HTI Zen Orchestrator

HTI Zen Orchestrator

This Skill defines when and how to use Zen MCP tools in the hti-zen-harness project.

Zen provides multi-model orchestration (planner, consensus, codereview, thinkdeep, debug, clink). Use them deliberately when they add real value, not reflexively.

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⚡ Recommended Approach: Use API Tools Directly

Prefer direct Zen MCP tools over clink:

• ✅ chat, thinkdeep, consensus, codereview, precommit, debug, planner
• ✅ Work via API (no CLI setup needed)
• ✅ Already configured and tested
• ✅ Simple, reliable, fast

Avoid clink unless absolutely necessary:

• ❌ Requires separate CLI installations (gemini CLI, codex CLI, etc.)
• ❌ Requires separate authentication for each CLI
• ❌ Uses your API credits anyway (no cost benefit)
• ❌ More complexity for minimal gain in this project

Bottom line: Direct API tools (mcp__zen__chat, mcp__zen__consensus, etc.) do everything you need without the CLI overhead.

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When Zen Tools Add Value

Consider using Zen MCP tools when:

Complex architectural work

• Multi-file refactors spanning 5+ files
• New subsystems or major feature additions
• Changes to core HTI abstractions (bands, adapters, guards, probes)
• Redesigning interfaces or data flows

Safety-critical code

• Modifying timing bands or HTI invariants
• Changes to error handling or recovery logic
• Adapter implementations that interact with external models
• CI/​CD pipeline changes that affect safety guarantees

Ambiguous or contentious decisions

• Multiple valid implementation approaches exist
• Trade-offs between performance, safety, and complexity
• Unusual patterns where you're unsure of best practice

Deep investigation needed

• Complex bugs with unclear root cause
• Performance issues requiring systematic analysis
• Understanding unfamiliar codebases or dependencies

When Zen is overkill:

Simple changes

• Single-file bug fixes
• Adding straightforward tests
• Documentation updates
• Simple refactors (renaming, extracting functions)
• Configuration tweaks

For these, direct implementation is faster and more appropriate.

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Zen Tool Selection Guide

planner - Multi-step planning with reflection

Use when:

• Task has 5+ distinct steps
• Multiple architectural approaches possible
• Need to think through dependencies and ordering
• Want progressive refinement of a complex plan

Example: "Plan migration of adapter interface to support streaming responses"

consensus - Multi-model debate and synthesis

Use when:

• Two+ valid approaches with different trade-offs
• Safety-critical decisions need validation
• Controversial architectural choices
• Want diverse perspectives on a design

Example: "Should we use async generators or callback patterns for streaming? Get consensus from multiple models."

Models to include: At least 2, typically 3-4. Mix code-specialized models with general reasoning models.

codereview - Systematic code analysis

Use when:

• Reviewing large PRs or branches
• Safety-critical changes to core logic
• Unfamiliar code needs audit
• Want comprehensive security/​performance review

Example: "Review the new HTI band scheduler implementation for correctness and edge cases."

thinkdeep - Hypothesis-driven investigation

Use when:

• Complex architectural questions
• Performance analysis and optimization planning
• Security threat modeling
• Understanding subtle interactions

Example: "Investigate why adapter timeout logic behaves differently under load."

debug - Root cause analysis

Use when:

• Complex bugs with mysterious symptoms
• Race conditions or timing issues
• Failures that only occur in specific conditions
• Need systematic hypothesis testing

Example: "Debug why HTI band transitions occasionally skip validation steps."

clink - Delegating to external CLI tools

Use when:

• Need capabilities of a specific AI CLI (gemini, codex, claude)
• Want to leverage role presets (codereviewer, planner)
• Continuing a conversation thread across tools

Example: "Use clink with gemini CLI for large-scale codebase exploration."

chat - General-purpose thinking partner

Use for:

• Brainstorming approaches
• Quick sanity checks
• Explaining concepts
• Rubber-duck debugging

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Model Selection Guidelines

When calling Zen tools, choose models deliberately based on the task:

For reading, exploration, summarization:

• Prefer: Models with large context windows and good efficiency
• Pattern: Large-context, efficient models
• Use case: "Scan 50 test files to find coverage gaps"

For core implementation and refactoring:

• Prefer: Code-specialized, high-quality models
• Pattern: Code-specialized models (e.g., models with "codex" in the name or any available code-focused equivalent)
• Use case: "Implement new HTI adapter with proper error handling"

For safety-critical validation:

• Use: Multiple models via consensus or sequential codereview
• Pattern: Mix of code-specialized and general reasoning models for diverse perspectives
• Use case: "Validate timing band logic won't introduce deadlocks"

Document your choices:

When model selection matters for auditability:

# HTI-NOTE: Implementation reviewed by code-specialized models (consensus check).
# No race conditions detected in band transition logic.
def transition_band(current: Band, target: Band) -> Result:
    ...

