Robonix Webots CI Report

plan_control_builtins test fails due to op_id mismatch

Provider: deepseek · Model: deepseek-chat · Generated On: 2026-07-03T09:53:58+00:00 · Stage: scenario · Confidence: high

The CI run tested 15 scenarios; 14 passed and 1 failed. The failing scenario is 'plan_control_builtins', which exercises the new executor builtins `get_all_plans`, `get_plan_status`, and `stop_plan_at`. The test expected the plan's ops to have op_id '1', but the actual plan assigned op_ids '16', '17', '18', '19'. This indicates a mismatch between the test fixture's assumption about op_id numbering and the executor's actual op_id assignment logic.

PR Changes

Added three new executor builtins: get_all_plans, get_plan_status, stop_plan_at
Added plan_control_builtins test scenario in testing/scenarios/builtin/plan_control.yaml
Modified plan_runtime.rs to support stop points, op state recording, and plan inspection
Modified service.rs to check stop points during node execution and record op states
Modified builtin.rs to route the three new builtins to runtime methods
Modified async_poll.rs to record async op state for get_plan_status
Modified planner.rs to treat the new builtins as control-only trees
Updated README.md with documentation for the three new builtins

Test Result

Webots CI ran 15 scenarios (builtin, cap, flow). 14 passed. The 'plan_control_builtins' scenario failed because the test expected op_id '1' in the plan status output, but the actual plan used op_ids '16', '17', '18', '19'. All other scenarios (including camera, lidar, explore, navigation, memory, speech, voiceprint, scene, and fault recovery) passed successfully.

Likely Root Cause

The test scenario 'plan_control_builtins' assumes that the first op in a plan has op_id '1', but the executor assigns op_ids starting from a higher number (likely based on a global counter or arena index). The observed op_ids '16', '17', '18', '19' suggest the plan was not the first plan created in the session, or the op_id numbering does not start at 1.

Suggested Fix

Update the test scenario 'plan_control_builtins' to not assume a specific op_id value. Instead, use a more flexible assertion, such as checking that the plan has ops with op_ids that are non-empty strings, or capture the actual op_id from get_all_plans and use it in subsequent steps. Alternatively, if the executor should always start op_ids at 1 for each plan, fix the op_id assignment logic in plan_runtime.rs.

Risks Or Watchouts

The op_id numbering scheme may change in future versions, causing similar test failures.
Other tests that rely on specific op_id values may also break.
The test scenario may need to be made more robust to handle varying op_id assignments.

Evidence

Source	Line	Excerpt
	332	steps[0] did not match any plan round from 0; expected contracts=['robonix/system/executor/builtin/get_all_plans', 'robonix/system/executor/builtin/get_plan_status', 'robonix/system/executor/builtin/stop_plan_at']; observed round 0: calls=[('robonix/system/executor/builtin/get_all_plans', '1:0'), ('robonix/system/executor/builtin/get_plan_status', '1:1'), ('robonix/system/executor/builtin/stop_plan_at', '1:2')]; rtdl.children[1]: expected leaf 'robonix/system/executor/builtin/get_plan_status' did not satisfy assertions: jsonpath '$.ops[].op_id' missing exact value '1': ['16', '17', '18', '19']
	5	"failed": 1,

