@agenticros/core 0.5.0 → 0.6.0

package/dist/memory/mem0/provider.js

@@ -149,9 +149,12 @@ export async function createMem0Provider(args) {
     const { config } = args;
     let MemoryCtor;
     try {
-        // mem0ai is an optional peer dependency — resolved at runtime, never
-        // installed unless the user opts into backend: "mem0".
-        // @ts-ignore: optional peer dep not declared in this package's deps
+        // mem0ai is an optional runtime dependency — NOT listed in @agenticros/core's
+        // package.json (neither as a regular dep nor as a peer dep) because it pulls
+        // in a long native-build chain (better-sqlite3, etc.) that breaks installs in
+        // restricted sandboxes (NemoClaw, Docker without build tools, etc.). Users who
+        // opt into `backend: "mem0"` install it themselves — see docs/memory.md.
+        // @ts-ignore: intentionally not declared in this package's deps
         const mod = await import("mem0ai/oss");
         MemoryCtor = mod.Memory ?? mod.default?.Memory;
     }

package/dist/memory/mem0/provider.js.map

@@ -1 +1 @@
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package/dist/mission-bindings.d.ts

@@ -0,0 +1,50 @@
+/**
+ * Capability → tool bindings for `run_mission`.
+ *
+ * Builtins live here once; adapters import `buildMissionBindings()` instead
+ * of triplicating MISSION_BINDINGS. Skill-declared capabilities get a
+ * default tool name (`ros2_<id>`, or `capability.tool` when set) and a
+ * passthrough `buildArgs` that forwards resolved inputs.
+ *
+ * External ROS-node capabilities map to the synthetic tool
+ * `external:<capability_id>` so adapters can dispatch via
+ * `executeExternalCapability` before looking up a real tool.
+ */
+import type { Capability } from "./capabilities.js";
+import type { CapabilityToolBindings } from "./mission.js";
+/** Optional explicit tool name on a capability (skill authors may set this). */
+export type CapabilityWithTool = Capability & {
+    tool?: string;
+};
+/** Built-in capability → tool mappings shared by all adapters. */
+export declare const BUILTIN_MISSION_BINDINGS: CapabilityToolBindings;
+/** Synthetic tool prefix for external_ros_node capabilities. */
+export declare const EXTERNAL_TOOL_PREFIX = "external:";
+export declare function externalToolName(capabilityId: string): string;
+export declare function isExternalToolName(toolName: string): boolean;
+export declare function capabilityIdFromExternalTool(toolName: string): string;
+/**
+ * Default tool name for a skill-declared capability.
+ * Prefer explicit `tool`, then external synthetic name, else `ros2_<id>`.
+ */
+export declare function defaultToolForCapability(cap: CapabilityWithTool): string;
+/** Passthrough: forward resolved inputs as tool args (skill tools). */
+export declare function passthroughBuildArgs(inputs: Record<string, unknown>): Record<string, unknown>;
+export interface BuildMissionBindingsOptions {
+    /**
+     * Override tool name resolution for a capability id.
+     * Useful when OpenClaw registers a skill tool under a non-default name.
+     */
+    toolNameResolver?: (cap: Capability) => string | undefined;
+    /**
+     * Extra bindings merged last (win over builtins and auto-derived).
+     */
+    extra?: CapabilityToolBindings;
+}
+/**
+ * Build the full capability → tool map for a mission run.
+ *
+ * Order: builtins → auto-derived from non-builtin capabilities → extra.
+ */
+export declare function buildMissionBindings(capabilities: readonly Capability[], options?: BuildMissionBindingsOptions): CapabilityToolBindings;
+//# sourceMappingURL=mission-bindings.d.ts.map

package/dist/mission-bindings.d.ts.map

@@ -0,0 +1 @@
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package/dist/mission-bindings.js

