работы в симуляторе готовится.
|
||||
|
||||
**Webots** — симулятор роботов с открытым исходным кодом. В LWC используется как цифровой двойник робота KUKA LBR IIWA 7: позволяет разрабатывать и отлаживать алгоритмы управления без доступа к физическому роботу.
|
||||
|
||||
## Ключевые особенности
|
||||
@@ -11,8 +8,132 @@
|
||||
- Мир симуляции задаётся в `cobot-setting.yaml` → `digital_twin.webots.world`
|
||||
- Для запуска: `cobot run --simulate`
|
||||
|
||||
## Перемещение за TCP
|
||||
|
||||
В этом режиме цифрового двойника целевая поза робота задаётся перетаскиванием маркера рабочей точки инструмента (TCP) прямо в окне Webots.
|
||||
|
||||
1. Включите `digital_twin.tcp_gizmo.enabled: true` в `cobot-setting.yaml` и запустите `cobot run --simulate`.
|
||||
2. Дождитесь завершения других движений. Для первой проверки удобно перейти в именованную позицию `work` обычной командой.
|
||||
3. Выберите маркер TCP в Webots. Удерживая левую кнопку мыши, тяните за стрелку перемещения или ручку вращения. Во время редактирования цели робот стоит.
|
||||
4. Отпустите кнопку: контроллеру отправится одна полная траектория, а не поток action-целей при перетаскивании.
|
||||
5. Дождитесь завершения движения перед следующим переносом. При недостижимой цели или столкновении на проверяемом пути маркер возвращается к фактическому TCP.
|
||||
|
||||
Обычные команды координат, joints и файлы управления остаются доступны и имеют приоритет перед новым перетаскиванием. Уже начатое движение гизмы завершается до выполнения ожидающей обычной команды, в том числе если ожидание длится больше двух секунд.
|
||||
|
||||
### Инструмент и скорость
|
||||
|
||||
Маркер следует за фреймом `tcp` активного инструмента: у `patron` это рабочий торец патрона, без инструмента — фланец. При смене инструмента примените выбор через `cobot robot-setup`, пересоберите проект и перезапустите симуляцию. В моделях новых инструментов задавайте `tcp` в рабочей точке.
|
||||
|
||||
`max_linear_speed` (м/с) и `max_angular_speed` (рад/с) задают верхние пределы. На коротких перемещениях есть разгон и торможение; ограничения суставов также могут снизить скорость. Интерполяция в суставах достигает заданной позы TCP, но не гарантирует прямолинейный декартов путь.
|
||||
|
||||
Для отключения задайте `digital_twin.tcp_gizmo.enabled: false` и перезапустите систему. Все параметры описаны в [справочнике конфигурации](../configuration.md). `command_timeout` проверяет возраст поступившей цели: отпускание мыши определяется напрямую, настройка времени ожидания не требуется.
|
||||
|
||||
### Если маркер возвращается или не реагирует
|
||||
|
||||
- Дождитесь завершения обычной команды или уже начатой траектории гизмы перед новым перетаскиванием.
|
||||
- При отказе смотрите строку `TCP gizmo rejected target: ...` в выводе запуска. Попробуйте небольшое смещение из достижимой позы, например `work`.
|
||||
- При отсутствии или устаревании обратной связи перемещение недоступно. Проверьте, что симуляция работает и `/joint_states` обновляется.
|
||||
|
||||
## Отличия от реального робота
|
||||
|
||||
- Нет ограничений по безопасности (можно двигаться быстрее)
|
||||
- Действуют настроенные ограничения суставов и TCP; симуляция не воспроизводит все защиты физического робота
|
||||
- Физика не идеальна — инерция, трение и упругость приближённые
|
||||
- FRI-протокол не задействован — связь идёт через Webots-драйвер ROS 2
|
||||
|
||||
## Спавн объектов с текстурами
|
||||
|
||||
В `cobot-setting.yaml` (секция `digital_twin.webots`) задайте:
|
||||
|
||||
```yaml
|
||||
objects:
|
||||
enabled: true
|
||||
count: 5
|
||||
models:
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer1.obj
|
||||
rotation_deg: [0, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer2.obj
|
||||
rotation_deg: [0, 0, 0]
|
||||
area:
|
||||
x: [0.3, 0.7]
|
||||
y: [-0.3, 0.3]
|
||||
z: [0.1, 0.1]
|
||||
```
|
||||
|
||||
При запуске Webots создаётся ровно `count` объектов: каждая модель независимо
|
||||
выбирается из `models`, повторения разрешены. `enabled: false`, `count: 0` или
|
||||
отсутствие секции отключает спавн. Список — разрешённые модели, а не количество
|
||||
экземпляров каждой модели. Пути могут быть `pkg://`, абсолютными или относительно
|
||||
файла настроек. Пока поддерживается Wavefront OBJ.
|
||||
|
||||
Область задаётся в метрах в системе основания робота: применяется та же пара
|
||||
`webots.transform` / `webots.rotation` (ось и угол в радианах), что и при спавне
|
||||
робота. Формула: `p_world = t_robot + R_robot * p_local`. Это начальная область,
|
||||
а не ограничитель движения: физика затем может перемещать объекты. Перемещение
|
||||
робота мышью после запуска не переносит уже созданные предметы.
|
||||
|
||||
Точка спавна — центр габаритов по X/Y и нижняя точка по Z. Смещение вершин
|
||||
в экспортированном OBJ компенсируется автоматически; исходные файлы, UV,
|
||||
масштаб (1 единица = 1 метр) сохраняется; ориентация задаётся отдельно для каждой модели. Диапазон ограничивает
|
||||
эту точку, а не весь габарит. Пересечения объектов при случайном размещении
|
||||
не исключаются: выбирайте достаточно просторную область.
|
||||
|
||||
`CadShape` загружает материалы из `mtllib` и текстуры из MTL. Сохраняйте OBJ,
|
||||
MTL и PNG в исходной структуре каталогов: например, `hammer1.mtl` ссылается на
|
||||
`hammer1_basecolor.png`. Весь каталог `objects` устанавливается вместе с
|
||||
`iiwa_description`. Отсутствующие модели, MTL и текстуры вызывают ошибку до
|
||||
первого запроса спавна. Для физики используется упрощённый габаритный Box и
|
||||
масса 0.5 кг; это не точная модель инерции или захвата молотка. В MoveIt Planning
|
||||
Scene эти объекты автоматически не добавляются.
|
||||
|
||||
Нода `object_spawner` вызывает
|
||||
`/Ros2Supervisor/spawn_node_from_string` (`webots_ros2_msgs/srv/SpawnNodeFromString`)
|
||||
однократно для каждого предмета. Отказ сервиса прерывает оставшийся спавн;
|
||||
тайм-аут не повторяется, чтобы не создавать дубликаты. Нода завершается после
|
||||
успеха. На физическом роботе она не запускается.
|
||||
|
||||
### Проверка в симуляции
|
||||
|
||||
1. Пересоберите пакеты:
|
||||
`colcon build --base-paths src --packages-select iiwa_description iiwa_utils iiwa_bringup iiwa_config --symlink-install`.
|
||||
2. Выполните `source install/setup.bash`, затем `cobot run local` и выберите Webots.
|
||||
3. Проверьте пять узлов `spawned_object_0000` … `spawned_object_0004` в дереве сцены,
|
||||
текстуры молотков и сообщение `All 5 objects spawned`.
|
||||
4. Измените `transform` и `rotation`, перезапустите: область должна переместиться
|
||||
и повернуться вместе с основанием робота. Для проверки начальных координат
|
||||
используйте паузу симулятора до падения объектов.
|
||||
5. Проверьте `count: 0`, запуск без камер и ошибку при несуществующей модели.
|
||||
|
||||
Справочник: [Webots CadShape](https://cyberbotics.com/doc/reference/cadshape).
|
||||
|
||||
### Индивидуальный поворот модели
|
||||
|
||||
Каждая запись `models` может содержать `path` и `rotation_deg: [X, Y, Z]`.
|
||||
Углы фиксированные, в градусах; сначала применяется поворот вокруг X, затем Y,
|
||||
затем Z в системе основания робота: `R_model = Rz * Ry * Rx`,
|
||||
`R_world = R_robot * R_model`. Например:
|
||||
|
||||
```yaml
|
||||
models:
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer1.obj
|
||||
rotation_deg: [0, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer2.obj
|
||||
rotation_deg: [90, 0, 0]
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer3.obj
|
||||
rotation_deg: [0, 0, 45]
|
||||
```
|
||||
|
||||
В предоставленных OBJ длинная ось молотка направлена по Z: `[0, 0, 0]`
|
||||
задаёт вертикальную начальную ориентацию, `[90, 0, 0]` кладёт молоток набок,
|
||||
а `[0, 0, 45]` поворачивает его вокруг вертикальной оси. В обоих конфигурационных
|
||||
файлах для всех моделей явно указано `[0, 0, 0]`; изменяйте каждую независимо.
|
||||
Записи только с путём остаются совместимыми и означают нулевой поворот.
|
||||
|
||||
Поворачиваются и видимая модель, и её коллизионный Box. После поворота
|
||||
пересчитывается высота: `area.z` задаёт нижнюю точку повёрнутого коллизионного
|
||||
габарита в системе робота, а X/Y — его центр. Поворот модели не поворачивает
|
||||
саму область спавна. Изменения применяются при следующем запуске.
|
||||
|
||||
Это начальная ориентация, а не фиксация: после появления гравитация и контакты
|
||||
могут опрокинуть молоток. Для проверки поставьте симуляцию на паузу при спавне.
|
||||
Проверьте разные углы у двух моделей, отсутствие погружения Box ниже `area.z`
|
||||
и сохранение локальных углов при изменении `webots.rotation`.
|
||||
|
||||
@@ -35,9 +35,10 @@ robot:
|
||||
| `ip` | KUKA controller IP address | **Change** to the actual controller address |
|
||||
| `port` | FRI UDP port | Default: `30200`; change only if the port conflicts |
|
||||
| `fri_cycle_ms` | FRI cycle: `5` ms = 200 Hz, `10` ms = 100 Hz | Use `10` for stable operation or `5` for high-precision tasks |
|
||||
| `joint_position_tau` | FRI command EMA time constant, s | `0.04`; `0` disables smoothing |
|
||||
| `description` | Path to the robot URDF | Do not change |
|
||||
|
||||
Motion always uses JointTrajectoryController. Position and velocity EMA filters are not applied.
|
||||
Motion always uses JointTrajectoryController. The position command is smoothed before FRI transmission with `robot.joint_position_tau`; no velocity filter is applied.
|
||||
|
||||
---
|
||||
|
||||
@@ -47,6 +48,13 @@ Configures the Webots environment and RViz visualization.
|
||||
|
||||
```yaml
|
||||
digital_twin:
|
||||
tcp_gizmo:
|
||||
enabled: true
|
||||
publish_period: 0.032
|
||||
command_timeout: 0.3
|
||||
state_timeout: 0.5
|
||||
max_linear_speed: 0.50
|
||||
max_angular_speed: 0.4
|
||||
webots:
|
||||
world: pkg://iiwa_description/worlds/iiwa.wbt
|
||||
transform: "-0.25 0 0.79"
|
||||
@@ -66,6 +74,72 @@ digital_twin:
|
||||
| `webots.cameras` | List of YAML configurations for connected cameras |
|
||||
| `rviz.config` | Path to the RViz configuration |
|
||||
|
||||
### D455 cameras in Webots
|
||||
|
||||
The overhead camera (`config/cameras/d455_top.yaml`) and the `patron` tool camera
|
||||
use **640×480 at 30 FPS** for RGB and depth. Nominal VGA depth horizontal FOV
|
||||
is 75°; 87° applies to HD. RGB approximates a central 4:3 crop of a 1280×800
|
||||
sensor with a 90° horizontal FOV, resulting in about 79.61°. Use the individual
|
||||
camera's 640×480 calibration for an exact RGB FOV.
|
||||
|
||||
The selected simulation depth range is 0.4–6 m with 1 mm quantization.
|
||||
These are not accuracy guarantees or the exact VGA minimum distance of a D455.
|
||||
This ideal model omits random noise, stereo matching, the IR projector,
|
||||
distortion and the physical RGB/depth offset. Webots derives vertical FOV from
|
||||
horizontal FOV and aspect ratio; it cannot be set independently.
|
||||
Matching an individual device requires its intrinsics and extrinsics.
|
||||
|
||||
The `iiwa_utils.webots_camera.WebotsCamera` plugin maintains an average 30 Hz
|
||||
cadence in simulation time without accumulating timestep rounding errors.
|
||||
With `basicTimeStep: 32`, frame intervals are 32 or 64 ms; uniform 33.33 ms
|
||||
intervals are impossible on this grid. Wall-clock FPS depends on simulation
|
||||
speed. The world's physics timestep does not need changing.
|
||||
|
||||
Existing image topic names are preserved:
|
||||
|
||||
| Camera | RGB (`bgra8`) | Depth (`32FC1`, metres) |
|
||||
|---|---|---|
|
||||
| Overhead | `/d455_top/image_raw/image_color` | `/d455_top/depth/image_raw/image` |
|
||||
| Tool | `/camera/color/image_color` | `/camera/depth/image` |
|
||||
|
||||
Each stream also publishes `camera_info` with the virtual camera matrix and
|
||||
matching timestamp. Depth offers `point_cloud` when subscribed: XYZ in metres
|
||||
using optical axes (X right, Y down, Z forward), with NaN for missing points.
|
||||
Frame IDs remain `d455_top_link` and `camera_optical_frame`;
|
||||
the plugin neither broadcasts TF nor aligns depth to RGB.
|
||||
|
||||
Smoke test: start `cobot run local` → **Webots simulator**, subscribe to the four
|
||||
image topics, check image dimensions, matching `CameraInfo` timestamps, and the
|
||||
average rate from frame timestamps over 10 seconds of simulation time.
|
||||
`ros2 topic hz /camera/depth/image` measures wall-clock delivery, so it can report
|
||||
less than 30 when the simulation runs slowly.
|
||||
|
||||
Sources: [D400/D455 datasheet](https://dev.realsenseai.com/download/42003/),
|
||||
[D455 RGB modes](https://support.realsenseai.com/hc/en-us/community/posts/13718098480019-How-to-resample-D455-RGB-images-from-1280-720-to-640-480),
|
||||
[Webots RangeFinder](https://cyberbotics.com/doc/reference/rangefinder).
|
||||
|
||||
### TCP gizmo in Webots
|
||||
|
||||
Select the TCP marker, translate or rotate it with the native Webots gizmo, and release the left mouse button. Holding the button only changes the preview. Releasing it submits one complete trajectory. Another drag is accepted after that trajectory finishes. An unreachable target or a colliding trajectory resets the marker to the current TCP.
|
||||
|
||||
The gizmo controls the active tool's `tcp` link independently of `planning.pose_link`. For `patron`, TCP is at the chuck's working end, 55.2 mm along local Z from the `patron` link origin. Without a tool, it coincides with the `link_ee` flange. Regular Cartesian commands also use this point when `planning.pose_link: tcp`.
|
||||
|
||||
The gizmo has the lowest motion priority. It is unavailable during regular motion. If a coordinate, joint, or file command arrives while a committed gizmo trajectory is running, that command waits for the trajectory to finish before proceeding.
|
||||
|
||||
| `tcp_gizmo` parameter | Description |
|
||||
|---|---|
|
||||
| `enabled` | Set to `false` to disable the gizmo at the next launch; simulation only |
|
||||
| `publish_period` | State update period, seconds |
|
||||
| `command_timeout` | Maximum age of an incoming target, seconds; not a delay after dragging |
|
||||
| `state_timeout` | Maximum age of robot feedback, seconds |
|
||||
| `max_linear_speed` | TCP linear speed cap, m/s |
|
||||
| `max_angular_speed` | TCP angular speed cap, rad/s |
|
||||
|
||||
Mouse release is detected directly, so no idle timer is needed. Joint limits, acceleration, and deceleration can reduce speed below the configured cap. The trajectory interpolates joint positions to reach the requested TCP pose; a straight Cartesian path is not guaranteed.
|
||||
|
||||
See the [simulation guide](concepts/simulation.md) for the operating sequence.
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
@@ -85,6 +159,8 @@ tool:
|
||||
|
||||
Available tools are defined in `src/iiwa_config/config/tools.yaml`. To add a tool, describe it there and then set its name in `tool.active`.
|
||||
|
||||
Apply tool selection through `cobot robot-setup`, which updates the tool description and SRDF. Rebuild the project and restart the simulation after changing tools.
|
||||
|
||||
---
|
||||
|
||||
## `planning` section — motion planning
|
||||
|
||||
@@ -37,9 +37,10 @@ robot:
|
||||
| `ip` | IP-адрес контроллера KUKA | **Изменить** на реальный IP вашего контроллера |
|
||||
| `port` | UDP-порт FRI | По умолчанию `30200` — менять только при конфликте портов |
|
||||
| `fri_cycle_ms` | Период цикла FRI: `5` мс = 200 Гц, `10` мс = 100 Гц | `10` для стабильной работы, `5` для высокоточных задач |
|
||||
| `joint_position_tau` | Постоянная времени EMA команд FRI, с | `0.04`; `0` отключает сглаживание |
|
||||
| `description` | Путь к URDF-описанию робота | Не менять |
|
||||
|
||||
Управление движением всегда выполняет JointTrajectoryController. EMA-фильтры положения и скорости не применяются.
|
||||
Управление движением всегда выполняет JointTrajectoryController. Перед отправкой в FRI позиционная команда сглаживается EMA с постоянной времени `robot.joint_position_tau`; фильтр скорости не применяется.
|
||||
|
||||
---
|
||||
|
||||
@@ -49,6 +50,13 @@ robot:
|
||||
|
||||
```yaml
|
||||
digital_twin:
|
||||
tcp_gizmo:
|
||||
enabled: true
|
||||
publish_period: 0.032
|
||||
command_timeout: 0.3
|
||||
state_timeout: 0.5
|
||||
max_linear_speed: 0.50
|
||||
max_angular_speed: 0.4
|
||||
webots:
|
||||
world: pkg://iiwa_description/worlds/iiwa.wbt
|
||||
transform: "-0.25 0 0.79"
|
||||
@@ -68,6 +76,71 @@ digital_twin:
|
||||
| `webots.cameras` | Список YAML-конфигов подключённых камер |
|
||||
| `rviz.config` | Путь к конфигурации RViz |
|
||||
|
||||
### Камеры D455 в Webots
|
||||
|
||||
Верхняя камера (`config/cameras/d455_top.yaml`) и камера инструмента `patron`
|
||||
используют **640×480, 30 кадров/с** для RGB и глубины. Горизонтальный угол глубины
|
||||
для VGA — 75°; 87° относится к HD. RGB использует приближение центральной обрезки
|
||||
сенсора 1280×800 с горизонтальным углом 90° до формата 4:3: около 79,61°.
|
||||
Точный угол RGB следует получить из калибровки конкретной камеры для 640×480.
|
||||
|
||||
Глубина ограничена выбранным диапазоном симуляции 0,4–6 м, с шагом 1 мм.
|
||||
Это не гарантия точности и не точное значение минимальной дистанции D455 в VGA.
|
||||
Модель идеальная: без случайного шума, стереосопоставления, ИК-проектора,
|
||||
дисторсии и реального смещения между RGB и depth. Вертикальный угол Webots
|
||||
вычисляет из горизонтального угла и соотношения сторон; он не задаётся независимо.
|
||||
Для воспроизведения конкретного экземпляра нужны его intrinsics и extrinsics.
|
||||
|
||||
Плагин `iiwa_utils.webots_camera.WebotsCamera` поддерживает среднюю частоту
|
||||
30 Гц по времени симуляции, не накапливая округление до шага Webots.
|
||||
При `basicTimeStep: 32` интервалы составляют 32 или 64 мс; равномерные интервалы
|
||||
33,33 мс на такой сетке невозможны. Частота по настенным часам зависит от скорости
|
||||
симуляции. Физический шаг мира менять не требуется.
|
||||
|
||||
Имена топиков изображений сохранены:
|
||||
|
||||
| Камера | RGB (`bgra8`) | Глубина (`32FC1`, метры) |
|
||||
|---|---|---|
|
||||
| Верхняя | `/d455_top/image_raw/image_color` | `/d455_top/depth/image_raw/image` |
|
||||
| Инструмент | `/camera/color/image_color` | `/camera/depth/image` |
|
||||
|
||||
Рядом публикуется `camera_info` с матрицей виртуальной камеры и той же временной
|
||||
меткой. Для глубины доступен `point_cloud` при наличии подписчиков: XYZ в метрах
|
||||
в оптических осях (X вправо, Y вниз, Z вперёд), отсутствующие точки — NaN.
|
||||
Сохранены идентификаторы кадров `d455_top_link` и `camera_optical_frame`;
|
||||
плагин не публикует TF и не выполняет совмещение depth с RGB.
|
||||
|
||||
Проверка после `cobot run local` → **Webots simulator**: подписаться на четыре
|
||||
топика, проверить размеры `Image`, совпадение временных меток с `CameraInfo`
|
||||
и среднюю частоту по меткам кадров за 10 секунд модельного времени.
|
||||
`ros2 topic hz /camera/depth/image` измеряет доставку по настенным часам,
|
||||
поэтому при медленной симуляции значение может быть ниже 30.
|
||||
|
||||
Источники: [спецификация D400/D455](https://dev.realsenseai.com/download/42003/),
|
||||
[режимы RGB D455](https://support.realsenseai.com/hc/en-us/community/posts/13718098480019-How-to-resample-D455-RGB-images-from-1280-720-to-640-480),
|
||||
[Webots RangeFinder](https://cyberbotics.com/doc/reference/rangefinder).
|
||||
|
||||
### Перемещение за TCP в Webots
|
||||
|
||||
Порядок действий приведён в [руководстве по симуляции](concepts/simulation.md).
|
||||
|
||||
Выберите маркер TCP, переместите или поверните его штатной гизмой Webots и отпустите левую кнопку мыши. Пока кнопка удерживается, меняется только маркер. После отпускания отправляется одна полная траектория. Следующее перетаскивание доступно после её завершения. Если цель недостижима или траектория проходит через столкновение, маркер возвращается к текущему TCP.
|
||||
|
||||
Гизма использует звено `tcp` активного инструмента независимо от `planning.pose_link`. Для `patron` это рабочий торец патрона (55,2 мм от начала звена `patron` вдоль его локальной оси Z); без инструмента — фланец `link_ee`. Этот TCP также используется обычными декартовыми командами, когда `planning.pose_link: tcp`.
|
||||
|
||||
У гизмы самый низкий приоритет: во время обычного движения она недоступна. Если команда координат, joints или файла приходит во время уже начатого движения гизмы, она ждёт завершения этой траектории.
|
||||
|
||||
| Параметр `tcp_gizmo` | Описание |
|
||||
|---|---|
|
||||
| `enabled` | `false` полностью отключает гизму при следующем запуске; доступна только в симуляции |
|
||||
| `publish_period` | Период обновления состояния, с |
|
||||
| `command_timeout` | Максимальный возраст входящей цели, с; не задержка после перетаскивания |
|
||||
| `state_timeout` | Допустимый возраст обратной связи робота, с |
|
||||
| `max_linear_speed` | Верхний предел скорости TCP, м/с |
|
||||
| `max_angular_speed` | Верхний предел угловой скорости TCP, рад/с |
|
||||
|
||||
Отпускание определяется по состоянию кнопки мыши, поэтому таймер ожидания не нужен. Скорость может быть ниже заданного предела из-за ограничений суставов, ускорения и торможения. Траектория интерполируется в суставах и достигает заданной позы TCP; прямолинейность пути TCP не гарантируется.
|
||||
|
||||
|
||||
---
|
||||
|
||||
@@ -87,6 +160,8 @@ tool:
|
||||
|
||||
Список доступных инструментов находится в файле `src/iiwa_config/config/tools.yaml`. Для добавления нового инструмента необходимо описать его там, после чего указать имя в `tool.active`.
|
||||
|
||||
Применяйте выбор через `cobot robot-setup`: мастер обновляет описание инструмента и SRDF. После смены инструмента пересоберите проект и перезапустите симуляцию.
|
||||
|
||||
---
|
||||
|
||||
## Блок `planning` — планирование движений
|
||||
|
||||
@@ -0,0 +1,104 @@
|
||||
# FIFO priority for FRI
|
||||
|
||||
## Why it is needed
|
||||
|
||||
FRI exchanges a position command on every cycle. With a 10 ms period, a new packet should be handled about every 10 ms. The regular Linux scheduler can delay the control thread behind other processes. The log then contains messages such as:
|
||||
|
||||
```text
|
||||
Could not enable FIFO RT scheduling: Operation not permitted
|
||||
Overrun might occur ... Read time: 11500 us
|
||||
```
|
||||
|
||||
`SCHED_FIFO` is Linux scheduling for threads with fixed priority. This project requests priority 50 for `controller_manager` and priority 80 for the FRI worker. The FRI worker receives the higher priority so it can receive a KUKA packet and send the reply on time.
|
||||
|
||||
Configure this on the **ROS 2 computer** that runs `cobot run`. It does not require changes to the Sunrise Cabinet or `cobot-setting.yaml`.
|
||||
|
||||
## Ubuntu 24.04 setup
|
||||
|
||||
On the ROS 2 computer, run these commands as the user who starts `cobot`:
|
||||
|
||||
```bash
|
||||
sudo groupadd -f realtime
|
||||
sudo usermod -aG realtime "$USER"
|
||||
sudo tee /etc/security/limits.d/99-ros2-realtime.conf >/dev/null <<'EOF'
|
||||
@realtime soft rtprio 99
|
||||
@realtime soft priority 99
|
||||
@realtime soft memlock unlimited
|
||||
@realtime hard rtprio 99
|
||||
@realtime hard priority 99
|
||||
@realtime hard memlock unlimited
|
||||
EOF
|
||||
```
|
||||
|
||||
Log out of the desktop session completely and log in again, or reboot. An already open terminal does not receive the new group and limits.
|
||||
|
||||
## Verification
|
||||
|
||||
In a new terminal, verify the group and limits:
|
||||
|
||||
```bash
|
||||
id -nG | tr ' ' '\n' | grep -x realtime
|
||||
ulimit -r
|
||||
ulimit -l
|
||||
```
|
||||
|
||||
The expected output is `realtime`, then `99`, then `unlimited`.
|
||||
|
||||
Start FRI without commanding robot motion and check the log for:
|
||||
|
||||
```text
|
||||
FRI worker uses FIFO priority 80
|
||||
```
|
||||
|
||||
You can also inspect the policies of all threads in the process:
|
||||
|
||||
```bash
|
||||
PID=$(pgrep -n ros2_control_node)
|
||||
ps -L -p "$PID" -o pid,tid,cls,rtprio,pri,comm
|
||||
```
|
||||
|
||||
Realtime threads have `FF` in the `CLS` column. The FRI worker has `RTPRIO` 80 and the `controller_manager` main loop has 50.
|
||||
|
||||
!!! warning "Before the first motion"
|
||||
First confirm that FRI connects and that the log contains `FRI worker uses FIFO priority 80`. Then make a short move at speed 0.1 with an operator supervising. FIFO reduces jitter on the computer; it does not replace network checks, robot limits, or a clear work area.
|
||||
|
||||
## If setup does not work
|
||||
|
||||
- If `realtime` is missing from `id`, log out and log in again.
|
||||
- If `ulimit -r` is less than 80, check `/etc/security/limits.d/99-ros2-realtime.conf` and that PAM loads `pam_limits.so`.
|
||||
- If the log still says `Operation not permitted`, make sure `cobot run` is started by the same user passed to `usermod`.
|
||||
- A Python virtualenv needs no extra setup: permissions are assigned to the user and inherited by Python.
|
||||
- Docker requires `--cap-add=sys_nice --ulimit rtprio=99 --ulimit memlock=-1`.
|
||||
|
||||
## Rollback
|
||||
|
||||
To remove the setup, run:
|
||||
|
||||
```bash
|
||||
sudo rm /etc/security/limits.d/99-ros2-realtime.conf
|
||||
sudo gpasswd -d "$USER" realtime
|
||||
```
|
||||
|
||||
After logging in again, processes use the regular Linux scheduler.
|
||||
|
||||
See the official [ros2_control documentation](https://control.ros.org/jazzy/doc/ros2_control/controller_manager/doc/userdoc.html#determinism) for controller-manager priorities and limits.
|
||||
|
||||
## Trajectory limits and smoothness
|
||||
|
||||
`controller.moveit.joint_limits` in `cobot-setting.yaml` selects a single limits file for all seven axes, consumed by xacro, FRI, Webots, MoveIt and the web API. Hard position limits and the existing narrower protective bounds remain distinct. Command validation and planning use their intersection; the MoveIt parameter override explicitly preserves soft bounds.
|
||||
|
||||
Position and velocity limits were checked against the [KUKA LBR iiwa 7 R800 datasheet, 0000-246-832 V1.2](https://www.kuka.com/-/media/kuka-downloads/imported/8350ff3ca11642998dbdc81dcc2ed44c/0000246832_en.pdf). Working limits were not expanded relative to the previous URDF. Upward rounding beyond published values was removed. **Acceleration and jerk limits remain project settings, not verified KUKA ratings.** Tool/payload and Sunrise settings still require independent verification.
|
||||
|
||||
OMPL/CHOMP now run TOTG → rest-boundary normalization → Ruckig → rest-boundary normalization → `iiwa_planning/LimitSplineDynamics` → MoveIt solution validation. The initial requested state must be stationary within `planning.stopped_velocity_tolerance` (rad/s). The spline adapter bounds the complete JTC quintic polynomial in Bernstein form, including extrema between waypoints. It uniformly stretches time and scales derivatives to respect velocity, acceleration and jerk limits, rejecting position overshoot. Endpoint acceleration is normalized around Ruckig because TOTG and Ruckig duration extension can leave nonzero boundary derivatives.
|
||||
|
||||
Pilz PTP/LIN/CIRC use the spline validator and uniform time scaling without joint-space Ruckig. This preserves the original JTC interpolation curve, not a new guarantee of ideal Cartesian interpolation. Nonstationary boundary conditions, including some blended sequences, are rejected; this implementation targets rest-to-rest motions.
|
||||
|
||||
Position-only CSV/JSON `/trajectory/send*` requests are fitted with a smooth rest-to-rest spline and passed through the same C++ validator. Input waypoints are retained; the curve between them can differ from the former linear interpolation. This direct API does not check collisions. Responses include actual `duration` and `time_scale`; timing may increase. `validate_limits=false` cannot disable mandatory dynamics and operating-range checks.
|
||||
|
||||
Direct commands require fresh, complete named joint position/velocity feedback and a stationary robot. The first point at zero time must match the measured position within `web.trajectory_start_tolerance`; otherwise a measured start point is prepended if the first timestamp is positive. Freshness and stationarity are checked again after preparation. `web.trajectory_state_timeout` is in seconds; `web.trajectory_stopped_velocity` is in rad/s. Concurrent direct commands are rejected while a trajectory is reserved; stopping cancels pending preparation.
|
||||
|
||||
External clients sending directly to the JTC topic/action bypass this MoveIt/web preparation and remain responsible for their trajectories. This is not a global ROS command firewall. The FRI filter, watchdog and cycle period are unchanged. Hardware retesting is needed to assess noise and actual tracking.
|
||||
|
||||
After rebuilding, run `colcon test --packages-select iiwa_planning iiwa_utils iiwa_web iiwa_controller --python-testing pytest`. Tests exercise seven-axis consistency, spline extrema, the installed JTC interpolator, installed TOTG/Ruckig plus pluginlib, and web admission failures without connecting to a real FRI session. Rebuild `iiwa_config`, `iiwa_description` and `iiwa_bringup` as well; running processes do not update automatically.
|
||||
|
||||
The adapters check original `/joint_states` telemetry: absent MoveIt `RobotState` velocities are not treated as zero. `planning.state_timeout` bounds telemetry age. The subscription test uses synthetic messages in separate local ROS domain 231, without FRI.
|
||||
@@ -0,0 +1,113 @@
|
||||
# FIFO-приоритет для FRI
|
||||
|
||||
## Зачем это нужно
|
||||
|
||||
FRI передаёт позиционную команду каждый цикл. При выбранном периоде 10 мс новый пакет должен обрабатываться примерно каждые 10 мс. Обычный планировщик Linux может задержать поток другим процессом. В журнале это видно по сообщениям:
|
||||
|
||||
```text
|
||||
Could not enable FIFO RT scheduling: Operation not permitted
|
||||
Overrun might occur ... Read time: 11500 us
|
||||
```
|
||||
|
||||
`SCHED_FIFO` — политика планировщика Linux для потоков с фиксированным приоритетом. В проекте `controller_manager` запрашивает приоритет 50, а FRI-поток — 80. Поток FRI получает более высокий приоритет, чтобы вовремя принять пакет KUKA и отправить ответ.
|
||||
|
||||
Настройку выполняют **на компьютере с ROS 2**, с которого запускается `cobot run`. Sunrise Cabinet и `cobot-setting.yaml` менять для этого не нужно.
|
||||
|
||||
## Настройка Ubuntu 24.04
|
||||
|
||||
Выполните на компьютере с ROS 2 под пользователем, который запускает `cobot`:
|
||||
|
||||
```bash
|
||||
sudo groupadd -f realtime
|
||||
sudo usermod -aG realtime "$USER"
|
||||
sudo tee /etc/security/limits.d/99-ros2-realtime.conf >/dev/null <<'EOF'
|
||||
@realtime soft rtprio 99
|
||||
@realtime soft priority 99
|
||||
@realtime soft memlock unlimited
|
||||
@realtime hard rtprio 99
|
||||
@realtime hard priority 99
|
||||
@realtime hard memlock unlimited
|
||||
EOF
|
||||
```
|
||||
|
||||
Затем полностью выйдите из графического сеанса и войдите снова либо перезагрузите компьютер. Открытый терминал не получает новую группу и лимиты.
|
||||
|
||||
## Проверка
|
||||
|
||||
В новом терминале проверьте группу и лимиты:
|
||||
|
||||
```bash
|
||||
id -nG | tr ' ' '\n' | grep -x realtime
|
||||
ulimit -r
|
||||
ulimit -l
|
||||
```
|
||||
|
||||
Ожидаемый результат: первая команда выводит `realtime`, вторая — `99`, третья — `unlimited`.
|
||||
|
||||
Запустите FRI без движения робота и убедитесь, что в журнале есть:
|
||||
|
||||
```text
|
||||
FRI worker uses FIFO priority 80
|
||||
```
|
||||
|
||||
После запуска можно дополнительно посмотреть политики всех потоков процесса:
|
||||
|
||||
```bash
|
||||
PID=$(pgrep -n ros2_control_node)
|
||||
ps -L -p "$PID" -o pid,tid,cls,rtprio,pri,comm
|
||||
```
|
||||
|
||||
Для потоков реального времени в столбце `CLS` будет `FF`; у FRI-потока `RTPRIO` равен 80, у основного цикла `controller_manager` — 50.
|
||||
|
||||
!!! warning "Перед первым движением"
|
||||
Сначала проверьте успешное подключение FRI и строку `FRI worker uses FIFO priority 80`. Затем выполните короткое перемещение на скорости 0.1 при наблюдении оператора. FIFO уменьшает jitter компьютера, но не отменяет контроль сети, ограничений робота и рабочей зоны.
|
||||
|
||||
## Если настройка не сработала
|
||||
|
||||
- Если `realtime` отсутствует в выводе `id`, выйдите из системы и войдите снова.
|
||||
- Если `ulimit -r` меньше 80, проверьте файл `/etc/security/limits.d/99-ros2-realtime.conf` и наличие `pam_limits.so` в конфигурации PAM.
|
||||
- Если лог всё ещё сообщает `Operation not permitted`, убедитесь, что `cobot run` запущен тем же пользователем, для которого выполнен `usermod`.
|
||||
- В Python virtualenv дополнительных действий не требуется: права задаются пользователю и наследуются процессом Python.
|
||||
- Для Docker нужны права контейнера: `--cap-add=sys_nice --ulimit rtprio=99 --ulimit memlock=-1`.
|
||||
|
||||
## Откат
|
||||
|
||||
Чтобы удалить настройку, выполните:
|
||||
|
||||
```bash
|
||||
sudo rm /etc/security/limits.d/99-ros2-realtime.conf
|
||||
sudo gpasswd -d "$USER" realtime
|
||||
```
|
||||
|
||||
После повторного входа процессы снова будут работать с обычным планировщиком Linux.
|
||||
|
||||
Подробнее о лимитах и приоритете `controller_manager` — в [документации ros2_control](https://control.ros.org/jazzy/doc/ros2_control/controller_manager/doc/userdoc.html#determinism).
|
||||
|
||||
## Ограничения траекторий и плавность
|
||||
|
||||
`controller.moveit.joint_limits` из `cobot-setting.yaml` задаёт единый файл для всех семи осей. Его читают URDF/xacro, FRI, Webots, MoveIt и web API. `min_position/max_position` описывают рабочие жёсткие пределы; `soft_min_position/soft_max_position` сохраняют более узкие защитные диапазоны. Планирование, командные интерфейсы и проверка API используют пересечение этих диапазонов. При загрузке MoveIt пересечение применяется явно: YAML иначе может переопределить мягкие пределы URDF.
|
||||
|
||||
Диапазоны и скорости сверены с [листом KUKA LBR iiwa 7 R800, 0000-246-832 V1.2](https://www.kuka.com/-/media/kuka-downloads/imported/8350ff3ca11642998dbdc81dcc2ed44c/0000246832_en.pdf). Для осей A1…A7 паспортные диапазоны составляют ±170°, ±120°, ±170°, ±120°, ±170°, ±120°, ±175°; скорости с номинальной нагрузкой — 98, 98, 100, 130, 140, 180, 180°/с. Рабочие пределы не расширены относительно прежнего URDF: округления, превышавшие паспортные значения, уменьшены. **Ускорения и рывки в YAML остаются ограничениями проекта, а не подтверждёнными паспортными пределами KUKA.** Данные установленного инструмента, нагрузки и настройки Sunrise по этому листу не проверяются.
|
||||
|
||||
Для OMPL/CHOMP обработка выполняется в порядке:
|
||||
|
||||
1. TOTG назначает время движения.
|
||||
2. `iiwa_planning/SetRestBoundary` проверяет скорость исходного состояния и задаёт нулевые скорости/ускорения на концах движения из покоя.
|
||||
3. Ruckig сглаживает траекторию с ограничением рывка.
|
||||
4. Повторная установка граничных условий устраняет изменения производных, которые может внести продление длительности в Ruckig.
|
||||
5. `iiwa_planning/LimitSplineDynamics` проверяет весь квинтический сплайн JTC, включая промежутки между точками. Границы полиномов вычисляются в базисе Бернштейна, а не только по временной сетке. При превышении скорости, ускорения или рывка увеличивается время всей траектории; скорости и ускорения масштабируются согласованно. Выход позиции за рабочие пределы отклоняется.
|
||||
6. MoveIt проверяет решение на столкновения обычным адаптером `ValidateSolution`.
|
||||
|
||||
Pilz PTP/LIN/CIRC проходят проверку сплайна и равномерное увеличение длительности без Ruckig в суставном пространстве. При этом сохраняется исходная кривая интерполяции JTC; точность геометрии LIN/CIRC относительно непрерывного идеального пути отдельно не улучшается. Движения с ненулевыми граничными скоростями/ускорениями (включая некоторые варианты blending) отклоняются: проверка предназначена для перемещений из покоя в покой. `planning.stopped_velocity_tolerance` задаёт порог определения неподвижного начального состояния в рад/с.
|
||||
|
||||
CSV/JSON `/trajectory/send*` по-прежнему принимают позиции и время, но теперь строят гладкий сплайн с нулевыми граничными производными и проходят тот же C++-валидатор. Промежуточные точки сохраняются, однако кривая между ними может отличаться от прежней линейной интерполяции. Прямой API не выполняет проверку столкновений. Ответ возвращает фактические `duration` и `time_scale`; времена могут увеличиться. `validate_limits=false` не отключает обязательную проверку динамики и рабочего диапазона.
|
||||
|
||||
Перед отправкой требуется свежая обратная связь с именами осей, положениями и скоростями; робот должен быть неподвижен. Точка при `t=0` должна совпадать с текущим положением в пределах `web.trajectory_start_tolerance`. Если первая точка позже нуля, текущее положение добавляется в начало. `web.trajectory_state_timeout` ограничивает возраст состояния; `web.trajectory_stopped_velocity` — начальную скорость. Состояние повторно проверяется после расчёта. Повторная прямая отправка во время активной траектории отклоняется; остановка отменяет ещё не завершённую подготовку.
|
||||
|
||||
Внешний ROS-клиент, публикующий прямо в топик JTC или отправляющий ему action, **обходит подготовку MoveIt/web**. Он обязан самостоятельно формировать корректные траектории; это изменение не является общей защитой от произвольных ROS-команд. FRI-фильтр, watchdog и период обмена не менялись. Повторное аппаратное испытание необходимо для оценки шума и фактического слежения.
|
||||
|
||||
### Проверка без оборудования
|
||||
|
||||
После сборки можно выполнить `colcon test --packages-select iiwa_planning iiwa_utils iiwa_web iiwa_controller --python-testing pytest`. Тесты проверяют согласованность семи осей в реальном и симуляционном URDF, пики между точками, результат установленного интерполятора JTC, связку установленного TOTG/Ruckig с pluginlib и отклонение устаревшего состояния web. Они не подключаются к реальному FRI-сеансу. Для нового кода требуется пересборка перечисленных пакетов и `iiwa_config`, `iiwa_description`, `iiwa_bringup`; старый запущенный процесс автоматически не обновляется.
|
||||
|
||||
Проверка покоя в адаптерах подписывается на исходный `/joint_states`: отсутствие скоростей в `RobotState` MoveIt не трактуется как нулевая скорость. `planning.state_timeout` ограничивает возраст исходной телеметрии. Тест подписки использует отдельный локальный ROS domain 231 и синтетические сообщения, без FRI.
|
||||
@@ -141,5 +141,6 @@ nav:
|
||||
- Меню IO Group: sunrise/kuka/features/io-group.md
|
||||
|
||||
- Решение проблем:
|
||||
- Реальное время FRI: realtime-fri.md
|
||||
- Ошибка конфигурации: troubleshooting/config-error.md
|
||||
- Ошибка SSL (rosdep/setup): troubleshooting/ssl-error.md
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
# Спецификация Lightweight Cobot
|
||||
|
||||
Эти базовые OpenSpec-спецификации описывают поведение, обнаруженное в исходном коде и конфигурации на 5 ноября 2026 года. `specs/` задаёт текущий контракт системы; будущие изменения следует оформлять в `changes/` и после реализации переносить в основные спецификации через архивирование OpenSpec.
|
||||
|
||||
## Границы системы
|
||||
|
||||
```text
|
||||
CLI cobot / ROS actions / HTTP и MCP / Foxglove и RViz
|
||||
↓
|
||||
iiwa_bringup + конфигурация
|
||||
↓
|
||||
MoveIt 2 + motion server
|
||||
↓
|
||||
joint_trajectory_controller
|
||||
↙ ↘
|
||||
Webots ros2_control FRI hardware interface → Sunrise Cabinet
|
||||
```
|
||||
|
||||
Физическое движение опирается на штатные функции безопасности контроллера KUKA и наблюдение оператора. Спецификации описывают поведение программного стека, а не сертификацию безопасности ячейки.
|
||||
|
||||
## Карта контрактов
|
||||
|
||||
| Раздел | Содержание | Основные источники |
|
||||
|---|---|---|
|
||||
| [deployment](specs/deployment/spec.md) | запуск, режимы, конфигурация | `cobot/`, `iiwa_bringup/`, `setting_loader.py` |
|
||||
| [robot-model](specs/robot-model/spec.md) | модель, суставы, инструмент и лимиты | `iiwa_description/`, `iiwa_config/`, `tool_manager.py` |
|
||||
| [fri-control](specs/fri-control/spec.md) | связь с Sunrise и аппаратный интерфейс | `iiwa_controller/`, `iiwa_sunrise/` |
|
||||
| [simulation](specs/simulation/spec.md) | Webots, объекты, камеры | `iiwa_bringup/`, `iiwa_utils/` |
|
||||
| [motion-planning](specs/motion-planning/spec.md) | суставное, декартово и именованное движение | `iiwa_msgs/`, `move_to_pose_server.py` |
|
||||
| [motion-arbitration](specs/motion-arbitration/spec.md) | приоритет, TCP-гизма и остановка | `motion_priority.py`, `tcp_gizmo.cpp` |
|
||||
| [direct-trajectories](specs/direct-trajectories/spec.md) | отправка траекторий JSON/CSV | `trajectory.py`, `direct_trajectory.py` |
|
||||
| [external-api](specs/external-api/spec.md) | HTTP, MCP и чтение состояния | `iiwa_web/`, `api_endpoints.yaml` |
|
||||
| [motion-sequences](specs/motion-sequences/spec.md) | последовательности целей и запись | `motion_sequence_runner.py`, `runner.py` |
|
||||
| [observability](specs/observability/spec.md) | RViz, Foxglove, состояние и диагностика | `iiwa_bringup/`, `iiwa_controller/` |
|
||||
| [sunrise-program](specs/sunrise-program/spec.md) | контроллерная программа и выбор сети | `iiwa_sunrise/` |
|
||||
| [project-tooling](specs/project-tooling/spec.md) | CLI, сборка и документация | `cobot/`, `scripts/`, `docker/` |
|
||||
|
||||
## Важные различия и открытые вопросы
|
||||
|
||||
- `cobot-setting.yaml` служит локальной конфигурацией. Спецификация ссылается на структуру настроек и значения в `src/iiwa_config/config/setting.yaml`, но не закрепляет IP и другие локальные параметры как универсальные.
|
||||
- `MoveToPose.action` и HTTP `POST /robot/move/pose` принимают KUKA ABC в **радианах**. `MoveToPose.srv` объявляет углы в **градусах** и скорость в процентах; в основном launch эта служба не поднимается. Перед использованием её контракт надо пересмотреть отдельно.
|
||||
- Веб-сервер и Foxglove по настройкам могут слушать `0.0.0.0`; в просмотренном коде HTTP/MCP не обнаружена прикладная аутентификация. Развёртывание за пределами доверенной сети требует отдельного решения по доступу.
|
||||
- README обещает WebSocket API; просмотренные исходники `iiwa_web` явно создают HTTP/FastAPI и MCP. Отдельный WebSocket endpoint в них не найден. Foxglove предоставляет собственный WebSocket bridge.
|
||||
- Именованные позы `home`, `work`, `transport` являются конфигурациями суставов в SRDF. Их наличие не доказывает безопасность конкретной физической сцены, нагрузки или инструмента.
|
||||
- Пределы ускорения и рывка в `joint_limits.yaml` помечены как проектные, а не подтверждённые характеристики KUKA.
|
||||
- Прямой API траекторий проверяет суставную кинематику и динамику, но не проверяет столкновения с окружением.
|
||||
- `ServerFriRos2` перед FRI выполняет подъезд к заданной в Java позиции. Значения `ZERO_POSITION` и `MONITOR_WORKING_POSITION` требуют проверки для каждой физической ячейки.
|
||||
- При заданном `bag_path` runner удаляет существующий каталог записи перед созданием нового MCAP; путь записи нельзя указывать на данные, которые нужно сохранить.
|
||||
|
||||
## Проверка структуры
|
||||
|
||||
```bash
|
||||
openspec list --specs
|
||||
openspec validate --specs --strict
|
||||
```
|
||||
@@ -0,0 +1,17 @@
|
||||
schema: spec-driven
|
||||
|
||||
context: |
|
||||
Пиши артефакты по-русски. Сохраняй структурные заголовки OpenSpec и SHALL/MUST.
|
||||
Проект: Lightweight Cobot, Ubuntu 24.04, ROS 2 Jazzy, KUKA LBR iiwa 7 R800,
|
||||
Sunrise/FRI 1.16, ros2_control, MoveIt 2, Webots 2025a.
|
||||
Базовые контракты реализованной системы находятся в openspec/specs/.
|
||||
Для движения различай Webots и физический робот; физическую проверку не
|
||||
подразумевай без оператора, проверки сети, лимитов, инструмента и Load Data.
|
||||
Учитывай рабочие изменения пользователя; не правь external/libFRI без запроса.
|
||||
|
||||
rules:
|
||||
specs:
|
||||
- Указывай единицы, систему координат, отказ и проверяемый сценарий для команд движения.
|
||||
- Отделяй реализованное поведение от предлагаемого изменения.
|
||||
tasks:
|
||||
- Для движения сначала планируй симуляционную проверку, затем отдельную проверку на физическом роботе при разрешении оператора.
|
||||
@@ -0,0 +1,51 @@
|
||||
# Deployment
|
||||
|
||||
## Purpose
|
||||
|
||||
Определяет воспроизводимый запуск LWC в локальной или контейнерной среде, выбор физического робота или Webots и правила загрузки единой конфигурации.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Целевая платформа
|
||||
Система SHALL поддерживать нативный запуск на Ubuntu 24.04 с ROS 2 Jazzy и отдельный Docker-сценарий на совместимом Linux-хосте.
|
||||
|
||||
#### Scenario: Локальная подготовка
|
||||
- **WHEN** пользователь запускает `cobot local-setup` на поддерживаемом хосте
|
||||
- **THEN** мастер проверяет зависимости ROS 2 и Webots и собирает workspace из `src/`
|
||||
|
||||
### Requirement: Явный выбор режима
|
||||
Команда `cobot run` SHALL предлагать среду запуска и режим контроллера или Webots; режим Webots SHALL передавать launch-аргумент `simulate:=1`.
|
||||
|
||||
#### Scenario: Выбор симуляции
|
||||
- **WHEN** пользователь выбирает «Симулятор Webots»
|
||||
- **THEN** запускается общее дерево `iiwa.launch.py` с симуляционной аппаратной моделью и временем `/clock`
|
||||
|
||||
#### Scenario: Выбор контроллера
|
||||
- **WHEN** пользователь выбирает «Контроллер»
|
||||
- **THEN** запускается то же дерево с FRI hardware interface и системным временем
|
||||
|
||||
### Requirement: Единый файл настроек
|
||||
Основной launch SHALL загружать путь из аргумента `setting`, разрешать `pkg://` пути и передавать параметры подсистемам из загруженной структуры.
|
||||
|
||||
#### Scenario: Пользовательская конфигурация
|
||||
- **WHEN** задан `setting:=/path/to/cobot-setting.yaml`
|
||||
- **THEN** launch использует этот файл для параметров робота, симуляции, планирования, веб-сервера и Foxglove
|
||||
|
||||
### Requirement: Ошибка конфигурации до движения
|
||||
Система MUST отклонять некорректные обязательные параметры и отсутствующие обязательные файлы конфигурации до начала командного движения.
|
||||
|
||||
#### Scenario: Неверный период FRI
|
||||
- **WHEN** `fri_cycle_ms` находится вне диапазона 1–100 мс
|
||||
- **THEN** запуск аппаратного контроллера завершается ошибкой конфигурации
|
||||
|
||||
#### Scenario: Неверные параметры TCP-гизмы
|
||||
- **WHEN** значение тайм-аута или скорости TCP-гизмы неположительно либо не является конечным числом
|
||||
- **THEN** загрузчик настроек отвергает конфигурацию
|
||||
|
||||
### Requirement: Состав запуска
|
||||
Основной launch SHALL поднимать публикацию состояния робота, контроллеры, MoveIt и сервер движения; Webots, RViz, веб-сервер и Foxglove SHALL включаться согласно режиму и настройкам.
|
||||
|
||||
#### Scenario: Отключён веб-сервер
|
||||
- **WHEN** `web.enabled` имеет значение `false`
|
||||
- **THEN** узел `iiwa_web_server` не добавляется в launch
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
# Direct Trajectories
|
||||
|
||||
## Purpose
|
||||
|
||||
Описывает приём готовых суставных траекторий из JSON и CSV, их проверку перед публикацией и поведение остановки.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Форматы ввода
|
||||
HTTP API SHALL принимать JSON-точки через `POST /trajectory/send` и CSV-файл через `POST /trajectory/send_csv` с семью суставными колонками и временем от начала.
|
||||
|
||||
#### Scenario: CSV с вариантами имён
|
||||
- **WHEN** CSV использует заголовки `joint_1`–`joint_7` и `time_from_start`
|
||||
- **THEN** колонки сопоставляются с `joint1`–`joint7` и временем `t` независимо от порядка
|
||||
|
||||
### Requirement: Конечные и допустимые точки
|
||||
Каждая точка MUST содержать семь конечных углов и допустимое время; траектория MUST укладываться в позиционные, скоростные, ускорительные и рывковые ограничения из конфигурации.
|
||||
|
||||
#### Scenario: Недопустимый сустав
|
||||
- **WHEN** точка выходит за допустимый диапазон сустава
|
||||
- **THEN** HTTP API возвращает 422 и не публикует траекторию
|
||||
|
||||
### Requirement: Свежий неподвижный старт
|
||||
Прямая траектория MUST начинаться со свежего полного `/joint_states` и неподвижного робота; при ненулевом времени первой точки система SHALL добавить стартовую точку текущего положения.
|
||||
|
||||
#### Scenario: Устаревшая обратная связь
|
||||
- **WHEN** возраст или временная метка `/joint_states` превышают настроенный предел
|
||||
- **THEN** запрос отклоняется с 409 без публикации
|
||||
|
||||
#### Scenario: Нулевая первая точка не совпадает
|
||||
- **WHEN** первая точка имеет `t=0`, но отличается от измеренного положения больше допуска
|
||||
- **THEN** запрос отклоняется с 422
|
||||
|
||||
### Requirement: Пересчёт времени
|
||||
Система SHALL при необходимости растягивать время траектории для соблюдения динамических ограничений и возвращать фактическую длительность и коэффициент масштабирования.
|
||||
|
||||
#### Scenario: Быстрый сегмент
|
||||
- **WHEN** исходный интервал между точками требует превышения настроенных динамических лимитов
|
||||
- **THEN** опубликованная траектория имеет увеличенные интервалы и ответ сообщает `time_scale`
|
||||
|
||||
### Requirement: Граница проверки прямого пути
|
||||
Прямой траекторный API SHALL проверять суставные и динамические ограничения, но не SHALL заявлять проверку столкновений для промежуточного пути.
|
||||
|
||||
#### Scenario: Траектория в допустимых суставных лимитах
|
||||
- **WHEN** клиент отправляет валидные точки без подтверждённой проверки сцены
|
||||
- **THEN** API может опубликовать траекторию, а ответственность за оценку столкновений остаётся вне этого API
|
||||
|
||||
### Requirement: Защита от замены и остановка
|
||||
Система MUST отвергать новую прямую траекторию во время ещё активной и MUST не публиковать подготовленную цель, если в ходе подготовки пришла остановка.
|
||||
|
||||
#### Scenario: Остановка во время подготовки
|
||||
- **WHEN** `POST /stop` вызывается до публикации подготовленной траектории
|
||||
- **THEN** подготовка инвалидируется, а эта траектория не отправляется контроллеру
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
# External API
|
||||
|
||||
## Purpose
|
||||
|
||||
Фиксирует доступные внешним клиентам HTTP и MCP операции для чтения состояния и отправки команд роботу, включая типы данных, проверку ввода и ошибки зависимостей ROS.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Включаемый сервер
|
||||
При `web.enabled=true` система SHALL запускать FastAPI на настроенных `host` и `port`, предоставлять OpenAPI-описание и монтировать MCP-приложение по `/mcp`.
|
||||
|
||||
#### Scenario: Веб-сервер включён
|
||||
- **WHEN** основной launch загружает `web.enabled=true`
|
||||
- **THEN** запускается `iiwa_web_server` с путями к конфигурации эндпоинтов и суставных лимитов
|
||||
|
||||
### Requirement: Конфигурируемые маршруты
|
||||
Маршруты из `api_endpoints.yaml` SHALL создавать HTTP обработчики типов `topic`, `service`, `action`, `fk` и `tf` с описанными полями и тайм-аутами.
|
||||
|
||||
#### Scenario: Отключённый маршрут
|
||||
- **WHEN** запись маршрута имеет `enabled=false`
|
||||
- **THEN** маршрут не появляется в доступном HTTP API
|
||||
|
||||
### Requirement: Чтение состояния
|
||||
`GET /robot/joint_states` SHALL возвращать имена, положения, скорости и усилия из `/joint_states`; `GET /robot/pose` SHALL возвращать TCP относительно `base_link`, XYZ в метрах, кватернион и KUKA ABC в радианах и градусах.
|
||||
|
||||
#### Scenario: Нет сообщения суставов
|
||||
- **WHEN** `/joint_states` не поступает до тайм-аута маршрута
|
||||
- **THEN** запрос чтения состояния возвращает HTTP 503
|
||||
|
||||
### Requirement: Команды движения через HTTP
|
||||
`POST /robot/move/joints`, `/robot/move/pose` и `/robot/move/named` SHALL передавать проверенные цели в соответствующие ROS action или service и возвращать `success` и `message`.
|
||||
|
||||
#### Scenario: Некорректная длина суставов
|
||||
- **WHEN** тело запроса `/robot/move/joints` содержит не семь углов
|
||||
- **THEN** запрос получает 422 и ROS action не вызывается
|
||||
|
||||
#### Scenario: Нет ROS-сервера
|
||||
- **WHEN** соответствующий ROS action или service недоступен до тайм-аута
|
||||
- **THEN** HTTP обработчик возвращает 503
|
||||
|
||||
### Requirement: Единицы HTTP-позы
|
||||
`POST /robot/move/pose` SHALL принимать XYZ в метрах и A/B/C в радианах по соглашению ZYX; `speed` SHALL лежать в `[0.01, 1.0]`.
|
||||
|
||||
#### Scenario: Выбор планировщика без учёта регистра
|
||||
- **WHEN** клиент указывает `planner="PTP"`
|
||||
- **THEN** маршрут нормализует ключ до `ptp` до отправки action-цели
|
||||
|
||||
### Requirement: MCP-представление
|
||||
MCP-приложение SHALL строиться из тех же FastAPI-маршрутов, которые зарегистрированы для HTTP управления и чтения.
|
||||
|
||||
#### Scenario: Запрос каталога инструментов MCP
|
||||
- **WHEN** MCP-клиент подключается к `/mcp`
|
||||
- **THEN** операции, выведенные из маршрутов FastAPI, доступны через MCP-приложение
|
||||
|
||||
@@ -0,0 +1,51 @@
|
||||
# FRI Control
|
||||
|
||||
## Purpose
|
||||
|
||||
Описывает контракт управления физическим iiwa 7 через Sunrise FRI 1.16 и `ros2_control`, включая синхронизацию циклов, допустимые команды и отказ при потере надёжной связи.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Разделение циклов
|
||||
FRI-клиент SHALL выполнять отдельный циклический обмен с Sunrise и синхронизировать его с блокирующим циклом `controller_manager`.
|
||||
|
||||
#### Scenario: Согласованный период
|
||||
- **WHEN** аппаратный режим запускается с `robot.fri_cycle_ms=10`
|
||||
- **THEN** частота `controller_manager` задаётся равной 100 Гц
|
||||
|
||||
#### Scenario: Несовпадение периода
|
||||
- **WHEN** Sunrise сообщает период, отличный от настроенного FRI-периода
|
||||
- **THEN** обмен фиксирует ошибку вместо продолжения движения
|
||||
|
||||
### Requirement: Позиционный интерфейс
|
||||
Аппаратный интерфейс SHALL предоставлять команду положения для семи суставов и публиковать измеренные положение, скорость, усилие и внешний момент там, где доступны данные FRI.
|
||||
|
||||
#### Scenario: Активное позиционное управление
|
||||
- **WHEN** FRI находится в `COMMANDING_ACTIVE` с `POSITION` и `JOINT` overlay
|
||||
- **THEN** клиент передаёт полный массив семи суставных положений в радианах
|
||||
|
||||
### Requirement: Проверка режима и телеметрии
|
||||
Система MUST отвергать командование при неверном режиме, недостаточном качестве связи, нарушении safety-состояния, неактивных приводах или нечисловой телеметрии.
|
||||
|
||||
#### Scenario: Неверный FRI-режим
|
||||
- **WHEN** Sunrise сообщает командный режим, отличный от `POSITION` с `JOINT` overlay
|
||||
- **THEN** цикл командования завершается ошибкой и не принимает новую цель приложения
|
||||
|
||||
### Requirement: Ограничение команды
|
||||
Клиент MUST проверять конечность каждого целевого угла и допустимый диапазон до отправки; между циклами он SHALL ограничивать шаг по настроенной скорости и применять настроенное сглаживание положения.
|
||||
|
||||
#### Scenario: Цель за пределом
|
||||
- **WHEN** получена суставная цель вне настроенных пределов
|
||||
- **THEN** команда отвергается до вызова FRI `setJointPosition`
|
||||
|
||||
### Requirement: Остановка при нарушении цикла
|
||||
Система MUST считать пропуск FRI-пакета, отсутствие продвижения временной метки, истечение watchdog и выход из `COMMANDING_ACTIVE` отказом, требующим явного восстановления.
|
||||
|
||||
#### Scenario: Застывший цикл ros2_control
|
||||
- **WHEN** FRI-цикл не завершён `ros2_control` за 100 мс
|
||||
- **THEN** FRI worker отмечает отказ и прекращает дальнейшую нормальную выдачу целей
|
||||
|
||||
#### Scenario: Нет готовой сессии
|
||||
- **WHEN** сессия не достигла `MONITORING_READY` за 15 секунд после начала обмена
|
||||
- **THEN** инициализация завершается ошибкой
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
# Motion Arbitration
|
||||
|
||||
## Purpose
|
||||
|
||||
Определяет согласование конкурирующих источников движения, интерактивное управление TCP в Webots и семантику общей команды остановки.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Приоритет обычного движения
|
||||
При включённой TCP-гизме цели обычного траекторного action SHALL иметь приоритет над низкоприоритетной командой гизмы.
|
||||
|
||||
#### Scenario: Цель MoveIt при активности гизмы
|
||||
- **WHEN** поступает обычная цель `FollowJointTrajectory`
|
||||
- **THEN** выдача новых низкоприоритетных целей блокируется до терминального результата контроллера
|
||||
|
||||
### Requirement: Аренда приоритета
|
||||
Сервис `/cobot/tcp_gizmo/priority` SHALL выдавать именованную аренду на конечный TTL по настенным часам и поддерживать продление и освобождение.
|
||||
|
||||
#### Scenario: Некорректный TTL
|
||||
- **WHEN** владелец пуст или TTL не находится в допустимом интервале `(0, 60]` секунд
|
||||
- **THEN** запрос аренды отклоняется
|
||||
|
||||
#### Scenario: Потеря аренды
|
||||
- **WHEN** продление аренды из сервера движения не подтверждено
|
||||
- **THEN** текущая операция движения прерывается с ошибкой приоритета
|
||||
|
||||
### Requirement: Одна команда на жест
|
||||
Гизма SHALL преобразовывать отпускание маркера в одну цель TCP с текущей эпохой состояния и SHALL отвергать устаревшую эпоху или недоступную обратную связь.
|
||||
|
||||
#### Scenario: Устаревшая эпоха
|
||||
- **WHEN** команда содержит эпоху, отличную от опубликованной в `GizmoState`
|
||||
- **THEN** цель не отправляется контроллеру и публикуется причина отклонения
|
||||
|
||||
### Requirement: Безопасный переход приоритета
|
||||
Новая высокоприоритетная команда SHALL ждать терминального результата уже переданной низкоприоритетной траектории до отправки контроллеру.
|
||||
|
||||
#### Scenario: Низкая цель ещё исполняется
|
||||
- **WHEN** поступает высокая цель во время исполнения цели гизмы
|
||||
- **THEN** высокая цель ожидает подтверждённого завершения низкой цели
|
||||
|
||||
### Requirement: Общая остановка
|
||||
`/cobot/stop` SHALL отменять текущую операцию планировщика и инвалидировать ожидающие операции; `POST /stop` дополнительно SHALL останавливать runner и прямую траекторию.
|
||||
|
||||
#### Scenario: HTTP остановка
|
||||
- **WHEN** клиент вызывает `POST /stop`
|
||||
- **THEN** веб-сервер останавливает последовательность, отправляет удержание/сброс прямой траектории и вызывает ROS-сервис остановки
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
# Motion Planning
|
||||
|
||||
## Purpose
|
||||
|
||||
Определяет публичные ROS-контракты планирования и исполнения суставных, декартовых и именованных движений через MoveIt 2.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Суставная цель
|
||||
Action `cobot/move_to_joints` SHALL принимать ровно семь углов в радианах и коэффициент скорости, а результат SHALL содержать `success` и `message`.
|
||||
|
||||
#### Scenario: Допустимая цель
|
||||
- **WHEN** клиент отправляет семь суставных координат и скорость
|
||||
- **THEN** сервер планирует движение группы `iiwa_arm` от текущего состояния и сообщает стадии `planning` и `executing`
|
||||
|
||||
### Requirement: Декартова цель
|
||||
Action `cobot/move_to_pose` SHALL принимать XYZ в метрах, KUKA ABC в радианах, скорость, планировщик и `frame_id`; ориентация SHALL интерпретироваться как ZYX: A=yaw, B=pitch, C=roll.
|
||||
|
||||
#### Scenario: Цель без frame_id
|
||||
- **WHEN** action-цель содержит пустой `frame_id`
|
||||
- **THEN** сервер использует `planning.default_frame` и планирует движение TCP из `planning.pose_link`
|
||||
|
||||
### Requirement: Выбор планировщика
|
||||
Декартово движение SHALL поддерживать ключи `ompl`, `ptp`, `lin`, `circ`, `chomp` и отвергать неизвестный ключ с отрицательным результатом.
|
||||
|
||||
#### Scenario: Неизвестный планировщик
|
||||
- **WHEN** получен ключ, отсутствующий в списке поддерживаемых
|
||||
- **THEN** результат action содержит `success=false` и объяснение ошибки
|
||||
|
||||
### Requirement: Именованная цель
|
||||
Сервис `cobot/move_to_named` SHALL принимать имя `group_state` из SRDF, масштаб скорости и ускорения; нулевой `accel_scale` SHALL означать масштаб, равный скорости.
|
||||
|
||||
#### Scenario: Неизвестное имя
|
||||
- **WHEN** имя отсутствует в SRDF
|
||||
- **THEN** ответ сервиса содержит `success=false` и сообщение об неизвестном состоянии
|
||||
|
||||
### Requirement: Сериализация операций
|
||||
Сервер движения SHALL выполнять не более одной операции планирования и исполнения через общий планирующий компонент одновременно.
|
||||
|
||||
#### Scenario: Два запроса одновременно
|
||||
- **WHEN** одновременно поступают две команды движения
|
||||
- **THEN** операции сериализуются, а состояние одной операции не подменяет состояние другой
|
||||
|
||||
### Requirement: Результат исполнения
|
||||
Сервер MUST различать успех, отказ планирования, ошибку исполнения и отмену; успешное построение плана само по себе не SHALL считаться успешным движением.
|
||||
|
||||
#### Scenario: План не исполнен
|
||||
- **WHEN** контроллер возвращает ошибку исполнения траектории
|
||||
- **THEN** результат команды содержит `success=false` с диагностическим сообщением
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
# Motion Sequences
|
||||
|
||||
## Purpose
|
||||
|
||||
Описывает запуск последовательности суставных и декартовых целей, контроль её состояния и прекращение исполнения через веб-интерфейс.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Конфигурация последовательности
|
||||
Runner SHALL читать JSON-файл с точками движения и параметрами выполнения и различать суставные и декартовы точки.
|
||||
|
||||
#### Scenario: Суставная точка
|
||||
- **WHEN** точка конфигурации содержит суставные координаты
|
||||
- **THEN** runner отправляет цель `MoveToJoints` и ожидает её результата перед следующей точкой
|
||||
|
||||
#### Scenario: Декартова точка
|
||||
- **WHEN** точка конфигурации задаёт декартову позу
|
||||
- **THEN** runner отправляет цель `MoveToPose` с заданным планировщиком и ожидает результата
|
||||
|
||||
### Requirement: Контроль последовательности через HTTP
|
||||
`POST /sequences/start` SHALL запускать отдельный процесс последовательности, а `GET /sequences/status` и `GET /sequences/logs` SHALL показывать её состояние и ограниченный журнал.
|
||||
|
||||
#### Scenario: Запущенный процесс
|
||||
- **WHEN** runner исполняется
|
||||
- **THEN** `/sequences/status` возвращает `running` и идентификатор процесса
|
||||
|
||||
### Requirement: Повторы и запись
|
||||
Runner SHALL выполнять заданное число итераций последовательности `home → waypoints → home`, выдерживать паузу между итерациями и при заданном `bag_path` записывать выбранные ROS-топики в MCAP.
|
||||
|
||||
#### Scenario: Две итерации без записи
|
||||
- **WHEN** клиент задаёт `n_iterations=2` и пустой `bag_path`
|
||||
- **THEN** последовательность из начальной, промежуточных и конечной целей выполняется дважды без записи rosbag
|
||||
|
||||
#### Scenario: Второй запуск при активном runner
|
||||
- **WHEN** `POST /sequences/start` вызывается при работающем процессе
|
||||
- **THEN** сервер отвечает 409 и не создаёт второй процесс
|
||||
|
||||
#### Scenario: Путь записи уже существует
|
||||
- **WHEN** заданный `bag_path` указывает на существующий каталог
|
||||
- **THEN** runner удаляет каталог перед созданием новой записи MCAP
|
||||
|
||||
### Requirement: Ошибка точки прерывает выполнение
|
||||
Runner MUST прекращать последовательность при неуспехе цели и инициировать остановку движения, вместо перехода к следующей точке.
|
||||
|
||||
#### Scenario: Отказ action
|
||||
- **WHEN** одна из целей возвращает отрицательный результат
|
||||
- **THEN** остальные точки не отправляются, а runner завершает выполнение с ошибкой
|
||||
|
||||
### Requirement: Остановка активного процесса
|
||||
Общая веб-команда остановки SHALL завершать активный процесс runner и предотвращать дальнейшую отправку точек.
|
||||
|
||||
#### Scenario: Остановка во время последовательности
|
||||
- **WHEN** вызывается `POST /stop` во время работы runner
|
||||
- **THEN** процесс останавливается до выполнения оставшихся точек
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
# Observability
|
||||
|
||||
## Purpose
|
||||
|
||||
Определяет доступные оператору средства наблюдения за состоянием робота и симуляции и требования к диагностике отказов без сокрытия ошибок связи или движения.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Суставная телеметрия
|
||||
Активный контроллер SHALL публиковать измеренное состояние семи суставов через `joint_state_broadcaster` для планирования и внешнего чтения.
|
||||
|
||||
#### Scenario: Работа контроллера
|
||||
- **WHEN** аппаратный или симуляционный контроллер активен
|
||||
- **THEN** `/joint_states` доступен серверу движения, веб-мосту и визуализации
|
||||
|
||||
### Requirement: RViz по запросу
|
||||
Основной launch SHALL поддерживать отдельный аргумент `rviz` для визуализации модели и планирования.
|
||||
|
||||
#### Scenario: RViz включён
|
||||
- **WHEN** launch получает `rviz:=true`
|
||||
- **THEN** запускаются RViz-узлы с конфигурацией из `digital_twin.rviz.config`
|
||||
|
||||
### Requirement: Foxglove bridge по настройке
|
||||
При `foxglove.enabled=true` система SHALL запускать `foxglove_bridge` с настроенными портом, адресом, TLS и списками разрешённых топиков, сервисов и параметров.
|
||||
|
||||
#### Scenario: Foxglove отключён
|
||||
- **WHEN** `foxglove.enabled=false`
|
||||
- **THEN** bridge не запускается основным launch
|
||||
|
||||
### Requirement: Явное сообщение об отказе FRI
|
||||
Аппаратная подсистема MUST сообщать диагностическую причину ошибки FRI, включая ошибки SDK, тайм-аут цикла, неверный период и потерю сессии.
|
||||
|
||||
#### Scenario: Ошибка FRI step
|
||||
- **WHEN** FRI `step()` завершается неуспешно
|
||||
- **THEN** worker отмечает отказ, прекращает нормальный обмен и выводит сообщение об ошибке
|
||||
|
||||
### Requirement: Различение состояний движения
|
||||
Action движения SHALL публиковать обратную связь `planning` и `executing`, а окончательный результат SHALL содержать сообщение, пригодное для диагностики.