Run Metadata

Test Environment

Scenarios

RTDL Plan Trees

Status	Suite	Scenario	Rounds	Dispatched contracts	Failures
PASS	builtin	fault_recovery_builtin	3	robonix/system/executor/builtin/read_file robonix/system/executor/builtin/write_file	-
PASS	builtin	file_roundtrip	1	robonix/system/executor/builtin/list_dir robonix/system/executor/builtin/read_file robonix/system/executor/builtin/write_file	-
FAIL	builtin	plan_control_builtins	1	robonix/system/executor/builtin/get_all_plans robonix/system/executor/builtin/get_plan_status robonix/system/executor/builtin/stop_plan_at	steps[0] did not match any plan round from 0; expected contracts=['robonix/system/executor/builtin/get_all_plans', 'robonix/system/executor/builtin/get_plan_status', 'robonix/system/executor/builtin/stop_plan_at']; observed round 0: calls=[('robonix/system/executor/builtin/get_all_plans', '1:0'), ('robonix/system/executor/builtin/get_plan_status', '1:1'), ('robonix/system/executor/builtin/stop_plan_at', '1:2')]; rtdl.children[1]: expected leaf 'robonix/system/executor/builtin/get_plan_status' did not satisfy assertions: jsonpath '$.ops[].op_id' missing exact value '1': ['16', '17', '18', '19']
PASS	builtin	run_command	1	robonix/system/executor/builtin/run_command	-
PASS	cap	camera_snapshot	1	robonix/primitive/camera/snapshot	-
PASS	cap	explore_smoke	2	robonix/skill/explore/explore robonix/skill/explore/explore/cancel robonix/skill/explore/explore/status	-
PASS	cap	lidar_snapshot	1	robonix/primitive/lidar/snapshot	-
PASS	cap	mapping_save	1	robonix/service/map/save_map	-
PASS	cap	memory_roundtrip	1	robonix/service/memory/save robonix/service/memory/search	-
PASS	cap	scene_object_fixture	1	robonix/system/scene/list_objects	-
PASS	cap	speech_speak	1	robonix/service/speech/speak	-
PASS	cap	voiceprint_list	1	robonix/service/voiceprint/list	-
PASS	flow	fault_recovery	2	robonix/service/memory/save	-
PASS	flow	object_navigation	4	robonix/service/navigation/navigate robonix/skill/explore/explore robonix/system/scene/goal_near robonix/system/scene/list_objects	-
PASS	flow	patrol_observe	3	robonix/primitive/camera/snapshot robonix/primitive/lidar/snapshot robonix/service/memory/save robonix/service/memory/search	-

Each scenario step is one VLM planning round. The tree below is the RTDL returned for that round; every do leaf has its own expected runtime contract and output checks.

PASSbuiltin/fault_recovery_builtin3 step(s), 3 leaf call(s)

step 0faulty read1 leaf

sequence faulty_read_step

do executor.builtin_read_file missing_read args {"path": "ci_never_created.txt"} expect robonix/system/executor/builtin/read_file failure

Observed plan round 0

FAIL1:0robonix/system/executor/builtin/read_fileargs {"path": "ci_never_created.txt"}No such file or directory (os error 2)

step 1recover by writing fallback1 leaf

sequence write_recovery_step

do executor.builtin_write_file write_recovery args {"content": "recovered charlie-3","path": "ci_recovered.txt"} expect robonix/system/executor/builtin/write_file success

Observed plan round 1

PASS2:0robonix/system/executor/builtin/write_fileargs {"content": "recovered charlie-3","path": "ci_recovered.txt"}wrote 19 bytes to /home/hanyulong/actions-runner/_work/robonix/robonix/examples/webots/ci_recovered.txt

step 2read fallback1 leaf

sequence read_recovery_step

do executor.builtin_read_file read_recovery args {"path": "ci_recovered.txt"} expect robonix/system/executor/builtin/read_file success

Observed plan round 2

PASS3:0robonix/system/executor/builtin/read_fileargs {"path": "ci_recovered.txt"}recovered charlie-3

PASSbuiltin/file_roundtrip1 step(s), 3 leaf call(s)

step 0write, read, and list probe file3 leafs

sequence file_roundtrip_tree

do executor.builtin_write_file write_probe args {"content": "robonix ci probe alpha-7","path": "ci_probe.txt"} expect robonix/system/executor/builtin/write_file success

do executor.builtin_read_file read_probe args {"path": "ci_probe.txt"} expect robonix/system/executor/builtin/read_file success

do executor.builtin_list_dir list_probe args {"path": "."} expect robonix/system/executor/builtin/list_dir success

Observed plan round 0

PASS1:0robonix/system/executor/builtin/write_fileargs {"content": "robonix ci probe alpha-7","path": "ci_probe.txt"}wrote 24 bytes to /home/hanyulong/actions-runner/_work/robonix/robonix/examples/webots/ci_probe.txt

PASS1:1robonix/system/executor/builtin/read_fileargs {"path": "ci_probe.txt"}robonix ci probe alpha-7

PASS1:2robonix/system/executor/builtin/list_dirargs {"path": "."}dir logs dir primitives dir rbnx-boot dir services dir sim file .gitignore file README.md file ci_probe.txt file ci_recovered.txt file robonix_manifest.ci.generated.yaml file robonix_manifest.yaml file start_rviz.sh