@@ -0,0 +1,157 @@
+/**
+ * Capability → tool bindings for `run_mission`.
+ *
+ * Builtins live here once; adapters import `buildMissionBindings()` instead
+ * of triplicating MISSION_BINDINGS. Skill-declared capabilities get a
+ * default tool name (`ros2_<id>`, or `capability.tool` when set) and a
+ * passthrough `buildArgs` that forwards resolved inputs.
+ *
+ * External ROS-node capabilities map to the synthetic tool
+ * `external:<capability_id>` so adapters can dispatch via
+ * `executeExternalCapability` before looking up a real tool.
+ */
+function copyNumber(out, inputs, key) {
+    if (typeof inputs[key] === "number")
+        out[key] = inputs[key];
+}
+function copyString(out, inputs, key) {
+    if (typeof inputs[key] === "string")
+        out[key] = inputs[key];
+}
+function copyBoolean(out, inputs, key) {
+    if (typeof inputs[key] === "boolean")
+        out[key] = inputs[key];
+}
+/** Built-in capability → tool mappings shared by all adapters. */
+export const BUILTIN_MISSION_BINDINGS = {
+    drive_base: {
+        tool: "ros2_publish",
+        buildArgs: (inputs) => {
+            const lx = Number(inputs.linear_x ?? 0) || 0;
+            const az = Number(inputs.angular_z ?? 0) || 0;
+            return {
+                topic: "/cmd_vel",
+                type: "geometry_msgs/msg/Twist",
+                message: {
+                    linear: { x: lx, y: 0, z: 0 },
+                    angular: { x: 0, y: 0, z: az },
+                },
+            };
+        },
+    },
+    take_snapshot: {
+        tool: "ros2_camera_snapshot",
+        buildArgs: (inputs) => {
+            const out = {};
+            copyString(out, inputs, "topic");
+            copyString(out, inputs, "message_type");
+            copyNumber(out, inputs, "timeout");
+            return out;
+        },
+    },
+    measure_depth: {
+        tool: "ros2_depth_distance",
+        buildArgs: (inputs) => {
+            const out = {};
+            copyString(out, inputs, "topic");
+            copyNumber(out, inputs, "timeout");
+            return out;
+        },
+    },
+    list_topics: {
+        tool: "ros2_list_topics",
+        buildArgs: () => ({}),
+    },
+    publish_topic: {
+        tool: "ros2_publish",
+        buildArgs: (inputs) => ({
+            topic: String(inputs.topic ?? ""),
+            type: String(inputs.type ?? inputs.msg_type ?? ""),
+            message: inputs.message ?? inputs.msg ?? {},
+        }),
+    },
+    subscribe_once: {
+        tool: "ros2_subscribe_once",
+        buildArgs: (inputs) => {
+            const out = { topic: String(inputs.topic ?? "") };
+            copyString(out, inputs, "type");
+            copyNumber(out, inputs, "timeout");
+            return out;
+        },
+    },
+    follow_person: {
+        tool: "ros2_follow_me_start",
+        buildArgs: (inputs) => {
+            const out = {};
+            copyNumber(out, inputs, "target_distance");
+            copyString(out, inputs, "mode");
+            return out;
+        },
+    },
+    find_object: {
+        tool: "ros2_find_object",
+        buildArgs: (inputs) => {
+            const out = { target: String(inputs.target ?? "") };
+            copyNumber(out, inputs, "angular_speed");
+            copyBoolean(out, inputs, "clockwise");
+            copyNumber(out, inputs, "timeout_seconds");
+            copyNumber(out, inputs, "min_confidence");
+            return out;
+        },
+    },
+};
+/** Synthetic tool prefix for external_ros_node capabilities. */
+export const EXTERNAL_TOOL_PREFIX = "external:";
+export function externalToolName(capabilityId) {
+    return `${EXTERNAL_TOOL_PREFIX}${capabilityId}`;
+}
+export function isExternalToolName(toolName) {
+    return toolName.startsWith(EXTERNAL_TOOL_PREFIX);
+}
+export function capabilityIdFromExternalTool(toolName) {
+    return toolName.slice(EXTERNAL_TOOL_PREFIX.length);
+}
+/**
+ * Default tool name for a skill-declared capability.
+ * Prefer explicit `tool`, then external synthetic name, else `ros2_<id>`.
+ */
+export function defaultToolForCapability(cap) {
+    if (typeof cap.tool === "string" && cap.tool.trim().length > 0) {
+        return cap.tool.trim();
+    }
+    if (cap.implementation?.kind === "external_ros_node") {
+        return externalToolName(cap.id);
+    }
+    return `ros2_${cap.id}`;
+}
+/** Passthrough: forward resolved inputs as tool args (skill tools). */
+export function passthroughBuildArgs(inputs) {
+    return { ...inputs };
+}
+/**
+ * Build the full capability → tool map for a mission run.
+ *
+ * Order: builtins → auto-derived from non-builtin capabilities → extra.
+ */
+export function buildMissionBindings(capabilities, options = {}) {
+    const out = { ...BUILTIN_MISSION_BINDINGS };
+    for (const cap of capabilities) {
+        if (cap.source?.kind === "builtin")
+            continue;
+        // Skip if already covered by builtins (e.g. follow_person from a skill
+        // that duplicates the builtin id — keep the richer builtin binding).
+        if (out[cap.id] && BUILTIN_MISSION_BINDINGS[cap.id])
+            continue;
+        const resolved = options.toolNameResolver?.(cap) ?? defaultToolForCapability(cap);
+        const binding = {
+            tool: resolved,
+            buildArgs: passthroughBuildArgs,
+        };
+        out[cap.id] = binding;
+    }
+    if (options.extra) {
+        Object.assign(out, options.extra);
+    }
+    return out;
+}
+//# sourceMappingURL=mission-bindings.js.map

package/dist/mission-bindings.js.map

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package/dist/mission-registry.d.ts

@@ -33,7 +33,7 @@ export interface MissionRegistryEntry {
     name?: string;
     /** ms since epoch when the mission was registered. */
     started_at: number;
-    /** The token the mission runner reads each step. */
+    /** The token the mission runner reads each step (cancel + pause). */
     cancellation: MissionCancellationToken;
 }
 /**
@@ -42,7 +42,7 @@ export interface MissionRegistryEntry {
  * Uses `crypto.randomUUID()` when available (Node 14.17+, Bun, modern
  * browsers); falls back to a Math.random hex string with a `mns_` prefix.
  * Either way the id is opaque to downstream consumers — they just echo
- * it back to `mission_cancel` / `memory_recall`.
+ * it back to `mission_cancel` / `mission_pause` / `memory_recall`.
  */
 export declare function generateMissionId(): string;
 /**
@@ -80,6 +80,21 @@ export declare class MissionRegistry {
         found: boolean;
         alreadyCancelled: boolean;
     };
+    /**
+     * Pause the named mission at the next step boundary.
+     * Idempotent — pausing an already-paused mission is a no-op.
+     */
+    pause(missionId: string, reason?: string): {
+        found: boolean;
+        alreadyPaused: boolean;
+    };
+    /**
+     * Resume a paused mission. Idempotent when not paused.
+     */
+    resume(missionId: string): {
+        found: boolean;
+        wasPaused: boolean;
+    };
     /** True when the named mission is currently registered. */
     has(missionId: string): boolean;
     /**

package/dist/mission-registry.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"mission-registry.d.ts","sourceRoot":"","sources":["../src/mission-registry.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AAEH,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,cAAc,CAAC;AAE7D,8BAA8B;AAC9B,MAAM,WAAW,oBAAoB;IACnC,UAAU,EAAE,MAAM,CAAC;IACnB,kEAAkE;IAClE,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,sDAAsD;IACtD,UAAU,EAAE,MAAM,CAAC;IACnB,qEAAqE;IACrE,YAAY,EAAE,wBAAwB,CAAC;CACxC;AAED;;;;;;;GAOG;AACH,wBAAgB,iBAAiB,IAAI,MAAM,CAO1C;AAED;;;;;;;;GAQG;AACH,wBAAgB,0BAA0B,CAAC,SAAS,EAAE,MAAM,GAAG,MAAM,CAEpE;AAED,qBAAa,eAAe;IAC1B,OAAO,CAAC,QAAQ,CAAC,OAAO,CAA2C;IAEnE;;;;;OAKG;IACH,QAAQ,CAAC,SAAS,EAAE,MAAM,EAAE,IAAI,CAAC,EAAE;QAAE,IAAI,CAAC,EAAE,MAAM,CAAA;KAAE,GAAG;QACrD,KAAK,EAAE,oBAAoB,CAAC;QAC5B,OAAO,EAAE,MAAM,IAAI,CAAC;KACrB;IAmBD;;;;;;OAMG;IACH,MAAM,CAAC,SAAS,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,MAAM,GAAG;QAAE,KAAK,EAAE,OAAO,CAAC;QAAC,gBAAgB,EAAE,OAAO,CAAA;KAAE;IAUzF;;;OAGG;IACH,KAAK,CAAC,SAAS,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,MAAM,GAAG;QAAE,KAAK,EAAE,OAAO,CAAC;QAAC,aAAa,EAAE,OAAO,CAAA;KAAE;IAYrF;;OAEG;IACH,MAAM,CAAC,SAAS,EAAE,MAAM,GAAG;QAAE,KAAK,EAAE,OAAO,CAAC;QAAC,SAAS,EAAE,OAAO,CAAA;KAAE;IAQjE,2DAA2D;IAC3D,GAAG,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO;IAI/B;;;;OAIG;IACH,IAAI,IAAI,oBAAoB,EAAE;IAS9B,gDAAgD;IAChD,MAAM,IAAI,IAAI;CAGf"}

package/dist/mission-registry.js

@@ -31,7 +31,7 @@
  * Uses `crypto.randomUUID()` when available (Node 14.17+, Bun, modern
  * browsers); falls back to a Math.random hex string with a `mns_` prefix.
  * Either way the id is opaque to downstream consumers — they just echo
- * it back to `mission_cancel` / `memory_recall`.
+ * it back to `mission_cancel` / `mission_pause` / `memory_recall`.
  */
 export function generateMissionId() {
     const g = globalThis;
@@ -67,7 +67,7 @@ export class MissionRegistry {
             mission_id: missionId,
             name: opts?.name,
             started_at: Date.now(),
-            cancellation: { cancelled: false },
+            cancellation: { cancelled: false, paused: false },
         };
         this.entries.set(missionId, entry);
         return {
@@ -94,10 +94,39 @@ export class MissionRegistry {
             return { found: false, alreadyCancelled: false };
         const alreadyCancelled = entry.cancellation.cancelled === true;
         entry.cancellation.cancelled = true;
+        entry.cancellation.paused = false;
         if (reason !== undefined)
             entry.cancellation.reason = reason;
         return { found: true, alreadyCancelled };
     }
+    /**
+     * Pause the named mission at the next step boundary.
+     * Idempotent — pausing an already-paused mission is a no-op.
+     */
+    pause(missionId, reason) {
+        const entry = this.entries.get(missionId);
+        if (!entry)
+            return { found: false, alreadyPaused: false };
+        if (entry.cancellation.cancelled) {
+            return { found: true, alreadyPaused: entry.cancellation.paused === true };
+        }
+        const alreadyPaused = entry.cancellation.paused === true;
+        entry.cancellation.paused = true;
+        if (reason !== undefined)
+            entry.cancellation.reason = reason;
+        return { found: true, alreadyPaused };
+    }
+    /**
+     * Resume a paused mission. Idempotent when not paused.
+     */
+    resume(missionId) {
+        const entry = this.entries.get(missionId);
+        if (!entry)
+            return { found: false, wasPaused: false };
+        const wasPaused = entry.cancellation.paused === true;
+        entry.cancellation.paused = false;
+        return { found: true, wasPaused };
+    }
     /** True when the named mission is currently registered. */
     has(missionId) {
         return this.entries.has(missionId);

package/dist/mission-registry.js.map

@@ -1 +1 @@
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package/dist/mission.d.ts

@@ -45,26 +45,36 @@
  *
  * What's still deferred:
  *   - Parallel step execution (today: sequential only).
- *   - Per-tool cancellation (cancel TIES to step boundaries today).
- *   - Natural-language plan compilation (today: declarative only).
+ *   - Per-tool cancellation (cancel TIES to step boundaries today;
+ *     pause/resume also ties to step boundaries).
  *   - Retry / backoff policies.
  *
+ * Shipped since the original Phase 1.f header:
+ *   - Natural-language plan compilation (`compileGoalToMission` + goal arg).
+ *   - Pause / resume via the same control token (`paused` flag).
+ *
  * See: docs/strategy-ai-agents-plus-ros.md §4 (Phase 1.c / 1.f).
  */
 import type { Capability } from "./capabilities.js";
 /**
- * Cancellation token consumed by `runMission`.
+ * Cancellation / pause token consumed by `runMission`.
  *
  * Plain object (not AbortController) so it's easy to share across
  * processes via a registry without pulling Web platform shims in. The
- * runner only reads `cancelled`; `reason` is surfaced in the result
- * for traceability.
+ * runner reads `cancelled` and `paused` at each step boundary.
  */
 export interface MissionCancellationToken {
     cancelled: boolean;
-    /** Optional free-text reason — bubbled up into the cancelled step results. */
+    /**
+     * When true, the runner waits at the next step boundary until
+     * `paused` is cleared or `cancelled` is set. Phase 1 pause/resume.
+     */
+    paused?: boolean;
+    /** Optional free-text reason — bubbled up into cancelled / paused results. */
     reason?: string;
 }
+/** Alias — control token is the same object as the cancellation token. */
+export type MissionControlToken = MissionCancellationToken;
 /**
  * Per-step transcript sink. Called immediately after a step finishes
  * (including cancelled / skipped steps) so an external store sees the
@@ -145,8 +155,11 @@ export interface MissionStepResult {
      *   - "error":    tool returned an error or the binding/build threw.
      *   - "skipped":  earlier step failed with on_fail=stop.
      *   - "cancelled": mission was cancelled (Phase 1.f) before this step ran.
+     *   - "paused":   transcript-only marker emitted when the runner entered
+     *                 a pause wait before this step (not a final step outcome
+     *                 in `MissionResult.steps` — those use ok/error/skipped/cancelled).
      */
-    status: "ok" | "error" | "skipped" | "cancelled";
+    status: "ok" | "error" | "skipped" | "cancelled" | "paused";
     /** Resolved inputs (with `{{...}}` templates substituted). */
     inputs: Record<string, unknown>;
     /** Outputs parsed from the tool response (may be `undefined` for fire-and-forget). */

package/dist/mission.d.ts.map

@@ -1 +1 @@
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package/dist/mission.js

@@ -45,13 +45,36 @@
  *
  * What's still deferred:
  *   - Parallel step execution (today: sequential only).
- *   - Per-tool cancellation (cancel TIES to step boundaries today).
- *   - Natural-language plan compilation (today: declarative only).
+ *   - Per-tool cancellation (cancel TIES to step boundaries today;
+ *     pause/resume also ties to step boundaries).
  *   - Retry / backoff policies.
  *
+ * Shipped since the original Phase 1.f header:
+ *   - Natural-language plan compilation (`compileGoalToMission` + goal arg).
+ *   - Pause / resume via the same control token (`paused` flag).
+ *
  * See: docs/strategy-ai-agents-plus-ros.md §4 (Phase 1.c / 1.f).
  */
 const TEMPLATE_RE = /\{\{\s*([a-zA-Z0-9_]+)\.outputs\.([a-zA-Z0-9_]+)\s*\}\}/g;
+function sleep(ms) {
+    return new Promise((resolve) => setTimeout(resolve, ms));
+}
+const PAUSE_POLL_MS = 100;
+/**
+ * Wait while `token.paused` is true. Returns when resumed or cancelled.
+ * Emits one transcript entry with status "paused" the first time we enter
+ * the wait (so a second agent can see the mission is held).
+ */
+async function waitWhilePaused(token, emitPaused) {
+    if (!token?.paused || token.cancelled) {
+        return token?.cancelled ? "cancelled" : "resumed";
+    }
+    emitPaused();
+    while (token.paused && !token.cancelled) {
+        await sleep(PAUSE_POLL_MS);
+    }
+    return token.cancelled ? "cancelled" : "resumed";
+}
 /**
  * Substitute `{{stepId.outputs.field}}` references in `value` using the
  * given step output map. Recurses into nested objects/arrays.
@@ -166,6 +189,23 @@ export async function runMission(mission, capabilities, bindings, dispatcher, op
         if (!cancelled && options?.cancellation?.cancelled) {
             cancelled = true;
         }
+        // Pause: wait at the step boundary until resume or cancel.
+        if (!cancelled && options?.cancellation?.paused) {
+            const pauseOutcome = await waitWhilePaused(options.cancellation, () => {
+                const pausedMarker = {
+                    id: step.id,
+                    capability: step.capability,
+                    status: "paused",
+                    inputs: {},
+                    message: `Paused: ${options.cancellation?.reason ?? "paused"}`,
+                    duration_ms: 0,
+                };
+                emitTranscript(idx, t0, pausedMarker);
+            });
+            if (pauseOutcome === "cancelled" || options.cancellation?.cancelled) {
+                cancelled = true;
+            }
+        }
         if (cancelled) {
             const result = {
                 id: step.id,

