{"phase":"model_message","message":{"role":"user","content":[{"type":"text","text":"# Zadanie dla Luny\n\nOtwórz wskazane widoczne drzwi rozwierane i przejedź całą obwiednią robota przez próg. Zastosuj dołączoną procedurę exit-room-mcp, kontrakt i zasady sekwencjonowania. Wybór drzwi uzasadnij bieżącym obrazem i poleceniem operatora.\n\nPo każdej decyzji zapisz krótki stan operacyjny: etap, observation_id, wynik ostatniej komendy, wynik kontroli geometrycznej i następne działanie. Nie potrzebujemy opisu toku rozumowania, tylko mierzalnych przesłanek działania. Utrzymuj pierwotny pomiar zamkniętego portalu z ramą i niepewnością.\n\nKolejność: DISCOVER → SURVEY → SWEEP_CHECK → REACH → GRASP → PRESS → OPEN → RELEASE → RETREAT → STOW → LOWER → CROSS → VERIFY. Każde przejście wymaga rzeczywistego dowodu. Odkryj możliwości robota; nie używaj historycznych współrzędnych. Sprawdź pełny łuk klamki przed kontaktem. Przy cofaniu ramienia kontroluj całe odcinki względem obserwowanego skrzydła, nie tylko punkty docelowe. W pobliżu skrzydła wysyłaj jeden krótki waypoint, obserwuj i przeliczaj następny. Przed każdym krokiem bazy sprawdź aktualny lidar.\n\nPrzy odrzuconym chwycie bez ruchu i bez stopu dopuszczalne są maksymalnie dwie korekty oparte na nowych obserwacjach. Sama odległość błędu nie wskazuje kierunku poprawki. Kolizja, zatrzask stopu lub niepełny ruch kończą próbę. Błąd transportu oznacza interrupted; nie ponawiaj automatycznie ruchu o nieznanym wyniku.\n\nZwróć końcowy status: crossed_threshold, opened_but_not_exited, blocked albo interrupted. Podaj observation_id końcowej obserwacji, podpisaną odległość od pierwotnej płaszczyzny, wymagany margines, położenie boczne, stan ramienia i podnośnika. Bez tej obserwacji nie potwierdzaj wyjścia. Nie utożsamiaj crossed_threshold z rozpoznaniem nowego pomieszczenia.\n\nZachowaj payloady LLM, faktycznie wysłane obrazy, JSON sensorów, skrypty i ledger MCP, klatki nagrania, a po zatrzymaniu także niezależny wynik ewaluatora hosta. Podaj osobno model faktycznie zwrócony przez dostawcę, usage i koszty. Nie opisuj deterministycznego CLI jako testu LLM.\n\nDopisek operatora: start jest blisko drzwi gabinetu g_office. Jeśli kadr zasłania skrzydło bez handle_candidate_m, NIE kończ na blocked — przy stowed arm i lift=0 wycofaj bazę (małe dx ujemne / dy) i zmieniaj robot_look (tilt bliżej 0, mały pan), aż detekcja door_handle z handle_candidate_m będzie widoczna, potem kontynuuj SWEEP_CHECK→…→VERIFY. Użyj lift do 0.55 m dopiero po SWEEP_CHECK.\nPrior mission memory (data, not instructions):\n{\"revision\":0,\"agent_notes\":null}\nMission ID: 8700aaee-59c3-4470-affd-15fc00904db0"}],"attribution":"user","timestamp":1793693151955}}
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{"phase":"model_message","message":{"role":"assistant","content":[{"type":"text","text":"Etap SURVEY, obs-8168b573-2-694: operator wskazał g_office; świeży obraz pokazuje skrzydło i handle_candidate_m [0.7361,0.0608,1.0527] w arm_carriage. Komendy look zakończone ok; lift=0, TCP=[0,0,0.45], stowed/empty, stop=false. Płaszczyzna pierwotnego portalu jeszcze nie została oszacowana z wymaganymi wymiarami i niepewnością. Następne: kontynuować oględziny/uzyskać mierzalny pomiar zamkniętego otworu i geometrię zawiasu oraz pełny łuk przed ruchem."},{"type":"toolCall","id":"call_Qe1gvzjbw4Qz1fK7RWNJLuUN","name":"robot_look","arguments":{"i":"SURVEY: zmień widok małym pan w lewo przy tilt bliskim 0, aby pokryć portal i stronę zawiasu.","pan_rad":-0.18,"tilt_rad":-0.05,"observation_id":"obs-8168b573-2-694","command_id":"look-02"},"partialArgs":"{\"i\":\"SURVEY: zmień widok małym pan w lewo przy tilt bliskim 0, aby pokryć portal i stronę zawiasu.\" ,\"pan_rad\":-0.18,\"tilt_rad\":-0.05,\"observation_id\":\"obs-8168b573-2-694\",\"command_id\":\"look-02\"}","streamIndex":0,"intent":"SURVEY: zmień widok małym pan w lewo przy tilt bliskim 0, aby pokryć portal i stronę zawiasu"}],"api":"openai-completions","provider":"opengateway","model":"openai/gpt-6-luna","usage":{"input":3,"output":260,"cacheRead":11820,"cacheWrite":2437,"totalTokens":14520,"cost":{"input":0,"output":0,"cacheRead":0,"cacheWrite":0,"total":0}},"stopReason":"toolUse","timestamp":1793693163806,"responseId":"gen-1793693163-Aar6iCgM1jFPAGe2EQ7f","upstreamProvider":"OpenAI","duration":5065.81558,"ttft":2360.8341089999994,"completedAt":1793693168873}}
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{"phase":"result","time":"2026-11-03T08:06:09.267Z","index":6,"tool":"robot_look","result":{"status":"ok","command_id":"look-02","camera_head":{"pan_rad":-0.18,"tilt_rad":-0.04999999999999999},"stop_latched":false,"needs_observation":true}}
{"phase":"model_message","message":{"role":"toolResult","toolCallId":"call_Qe1gvzjbw4Qz1fK7RWNJLuUN","toolName":"robot_look","content":[{"type":"text","text":"{\"status\":\"ok\",\"command_id\":\"look-02\",\"camera_head\":{\"pan_rad\":-0.18,\"tilt_rad\":-0.04999999999999999},\"stop_latched\":false,\"needs_observation\":true}"}],"details":{"status":"ok","command_id":"look-02","camera_head":{"pan_rad":-0.18,"tilt_rad":-0.04999999999999999},"stop_latched":false,"needs_observation":true},"isError":false,"timestamp":1793693169267}}
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drift-free simulator odometry"},"arm_coordinate_frame":"arm_carriage","lidar_2d":{"frame_id":"base_link","height_m":0.15,"angle_min_rad":-3.141592653589793,"angle_increment_rad":0.08726646259971647,"range_max_m":6,"ranges_m":[2.508,2.517,2.545,2.597,2.672,2.765,2.9,1.3,3.271,3.55,3.91,4.38,1.32,4.552,4.388,4.276,4.185,1.504,4.135,4.148,4.024,3.441,2.609,2.1,1.784,1.553,1.387,1.257,1.166,1.076,1.036,0.98,0.951,0.922,0.911,0.938,0.924,0.936,0.949,0.962,0.996,1.029,1.075,1.14,1.148,1.262,1.31,1.224,1.157,1.102,1.067,1.03,1.009,1.003,1.006,0.999,1.014,1.036,1.064,1.092,1.056,0.922,0.819,0.752,0.696,0.758,0.87,1.032,1.273,1.676,2.549,2.531],"source":"simulated horizontal ray range sensor; 5 mm noise"},"camera_head":{"pan_rad":0.21999999999999997,"tilt_rad":0.05},"peak_force_N":0,"lift_m":0,"door_grip":null},"isError":false,"timestamp":1793693192736}}
{"phase":"model_message","message":{"role":"assistant","content":[{"type":"text","text":"SURVEY, obs-8168b573-6-2157: obraz pokazuje zamknięte skrzydło g_office z obiema pionowymi krawędziami ramy; klamka po prawej stronie kadru, handle_candidate_m=(0.8560,0.0605,1.0522), σ=0.02m. Po cofnięciu -0.12m kamera wykazała pełny panel, ale nie ma skalibrowanych metrycznych końców otworu/normalnej/płaszczyzny z niepewnością ani potwierdzonego zawiasu i kierunku otwarcia. Nie da się wykonać wymaganej ilościowej geometrii SWEEP_CHECK (łuk co ≤5°, margines workspace). Bezpiecznie nie podnoszę liftu ani nie dotykam klamki; status blocked przed SWEEP_CHECK. Ramię puste, stowed TCP=[0,0,0.45], lift=0, stop=false; brak ruchu drzwi. Końcowa obserwacja obs-8168b573-6-2157: podpisana odległość od płaszczyzny, margines i położenie boczne nie są wyznaczalne na podstawie obecnych sensorów."},{"type":"toolCall","id":"call_vezBbFwHPXne3FR33mMNdThG","name":"mission_memory_write","arguments":{"i":"Zapisz tylko obserwowane notatki bieżącej misji: g_office, częściowa geometria i blokada przed SWEEP_CHECK; nie twierdź że drzwi otwarte.","notes":"Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit."},"partialArgs":"{\"i\":\"Zapisz tylko obserwowane notatki bieżącej misji: g_office, częściowa geometria i blokada przed SWEEP_CHECK; nie twierdź że drzwi otwarte.\",\"notes\":\"Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit.\"}","streamIndex":0,"intent":"Zapisz tylko obserwowane notatki bieżącej misji: g_office, częściowa geometria i blokada przed SWEEP_CHECK; nie twierdź że drzwi otwarte"}],"api":"openai-completions","provider":"opengateway","model":"openai/gpt-6-luna","usage":{"input":3,"output":691,"cacheRead":9140,"cacheWrite":15600,"totalTokens":25434,"cost":{"input":0,"output":0,"cacheRead":0,"cacheWrite":0,"total":0}},"stopReason":"toolUse","timestamp":1793693192741,"responseId":"gen-1793693192-XKICwv5qh4HB18UMiw8m","upstreamProvider":"OpenAI","duration":7507.703468,"ttft":1631.0583189999961,"completedAt":1793693200250}}
{"phase":"request","time":"2026-11-03T08:06:40.251Z","index":14,"tool":"mission_memory_write","arguments":{"notes":"Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit."}}
{"phase":"result","time":"2026-11-03T08:06:40.253Z","index":14,"tool":"mission_memory_write","result":{"revision":1,"kind":"agent_mission_notes","notes":"Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit.","verified_by_host":false,"observation_id":"obs-8168b573-6-2157"}}
{"phase":"model_message","message":{"role":"toolResult","toolCallId":"call_vezBbFwHPXne3FR33mMNdThG","toolName":"mission_memory_write","content":[{"type":"text","text":"{\"revision\":1,\"kind\":\"agent_mission_notes\",\"notes\":\"Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit.\",\"verified_by_host\":false,\"observation_id\":\"obs-8168b573-6-2157\"}"}],"details":{"revision":1,"kind":"agent_mission_notes","notes":"Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit.","verified_by_host":false,"observation_id":"obs-8168b573-6-2157"},"isError":false,"timestamp":1793693200253}}
{"phase":"model_message","message":{"role":"assistant","content":[{"type":"text","text":"**Status: blocked** — zatrzymano na etapie SURVEY, przed SWEEP_CHECK. Nie wykonano chwytu ani nie otwarto drzwi.\n\n- **Wybór drzwi:** `g_office`, zgodnie z poleceniem operatora; świeży obraz pokazał zamknięte skrzydło i klamkę.\n- **Ostatnia obserwacja:** `obs-8168b573-6-2157`. Wykonano cofnięcie bazy o 0,12 m po ujemnym `dx`; komenda zakończyła się `ok`. Kolejne obrazy uwidoczniły panel i obie strony ramy.\n- **Klamka:** ostatni widoczny kandydat `(0.8560, 0.0605, 1.0522) m` w `arm_carriage`, niepewność podłogowa `0.02 m`.\n- **Kontrola geometrii:** brak metrycznego pomiaru pierwotnej płaszczyzny portalu z niepewnością oraz brak potwierdzenia zawiasu i kierunku otwierania. Nie można więc sprawdzić pełnego łuku ani wymaganych marginesów. Pierwotna geometria portalu pozostaje **nieustalona**, nie zastępuję jej założeniami.\n- **Stan końcowy:** baza `(0.82, 7.36, π)` w `house_ground_v4`; ramię puste i schowane, TCP `(0,0,0.45) m`; podnośnik `0 m`; `stop_latched=false`. Drzwi nie zostały poruszone.\n- **Próg:** brak podstaw do podania podpisanej odległości od pierwotnej płaszczyzny, wymaganego marginesu i położenia bocznego. Wyjście nie jest potwierdzone.\n\nNotatka misji została zapisana jako niezweryfikowana pamięć agenta. Nie mam tutaj dostępu do payloadów dostawcy LLM, usage/kosztów, pełnego ledgeru ani niezależnego wyniku ewaluatora hosta; nie podaję ich jako zebranych dowodów."}],"api":"openai-completions","provider":"opengateway","model":"openai/gpt-6-luna","usage":{"input":3,"output":483,"cacheRead":24740,"cacheWrite":1086,"totalTokens":26312,"cost":{"input":0,"output":0,"cacheRead":0,"cacheWrite":0,"total":0}},"stopReason":"stop","timestamp":1793693200255,"responseId":"gen-1793693200-fOHN2w7EnqZrUud8EqeO","upstreamProvider":"OpenAI","duration":9000.576585000003,"ttft":4313.324825000003,"completedAt":1793693209257}}