feat(rbnx): declare capability transports in manifests

examples/piper_vitals/primitives/piper_health/package_manifest.yaml

@@ -17,7 +17,10 @@ stop: |
 
 capabilities:
   - name: robonix/primitive/health/state
+    transport: grpc
   - name: robonix/primitive/health/stream
+    transport: grpc
   - name: robonix/primitive/health/driver
+    transport: grpc
 
 depends: []

examples/webots/primitives/tiago_camera/package_manifest.yaml

@@ -20,18 +20,24 @@ stop: |
 
 capabilities:
   - name: robonix/primitive/camera/snapshot
+    transport: mcp
   - name: robonix/primitive/camera/depth_snapshot
+    transport: mcp
   # ROS2 streams (data plane). Topic names are runtime-resolved
   # through atlas — consumers (scene 3D fusion, mapping RGBD ingest)
   # discover them via QueryCapabilities, they never read the topic
   # strings declared in the driver source.
   - name: robonix/primitive/camera/rgb
+    transport: ros2
   - name: robonix/primitive/camera/depth
+    transport: ros2
   # Compatibility `base_link → camera_optical` transform. Scene uses the
   # complete TF tree first and composes pose + this latched transform only
   # when that authoritative lookup is unavailable.
   - name: robonix/primitive/camera/extrinsics
+    transport: ros2
   # Static pinhole intrinsics (sensor_msgs/CameraInfo, latched). Lets
   # scene back-project depth with the real camera's K instead of a
   # hardcoded default — see capabilities/primitive/camera/intrinsics.v1.toml.
   - name: robonix/primitive/camera/intrinsics
+    transport: ros2

examples/webots/primitives/tiago_chassis/package_manifest.yaml

@@ -39,5 +39,8 @@ stop: |
 
 capabilities:
   - name: robonix/primitive/chassis/move
+    transport: grpc
   - name: robonix/primitive/chassis/odom
+    transport: ros2
   - name: robonix/primitive/chassis/twist_in
+    transport: ros2

examples/webots/primitives/tiago_health/package_manifest.yaml

@@ -20,5 +20,8 @@ stop: |
 
 capabilities:
   - name: robonix/primitive/health/state
+    transport: grpc
   - name: robonix/primitive/health/stream
+    transport: grpc
   - name: robonix/lifecycle/driver
+    transport: grpc

examples/webots/primitives/tiago_lidar/package_manifest.yaml

@@ -23,4 +23,6 @@ stop: |
 
 capabilities:
   - name: robonix/primitive/lidar/lidar
+    transport: ros2
   - name: robonix/primitive/lidar/snapshot
+    transport: mcp

examples/webots/services/simple_nav/package_manifest.yaml

@@ -28,5 +28,8 @@ stop: |
 
 capabilities:
   - name: robonix/service/navigation/navigate
+    transport: mcp
   - name: robonix/service/navigation/navigate/status
+    transport: mcp
   - name: robonix/service/navigation/navigate/cancel
+    transport: mcp

services/memory/package_manifest.yaml

@@ -30,5 +30,8 @@ start: |
 
 capabilities:
   - name: robonix/service/memory/remember
+    transport: mcp
   - name: robonix/service/memory/hybrid_search
+    transport: mcp
   - name: robonix/service/memory/promote
+    transport: mcp

services/memsearch/package_manifest.yaml

@@ -30,6 +30,10 @@ stop: |
 
 capabilities:
   - name: robonix/service/memory/driver
+    transport: grpc
   - name: robonix/service/memory/save
+    transport: mcp
   - name: robonix/service/memory/search
+    transport: mcp
   - name: robonix/service/memory/compact
+    transport: mcp

services/speech/package_manifest.yaml

@@ -62,11 +62,20 @@ stop: |
 
 capabilities:
   - name: robonix/service/speech/driver
+    transport: grpc
   - name: robonix/service/speech/asr
+    transport: grpc
   - name: robonix/service/speech/asr_stream
+    transport: grpc
   - name: robonix/service/speech/wake_word
+    transport: grpc
   - name: robonix/service/speech/tts
+    transport: grpc
   - name: robonix/service/speech/tts_stream
+    transport: grpc
   - name: robonix/service/speech/dialog
+    transport: grpc
   - name: robonix/service/speech/list_speakers
+    transport: mcp
   - name: robonix/service/speech/speak
+    transport: mcp

services/verifiers/scene_verifier/package_manifest.yaml

@@ -12,4 +12,5 @@ build: bash scripts/build.sh
 start: bash scripts/start.sh
 
 capabilities:
-  - name: robonix/service/verifier/verify
+  - name: robonix/service/verifier/verify
+    transport: mcp

services/verifiers/vlm_verifier/package_manifest.yaml

@@ -11,3 +11,4 @@ build: bash scripts/build.sh
 start: bash scripts/start.sh
 capabilities:
   - name: robonix/service/verifier/verify
+    transport: mcp

services/voiceprint/package_manifest.yaml

@@ -56,7 +56,12 @@ stop: |
 
 capabilities:
   - name: robonix/service/voiceprint/driver
+    transport: grpc
   - name: robonix/service/voiceprint/identify
+    transport: grpc
   - name: robonix/service/voiceprint/enroll
+    transport: grpc
   - name: robonix/service/voiceprint/list
+    transport: [grpc, mcp]
   - name: robonix/service/voiceprint/delete
+    transport: grpc