package/dist/mission.js.map

@@ -1 +1 @@
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package/dist/robots.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"robots.d.ts","sourceRoot":"","sources":["../src/robots.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAG5D,mDAAmD;AACnD,MAAM,WAAW,YAAY;IAC3B,wCAAwC;IACxC,aAAa,EAAE,OAAO,CAAC;IACvB,6BAA6B;IAC7B,SAAS,EAAE,OAAO,CAAC;IACnB,0CAA0C;IAC1C,OAAO,EAAE,OAAO,CAAC;CAClB;AAED,+DAA+D;AAC/D,MAAM,WAAW,aAAa;IAC5B,+EAA+E;IAC/E,EAAE,EAAE,MAAM,CAAC;IACX,sDAAsD;IACtD,IAAI,EAAE,MAAM,CAAC;IACb,qFAAqF;IACrF,SAAS,EAAE,MAAM,CAAC;IAClB,gFAAgF;IAChF,WAAW,EAAE,MAAM,CAAC;IACpB;;;;OAIG;IACH,IAAI,EAAE,MAAM,CAAC;IACb,6DAA6D;IAC7D,OAAO,EAAE,YAAY,CAAC;IACtB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,MAAM,EAAE,CAAC;IACxB;;;;OAIG;IACH,MAAM,EAAE,QAAQ,GAAG,QAAQ,CAAC;CAC7B;AAiBD,wBAAgB,UAAU,CAAC,MAAM,EAAE,gBAAgB,GAAG,aAAa,EAAE,CAuCpE;AAED;;;;;;;;;;GAUG;AACH,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,gBAAgB,EAAE,QAAQ,CAAC,EAAE,MAAM,GAAG,MAAM,CAUpF;AAED;;;;;;;;GAQG;AACH,wBAAgB,oBAAoB,CAClC,MAAM,EAAE,gBAAgB,EACxB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC5B,aAAa,CAIf;AAED;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,MAAM,EAAE,gBAAgB,EAAE,OAAO,CAAC,EAAE,MAAM,GAAG,aAAa,CAiBtF;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AACH,wBAAgB,0BAA0B,CACxC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,eAAe,CAuCjB;AAED;;;;;GAKG;AACH,wBAAgB,yBAAyB,CACvC,MAAM,EAAE,gBAAgB,EACxB,OAAO,CAAC,EAAE,MAAM,GACf,OAAO,CAUT"}

package/dist/robots.js

@@ -22,6 +22,7 @@
  * default so it's selected by `getActiveRobotId()`.
  */
 import { getTransportConfig } from "./config.js";
+import { applyFleetOverride } from "./fleet-config.js";
 /**
  * Read every robot the config knows about, in declaration order, with
  * the legacy single-robot fallback applied when config.robots is empty.
@@ -37,7 +38,10 @@ const DEFAULT_SENSORS = {
     has_arm: false,
 };
 export function listRobots(config) {
-    const explicit = Array.isArray(config.robots) ? config.robots : [];
+    // Phase 1.d — ~/.agenticros/fleet.json (or AGENTICROS_FLEET_PATH) wins
+    // over config.robots when present and non-empty.
+    const effective = applyFleetOverride(config);
+    const explicit = Array.isArray(effective.robots) ? effective.robots : [];
     if (explicit.length > 0) {
         return explicit.map((r) => ({
             id: String(r.id),
@@ -58,7 +62,7 @@ export function listRobots(config) {
     // ros2_find_robots_for). Users on multi-robot deployments will have
     // promoted into config.robots[] anyway, where the fields are
     // explicit.
-    const legacy = config.robot ?? { name: "Robot", namespace: "", cameraTopic: "" };
+    const legacy = effective.robot ?? { name: "Robot", namespace: "", cameraTopic: "" };
     const id = (legacy.namespace?.trim() || "default");
     return [
         {