Function record_dispatched_plan 

fn record_dispatched_plan(
    history: &mut Vec<Message>,
    plan: &Plan,
    description: &str,
)

Persist the exact capability calls handed to Executor so a later planning round can correlate terminal results with work it already dispatched.

RTDL is a custom planning protocol rather than an OpenAI tool call, so the model’s structured plan is otherwise lost when only content is appended to chat history. That made a successful physical step look unexecuted on the mandatory post-PlanDone round and allowed the same user step to be planned a second time from the robot’s new state.