system/scene/package_manifest.jetson-docker.yaml

@@ -22,13 +22,31 @@ start: ROBONIX_SCENE_FORCE=docker bash scripts/start.sh
 
 capabilities:
   - name: robonix/system/scene/list_objects
+    transport: mcp
   - name: robonix/system/scene/get_robot_context
+    transport: mcp
   - name: robonix/system/scene/list_regions
+    transport: mcp
   - name: robonix/system/scene/goal_near
+    transport: mcp
   - name: robonix/system/scene/goal_region
+    transport: mcp
   # Deprecated alias of goal_region, kept for older callers.
   - name: robonix/system/scene/goal_room
+    transport: mcp
   - name: robonix/system/scene/find
+    transport: mcp
   - name: robonix/system/scene/get_scene_graph
+    transport: mcp
   - name: robonix/system/scene/get_object_context
+    transport: mcp
   - name: robonix/system/scene/list_relations
+    transport: mcp
+  - name: robonix/system/scene/update_object_label
+    transport: mcp
+  - name: robonix/system/scene/update_object_geometry
+    transport: mcp
+  - name: robonix/system/scene/delete_object
+    transport: mcp
+  - name: robonix/system/scene/flush_objects
+    transport: mcp

system/scene/package_manifest.jetson-native.yaml

@@ -26,13 +26,31 @@ start: ROBONIX_SCENE_FORCE=native bash scripts/start.sh
 
 capabilities:
   - name: robonix/system/scene/list_objects
+    transport: mcp
   - name: robonix/system/scene/get_robot_context
+    transport: mcp
   - name: robonix/system/scene/list_regions
+    transport: mcp
   - name: robonix/system/scene/goal_near
+    transport: mcp
   - name: robonix/system/scene/goal_region
+    transport: mcp
   # Deprecated alias of goal_region, kept for older callers.
   - name: robonix/system/scene/goal_room
+    transport: mcp
   - name: robonix/system/scene/find
+    transport: mcp
   - name: robonix/system/scene/get_scene_graph
+    transport: mcp
   - name: robonix/system/scene/get_object_context
+    transport: mcp
   - name: robonix/system/scene/list_relations
+    transport: mcp
+  - name: robonix/system/scene/update_object_label
+    transport: mcp
+  - name: robonix/system/scene/update_object_geometry
+    transport: mcp
+  - name: robonix/system/scene/delete_object
+    transport: mcp
+  - name: robonix/system/scene/flush_objects
+    transport: mcp

system/scene/package_manifest.yaml

@@ -32,17 +32,31 @@ stop: docker rm -f "${ROBONIX_SCENE_CONTAINER:-robonix_scene}"
 
 capabilities:
   - name: robonix/system/scene/list_objects
+    transport: mcp
   - name: robonix/system/scene/get_robot_context
+    transport: mcp
   - name: robonix/system/scene/list_regions
+    transport: mcp
   - name: robonix/system/scene/goal_near
+    transport: mcp
   - name: robonix/system/scene/goal_region
+    transport: mcp
   # Deprecated alias of goal_region, kept for older callers.
   - name: robonix/system/scene/goal_room
+    transport: mcp
   - name: robonix/system/scene/find
+    transport: mcp
   - name: robonix/system/scene/get_scene_graph
+    transport: mcp
   - name: robonix/system/scene/get_object_context
+    transport: mcp
   - name: robonix/system/scene/list_relations
+    transport: mcp
   - name: robonix/system/scene/update_object_label
+    transport: mcp
   - name: robonix/system/scene/update_object_geometry
+    transport: mcp
   - name: robonix/system/scene/delete_object
+    transport: mcp
   - name: robonix/system/scene/flush_objects
+    transport: mcp

tools/rbnx/Cargo.toml

@@ -14,6 +14,7 @@ clap.workspace = true
 serde.workspace = true
 serde_yaml.workspace = true
 serde_json.workspace = true
+toml.workspace = true
 sha2.workspace = true
 tokio.workspace = true
 anyhow.workspace = true
@@ -23,7 +24,7 @@ prost.workspace = true
 tonic-prost.workspace = true
 ratatui = { workspace = true, features = ["unstable-rendered-line-info"] }
 crossterm.workspace = true
-tokio-stream = "0.1"
+tokio-stream = { version = "0.1", features = ["net"] }
 dirs = "6.0"
 chrono = "0.4"
 hostname = "0.4"

tools/rbnx/README.md

@@ -55,6 +55,12 @@ cargo install --force --path tools/rbnx --bin rbnx
 
 Run `rbnx <cmd> --help` for full flags.
 
+Each package manifest capability declares `transport: mcp`, `grpc`, or `ros2`,
+or a non-empty list such as `transport: [grpc, ros2]`. `rbnx validate` rejects
+invalid or duplicate transports, repeated contracts, and transports incompatible
+with an available contract TOML's mode. An omitted transport warns and remains
+accepted while existing packages migrate; `manifestVersion` stays `1`.
+
 `rbnx install [--github REPO \| --path DIR]`, `rbnx list`, and `rbnx info NAME`
 manage system-installed packages. They are legacy commands, hidden from
 `rbnx --help`; deployment manifests with `rbnx build` and `rbnx boot` replace
@@ -67,6 +73,12 @@ consumers.
 
 ### What a boot leaves behind
 
+During boot, `rbnx` compares package manifest transport declarations with Atlas
+registrations, including Soma-managed primitives and skills. It warns once per
+mismatch; missing registrations are reported only while the package is ACTIVE.
+A manifest without transport declarations gets one warning and skips comparison.
+These diagnostics do not fail startup.
+
 `rbnx boot` writes `<manifest-dir>/rbnx-boot/deployment.lock` before it spawns
 anything. Each package records what the manifest asked for and what that
 resolved to, kept apart the way `flake.lock` keeps them: