Robonix Webots CI Report

Provider: deepseek · Model: deepseek-chat · Generated On: 2026-07-04T14:44:53+00:00 · Stage: scenario · Confidence: high

This CI run tested the new Soma subsystem (PR #109) on the Webots TIAGo deployment. All 11 system components booted successfully, including the new `robonix-soma` service which loaded the robot's YAML/URDF and spawned 4 primitives (tiago_chassis, tiago_camera, tiago_lidar, audio_driver) in stage 1. Stage 2 skill bring-up failed because the `explore` skill package's `package_manifest.yaml` was missing from the cache directory. The boot log shows `[FAIL] skill explore: missing .../rbnx-boot/cache/explore/package_manifest.yaml`. All other services (pilot, liaison, scene, memory, speech, voiceprint, mapping, nav2) registered and became ACTIVE. The CI scenario ran for about 10 minutes before shutdown.

PR Changes

• Added new `robonix-soma` crate under `system/soma/` with gRPC services for get_yaml and get_urdf, plus two-stage primitive/skill bring-up via `PackageLauncher`.
• Added `system/pilot/src/soma_context.rs` to fetch Soma YAML/URDF at Pilot startup and inject into the system prompt.
• Modified `system/pilot/src/main.rs`, `planner.rs`, and `service.rs` to pass the Soma prompt block through the planning loop.
• Added `capabilities/lib/soma/srv/GetUrdf.srv` and `GetYaml.srv` IDL files, plus `capabilities/system/soma/get_urdf.v1.toml` and `get_yaml.v1.toml` contract definitions.
• Added example Soma YAML files: `examples/test_ci/soma.yaml`, `examples/test_ci/test_ci.urdf`, and `examples/webots/soma.yaml`.
• Modified `tools/rbnx/src/cmd/deploy.rs` to spawn soma with a stage-2 trigger pipe, auto-inject `robot_yaml`, and wait for stage 1 completion.
• Added `tools/rbnx/src/launch.rs` with shared lifecycle primitives (`wait_for_registration_core`, `call_driver_cmd`, etc.) used by both rbnx and Soma.
• Updated `Cargo.toml`, `Makefile`, `Cargo.lock`, `system/atlas/Cargo.toml`, `tools/rbnx/Cargo.toml`, `tools/rbnx/src/lib.rs`, `tools/rbnx/src/process.rs`, `tools/rbnx/src/cmd/clean.rs`, `tools/rbnx/src/cmd/run_package.rs`, and `system/atlas/src/service.rs` to integrate the new soma component.
• Updated `system/soma/README.md` with full documentation of the Soma v2 config, API, and YAML spec.

Test Result

• Webots CI booted the full stack (atlas, executor, soma, pilot, liaison, scene, memory, speech, voiceprint, mapping, nav2) against a simulated TIAGo robot. Soma stage 1 spawned 4 primitives successfully. Stage 2 failed to start the `explore` skill because its package manifest was missing from the cache. The simulation ran for ~10 minutes with all other services ACTIVE before shutdown.

Likely Root Cause

• The `explore` skill package was not built/cached before boot. The manifest references a `url:` entry for `explore`, but `rbnx build` was not run (or the cache was cleaned), so `rbnx-boot/cache/explore/package_manifest.yaml` does not exist. Soma correctly reports `MissingManifest` and continues.

Suggested Fix

• Run `rbnx build` (or the equivalent CI step) before boot to ensure all remote skill packages are cloned and their manifests are present in the cache directory. Alternatively, remove the `explore` skill entry from the manifest if it is not needed for this test.

Risks Or Watchouts

• Stage 2 skill failures are non-fatal (soma continues), but operators may not notice the missing skill if they only check the boot summary.
• The `explore` skill's `package_manifest.yaml` is missing because the cache was not populated; this is a CI pipeline issue, not a code bug.
• The Soma subsystem's two-stage bring-up is working correctly: stage 1 primitives all ACTIVE, stage 2 reports failure gracefully.

Evidence