|
||||
|
||||
#### Scenario: Планирование цели
|
||||
- **WHEN** сервер начал обработку action-цели
|
||||
- **THEN** клиент получает стадию `planning`, затем `executing` до вызова планирования и исполнения
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
# Project Tooling
|
||||
|
||||
## Purpose
|
||||
|
||||
Описывает операторские команды для настройки, сборки, запуска и локального просмотра документации проекта без прямого вмешательства в циклическое управление.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Мастер первичной настройки
|
||||
`cobot setup` SHALL последовательно предлагать настройку документации, параметров робота и среды сборки.
|
||||
|
||||
#### Scenario: Первый запуск
|
||||
- **WHEN** пользователь вызывает `cobot setup`
|
||||
- **THEN** получает отдельный выбор для локальной документации, `cobot-setting.yaml` и среды ROS 2 или Docker
|
||||
|
||||
### Requirement: Редактирование конфигурации
|
||||
`cobot robot-setup` SHALL сохранять редактируемые значения в `cobot-setting.yaml` и применять выбранный из реестра инструмент к модели робота.
|
||||
|
||||
#### Scenario: Выбор другого инструмента
|
||||
- **WHEN** пользователь меняет `tool.active`
|
||||
- **THEN** конфигурация и генерируемые Xacro/SRDF файлы соответствуют выбранному инструменту
|
||||
|
||||
### Requirement: Сборка из src
|
||||
`cobot rebuild` SHALL запускать `colcon build --base-paths src` для всех пакетов или выбранного подмножества и поддерживать `--symlink-install`.
|
||||
|
||||
#### Scenario: Пересборка одного пакета
|
||||
- **WHEN** пользователь задаёт `cobot rebuild iiwa_controller --symlink-install`
|
||||
- **THEN** CLI передаёт пакет и флаг символьной установки в colcon
|
||||
|
||||
### Requirement: Локальная документация
|
||||
`cobot doc-setup` SHALL предоставлять запуск документации, сборку статического сайта и PDF, пересборку и остановку сервера.
|
||||
|
||||
#### Scenario: Сборка документации
|
||||
- **WHEN** пользователь вызывает `cobot doc-setup build`
|
||||
- **THEN** создаются статическая документация и PDF из исходников `doc/lwc-doc/`
|
||||
|
||||
### Requirement: Разделение файлов Sunrise и colcon
|
||||
ROS workspace MUST исключать `src/iiwa_sunrise` из colcon-сборки, оставляя Java-исходники для отдельной сборки в Sunrise Workbench.
|
||||
|
||||
#### Scenario: Сборка рабочего пространства
|
||||
- **WHEN** выполняется `colcon build --base-paths src`
|
||||
- **THEN** пакет контроллерных Java-программ не собирается colcon
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
# Robot Model
|
||||
|
||||
## Purpose
|
||||
|
||||
Фиксирует кинематическую модель семиосевого iiwa 7, систему координат TCP, ограничения суставов и зависимость модели от выбранного инструмента.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Семь осей и единицы
|
||||
Модель SHALL содержать суставы `joint1`–`joint7` в заданном порядке; суставные положения SHALL выражаться в радианах, скорости в радианах в секунду.
|
||||
|
||||
#### Scenario: Публикация состояния
|
||||
- **WHEN** запущен `joint_state_broadcaster`
|
||||
- **THEN** `/joint_states` содержит имена и значения всех семи управляемых суставов
|
||||
|
||||
### Requirement: Согласованные лимиты
|
||||
URDF, `ros2_control`, MoveIt и проверка внешних суставных команд MUST брать границы из `joint_limits.yaml` с учётом мягкого диапазона там, где он предусмотрен.
|
||||
|
||||
#### Scenario: Суставная цель вне мягкой границы
|
||||
- **WHEN** HTTP-запрос суставного движения содержит угол за допустимой границей
|
||||
- **THEN** запрос отклоняется до отправки ROS action с кодом 422
|
||||
|
||||
### Requirement: Активный инструмент
|
||||
Конфигурация инструмента SHALL определять Xacro-описание, конечное звено кинематической цепи, TCP и пары отключённых самоколлизий.
|
||||
|
||||
#### Scenario: Выбор инструмента из реестра
|
||||
- **WHEN** `cobot robot-setup` применяет инструмент из `tools.yaml`
|
||||
- **THEN** обновляются `tool_active.xacro` и `iiwa7.srdf`, сохраняя существующие именованные положения
|
||||
|
||||
#### Scenario: Нет инструмента
|
||||
- **WHEN** выбран `none`
|
||||
- **THEN** TCP совпадает с `link_ee` через фиксированное соединение
|
||||
|
||||
### Requirement: Декартова система координат
|
||||
Декартово движение SHALL задавать целевую позу TCP относительно указанного `frame_id`, по умолчанию `base_link`.
|
||||
|
||||
#### Scenario: Рамка не указана
|
||||
- **WHEN** клиент оставляет `frame_id` пустым
|
||||
- **THEN** сервер движения использует `planning.default_frame`
|
||||
|
||||
### Requirement: Именованные положения
|
||||
Именованные положения SHALL определяться `group_state` в SRDF и предоставляться клиенту вместе с именами и углами суставов.
|
||||
|
||||
#### Scenario: Запрос каталога
|
||||
- **WHEN** клиент вызывает `GET /robot/positions`
|
||||
- **THEN** возвращаются доступные `group_state` с именем, группой, описанием и суставными углами
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
# Simulation
|
||||
|
||||
## Purpose
|
||||
|
||||
Описывает цифровой двойник в Webots для проверки запуска, суставного управления, объектов сцены, камер и интерактивного TCP без подключения к физическому роботу.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Симуляционный контроллер
|
||||
Режим `simulate` SHALL создавать модель iiwa в Webots и использовать `webots_ros2_control` вместо FRI hardware interface.
|
||||
|
||||
#### Scenario: Запуск Webots
|
||||
- **WHEN** launch получает `simulate:=true`
|
||||
- **THEN** создаётся робот в выбранном world, а контроллеры запускаются с симуляционным временем
|
||||
|
||||
### Requirement: Начальное состояние и геометрия
|
||||
Симуляция SHALL загружать начальные суставные положения, ограничения, инструмент и преобразование размещения робота из конфигурации.
|
||||
|
||||
#### Scenario: Изменён активный инструмент
|
||||
- **WHEN** инструмент применён до нового запуска Webots
|
||||
- **THEN** URDF модели содержит соответствующую геометрию и TCP
|
||||
|
||||
### Requirement: Объекты сцены
|
||||
При включённых `digital_twin.webots.objects` система SHALL размещать заданное число объектов из перечисленных OBJ-моделей в настроенной области относительно основания робота.
|
||||
|
||||
#### Scenario: Повтор моделей
|
||||
- **WHEN** число объектов больше числа доступных моделей
|
||||
- **THEN** модели могут повторяться, а общее число создаваемых объектов соответствует `count`
|
||||
|
||||
### Requirement: Камеры
|
||||
Камеры Webots SHALL загружаться из файлов конфигурации; включённый драйвер SHALL публиковать изображения и `CameraInfo`, а для датчика глубины — предусмотренные глубинные данные.
|
||||
|
||||
#### Scenario: Настроена D455
|
||||
- **WHEN** в списке камер указан `d455_top.yaml`
|
||||
- **THEN** симуляционный запуск создаёт камеру с именами топиков и параметрами из этого файла
|
||||
|
||||
### Requirement: Симуляционный TCP-инструмент
|
||||
TCP-гизма SHALL запускаться только при включённом флаге и в режиме симуляции.
|
||||
|
||||
#### Scenario: Физический режим
|
||||
- **WHEN** запуск выполняется с `simulate:=false`
|
||||
- **THEN** узлы интерактивной TCP-гизмы не активируются
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
# Sunrise Program
|
||||
|
||||
## Purpose
|
||||
|
||||
Определяет обязанности программы на контроллере KUKA при установлении FRI-сессии и ограничения выбранного сетевого и управляющего режима.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Requirement: Отдельное развёртывание
|
||||
`ServerFriRos2` SHALL собираться и развёртываться в Sunrise Workbench отдельно от ROS workspace; физический запуск MUST сверять адрес ПК, порт FRI, инструмент и Load Data с конфигурацией ячейки.
|
||||
|
||||
#### Scenario: Новый контроллер
|
||||
- **WHEN** программа переносится на другую ячейку
|
||||
- **THEN** оператор проверяет сетевые константы, имя инструмента и его данные нагрузки перед FRI-сессией
|
||||
|
||||
### Requirement: Выбор интерфейса сети
|
||||
Программа SHALL предлагать KONI или KLI и использовать адрес ПК выбранной сети при создании FRI-конфигурации.
|
||||
|
||||
#### Scenario: Выбран KLI
|
||||
- **WHEN** оператор выбирает KLI
|
||||
- **THEN** период отправки устанавливается в 10 мс и режим ручного ведения недоступен в меню
|
||||
|
||||
### Requirement: Подъезд до запуска FRI
|
||||
Программа SHALL перемещать робот в предварительно заданное суставное положение до открытия FRI-сессии; оператор MUST проверять это положение для своей ячейки и инструмента.
|
||||
|
||||
#### Scenario: Запуск физической программы
|
||||
- **WHEN** оператор начинает `ServerFriRos2`
|
||||
- **THEN** робот выполняет настроенный подъезд до входа в позиционный или мониторинговый режим FRI
|
||||
|
||||
### Requirement: Выбор командного режима
|
||||
Для позиционного управления программа SHALL создавать FRI-сессию с позиционными суставными командами; выбранный режим управления SHALL соответствовать возможностям клиентского аппаратного интерфейса.
|
||||
|
||||
#### Scenario: Позиционный режим
|
||||
- **WHEN** оператор выбирает Position или JointImpedance для командного движения
|
||||
- **THEN** клиент ROS получает сессию с `POSITION` command mode и `JOINT` overlay
|
||||
|
||||
### Requirement: Мониторинг без команд
|
||||
Режим Monitor SHALL быть доступен только при выборе KONI; перед ручным ведением программа SHALL проверить данные нагрузки инструмента и предупредить оператора, если проверка не прошла.
|
||||
|
||||
#### Scenario: Попытка Monitor на KLI
|
||||
- **WHEN** оператор выбирает KLI
|
||||
- **THEN** программа не предлагает Monitor как режим запуска
|
||||
|
||||
#### Scenario: Неверные Load Data
|
||||
- **WHEN** проверка нагрузки инструмента в Monitor не проходит
|
||||
- **THEN** программа показывает предупреждение и предоставляет оператору выбор остановить запуск или явно продолжить
|
||||
|
||||
### Requirement: Завершение сессии
|
||||
Программа MUST закрывать FRI-сессию при штатном окончании и при освобождении приложения, включая ошибки соединения.
|
||||
|
||||
#### Scenario: Нет клиента
|
||||
- **WHEN** FRI-клиент не подключается в отведённые 30 секунд
|
||||
- **THEN** программа сообщает тайм-аут и закрывает сессию
|
||||
|
||||
+23
@@ -18,3 +18,26 @@ python3-fastmcp:
|
||||
pip:
|
||||
packages: [fastmcp]
|
||||
|
||||
# TCP gizmo / MoveIt Servo (ROS 2 Jazzy).
|
||||
moveit_servo:
|
||||
ubuntu: [ros-jazzy-moveit-servo]
|
||||
rclcpp_action:
|
||||
ubuntu: [ros-jazzy-rclcpp-action]
|
||||
control_msgs:
|
||||
ubuntu: [ros-jazzy-control-msgs]
|
||||
trajectory_msgs:
|
||||
ubuntu: [ros-jazzy-trajectory-msgs]
|
||||
action_msgs:
|
||||
ubuntu: [ros-jazzy-action-msgs]
|
||||
rcl_interfaces:
|
||||
ubuntu: [ros-jazzy-rcl-interfaces]
|
||||
tf2_eigen:
|
||||
ubuntu: [ros-jazzy-tf2-eigen]
|
||||
python3-numpy:
|
||||
ubuntu: [python3-numpy]
|
||||
python3-scipy:
|
||||
ubuntu: [python3-scipy]
|
||||
|
||||
# Python binding for the shared JTC spline validator.
|
||||
pybind11-dev:
|
||||
ubuntu: [pybind11-dev]
|
||||
|
||||
@@ -4,7 +4,7 @@ import sys
|
||||
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo, OpaqueFunction
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
@@ -43,13 +43,17 @@ def _runtime_setup(context, *args, **kwargs):
|
||||
if simulate:
|
||||
xacro_args = {
|
||||
"initial_positions_file": settings.controller.moveit.initial_positions,
|
||||
"joint_limits_file": settings.controller.moveit.joint_limits,
|
||||
"simulate": "true",
|
||||
}
|
||||
else:
|
||||
xacro_args = {
|
||||
"initial_positions_file": settings.controller.moveit.initial_positions,
|
||||
"joint_limits_file": settings.controller.moveit.joint_limits,
|
||||
"robot_ip": settings.robot.ip,
|
||||
"fri_port": str(settings.robot.port),
|
||||
"fri_cycle_ms": str(settings.robot.fri_cycle_ms),
|
||||
"joint_position_tau": str(settings.robot.joint_position_tau),
|
||||
"simulate": "false",
|
||||
}
|
||||
|
||||
@@ -88,6 +92,8 @@ def _runtime_setup(context, *args, **kwargs):
|
||||
"controller_timer": str(settings.digital_twin.webots.controller_timer),
|
||||
"controller": str(settings.controller.controller_path),
|
||||
"initial_positions_file": str(settings.controller.moveit.initial_positions),
|
||||
"tcp_gizmo_enabled": str(settings.digital_twin.tcp_gizmo.enabled).lower(),
|
||||
"joint_limits_file": str(settings.controller.moveit.joint_limits),
|
||||
}.items(),
|
||||
))
|
||||
|
||||
@@ -99,6 +105,7 @@ def _runtime_setup(context, *args, **kwargs):
|
||||
"robot_name": settings.robot.name,
|
||||
"description": description_path,
|
||||
"initial_positions_file": settings.controller.moveit.initial_positions,
|
||||
"joint_limits_file": settings.controller.moveit.joint_limits,
|
||||
"controller_path": settings.controller.controller_path,
|
||||
"simulate": "true",
|
||||
"transform": str(settings.digital_twin.webots.transform),
|
||||
@@ -110,16 +117,26 @@ def _runtime_setup(context, *args, **kwargs):
|
||||
"robot_name": settings.robot.name,
|
||||
"description": description_path,
|
||||
"initial_positions_file": settings.controller.moveit.initial_positions,
|
||||
"joint_limits_file": settings.controller.moveit.joint_limits,
|
||||
"controller_path": settings.controller.controller_path,
|
||||
"simulate": "false",
|
||||
"transform": str(settings.digital_twin.webots.transform),
|
||||
"rotation": str(settings.digital_twin.webots.rotation),
|
||||
"controller_timer": str(settings.digital_twin.webots.controller_timer),
|
||||
"fri_cycle_ms": str(settings.robot.fri_cycle_ms),
|
||||
"joint_position_tau": str(settings.robot.joint_position_tau),
|
||||
"robot_ip": settings.robot.ip,
|
||||
"fri_port": str(settings.robot.port),
|
||||
}
|
||||
|
||||
if not simulate:
|
||||
setup.append(LogInfo(msg=(
|
||||
"FRI configured from cobot-setting.yaml: "
|
||||
f"period={settings.robot.fri_cycle_ms} ms, "
|
||||
f"position_tau={settings.robot.joint_position_tau:.3f} s, "
|
||||
f"endpoint={settings.robot.ip}:{settings.robot.port}"
|
||||
)))
|
||||
|
||||
setup.append(IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution([
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
import math
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||
from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.actions import RegisterEventHandler
|
||||
@@ -25,9 +27,13 @@ def _setup_controllers(context, *args, **kwargs):
|
||||
fri_cycle_ms = int(LaunchConfiguration("fri_cycle_ms").perform(context))
|
||||
if not 1 <= fri_cycle_ms <= 100:
|
||||
raise ValueError("fri_cycle_ms must be within the FRI 1.16 range 1..100 ms")
|
||||
joint_position_tau = float(LaunchConfiguration("joint_position_tau").perform(context))
|
||||
if not math.isfinite(joint_position_tau) or joint_position_tau < 0.0:
|
||||
raise ValueError("joint_position_tau must be finite and non-negative")
|
||||
update_rate = 1000 // fri_cycle_ms
|
||||
|
||||
xacro_args = {"initial_positions_file": initial_positions_file}
|
||||
xacro_args = {"initial_positions_file": initial_positions_file,
|
||||
"joint_limits_file": LaunchConfiguration("joint_limits_file").perform(context)}
|
||||
|
||||
if simulate:
|
||||
xacro_args["simulate"] = "true"
|
||||
@@ -35,6 +41,7 @@ def _setup_controllers(context, *args, **kwargs):
|
||||
xacro_args["robot_ip"] = LaunchConfiguration("robot_ip").perform(context)
|
||||
xacro_args["fri_port"] = LaunchConfiguration("fri_port").perform(context)
|
||||
xacro_args["fri_cycle_ms"] = str(fri_cycle_ms)
|
||||
xacro_args["joint_position_tau"] = str(joint_position_tau)
|
||||
|
||||
robot_description = converter.load_robot_description(
|
||||
model_path=description,
|
||||
@@ -126,6 +133,8 @@ def _setup_controllers(context, *args, **kwargs):
|
||||
)
|
||||
|
||||
return [
|
||||
LogInfo(msg=(f"FRI controller period={fri_cycle_ms} ms; Controller Manager rate={update_rate} Hz; "
|
||||
f"position smoothing tau={joint_position_tau:.3f} s")),
|
||||
ros2_control_node,
|
||||
jsb,
|
||||
jtc_after_jsb,
|
||||
@@ -135,6 +144,7 @@ def _setup_controllers(context, *args, **kwargs):
|
||||
def generate_launch_description():
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument("fri_cycle_ms", default_value="5"),
|
||||
DeclareLaunchArgument("joint_position_tau", default_value="0.04"),
|
||||
DeclareLaunchArgument("robot_ip", default_value="192.170.10.2"),
|
||||
DeclareLaunchArgument("fri_port", default_value="30200"),
|
||||
OpaqueFunction(function=_setup_controllers),
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
from launch_ros.actions import Node
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from .tcp_gizmo_nodes import make_tcp_gizmo_nodes
|
||||
from iiwa_utils.converter import effective_joint_limits
|
||||
|
||||
|
||||
def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
|
||||
@@ -9,7 +11,8 @@ def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
|
||||
.robot_description(
|
||||
file_path=settings.robot.description,
|
||||
mappings={
|
||||
"initial_positions_file": settings.controller.moveit.initial_positions
|
||||
"initial_positions_file": settings.controller.moveit.initial_positions,
|
||||
"joint_limits_file": settings.controller.moveit.joint_limits
|
||||
},
|
||||
)
|
||||
.robot_description_semantic(file_path=settings.controller.moveit.srdf)
|
||||
@@ -21,10 +24,16 @@ def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
|
||||
.to_moveit_configs()
|
||||
)
|
||||
|
||||
moveit_configs.joint_limits["robot_description_planning"] = effective_joint_limits(
|
||||
moveit_configs.joint_limits["robot_description_planning"]
|
||||
)
|
||||
|
||||
common_params = [
|
||||
moveit_configs.to_dict(),
|
||||
{"robot_description": robot_description},
|
||||
{"use_sim_time": use_sim_time},
|
||||
{"iiwa_dynamics.stopped_velocity_tolerance": settings.planning.stopped_velocity_tolerance,
|
||||
"iiwa_dynamics.state_timeout": settings.planning.state_timeout},
|
||||
]
|
||||
|
||||
move_group = Node(
|
||||
@@ -46,8 +55,9 @@ def make_moveit_nodes(settings, robot_description: str, use_sim_time: bool):
|
||||
"default_frame": settings.planning.default_frame,
|
||||
"default_planner": settings.planning.default_planner,
|
||||
"planning_attempts": settings.planning.planning_attempts,
|
||||
"tcp_gizmo_enabled": use_sim_time and settings.digital_twin.tcp_gizmo.enabled,
|
||||
},
|
||||
],
|
||||
)
|
||||
|
||||
return moveit_configs, [move_group, move_to_pose_server]
|
||||
return moveit_configs, [move_group, move_to_pose_server, *make_tcp_gizmo_nodes(settings, common_params, use_sim_time)]
|
||||
|
||||
@@ -27,7 +27,10 @@ def make_web_server_node(settings, use_sim_time: bool) -> Node:
|
||||
"host": settings.web.host,
|
||||
"port": settings.web.port,
|
||||
"endpoints_path": settings.web.endpoints,
|
||||
"joint_limits_path": settings.web.joint_limits,
|
||||
"joint_limits_path": settings.controller.moveit.joint_limits,
|
||||
"trajectory_state_timeout": settings.web.trajectory_state_timeout,
|
||||
"trajectory_start_tolerance": settings.web.trajectory_start_tolerance,
|
||||
"trajectory_stopped_velocity": settings.web.trajectory_stopped_velocity,
|
||||
"use_sim_time": use_sim_time,
|
||||
}],
|
||||
)
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import json
|
||||
from dataclasses import asdict
|
||||
|
||||
from launch_ros.actions import Node
|
||||
from webots_ros2_driver.webots_controller import WebotsController
|
||||
@@ -7,12 +8,23 @@ from iiwa_utils.camera_spawner import load_camera_config, build_ros_urdf # type
|
||||
|
||||
|
||||
def make_simulation_nodes(settings) -> list:
|
||||
"""Возвращает ноды камер для симуляции: [camera_spawner, *camera_controllers].
|
||||
|
||||
Если камеры не заданы в настройках — возвращает пустой список.
|
||||
"""
|
||||
"""Create the configured object spawner and camera nodes for Webots."""
|
||||
nodes = []
|
||||
webots = settings.digital_twin.webots
|
||||
if webots.objects.enabled and webots.objects.count:
|
||||
nodes.append(Node(
|
||||
package="iiwa_utils",
|
||||
executable="object_spawner",
|
||||
name="object_spawner",
|
||||
output="screen",
|
||||
parameters=[{
|
||||
"objects_config": json.dumps(asdict(webots.objects)),
|
||||
"robot_translation": webots.transform,
|
||||
"robot_rotation": webots.rotation,
|
||||
}],
|
||||
))
|
||||
if not settings.digital_twin.webots.cameras:
|
||||
return []
|
||||
return nodes
|
||||
|
||||
camera_spawner = Node(
|
||||
package="iiwa_utils",
|
||||
@@ -37,4 +49,4 @@ def make_simulation_nodes(settings) -> list:
|
||||
respawn=True,
|
||||
))
|
||||
|
||||
return [camera_spawner, *camera_controllers]
|
||||
return [*nodes, camera_spawner, *camera_controllers]
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
"""TCP teleoperation exists only in a simulated, explicitly enabled launch."""
|
||||
from dataclasses import asdict
|
||||
import tempfile
|
||||
import xml.etree.ElementTree as ET
|
||||
|
||||
import yaml
|
||||
from launch_ros.actions import Node
|
||||
from webots_ros2_driver.webots_controller import WebotsController
|
||||
|
||||
|
||||
def make_tcp_gizmo_nodes(settings, common_params, simulate):
|
||||
cfg = settings.digital_twin.tcp_gizmo
|
||||
if not simulate or not cfg.enabled:
|
||||
return []
|
||||
|
||||
# The robot's Webots placement maps base_link into the Webots world.
|
||||
robot = ET.Element('robot', name='tcp_gizmo')
|
||||
ET.SubElement(robot, 'link', name='gizmo_base')
|
||||
plugin = ET.SubElement(ET.SubElement(robot, 'webots'), 'plugin',
|
||||
type='iiwa_utils.tcp_gizmo.WebotsTcpGizmo')
|
||||
for key, value in {
|
||||
'translation': settings.digital_twin.webots.transform,
|
||||
'rotation': settings.digital_twin.webots.rotation,
|
||||
'frame': 'base_link',
|
||||
'state_timeout': cfg.state_timeout,
|
||||
}.items():
|
||||
ET.SubElement(plugin, key).text = str(value)
|
||||
with tempfile.NamedTemporaryFile(mode='w', prefix='iiwa_tcp_gizmo_', suffix='.yaml', delete=False) as stream:
|
||||
yaml.safe_dump({'/**': {'ros__parameters': {
|
||||
'robot_description': ET.tostring(robot, encoding='unicode'),
|
||||
'set_robot_state_publisher': False,
|
||||
'use_sim_time': True,
|
||||
}}}, stream)
|
||||
driver_params = stream.name
|
||||
|
||||
servo = {
|
||||
'move_group_name': settings.planning.planning_group,
|
||||
'publish_period': cfg.publish_period,
|
||||
'max_expected_latency': max(0.1, 3 * cfg.publish_period),
|
||||
'command_in_type': 'speed_units',
|
||||
'scale': {'linear': cfg.max_linear_speed, 'rotational': cfg.max_angular_speed},
|
||||
'incoming_command_timeout': cfg.command_timeout,
|
||||
'is_primary_planning_scene_monitor': False,
|
||||
'monitored_planning_scene_topic': '/monitored_planning_scene',
|
||||
'joint_topic': '/joint_states',
|
||||
'check_collisions': True,
|
||||
'check_octomap_collisions': False,
|
||||
'publish_joint_positions': True,
|
||||
'publish_joint_velocities': False,
|
||||
'use_smoothing': True,
|
||||
'joint_limit_margins': [0.05],
|
||||
}
|
||||
return [
|
||||
Node(package='iiwa_planning', executable='tcp_gizmo', name='tcp_gizmo',
|
||||
output='screen', parameters=[*common_params, {
|
||||
**asdict(cfg), 'simulation': True,
|
||||
# Tool xacros define tcp at the working end; without a tool
|
||||
# it coincides with link_ee. General pose commands may use a
|
||||
# different planning.pose_link, but the handle controls TCP.
|
||||
'pose_link': 'tcp',
|
||||
'planning_group': settings.planning.planning_group,
|
||||
'default_frame': 'base_link', 'moveit_servo': servo,
|
||||
}]),
|
||||
Node(package='iiwa_utils', executable='tcp_gizmo_spawner', output='screen'),
|
||||
WebotsController(robot_name='tcp_gizmo',
|
||||
parameters=[{'use_sim_time': True}, driver_params]),
|
||||
]
|
||||
@@ -22,6 +22,7 @@ def _spawn_setup(context, *args, **kwargs):
|
||||
world = LaunchConfiguration("world").perform(context)
|
||||
controller = LaunchConfiguration("controller").perform(context)
|
||||
initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
|
||||
gizmo_enabled = LaunchConfiguration("tcp_gizmo_enabled", default="false").perform(context) == "true"
|
||||
|
||||
robot_description = converter.load_robot_description(
|
||||
model_path=description,
|
||||
@@ -29,6 +30,7 @@ def _spawn_setup(context, *args, **kwargs):
|
||||
xacro_args={
|
||||
"simulate": "true",
|
||||
"initial_positions_file": initial_positions_file,
|
||||
"joint_limits_file": LaunchConfiguration("joint_limits_file").perform(context),
|
||||
},
|
||||
)
|
||||
|
||||
@@ -39,6 +41,13 @@ def _spawn_setup(context, *args, **kwargs):
|
||||
with open(controller, "r") as f:
|
||||
controller_cfg = yaml.safe_load(f) or {}
|
||||
|
||||
# FRI sets the hardware cycle dynamically in controllers.launch.py. Webots
|
||||
# has no FRI period, so preserve its established 200 Hz controller cycle.
|
||||
manager_params = controller_cfg.setdefault("controller_manager", {}).setdefault(
|
||||
"ros__parameters", {}
|
||||
)
|
||||
manager_params["update_rate"] = 200
|
||||
|
||||
combined = {
|
||||
"/**": {"ros__parameters": {
|
||||
"robot_description": robot_description,
|
||||
@@ -57,6 +66,10 @@ def _spawn_setup(context, *args, **kwargs):
|
||||
|
||||
driver = WebotsController(
|
||||
robot_name=robot_name,
|
||||
remappings=[
|
||||
('/iiwa_arm_controller/joint_trajectory', '/cobot/tcp_gizmo/controller_command'),
|
||||
('/iiwa_arm_controller/follow_joint_trajectory', '/cobot/tcp_gizmo/follow_joint_trajectory'),
|
||||
] if gizmo_enabled else [],
|
||||
parameters=[
|
||||
{"use_sim_time": True}, # dict → triggers --ros-args prefix
|
||||
params_file, # file → --params-file (robot_description + controllers)
|
||||
|
||||
@@ -11,6 +11,7 @@
|
||||
|
||||
<!-- Внутренние пакеты проекта -->
|
||||
<exec_depend>iiwa_utils</exec_depend>
|
||||
<exec_depend>iiwa_planning</exec_depend>
|
||||
<exec_depend>iiwa_config</exec_depend>
|
||||
<exec_depend>iiwa_description</exec_depend>
|
||||
<exec_depend>foxglove_bridge</exec_depend>
|
||||
|
||||
@@ -17,7 +17,9 @@ rotation: "0 1 0 1.5708"
|
||||
camera:
|
||||
width: 640
|
||||
height: 480
|
||||
fieldOfView: 1.047 # ~60° в радианах
|
||||
# VGA RGB: приближение центрального 4:3 crop сенсора 1280x800 с HFOV 90°.
|
||||
# 2*atan(tan(90°/2)*(4/3)/(1280/800)) = 79.61°; уточнить по калибровке.
|
||||
fieldOfView: 1.3894765524
|
||||
near: 0.1
|
||||
far: 0.0 # 0 = без ограничений
|
||||
exposure: 1.0
|
||||
@@ -40,13 +42,13 @@ camera:
|
||||
range_finder:
|
||||
width: 640
|
||||
height: 480
|
||||
fieldOfView: 1.047
|
||||
minRange: 0.1
|
||||
maxRange: 5.0
|
||||
resolution: -1.0 # -1 = без ограничений по дискретизации
|
||||
fieldOfView: 1.308996939 # D455 VGA depth: HFOV 75°, не HD 87°
|
||||
minRange: 0.4 # Выбранное ограничение симуляции, не точный Min-Z VGA
|
||||
maxRange: 6.0
|
||||
resolution: 0.001 # Шаг глубины 1 мм, не погрешность измерения
|
||||
noise: 0.0
|
||||
|
||||
# Параметры публикации в ROS2
|
||||
ros:
|
||||
topic: /d455_top/depth/image_raw
|
||||
update_rate: 15
|
||||
update_rate: 30
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
planning_plugins:
|
||||
- chomp_interface/CHOMPPlanner
|
||||
enable_failure_recovery: true
|
||||
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
|
||||
request_adapters:
|
||||
- default_planning_request_adapters/ResolveConstraintFrames
|
||||
- default_planning_request_adapters/ValidateWorkspaceBounds
|
||||
- default_planning_request_adapters/CheckStartStateBounds
|
||||
- default_planning_request_adapters/CheckStartStateCollision
|
||||
response_adapters:
|
||||
- default_planning_response_adapters/AddTimeOptimalParameterization
|
||||
- iiwa_planning/SetRestBoundary
|
||||
- default_planning_response_adapters/AddRuckigTrajectorySmoothing
|
||||
- iiwa_planning/SetRestBoundary
|
||||
- iiwa_planning/LimitSplineDynamics
|
||||
- default_planning_response_adapters/ValidateSolution
|
||||
- default_planning_response_adapters/DisplayMotionPath
|
||||
|
||||
ridge_factor: 0.01
|
||||
@@ -1,6 +1,8 @@
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 200 # резервное значение; при запуске через launch: 1000 // fri_cycle_ms
|
||||
# `update_rate` задаётся FRI launch-файлом как 1000 / robot.fri_cycle_ms.
|
||||
# Не фиксировать его здесь: KLI Position всегда выдаёт 10 мс (100 Гц),
|
||||
# а KONI может работать с 5 мс (200 Гц).
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: "joint_state_broadcaster/JointStateBroadcaster"
|
||||
|
||||
@@ -1,73 +1,84 @@
|
||||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
# Single source for all seven axes: URDF, ros2_control, MoveIt and web validation.
|
||||
# KUKA iiwa 7 R800 datasheet 0000-246-832 V1.2 (2022-06-01):
|
||||
# range [deg]: 170,120,170,120,170,120,175; speed [deg/s]: 98,98,100,130,140,180,180.
|
||||
# Working hard limits never exceed either that datasheet or the previous URDF.
|
||||
# Soft bounds preserve the existing protective operating margin.
|
||||
# Acceleration and jerk below are PROJECT limits, NOT verified KUKA ratings.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||
joint_limits:
|
||||
joint1:
|
||||
has_position_limits: true
|
||||
min_position: -2.97
|
||||
max_position: 2.97
|
||||
min_position: -2.9670597283903604
|
||||
max_position: 2.9670597283903604
|
||||
has_velocity_limits: true
|
||||
max_velocity: 1.71
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 8.5521
|
||||
has_jerk_limits: true
|
||||
max_jerk: 85.0
|
||||
soft_min_position: -2.8827
|
||||
soft_max_position: 2.8827
|
||||
joint2:
|
||||
has_position_limits: true
|
||||
min_position: -2.10
|
||||
max_position: 2.10
|
||||
min_position: -2.09
|
||||
max_position: 2.09
|
||||
has_velocity_limits: true
|
||||
max_velocity: 1.71
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 8.5521
|
||||
has_jerk_limits: true
|
||||
max_jerk: 85.0
|
||||
soft_min_position: -2.0027
|
||||
soft_max_position: 2.0027
|
||||
joint3:
|
||||
has_position_limits: true
|
||||
min_position: -2.97
|
||||
max_position: 2.97
|
||||
min_position: -2.9670597283903604
|
||||
max_position: 2.9670597283903604
|
||||
has_velocity_limits: true
|
||||
max_velocity: 1.75
|
||||
max_velocity: 1.7453292519943295
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 8.7266
|
||||
has_jerk_limits: true
|
||||
max_jerk: 87.0
|
||||
soft_min_position: -2.8827
|
||||
soft_max_position: 2.8827
|
||||
joint4:
|
||||
has_position_limits: true
|
||||
min_position: -2.10
|
||||
max_position: 2.10
|
||||
min_position: -2.09
|
||||
max_position: 2.09
|
||||
has_velocity_limits: true
|
||||
max_velocity: 2.27
|
||||
max_velocity: 2.2689280275926285
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 11.3446
|
||||
has_jerk_limits: true
|
||||
max_jerk: 113.0
|
||||
soft_min_position: -2.0027
|
||||
soft_max_position: 2.0027
|
||||
joint5:
|
||||
has_position_limits: true
|
||||
min_position: -2.97
|
||||
max_position: 2.97
|
||||
min_position: -2.9670597283903604
|
||||
max_position: 2.9670597283903604
|
||||
has_velocity_limits: true
|
||||
max_velocity: 2.44
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 12.2173
|
||||
has_jerk_limits: true
|
||||
max_jerk: 122.0
|
||||
soft_min_position: -2.8827
|
||||
soft_max_position: 2.8827
|
||||
joint6:
|
||||
has_position_limits: true
|
||||
min_position: -2.10
|
||||
max_position: 2.10
|
||||
min_position: -2.09
|
||||
max_position: 2.09
|
||||
has_velocity_limits: true
|
||||
max_velocity: 3.14
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 15.7080
|
||||
max_acceleration: 15.708
|
||||
has_jerk_limits: true
|
||||
max_jerk: 157.0
|
||||
soft_min_position: -2.0027
|
||||
soft_max_position: 2.0027
|
||||
joint7:
|
||||
has_position_limits: true
|
||||
min_position: -3.05
|
||||
@@ -75,7 +86,8 @@ joint_limits:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 3.14
|
||||
has_acceleration_limits: true
|
||||
max_acceleration: 15.7080
|
||||
max_acceleration: 15.708
|
||||
has_jerk_limits: true
|
||||
max_jerk: 157.0
|
||||
|
||||
soft_min_position: -2.9627
|
||||
soft_max_position: 2.9627
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
planning_plugins:
|
||||
- ompl_interface/OMPLPlanner
|
||||
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
|
||||
request_adapters:
|
||||
- default_planning_request_adapters/ResolveConstraintFrames
|
||||
- default_planning_request_adapters/ValidateWorkspaceBounds
|
||||
- default_planning_request_adapters/CheckStartStateBounds
|
||||
- default_planning_request_adapters/CheckStartStateCollision
|
||||
response_adapters:
|
||||
- default_planning_response_adapters/AddTimeOptimalParameterization
|
||||
- iiwa_planning/SetRestBoundary
|
||||
- default_planning_response_adapters/AddRuckigTrajectorySmoothing
|
||||
- iiwa_planning/SetRestBoundary
|
||||
- iiwa_planning/LimitSplineDynamics
|
||||
- default_planning_response_adapters/ValidateSolution
|
||||
- default_planning_response_adapters/DisplayMotionPath
|
||||
@@ -0,0 +1,16 @@
|
||||
planning_plugins:
|
||||
- pilz_industrial_motion_planner/CommandPlanner
|
||||
default_planner_config: PTP
|
||||
request_adapters:
|
||||
- default_planning_request_adapters/ResolveConstraintFrames
|
||||
- default_planning_request_adapters/ValidateWorkspaceBounds
|
||||
- default_planning_request_adapters/CheckStartStateBounds
|
||||
- default_planning_request_adapters/CheckStartStateCollision
|
||||
response_adapters:
|
||||
# Preserve Pilz LIN/CIRC geometry: only uniform time scaling, no joint-space Ruckig.
|
||||
- iiwa_planning/LimitSplineDynamics
|
||||
- default_planning_response_adapters/ValidateSolution
|
||||
- default_planning_response_adapters/DisplayMotionPath
|
||||
capabilities: >-
|
||||
pilz_industrial_motion_planner/MoveGroupSequenceAction
|
||||
pilz_industrial_motion_planner/MoveGroupSequenceService
|
||||
@@ -1,12 +1,20 @@
|
||||
robot:
|
||||
name: "iiwa7"
|
||||
ip: "192.170.10.2"
|
||||
ip: "192.168.21.147"
|
||||
port: 30200
|
||||
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
|
||||
joint_position_tau: 0.04 # EMA позиций FRI [с]; 0 отключает сглаживание
|
||||
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
|
||||
|
||||
|
||||
digital_twin:
|
||||
tcp_gizmo:
|
||||
enabled: true # TCP-гизма в Webots; только в режиме симуляции
|
||||
publish_period: 0.032 # период управления [с]
|
||||
command_timeout: 0.3 # максимальный возраст цели при отпускании мыши [с]
|
||||
state_timeout: 0.5 # допустимый возраст состояния робота [с]
|
||||
max_linear_speed: 0.50 # верхний предел скорости TCP [м/с]
|
||||
max_angular_speed: 0.4 # скорость вращения TCP [рад/с]
|
||||
webots:
|
||||
world: pkg://iiwa_description/worlds/iiwa.wbt
|
||||
# world: pkg://iiwa_description/worlds/simple_world.wbt
|
||||
@@ -14,6 +22,26 @@ digital_twin:
|
||||
rotation: "0 0 1 0"
|
||||
controller_timer: "50"
|
||||
|
||||
objects:
|
||||
enabled: true
|
||||
count: 5 # точное общее количество; модели могут повторяться
|
||||
models:
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer1.obj
|
||||
rotation_deg: [0, 0, 0] # X, Y, Z в градусах, относительно робота
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer2.obj
|
||||
rotation_deg: [0, 0, 0] # X, Y, Z в градусах, относительно робота
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer3.obj
|
||||
rotation_deg: [0, 0, 0] # X, Y, Z в градусах, относительно робота
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer4.obj
|
||||
rotation_deg: [0, 0, 0] # X, Y, Z в градусах, относительно робота
|
||||
- path: pkg://iiwa_description/objects/hammer/hammer5.obj
|
||||
rotation_deg: [0, 0, 0] # X, Y, Z в градусах, относительно робота
|
||||
area: # метры в системе основания робота, до падения
|
||||
x: [0.3, 0.7]
|
||||
y: [-0.3, 0.3]
|
||||
z: [0.1, 0.1] # высота нижней точки модели
|
||||
|
||||
|
||||
cameras:
|
||||
- pkg://iiwa_config/config/cameras/d455_top.yaml
|
||||
|
||||
@@ -42,6 +70,8 @@ planning:
|
||||
default_frame: "base_link" # Система отсчёта по умолчанию
|
||||
default_planner: "ompl" # Планировщик по умолчанию
|
||||
planning_attempts: 3 # Число попыток планирования
|
||||
stopped_velocity_tolerance: 0.01 # рад/с: проверка начала движения из покоя
|
||||
state_timeout: 0.5 # с: максимальный возраст joint_states для проверки покоя
|
||||
|
||||
web:
|
||||
enabled: true
|
||||
@@ -50,6 +80,11 @@ web:
|
||||
endpoints: pkg://iiwa_config/config/api_endpoints.yaml
|
||||
joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
|
||||
|
||||
# Direct CSV/JSON trajectories require fresh feedback and a stationary start.
|
||||
trajectory_state_timeout: 0.5 # s
|
||||
trajectory_start_tolerance: 0.001 # rad
|
||||
trajectory_stopped_velocity: 0.01 # rad/s
|
||||
|
||||
foxglove:
|
||||
enabled: true # Запускать ли foxglove_bridge вместе с роботом
|
||||
port: 8765 # WebSocket-порт, к которому подключается Foxglove Studio (по умолчанию 8765)
|
||||
@@ -76,4 +111,4 @@ foxglove:
|
||||
- assets
|
||||
include_hidden: false # Показывать клиенту скрытые топики и сервисы (начинаются с _)
|
||||
asset_uri_allowlist: ['^package://(?:[-\w%]+/)*[-\w%.]+\.(?:dae|fbx|glb|gltf|jpeg|jpg|mtl|obj|png|stl|tif|tiff|urdf|webp|xacro)$'] # Regex-список URI вида package://..., из которых bridge разрешает отдавать файлы-ассеты (URDF, mesh и т.п.)
|
||||
ignore_unresponsive_param_nodes: true # Не падать, если нода не отвечает на запросы параметров (защита от зависания при старте)
|
||||
ignore_unresponsive_param_nodes: true # Не падать, если нода не отвечает на запросы параметров (защита от зависания при старте)
|
||||
|
||||
@@ -15,7 +15,7 @@ tools:
|
||||
label: "Без захвата"
|
||||
xacro: null
|
||||
tip_link: "link_ee"
|
||||
tcp_link: "link_ee"
|
||||
tcp_link: "tcp"
|
||||
collisions: []
|
||||
|
||||
patron:
|
||||
@@ -61,4 +61,3 @@ tools:
|
||||
- [camera_hand, link2, Never]
|
||||
- [camera_hand, link1, Never]
|
||||
- [camera_hand, base_link, Never]
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ struct IIWAStateSnapshot
|
||||
std::array<double, 7> measured_tau{}; // measured torque [Nm]
|
||||
std::array<double, 7> external_tau{}; // estimated external torque [Nm]
|
||||
std::array<double, 7> ipo_pos{}; // interpolator position [rad]
|
||||
std::array<double, 7> command_pos{}; // position sent in the current FRI reply [rad]
|
||||
double sample_time{0.0};
|
||||
KUKA::FRI::ESessionState session{KUKA::FRI::IDLE};
|
||||
KUKA::FRI::EConnectionQuality quality{KUKA::FRI::POOR};
|
||||
@@ -39,7 +40,7 @@ class FRIClient : public KUKA::FRI::LBRClient
|
||||
public:
|
||||
static constexpr size_t N_JOINTS = KUKA::FRI::LBRState::NUMBER_OF_JOINTS;
|
||||
using Joints = std::array<double, N_JOINTS>;
|
||||
FRIClient();
|
||||
explicit FRIClient(double position_smoothing_tau = 0.04);
|
||||
void monitor() override;
|
||||
void waitForCommand() override;
|
||||
void command() override;
|
||||
@@ -60,11 +61,13 @@ private:
|
||||
mutable std::mutex state_mutex_;
|
||||
std::mutex command_mutex_;
|
||||
Joints target_pos_{};
|
||||
Joints filtered_pos_{};
|
||||
Joints requested_pos_{};
|
||||
Joints sent_pos_{};
|
||||
Joints lower_, upper_, max_velocity_;
|
||||
bool initialized_{false};
|
||||
bool requested_{false};
|
||||
double position_smoothing_tau_{0.04};
|
||||
double expected_sample_time_{0.0};
|
||||
std::chrono::steady_clock::time_point requested_at_{};
|
||||
std::chrono::steady_clock::time_point last_command_at_{};
|
||||
|
||||
@@ -61,6 +61,8 @@ private:
|
||||
std::string robot_ip_;
|
||||
int fri_port_{30200};
|
||||
int fri_cycle_ms_{5};
|
||||
double joint_position_tau_{0.04};
|
||||
int rt_prio_{80};
|
||||
bool simulate_{false};
|
||||
// Объекты FRI SDK
|
||||
std::unique_ptr<FRIClient> fri_client_;
|
||||
@@ -86,6 +88,8 @@ private:
|
||||
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_vel_;
|
||||
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_eff_;
|
||||
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_ext_;
|
||||
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_ipo_;
|
||||
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_fri_cmd_;
|
||||
|
||||
std::array<hardware_interface::CommandInterface::SharedPtr, N_JOINTS> h_cmd_pos_;
|
||||
|
||||
|
||||
@@ -9,8 +9,12 @@ namespace iiwa_controller
|
||||
{
|
||||
using namespace KUKA::FRI;
|
||||
|
||||
FRIClient::FRIClient()
|
||||
FRIClient::FRIClient(double position_smoothing_tau)
|
||||
: position_smoothing_tau_(position_smoothing_tau)
|
||||
{
|
||||
if (!std::isfinite(position_smoothing_tau_) || position_smoothing_tau_ < 0.0) {
|
||||
throw std::invalid_argument("Position smoothing tau must be finite and non-negative");
|
||||
}
|
||||
lower_.fill(-std::numeric_limits<double>::infinity());
|
||||
upper_.fill(std::numeric_limits<double>::infinity());
|
||||
max_velocity_.fill(std::numeric_limits<double>::infinity());
|
||||
@@ -29,6 +33,10 @@ void FRIClient::captureData(bool commanding)
|
||||
std::copy_n(state.getMeasuredJointPosition(), N_JOINTS, current_.measured_pos.begin());
|
||||
std::copy_n(state.getMeasuredTorque(), N_JOINTS, current_.measured_tau.begin());
|
||||
std::copy_n(state.getExternalTorque(), N_JOINTS, current_.external_tau.begin());
|
||||
if (!commanding) {
|
||||
// No application command exists outside a commanding FRI state.
|
||||
current_.command_pos = current_.measured_pos;
|
||||
}
|
||||
current_.sample_time = state.getSampleTime();
|
||||
current_.session = state.getSessionState();
|
||||
current_.quality = state.getConnectionQuality();
|
||||
@@ -56,7 +64,10 @@ void FRIClient::captureData(bool commanding)
|
||||
if (expected_sample_time_ > 0.0 &&
|
||||
std::abs(current_.sample_time - expected_sample_time_) > 1e-9)
|
||||
{
|
||||
throw std::runtime_error("Sunrise FRI period differs from robot.fri_cycle_ms");
|
||||
throw std::runtime_error(
|
||||
"Sunrise FRI period is " + std::to_string(current_.sample_time * 1000.0) +
|
||||
" ms, but robot.fri_cycle_ms is " +
|
||||
std::to_string(expected_sample_time_ * 1000.0) + " ms");
|
||||
}
|
||||
if (current_.valid && current_.session == COMMANDING_ACTIVE) {
|
||||
const double elapsed = static_cast<double>(sec - current_.time_stamp_sec) +
|
||||
@@ -113,7 +124,8 @@ void FRIClient::waitForCommand()
|
||||
captureData(true);
|
||||
validateCommanding();
|
||||
LBRClient::waitForCommand(); // SDK 1.16 mirrors IPO, not measured position.
|
||||
sent_pos_ = target_pos_ = current_.ipo_pos;
|
||||
sent_pos_ = target_pos_ = filtered_pos_ = current_.ipo_pos;
|
||||
current_.command_pos = sent_pos_;
|
||||
initialized_ = true;
|
||||
last_command_at_ = current_.received_at;
|
||||
publishState();
|
||||
@@ -124,7 +136,7 @@ void FRIClient::command()
|
||||
captureData(true);
|
||||
validateCommanding();
|
||||
if (!initialized_) {
|
||||
sent_pos_ = target_pos_ = current_.ipo_pos;
|
||||
sent_pos_ = target_pos_ = filtered_pos_ = current_.ipo_pos;
|
||||
last_command_at_ = current_.received_at;
|
||||
initialized_ = true;
|
||||
}
|
||||
@@ -141,16 +153,20 @@ void FRIClient::command()
|
||||
throw std::runtime_error("FRI command watchdog expired");
|
||||
}
|
||||
const double dt = current_.sample_time;
|
||||
const double alpha = position_smoothing_tau_ == 0.0 ? 1.0 :
|
||||
dt / (position_smoothing_tau_ + dt);
|
||||
for (size_t i = 0; i < N_JOINTS; ++i) {
|
||||
if (!std::isfinite(target_pos_[i]) || target_pos_[i] < lower_[i] ||
|
||||
target_pos_[i] > upper_[i])
|
||||
{
|
||||
throw std::runtime_error("FRI position command outside configured limits");
|
||||
}
|
||||
const double step = target_pos_[i] - sent_pos_[i];
|
||||
filtered_pos_[i] = alpha * target_pos_[i] + (1.0 - alpha) * filtered_pos_[i];
|
||||
const double step = filtered_pos_[i] - sent_pos_[i];
|
||||
sent_pos_[i] += std::clamp(step, -max_velocity_[i] * dt, max_velocity_[i] * dt);
|
||||
}
|
||||
robotCommand().setJointPosition(sent_pos_.data());
|
||||
current_.command_pos = sent_pos_;
|
||||
publishState();
|
||||
}
|
||||
|
||||
|
||||
@@ -15,6 +15,7 @@
|
||||
#include "hardware_interface/types/hardware_interface_type_values.hpp"
|
||||
#include "pluginlib/class_list_macros.hpp"
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
#include "realtime_tools/realtime_helpers.hpp"
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(
|
||||
iiwa_controller::IIWAHardwareInterface,
|
||||
@@ -87,6 +88,18 @@ CallbackReturn IIWAHardwareInterface::on_init(
|
||||
if (used != cycle.size() || fri_cycle_ms_ < 1 || fri_cycle_ms_ > 100) {
|
||||
throw std::invalid_argument("Invalid fri_cycle_ms (expected 1..100)");
|
||||
}
|
||||
const auto position_tau = getParam(info, "joint_position_tau", "0.04");
|
||||
joint_position_tau_ = std::stod(position_tau, &used);
|
||||
if (used != position_tau.size() || !std::isfinite(joint_position_tau_) ||
|
||||
joint_position_tau_ < 0.0)
|
||||
{
|
||||
throw std::invalid_argument("Invalid joint_position_tau (expected >= 0)");
|
||||
}
|
||||
const auto rt_prio = getParam(info, "rt_prio", "80");
|
||||
rt_prio_ = std::stoi(rt_prio, &used);
|
||||
if (used != rt_prio.size() || rt_prio_ < 1 || rt_prio_ > 99) {
|
||||
throw std::invalid_argument("Invalid rt_prio (expected 1..99)");
|
||||
}
|
||||
const auto simulation = getParam(info, "simulate", "false");
|
||||
if (simulation != "true" && simulation != "false") {
|
||||
throw std::invalid_argument("simulate must be true or false");
|
||||
@@ -132,6 +145,11 @@ CallbackReturn IIWAHardwareInterface::on_init(
|
||||
}
|
||||
lower_[i] = limits->second.min_position;
|
||||
upper_[i] = limits->second.max_position;
|
||||
const auto soft = info.soft_limits.find(joint.name);
|
||||
if (soft != info.soft_limits.end()) {
|
||||
lower_[i] = std::max(lower_[i], soft->second.min_position);
|
||||
upper_[i] = std::min(upper_[i], soft->second.max_position);
|
||||
}
|
||||
max_velocity_[i] = limits->second.max_velocity;
|
||||
if (!std::isfinite(lower_[i]) || !std::isfinite(upper_[i]) || lower_[i] >= upper_[i] ||
|
||||
!std::isfinite(max_velocity_[i]) || max_velocity_[i] <= 0.0)
|
||||
@@ -151,14 +169,16 @@ std::vector<hardware_interface::InterfaceDescription>
|
||||
IIWAHardwareInterface::export_unlisted_state_interface_descriptions()
|
||||
{
|
||||
std::vector<hardware_interface::InterfaceDescription> descs;
|
||||
descs.reserve(N_JOINTS);
|
||||
descs.reserve(3 * N_JOINTS);
|
||||
|
||||
for (size_t i = 0; i < N_JOINTS; ++i) {
|
||||
hardware_interface::InterfaceInfo if_info;
|
||||
if_info.name = "external_torque";
|
||||
if_info.data_type = "double";
|
||||
if_info.initial_value = "0.0";
|
||||
descs.emplace_back(info_.joints[i].name, if_info);
|
||||
for (const auto * name : {"external_torque", "ipo_position", "fri_command_position"}) {
|
||||
hardware_interface::InterfaceInfo if_info;
|
||||
if_info.name = name;
|
||||
if_info.data_type = "double";
|
||||
if_info.initial_value = "0.0";
|
||||
descs.emplace_back(info_.joints[i].name, if_info);
|
||||
}
|
||||
}
|
||||
|
||||
return descs;
|
||||
@@ -175,7 +195,7 @@ CallbackReturn IIWAHardwareInterface::on_configure(const rclcpp_lifecycle::State
|
||||
}
|
||||
|
||||
releaseFRI();
|
||||
fri_client_ = std::make_unique<FRIClient>();
|
||||
fri_client_ = std::make_unique<FRIClient>(joint_position_tau_);
|
||||
fri_client_->setLimits(lower_, upper_, max_velocity_);
|
||||
fri_client_->setExpectedSampleTime(fri_cycle_ms_ * 0.001);
|
||||
connection_ = std::make_unique<StartupConnection>(fri_running_);
|
||||
@@ -195,6 +215,8 @@ CallbackReturn IIWAHardwareInterface::on_activate(const rclcpp_lifecycle::State
|
||||
h_vel_[i] = get_state_interface_handle(name + "/velocity");
|
||||
h_eff_[i] = get_state_interface_handle(name + "/effort");
|
||||
h_ext_[i] = get_state_interface_handle(name + "/external_torque");
|
||||
h_ipo_[i] = get_state_interface_handle(name + "/ipo_position");
|
||||
h_fri_cmd_[i] = get_state_interface_handle(name + "/fri_command_position");
|
||||
h_cmd_pos_[i] = get_command_interface_handle(name + "/position");
|
||||
}
|
||||
if (!simulate_) {
|
||||
@@ -233,6 +255,8 @@ CallbackReturn IIWAHardwareInterface::on_activate(const rclcpp_lifecycle::State
|
||||
set_state(h_vel_[i], 0.0, true);
|
||||
set_state(h_eff_[i], simulate_ ? 0.0 : last_snapshot_.measured_tau[i], true);
|
||||
set_state(h_ext_[i], simulate_ ? 0.0 : last_snapshot_.external_tau[i], true);
|
||||
set_state(h_ipo_[i], position, true);
|
||||
set_state(h_fri_cmd_[i], position, true);
|
||||
set_command(h_cmd_pos_[i], position, true);
|
||||
}
|
||||
} catch (const std::exception & e) {
|
||||
@@ -291,6 +315,13 @@ CallbackReturn IIWAHardwareInterface::on_error(const rclcpp_lifecycle::State & s
|
||||
void IIWAHardwareInterface::friThreadFunc()
|
||||
{
|
||||
try {
|
||||
if (!realtime_tools::configure_sched_fifo(rt_prio_)) {
|
||||
RCLCPP_WARN(rclcpp::get_logger(LOG),
|
||||
"FRI worker could not enable FIFO priority %d; configure realtime permissions for this user",
|
||||
rt_prio_);
|
||||
} else {
|
||||
RCLCPP_INFO(rclcpp::get_logger(LOG), "FRI worker uses FIFO priority %d", rt_prio_);
|
||||
}
|
||||
bool synchronized = false;
|
||||
const auto startup_deadline = std::chrono::steady_clock::now() + std::chrono::seconds(15);
|
||||
while (fri_running_.load()) {
|
||||
@@ -379,6 +410,8 @@ hardware_interface::return_type IIWAHardwareInterface::read(
|
||||
set_state(h_vel_[i], 0.0, false);
|
||||
set_state(h_eff_[i], 0.0, false);
|
||||
set_state(h_ext_[i], 0.0, false);
|
||||
set_state(h_ipo_[i], pos, false);
|
||||
set_state(h_fri_cmd_[i], pos, false);
|
||||
}
|
||||
return hardware_interface::return_type::OK;
|
||||
}
|
||||
@@ -407,6 +440,8 @@ hardware_interface::return_type IIWAHardwareInterface::read(
|
||||
set_state(h_vel_[i], velocity_[i], false);
|
||||
set_state(h_eff_[i], snap.measured_tau[i], false);
|
||||
set_state(h_ext_[i], snap.external_tau[i], false);
|
||||
set_state(h_ipo_[i], snap.ipo_valid ? snap.ipo_pos[i] : snap.measured_pos[i], false);
|
||||
set_state(h_fri_cmd_[i], snap.command_pos[i], false);
|
||||
}
|
||||
|
||||
return hardware_interface::return_type::OK;
|
||||
|
||||
@@ -23,7 +23,8 @@ public:
|
||||
class ClientFixture : public iiwa_controller::FRIClient
|
||||
{
|
||||
public:
|
||||
ClientFixture() : FRIClient(), app(connection, *this), data(app.data())
|
||||
explicit ClientFixture(double position_smoothing_tau = 0.04)
|
||||
: FRIClient(position_smoothing_tau), app(connection, *this), data(app.data())
|
||||
{
|
||||
auto & m = data->monitoringMsg;
|
||||
m.connectionInfo.sendPeriod = 10;
|
||||
@@ -99,7 +100,7 @@ TEST(FRIClient, RejectsUnsupportedCommandModeBeforeSending)
|
||||
EXPECT_FALSE(client.data->commandMsg.commandData.has_jointPosition);
|
||||
}
|
||||
|
||||
TEST(FRIClient, PositionCommandsHaveNoEmaDelay)
|
||||
TEST(FRIClient, PositionCommandsAreSmoothedBeforeSending)
|
||||
{
|
||||
ClientFixture client;
|
||||
client.cycle(COMMANDING_WAIT);
|
||||
@@ -108,10 +109,23 @@ TEST(FRIClient, PositionCommandsHaveNoEmaDelay)
|
||||
q.fill(0.41);
|
||||
client.setTargetJointPositions(q);
|
||||
client.cycle(COMMANDING_ACTIVE);
|
||||
EXPECT_DOUBLE_EQ(client.sentPosition(), 0.41);
|
||||
// tau=40 ms, dt=10 ms: alpha=dt/(tau+dt)=0.2.