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Shell Access via clink

Zen's clink tool can execute shell commands. Use it responsibly.

✅ OK without asking (read-only, low-risk):

• File inspection: ls, pwd, cat, head, tail, find
• Git inspection: git status, git diff, git log, git branch
• Testing: pytest, python -m pytest, test runners
• Linting: ruff check, black --check, mypy, static analysis
• Info gathering: python --version, uv --version, dependency checks

⚠️ Ask user approval first:

• Installing packages: pip install, uv add, npm install
• Git mutations: git commit, git push, git reset, git checkout -b, git rebase
• File mutations: rm, mv, file deletions/​moves
• Network operations: curl, wget, API calls
• Environment changes: Modifying config files, .env files

How to ask:

I need to run: `pip install pytest-asyncio`
Reason: Required for testing async adapter implementations
Approve?

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Failure Handling with Zen

When Zen tools or model calls fail, follow these rules (aligned with hti-fallback-guard):

❌ Do NOT:

• Pretend the call succeeded
• Silently switch to a different model without explanation
• Invent outputs or fake data
• Swallow errors and continue as if nothing happened

✅ DO:

1. Report clearly:

Zen `codereview` call failed:
  Tool: codereview
  Model: <model-name>
  Error: Rate limit exceeded (429)
  Step: Reviewing src/​adapters/​openai.py

2. Propose alternatives:

• "Retry with a different model (another available code-specialized option)?"
• "Split the review into smaller chunks?"
• "Proceed with manual review instead?"
• "Wait 60s and retry?"

3. Document in code if relevant:

# HTI-TODO: Codereview via Zen failed (rate limit).
# Manual review needed for thread safety in adapter pool.

Structured failure result pattern:

When appropriate, return explicit error states:

@dataclass
class ZenResult:
    ok: bool
    tool: str
    data: dict | None = None
    error: str | None = None

# Never set ok=True when Zen call actually failed

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Recommended Workflow for Substantial Changes

For non-trivial work (multi-file refactors, new features, safety-critical edits):

1. Plan (if complexity warrants it)

• Use Zen planner for complex, multi-faceted tasks
• For simpler changes, a bullet list is fine
• Show plan to user, get confirmation

2. Implement

• Use appropriate model (code-specialized for core logic)
• Follow hti-fallback-guard principles
• Document model choice if safety-critical

3. Review (for important changes)

• Use Zen codereview for:
  • Large PRs (10+ files)
  • Safety-critical logic
  • HTI band/​adapter/​guard changes
• Use Zen precommit before finalizing

4. Summarize

Tell the user:

• What changed (files, behavior)
• Which models/​tools were used
• Any TODOs or concerns
• Test coverage added/​modified

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Integration with Testing and CI

When working on tests or CI:

Prefer changes that tighten guarantees:

• Tests that assert explicit failures (not silent fallbacks)
• CI checks that fail loudly when invariants break
• Guards that prevent invalid state transitions

Use Zen tools to:

• Validate test coverage (codereview with focus on testing)
• Check CI logic for edge cases (thinkdeep on pipeline behavior)
• Compare testing strategies (consensus on approach)

Document how changes affect:

• HTI invariants (timing, safety, ordering)
• Existing guards and probes
• CI failure modes

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When in Doubt

Ask yourself:

1. Is this complex enough to need multi-model orchestration?

   • Yes → Use Zen deliberately
   • No → Direct implementation is fine

2. Does this change affect safety or timing?

   • Yes → Consider consensus or codereview
   • No → Proceed with standard review

3. Am I using Zen to avoid thinking, or to think better?

   • Avoid thinking → Don't use Zen
   • Think better → Use Zen appropriately

The goal is thoughtful tool use, not tool maximalism.

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HTI-Specific Model Recommendations

Available Models (as of 2025-11-30):

• Gemini: gemini-2.5-pro (1M context, deep reasoning), gemini-2.5-flash (ultra-fast)
• OpenAI: gpt-5.1, gpt-5.1-codex, gpt-5-pro, o3, o3-mini, o4-mini

Recommended by Task:

• Planning: gpt-5.1-codex (code-focused structured planning)
• Architecture: gemini-2.5-pro (deep reasoning, 1M context)
• Debugging: o3 (strong logical analysis)
• Code Review: gpt-5.1 (comprehensive reasoning)
• Quick Questions: gemini-2.5-flash (ultra-fast, 1M context)
• Consensus: Mix 2-3 models (e.g., gpt-5.1 + gemini-2.5-pro + o3)

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Practical Templates

Template 1: Planning New HTI Version

Use Case: Starting v0.X implementation (5+ files, new subsystems)

Pattern:

Use planner with gpt-5.1-codex to design [FEATURE]:

Context:
- Current state: [what exists now]
- Goal: [what we're building]
- Constraints: [HTI invariants, backward compatibility]