FAILbuiltin/plan_control_builtins1 step(s), 3 leaf call(s)

step 0inspect and stop current plan3 leafs

sequence inspect_and_stop_plan

do executor.builtin_get_all_plans list_active_plans args {} expect robonix/system/executor/builtin/get_all_plans success

do executor.builtin_get_plan_status inspect_current_plan args {"plan_id": "1"} expect robonix/system/executor/builtin/get_plan_status success

do executor.builtin_stop_plan_at stop_current_plan_on_complete args {"op_id": "1","plan_id": "1","when": "on_complete"} expect robonix/system/executor/builtin/stop_plan_at success

Observed plan round 0

PASS1:0robonix/system/executor/builtin/get_all_plansargs {}{"count":1,"plans":[{"cancelled":false,"description":"inspect_and_stop_plan","op_count":4,"plan_id":"1","stop_points":0}]}

PASS1:1robonix/system/executor/builtin/get_plan_statusargs {"plan_id": "1"}{"cancelled":false,"ops":[{"description":"inspect_and_stop_plan","kind":"sequence","op_id":"16","state":"pending","stop_point":null},{"description":"list_active_plans","kind":"do","op_id":"17","state":"succeeded","stop_point":null},{"descr…

PASS1:2robonix/system/executor/builtin/stop_plan_atargs {"op_id": "1","plan_id": "1","when": "on_complete"}Stop point set: RTDL plan '1' will be cancelled on_complete op_id=1.

PASSbuiltin/run_command1 step(s), 1 leaf call(s)

step 0echo marker1 leaf

sequence echo_marker_step

do executor.builtin_run_command echo_marker args {"command": "echo robonix-ci-marker-bravo"} expect robonix/system/executor/builtin/run_command success

Observed plan round 0

PASS1:0robonix/system/executor/builtin/run_commandargs {"command": "echo robonix-ci-marker-bravo"}robonix-ci-marker-bravo

PASScap/camera_snapshot1 step(s), 1 leaf call(s)

step 0camera snapshot1 leaf

sequence camera_snapshot_step

do tiago_camera.camera_snapshot camera_snapshot args {} expect robonix/primitive/camera/snapshot success

Observed plan round 0

PASS1:0robonix/primitive/camera/snapshotargs {}{ "header": { "stamp": { "sec": 1783072170, "nanosec": 956696987 }, "frame_id": "head_front_camera_rgb_optical_frame" }, "height": 480, "width": 640, "encoding": "jpeg", "is_bigendian": 0, "step": 4453…

PASScap/explore_smoke2 step(s), 3 leaf call(s)

step 0start explore1 leaf

sequence start_explore_step

do explore.explore_explore start_explore args {"area_hint": "ci local room","max_speed_m_s": 0.1,"timeout_s": 5.0} expect robonix/skill/explore/explore failure

Observed plan round 0

FAIL1:0robonix/skill/explore/exploreargs {"area_hint": "ci local room","max_speed_m_s": 0.1,"timeout_s": 5.0}hit 5.0s ceiling

step 1poll and cancel explore2 leafs

sequence poll_cancel_explore

do explore.explore_status explore_status args {"run_id": ""} expect robonix/skill/explore/explore/status success

do explore.explore_cancel explore_cancel args {"run_id": ""} expect robonix/skill/explore/explore/cancel success

Observed plan round 1

PASS2:0robonix/skill/explore/explore/statusargs {"run_id": ""}{ "known": true, "state": "TIMEOUT", "area_m2": 0.9900000295042994, "frontiers_left": 12, "elapsed_s": 34.15559101104736, "eta_s": -1.0, "detail": "hit 5.0s ceiling" }

PASS2:1robonix/skill/explore/explore/cancelargs {"run_id": ""}{ "ok": true, "message": "task already in terminal state timeout (no-op)" }

PASScap/lidar_snapshot1 step(s), 1 leaf call(s)

step 0lidar snapshot1 leaf

sequence lidar_snapshot_step

do tiago_lidar.lidar_snapshot lidar_snapshot args {} expect robonix/primitive/lidar/snapshot success

Observed plan round 0

PASS1:0robonix/primitive/lidar/snapshotargs {}{ "header": { "stamp": { "sec": 150, "nanosec": 83923177 }, "frame_id": "hokuyo" }, "angle_min": -1.5700000524520874, "angle_max": 1.5700000524520874, "angle_increment": 0.0047647953033447266, "time_incr…

PASScap/mapping_save1 step(s), 1 leaf call(s)

step 0map save1 leaf

sequence map_save_step

do mapping.map_save_map map_save args {"map_id": "ci_test_map","note": "robonix ci"} expect robonix/service/map/save_map success

Observed plan round 0

PASS1:0robonix/service/map/save_mapargs {"map_id": "ci_test_map","note": "robonix ci"}{ "ok": true, "map_id": "ci_test_map", "database_path": "/mapping/maps/ci_test_map/rtabmap.db", "detail": "saved ci_test_map → /mapping/maps/ci_test_map" }

PASScap/memory_roundtrip1 step(s), 2 leaf call(s)

step 0memory save + search2 leafs

sequence memory_save_search

do memory.memory_save save_fact args {"data": "ci-fact: the test beacon is alpha-7"} expect robonix/service/memory/save success

do memory.memory_search search_fact args {"data": "test beacon"} expect robonix/service/memory/search success

Observed plan round 0

PASS1:0robonix/service/memory/saveargs {"data": "ci-fact: the test beacon is alpha-7"}{ "data": "Memory saved and indexed." }

PASS1:1robonix/service/memory/searchargs {"data": "test beacon"}{ "data": "Relevant memories:\n- ci-fact: the test beacon is alpha-7" }

PASScap/scene_object_fixture1 step(s), 1 leaf call(s)

step 0scene list objects1 leaf

sequence scene_objects_step

do scene.scene_list_objects list_scene_objects args {} expect robonix/system/scene/list_objects success

Observed plan round 0

PASS1:0robonix/system/scene/list_objectsargs {}{ "objects": [ { "id": "scene.object.robot_001", "label": "robot", "x": 0.8110725668454488, "y": 0.050590346264257735, "z": 0.0, "yaw": 0.006459952975515566, "last_seen_unix": 1783072297.2721…

PASScap/speech_speak1 step(s), 1 leaf call(s)

step 0speak1 leaf

sequence speech_speak_step

do speech.speech_speak speech_speak args {"target": "","text": "robonix continuous integration test"} expect robonix/service/speech/speak success

Observed plan round 0

PASS1:0robonix/service/speech/speakargs {"target": "","text": "robonix continuous integration test"}{ "ok": true, "detail": "spoke 35 chars on audio_driver" }

PASScap/voiceprint_list1 step(s), 1 leaf call(s)

step 0voiceprint list1 leaf

sequence voiceprint_list_step

do voiceprint.voiceprint_list voiceprint_list args {} expect robonix/service/voiceprint/list success

Observed plan round 0

PASS1:0robonix/service/voiceprint/listargs {}{ "users_json": "[]", "count": 0, "error": "db not initialised" }

PASSflow/fault_recovery2 step(s), 2 leaf call(s)

step 0faulty save1 leaf

sequence faulty_save_step

do memory.memory_save faulty_save args {} expect robonix/service/memory/save failure

Observed plan round 0

FAIL1:0robonix/service/memory/saveargs {}mcp tool error: Error executing tool save: 1 validation error for saveArguments data Field required [type=missing, input_value={}, input_type=dict] For further information visit https://errors.pydantic.dev/2.13/v/missing

step 1recover1 leaf

sequence recovery_save_step

do memory.memory_save recovery_save args {"data": "ci-flow recovered fact: beacon bravo-2"} expect robonix/service/memory/save success

Observed plan round 1

PASS2:0robonix/service/memory/saveargs {"data": "ci-flow recovered fact: beacon bravo-2"}{ "data": "Memory saved and indexed." }

PASSflow/object_navigation4 step(s), 4 leaf call(s)

step 0explore before object navigation1 leaf

sequence explore_before_navigation

do explore.explore_explore start_explore args {"area_hint": "ci local room","max_speed_m_s": 0.1,"timeout_s": 8.0} expect robonix/skill/explore/explore failure

Observed plan round 0

FAIL1:0robonix/skill/explore/exploreargs {"area_hint": "ci local room","max_speed_m_s": 0.1,"timeout_s": 8.0}hit 8.0s ceiling

step 1list scene objects during explored state1 leaf

sequence select_scene_object

do scene.scene_list_objects list_scene_objects args {} expect robonix/system/scene/list_objects success

Observed plan round 1

PASS2:0robonix/system/scene/list_objectsargs {}{ "objects": [ { "id": "scene.object.robot_001", "label": "robot", "x": -4.448577668859598, "y": 1.4803426283586638, "z": 0.0, "yaw": -0.003760662246588938, "last_seen_unix": 1783072358.01682…

step 2resolve detected object approach pose1 leaf

sequence resolve_approach_pose

do scene.scene_goal_near goal_near_object args {"object_id": {"var": "object_id"}} expect robonix/system/scene/goal_near success

Observed plan round 2

PASS3:0robonix/system/scene/goal_nearargs {"object_id": "scene.object.potted_plant_001"}{ "reachable": true, "x": 0.49056262956800456, "y": 0.18428466817833108, "yaw": -0.017703888358399117, "reason": "approach pose for 'potted_plant' (scene.object.potted_plant_001)" }

step 3navigate to object approach pose1 leaf

sequence navigate_to_object

do nav2.navigation_navigate navigate_object_goal args {"goal": {"header": {"frame_id": "map","stamp": {"nanosec": 0,"sec": 0}},"pose": {"orientation": {"w": {"transform": "cos_half","var": "nav_yaw"},"x": 0.0,"y": 0.0,"z": {"transform": "sin_half","var": "nav_yaw"}},"position": {"x": {"var": "nav_x"},"y": {"var": "nav_y"},"z": 0.0}}}} expect robonix/service/navigation/navigate success

Observed plan round 3

PASS4:0robonix/service/navigation/navigateargs {"goal": {"header": {"frame_id": "map","stamp": {"nanosec": 0,"sec": 0}},"pose": {"orientation": {"w": 0.9999608217979488,"x": 0.0,"y": 0.0,"z": -0.008851828577811752},"position": {"x": 0.49056262956800456,"y": 0.18428466817833108,"z": 0.0}}}}{ "known": true, "state": "SUCCEEDED", "detail": "succeeded" }

PASSflow/patrol_observe3 step(s), 4 leaf call(s)

step 0parallel sensor capture2 leafs

parallel observe_step

do tiago_camera.camera_snapshot observe_snapshot args {} expect robonix/primitive/camera/snapshot success

do tiago_lidar.lidar_snapshot observe_lidar args {} expect robonix/primitive/lidar/snapshot success

Observed plan round 0

PASS1:0robonix/primitive/camera/snapshotargs {}{ "header": { "stamp": { "sec": 1783072382, "nanosec": 859654903 }, "frame_id": "head_front_camera_rgb_optical_frame" }, "height": 480, "width": 640, "encoding": "jpeg", "is_bigendian": 0, "step": 5002…

PASS1:1robonix/primitive/lidar/snapshotargs {}{ "header": { "stamp": { "sec": 286, "nanosec": 785204612 }, "frame_id": "hokuyo" }, "angle_min": -1.5700000524520874, "angle_max": 1.5700000524520874, "angle_increment": 0.0047647953033447266, "time_inc…

step 1remember1 leaf

sequence remember_step

do memory.memory_save remember_observation args {"data": "ci-flow observation: snapshot captured at waypoint 1"} expect robonix/service/memory/save success

Observed plan round 1

PASS2:0robonix/service/memory/saveargs {"data": "ci-flow observation: snapshot captured at waypoint 1"}{ "data": "Memory saved and indexed." }

step 2recall1 leaf

sequence recall_step

do memory.memory_search recall_observation args {"data": "waypoint 1"} expect robonix/service/memory/search success

Observed plan round 2

PASS3:0robonix/service/memory/searchargs {"data": "waypoint 1"}{ "data": "Relevant memories:\n- ci-fact: the test beacon is alpha-7\n\nci-flow recovered fact: beacon bravo-2\n\nci-flow observation: snapshot captured at waypoint 1" }

Logs

Runtime Contract Coverage

Contracts observed by the scenario runner in executor leaf results. This shows which runtime contract ids were exercised by this run; it is not a full API inventory.

Generated On	2026-07-03T17:53:59+08:00
Test Report Generated On	2026-07-03T17:53:06+08:00
Run Id	28651323950
Workflow	Robonix CI Bot
Event	issue_comment
Repository	syswonder/robonix
Tested Commit	b4a10db694c2
Tested Commit Subject	Merge b3c3026f0b54fb3ededf644495dea9379aeb982b into 276aa11e487b3333303015d20505845b78dfc8e4
Tested Commit Author	wheatfox <wheatfox17@icloud.com>
Tested Commit Date	2026-07-03T17:02:11+08:00
Pr Number	#110
Pr Title	feat(executor): stop_plan_at — cancel an RTDL plan at a given op
Pr Author	enkerewpo
Pr Url	https://github.com/syswonder/robonix/pull/110
Pr Head Ref	feat/executor-stop-at-op
Pr Head Repo	syswonder/robonix
Triggered By	KouweiLee
Actor	KouweiLee
Triggering Actor	KouweiLee
Runner Name	robonix-runner-pku-rtx5090-x64
Runner Os	Linux
Runner Arch	X64
Origin Url	https://github.com/syswonder/robonix
Run Attempt	1
Ref	refs/heads/dev
Sha	d93eef1aa71f
Pr Head Sha	b3c3026f0b54fb3ededf644495dea9379aeb982b
Report Id	28651323950
Test Ref	refs/pull/110/merge

Hostname	user-NF5468M6
Os Pretty Name	Ubuntu 22.04.5 LTS
Kernel	Linux 6.8.0-124-generic x86_64 GNU/Linux
Arch	x86_64
Cpu Model	Intel(R) Xeon(R) Platinum 8368Q CPU @ 2.60GHz
Cpu Cores	152
Mem Total	125Gi
Gpu Summary	0, NVIDIA GeForce RTX 5090, 32607 MiB, 580.65.06;1, NVIDIA GeForce RTX 5090, 32607 MiB, 580.65.06;2, NVIDIA GeForce RTX 5090, 32607 MiB, 580.65.06;3, NVIDIA GeForce RTX 5090, 32607 MiB, 580.65.06
Nvidia Driver	580.65.06
Cuda Version	13.0
Docker Version	29.2.1
Docker Compose Version	5.0.2
Webots Version	webots package 2025a
Ros Distro	humble
Ros Domain Id	140
Sim Container	ci-28651323950-sim
Sim Image	ci-28651323950-sim
Webots Stream Port	23950
Webots Viewer Port	24950
Python Version	Python 3.10.12
Rustc Version	rustc 1.95.0 (59807616e 2026-04-14)
Rbnx Version	rbnx 0.1.0

Area	Contract id
robonix/primitive/camera	robonix/primitive/camera/snapshot
robonix/primitive/lidar	robonix/primitive/lidar/snapshot
robonix/service/map	robonix/service/map/save_map
robonix/service/memory	robonix/service/memory/save
robonix/service/memory	robonix/service/memory/search
robonix/service/navigation	robonix/service/navigation/navigate
robonix/service/speech	robonix/service/speech/speak
robonix/service/voiceprint	robonix/service/voiceprint/list
robonix/skill/explore	robonix/skill/explore/explore
robonix/skill/explore	robonix/skill/explore/explore/cancel
robonix/skill/explore	robonix/skill/explore/explore/status
robonix/system/executor	robonix/system/executor/builtin/get_all_plans
robonix/system/executor	robonix/system/executor/builtin/get_plan_status
robonix/system/executor	robonix/system/executor/builtin/list_dir
robonix/system/executor	robonix/system/executor/builtin/read_file
robonix/system/executor	robonix/system/executor/builtin/run_command
robonix/system/executor	robonix/system/executor/builtin/stop_plan_at
robonix/system/executor	robonix/system/executor/builtin/write_file
robonix/system/scene	robonix/system/scene/goal_near
robonix/system/scene	robonix/system/scene/list_objects

Robonix Webots CI Report

LLM-Assisted Analysis

PR Changes

Test Result

Likely Root Cause

Suggested Fix

Risks Or Watchouts

Evidence

Run Metadata

Test Environment

Scenarios

RTDL Plan Trees

Logs

Runtime Contract Coverage