|
||||
EXPECT_DOUBLE_EQ(client.sentPosition(), 0.402);
|
||||
EXPECT_DOUBLE_EQ(client.getStateSnapshot().measured_pos[0], 0.2);
|
||||
}
|
||||
|
||||
TEST(FRIClient, ZeroPositionSmoothingTauForwardsStepImmediately)
|
||||
{
|
||||
ClientFixture client(0.0);
|
||||
client.cycle(COMMANDING_WAIT);
|
||||
client.cycle(COMMANDING_ACTIVE);
|
||||
iiwa_controller::FRIClient::Joints q;
|
||||
q.fill(0.41);
|
||||
client.setTargetJointPositions(q);
|
||||
client.cycle(COMMANDING_ACTIVE);
|
||||
EXPECT_DOUBLE_EQ(client.sentPosition(), 0.41);
|
||||
}
|
||||
|
||||
TEST(FRIClient, RejectsInvalidCommandsAndBoundsCommandRate)
|
||||
{
|
||||
ClientFixture client;
|
||||
@@ -199,7 +213,7 @@ TEST(FRIClient, RejectsOverwritingAnUnconsumedPoint)
|
||||
q.fill(0.402);
|
||||
EXPECT_THROW(client.setTargetJointPositions(q), std::logic_error);
|
||||
client.cycle(COMMANDING_ACTIVE);
|
||||
EXPECT_DOUBLE_EQ(client.sentPosition(), 0.401);
|
||||
EXPECT_DOUBLE_EQ(client.sentPosition(), 0.4002);
|
||||
}
|
||||
|
||||
TEST(FRIClient, SynchronizedCyclesPreserveEveryPointDespiteSchedulingJitter)
|
||||
@@ -229,8 +243,11 @@ TEST(FRIClient, SynchronizedCyclesPreserveEveryPointDespiteSchedulingJitter)
|
||||
worker.join();
|
||||
ASSERT_TRUE(worker_ok);
|
||||
ASSERT_EQ(sent.size(), 9u);
|
||||
double expected = 0.4;
|
||||
for (size_t frame = 1; frame < sent.size(); ++frame) {
|
||||
EXPECT_NEAR(sent[frame] - sent[frame - 1], 0.001, 1e-12);
|
||||
const double target = 0.4 + static_cast<double>(frame) * 0.001;
|
||||
expected = 0.2 * target + 0.8 * expected;
|
||||
EXPECT_NEAR(sent[frame], expected, 1e-12);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -45,6 +45,22 @@ TEST(Hardware, RejectsMalformedPortWithoutThrowing)
|
||||
EXPECT_EQ(hardware.on_init(params), Return::ERROR);
|
||||
}
|
||||
|
||||
TEST(Hardware, RejectsInvalidRealtimePriority)
|
||||
{
|
||||
Hardware hardware;
|
||||
auto params = parameters();
|
||||
params.hardware_info.hardware_parameters["rt_prio"] = "0";
|
||||
EXPECT_EQ(hardware.on_init(params), Return::ERROR);
|
||||
}
|
||||
|
||||
TEST(Hardware, RejectsInvalidPositionSmoothingTau)
|
||||
{
|
||||
Hardware hardware;
|
||||
auto params = parameters();
|
||||
params.hardware_info.hardware_parameters["joint_position_tau"] = "-0.01";
|
||||
EXPECT_EQ(hardware.on_init(params), Return::ERROR);
|
||||
}
|
||||
|
||||
TEST(Hardware, RejectsWrongJointOrderAndMissingInterfaces)
|
||||
{
|
||||
auto params = parameters();
|
||||
@@ -91,3 +107,14 @@ TEST(Hardware, ConfiguredRealHardwareCleansUpInDependencyOrder)
|
||||
EXPECT_EQ(hardware.on_cleanup(state), Return::SUCCESS);
|
||||
EXPECT_EQ(hardware.on_error(state), Return::SUCCESS);
|
||||
}
|
||||
|
||||
TEST(Hardware, RejectsInconsistentSoftLimits)
|
||||
{
|
||||
Hardware hardware;
|
||||
auto params = parameters();
|
||||
joint_limits::SoftJointLimits soft;
|
||||
soft.min_position = 1.0;
|
||||
soft.max_position = -1.0;
|
||||
params.hardware_info.soft_limits["joint1"] = soft;
|
||||
EXPECT_EQ(hardware.on_init(params), Return::ERROR);
|
||||
}
|
||||
|
||||
@@ -9,7 +9,7 @@ endif()
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(
|
||||
DIRECTORY resource worlds urdf
|
||||
DIRECTORY resource worlds urdf objects
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Металл_|_оцинкованный
|
||||
Ns 562.500000
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.566810 0.612066 0.625345
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Металл_|_тёмный
|
||||
Ns 462.399994
|
||||
Ka 0.750000 0.750000 0.750000
|
||||
Kd 0.151058 0.176774 0.186989
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Пластик_|_графит
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039947 0.046149 0.052842
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_светло-серый
|
||||
Ns 384.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.701169 0.708298 0.680020
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_серый
|
||||
Ns 313.600006
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.425905 0.453456 0.442323
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_средне-серый
|
||||
Ns 302.500000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.271577 0.293216 0.288816
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Резина_|_чёрная
|
||||
Ns 102.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.002263 0.002932 0.003697
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,62 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Клеммник_|_синий_по_референсу
|
||||
Ns 384.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.001963 0.133209 0.409826
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Металл_|_оцинкованный.001
|
||||
Ns 562.500000
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.566810 0.612066 0.625345
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Металл_|_тёмный.002
|
||||
Ns 462.399994
|
||||
Ka 0.750000 0.750000 0.750000
|
||||
Kd 0.151058 0.176774 0.186989
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Пластик_|_графит.002
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039947 0.046149 0.052842
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_тёмно-синий
|
||||
Ns 313.600006
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000805 0.071761 0.212044
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Резина_|_чёрная.002
|
||||
Ns 102.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.002263 0.002932 0.003697
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Лотки_|_глубокий_синий
|
||||
Ns 360.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000805 0.042987 0.183549
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,32 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Платформа_|_текстурированная
|
||||
Ns 48.400013
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.013473 0.016068 0.017936
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Разметка_|_жёлтая
|
||||
Ns 360.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.804559 0.573159 0.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Разметка_|_серая
|
||||
Ns 250.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.344026 0.368591 0.378676
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,92 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Корпуса_|_серый_по_референсу.001
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.353741 0.383775 0.378676
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Металл_|_оцинкованный.002
|
||||
Ns 562.500000
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.566810 0.612066 0.625345
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Металл_|_тёмный.003
|
||||
Ns 462.399994
|
||||
Ka 0.750000 0.750000 0.750000
|
||||
Kd 0.151058 0.176774 0.186989
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Панель_ПЛК_|_тёмный_графит
|
||||
Ns 250.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.010398 0.013473 0.016988
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_графит.003
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039947 0.046149 0.052842
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_светло-серый.002
|
||||
Ns 384.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.701169 0.708298 0.680020
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_серый.001
|
||||
Ns 313.600006
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.425905 0.453456 0.442323
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_средне-серый.002
|
||||
Ns 302.500000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.271577 0.293216 0.288816
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Резина_|_чёрная.003
|
||||
Ns 102.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.002263 0.002932 0.003697
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,72 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Индикатор_|_зелёный
|
||||
Ns 608.399963
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.052842 0.573159 0.067725
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Корпуса_|_серый_по_референсу
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.353741 0.383775 0.378676
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Металл_|_тёмный.001
|
||||
Ns 462.399994
|
||||
Ka 0.750000 0.750000 0.750000
|
||||
Kd 0.151058 0.176774 0.186989
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Пластик_|_графит.001
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039947 0.046149 0.052842
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_светло-серый.001
|
||||
Ns 384.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.701169 0.708298 0.680020
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_средне-серый.001
|
||||
Ns 302.500000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.271577 0.293216 0.288816
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Резина_|_чёрная.001
|
||||
Ns 102.399994
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.002263 0.002932 0.003697
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Корпуса_|_серый_по_референсу.002
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.353741 0.383775 0.378676
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,82 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Крышка_|_прозрачная_синяя
|
||||
Ns 705.600098
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.056374 0.353741 0.535642
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 0.420000
|
||||
illum 9
|
||||
|
||||
newmtl Крышка_|_синие_кромки
|
||||
Ns 640.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.020951 0.173439 0.271577
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 0.650000
|
||||
illum 9
|
||||
|
||||
newmtl Медь_|_катушка
|
||||
Ns 291.599945
|
||||
Ka 0.320000 0.320000 0.320000
|
||||
Kd 0.560499 0.275833 0.121986
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Металл_|_оцинкованный.003
|
||||
Ns 562.500000
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.566810 0.612066 0.625345
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Металл_|_тёмный.004
|
||||
Ns 462.399994
|
||||
Ka 0.750000 0.750000 0.750000
|
||||
Kd 0.151058 0.176774 0.186989
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Пластик_|_графит.004
|
||||
Ns 291.599945
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039947 0.046149 0.052842
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_средне-серый.003
|
||||
Ns 302.500000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.271577 0.293216 0.288816
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Пластик_|_тёмно-синий.001
|
||||
Ns 313.600006
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000805 0.071761 0.212044
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Лотки_|_глубокий_синий.001
|
||||
Ns 360.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000805 0.042987 0.183549
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Панель_|_графитовый_композит.002
|
||||
Ns 435.599945
|
||||
Ka 0.120000 0.120000 0.120000
|
||||
Kd 0.035000 0.043000 0.047000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Крышка_|_графитовый_композит.002
|
||||
Ns 384.399994
|
||||
Ka 0.100000 0.100000 0.100000
|
||||
Kd 0.055000 0.062000 0.065000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,42 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Black_anodized_aluminium.001
|
||||
Ns 462.399994
|
||||
Ka 0.720000 0.720000 0.720000
|
||||
Kd 0.035000 0.043000 0.050000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Dark_tool_steel.003
|
||||
Ns 504.100067
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.160000 0.180000 0.200000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Satin_stainless_steel.003
|
||||
Ns 562.500000
|
||||
Ka 0.880000 0.880000 0.880000
|
||||
Kd 0.520000 0.560000 0.590000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Socket_recess.002
|
||||
Ns 250.000000
|
||||
Ka 0.100000 0.100000 0.100000
|
||||
Kd 0.006000 0.007000 0.008000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Лоток_|_матовая_нержавеющая_сталь
|
||||
Ns 476.100006
|
||||
Ka 0.900000 0.900000 0.900000
|
||||
Kd 0.520000 0.550000 0.560000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,32 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Dark_tool_steel.003
|
||||
Ns 504.100067
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.160000 0.180000 0.200000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Magnet_nickel
|
||||
Ns 592.899963
|
||||
Ka 0.900000 0.900000 0.900000
|
||||
Kd 0.260000 0.290000 0.320000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Satin_stainless_steel.003
|
||||
Ns 562.500000
|
||||
Ka 0.880000 0.880000 0.880000
|
||||
Kd 0.520000 0.560000 0.590000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,52 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Винты_|_сталь.001
|
||||
Ns 608.399963
|
||||
Ka 0.850000 0.850000 0.850000
|
||||
Kd 0.420000 0.450000 0.460000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Опоры_|_чёрный_металл.001
|
||||
Ns 504.100067
|
||||
Ka 0.550000 0.550000 0.550000
|
||||
Kd 0.045000 0.052000 0.055000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Стапель_|_серый_анодированный_металл.001
|
||||
Ns 435.599945
|
||||
Ka 0.550000 0.550000 0.550000
|
||||
Kd 0.190000 0.205000 0.210000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Упоры_|_нержавеющая_сталь.001
|
||||
Ns 562.500000
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.550000 0.580000 0.570000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Шлицы_|_тёмный_металл.001
|
||||
Ns 422.499969
|
||||
Ka 0.500000 0.500000 0.500000
|
||||
Kd 0.025000 0.028000 0.030000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,62 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Black_anodized_aluminium
|
||||
Ns 462.399994
|
||||
Ka 0.720000 0.720000 0.720000
|
||||
Kd 0.035000 0.043000 0.050000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Dark_tool_steel
|
||||
Ns 504.100067
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.160000 0.180000 0.200000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Dock_identification_blue
|
||||
Ns 462.399994
|
||||
Ka 0.550000 0.550000 0.550000
|
||||
Kd 0.025000 0.200000 0.310000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Laser_marking
|
||||
Ns 384.399994
|
||||
Ka 0.450000 0.450000 0.450000
|
||||
Kd 0.650000 0.720000 0.760000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Satin_stainless_steel
|
||||
Ns 562.500000
|
||||
Ka 0.880000 0.880000 0.880000
|
||||
Kd 0.520000 0.560000 0.590000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Socket_recess
|
||||
Ns 250.000000
|
||||
Ka 0.100000 0.100000 0.100000
|
||||
Kd 0.006000 0.007000 0.008000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,42 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Black_elastomer.001
|
||||
Ns 193.600006
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.012000 0.016000 0.019000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Dark_tool_steel.005
|
||||
Ns 504.100067
|
||||
Ka 0.820000 0.820000 0.820000
|
||||
Kd 0.160000 0.180000 0.200000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Satin_stainless_steel.005
|
||||
Ns 562.500000
|
||||
Ka 0.880000 0.880000 0.880000
|
||||
Kd 0.520000 0.560000 0.590000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
|
||||
newmtl Socket_recess.004
|
||||
Ns 250.000000
|
||||
Ka 0.100000 0.100000 0.100000
|
||||
Kd 0.006000 0.007000 0.008000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
# Blender 5.2.1 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
|
||||
newmtl Винт_|_нержавеющая_сталь
|
||||
Ns 555.025024
|
||||
Ka 0.920000 0.920000 0.920000
|
||||
Kd 0.520000 0.550000 0.560000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 3
|
||||
File diff suppressed because it is too large
Load Diff
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user