Plan should include:
1. Architecture changes needed
2. File modifications (existing + new)
3. Testing strategy
4. Migration path (if breaking changes)

Example:

Use planner with gpt-5.1-codex to design v0.6 RL policy integration:

Context:
- Current: PD/​PID controllers via ArmBrainPolicy protocol
- Goal: Support stateful RL policies (PPO, SAC, DQN)
- Constraints: Zero harness changes, brain-agnostic design

Plan should include:
1. BrainPolicy extension for stateful policies
2. Episode buffer interface
3. Checkpoint loading/​saving
4. Testing with dummy RL brain

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Template 2: Design Decisions via Consensus

Use Case: Multiple valid approaches, safety-critical choices

Pattern:

Use consensus to decide: [QUESTION]

Models:
- gpt-5.1 with stance "for" [OPTION A]
- gemini-2.5-pro with stance "against" [OPTION A, argue for OPTION B]
- o3 with stance "neutral" (objective analysis)

Context:
[Relevant technical details]

Criteria:
- [Criterion 1]
- [Criterion 2]

Example:

Use consensus to decide: RL framework for HTI v0.6

Models:
- gpt-5.1 with stance "for" Stable-Baselines3
- gemini-2.5-pro with stance "against" SB3, argue for CleanRL
- o3 with stance "neutral"

Context:
- Need PPO, SAC, DQN implementations
- Must integrate with HTI ArmBrainPolicy protocol
- Want good documentation and active maintenance

Criteria:
- Ease of integration with HTI
- Code quality and maintainability
- Performance and stability

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Template 3: Deep Investigation

Use Case: Complex questions about control theory, physics, tuning

Pattern:

Use thinkdeep with [MODEL] to investigate: [QUESTION]

Known evidence:
- [Observation 1]
- [Observation 2]

Initial hypothesis:
[What you think might be happening]

Files to examine:
[Absolute paths]

Example:

Use thinkdeep with o3 to investigate: Why does PD with Kd=2.0 converge faster than Kd=3.0?

Known evidence:
- Kd=2.0: avg 455 ticks to converge
- Kd=3.0: avg 520 ticks to converge
- Both use same Kp=8.0

Initial hypothesis:
Over-damping (Kd too high) slows response

Files to examine:
/​home/​john2/​claude-projects/​hti-zen-harness/​hti_arm_demo/​brains/​arm_pd_controller.py
/​home/​john2/​claude-projects/​hti-zen-harness/​hti_arm_demo/​env.py

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Template 4: Code Review Before Release

Use Case: Before committing v0.X release (10+ files changed)

Pattern:

Use codereview with gpt-5.1 to review [SCOPE]:

Review type: full
Focus areas:
- Code quality and maintainability
- Security (HTI safety invariants)
- Performance (timing band compliance)
- Architecture (brain-agnostic design preserved)

Files to review:
[List of absolute file paths]

Example:

Use codereview with gpt-5.1 to review HTI v0.5 implementation:

Review type: full
Focus areas:
- Brain-agnostic design preserved
- EventPack metadata extension correct
- No timing band violations
- Fallback logic compliance (hti-fallback-guard)

Files to review:
/​home/​john2/​claude-projects/​hti-zen-harness/​hti_arm_demo/​brains/​arm_imperfect.py
/​home/​john2/​claude-projects/​hti-zen-harness/​hti_arm_demo/​run_v05_demo.py
/​home/​john2/​claude-projects/​hti-zen-harness/​hti_arm_demo/​shared_state.py
/​home/​john2/​claude-projects/​hti-zen-harness/​hti_arm_demo/​bands/​control.py

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Template 5: Context-Isolated Subagents (clink)

Use Case: Large codebase exploration, heavy reviews, save tokens

Pattern:

Use clink with [CLI] [ROLE] to [TASK]

Available CLIs: gemini, codex, claude
Available Roles: default, planner, codereviewer

Examples:

# Code review in isolated context (saves our tokens)
Use clink with gemini codereviewer to review hti_arm_demo/ for safety issues

# Large codebase exploration
Use clink with gemini to map all brain implementations and document their interfaces

# Strategic planning
Use clink with gemini planner to design phase-by-phase migration to MuJoCo physics

Why use clink:

• Gemini CLI launches fresh 1M context window
• Heavy analysis doesn't pollute our context
• Returns only final summary/​report
• Can use web search for latest docs

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Template 6: Pre-Commit Validation

Use Case: Before git commit on major changes

Pattern:

Use precommit with gpt-5.1 to validate changes in [PATH]:

Focus:
- Security issues
- Breaking changes
- Missing tests
- Documentation completeness

Example:

Use precommit with gpt-5.1 to validate changes in /​home/​john2/​claude-projects/​hti-zen-harness:

Focus:
- HTI safety invariants preserved
- No regressions in existing tests
- New tests for v0.6 features
- CHANGELOG and SPEC updated