omp-door-chain-phased-luna56-004

dom · homebot-dom · 2026-11-03 10:59 · homebot-dom/runs/omp-door-chain-phased-luna56-004

0/3 w koszu

MP4 · 1.4 MB · pełny ekran w playerze

obiekt	dostarczony	w koszu
sock_blue	nie	0%
shirt_red	nie	0%
towel_green	nie	0%

skilldoor-chain-ground

modelopenai/gpt-5.6-luna

profilgpu

LLM / koszt79 calli · $0.574

ag. limity78 req · 36 seq · 77 tools

czas misji432.8s

status agentarobot_stop_latched

Logi

result.json1.1 KB host-evaluation.json457 B run-config.json1.0 KB tool-ledger.jsonl2.0 MB bridge-ledger.jsonl280.5 KB messages.json2.0 MB openrouter-costs.json33.6 KB simulation/evaluation.json1.9 KB simulation/trace.json17.0 KB 78× llm-request-*.json26.0 MB

calle LLM

tool calls

koszt zadania

$0.574

tokeny (sum)

4,799,181

in / out

234 / 7,686

cache R/W

2,752,029 / 2,039,232

czas modelu

289.1s

Calle LLM na zadanie

#	czas	co zrobił (tool + wynik)	tokeny	koszt
1	3.6s toolUse	robot_capabilities Discover v4 capabilities, lift, frames, limits, and supported door controls for phase 1 mode=SIMULATION_ONLY mission_memory_read Read prior mission notes; treat them as unverified context only {"revision":0,"agent_notes":null}	7,851 in 3 · out 131 · cR 0 · cW 7717 · reason 47	$0.0021
2	1.8s toolUse	robot_observe Survey the visible office door at the starting pose; capture door id, handle candidate, leaf geometry, hinge/opening evidence, lidar, stop state, and odometry {"observation_id":"obs-36eca40a-1-350","session_id":"36eca40a","time_s":0.7,"rgb_path":"/home/pawel/Documents/HomeBot_P…	8,617 in 3 · out 52 · cR 7717 · cW 845	$0.0004
3	3.2s toolUse	robot_look Survey the closed office leaf and handle from an additional head angle before sweep check ok	11,214 in 3 · out 118 · cR 8562 · cW 2531 · reason 42	$0.0009
4	2.7s toolUse	robot_observe Reobserve after survey look; refine visible handle candidate, hinge/free-edge evidence, opening direction, and clearance for sweep check {"observation_id":"obs-36eca40a-2-632","session_id":"36eca40a","time_s":1.264,"rgb_path":"/home/pawel/Documents/HomeBot…	11,271 in 3 · out 43 · cR 11093 · cW 132	$0.0003
5	3.1s toolUse	robot_move_base Hinge-clear reposition only: stowed arm, lift down, rotate base about +0.785 rad toward observed hinge side; do not cross threshold ok	14,000 in 3 · out 130 · cR 11225 · cW 2642 · reason 37	$0.0010
6	2.2s toolUse	robot_observe Verify hinge-clear pose and sweep safety after base yaw; confirm lift 0, stowed TCP, clear lidar and no latch before raising carriage {"observation_id":"obs-36eca40a-3-1846","session_id":"36eca40a","time_s":3.692,"rgb_path":"/home/pawel/Documents/HomeBo…	14,098 in 3 · out 47 · cR 13867 · cW 181	$0.0004
7	4.4s toolUse	robot_look Re-aim camera toward the office handle after hinge-clear yaw; obtain a visible handle candidate before lift and reach ok	16,686 in 3 · out 166 · cR 14048 · cW 2469 · reason 81	$0.0011
8	2.2s toolUse	robot_observe Observe the handle after re-aim; update current arm-carriage handle coordinates and door state before lift {"observation_id":"obs-36eca40a-4-2409","session_id":"36eca40a","time_s":4.818,"rgb_path":"/home/pawel/Documents/HomeBo…	16,701 in 3 · out 39 · cR 16517 · cW 142	$0.0004
9	2.4s toolUse	robot_move_lift Raise the empty stowed arm carriage to 0.40 m for the observed 1.053 m handle; do not drive ok	19,330 in 3 · out 79 · cR 16659 · cW 2589	$0.0011
10	2.8s toolUse	robot_observe Verify lifted state and obtain the fresh handle candidate in arm-carriage coordinates before reaching {"observation_id":"obs-36eca40a-5-5743","session_id":"36eca40a","time_s":11.486,"rgb_path":"/home/pawel/Documents/HomeB…	19,413 in 3 · out 35 · cR 19248 · cW 127	$0.0005
11	4.8s toolUse	robot_execute_sequence Reach the freshly observed g_office handle with one bounded TCP waypoint; keep the arm near the handle for grasp ok · move_tcp · F=0.00N · grip=no	22,158 in 3 · out 143 · cR 19375 · cW 2637 · reason 52	$0.0012
12	2.6s toolUse	robot_observe Verify TCP proximity and contact safety after reaching the current handle candidate {"observation_id":"obs-36eca40a-6-7871","session_id":"36eca40a","time_s":15.742,"rgb_path":"/home/pawel/Documents/HomeB…	22,201 in 3 · out 31 · cR 22012 · cW 155	$0.0005
13	2.6s toolUse	robot_door_action Grasp the visible g_office handle at the verified TCP contact pose ok	24,375 in 3 · out 71 · cR 8562 · cW 15739	$0.0042
14	3.0s toolUse	robot_observe Verify g_office grasp contact, force, TCP, and unchanged closed-door state before pressing latch {"observation_id":"obs-36eca40a-7-7921","session_id":"36eca40a","time_s":15.842,"rgb_path":"/home/pawel/Documents/HomeB…	24,584 in 3 · out 38 · cR 24301 · cW 242	$0.0006
15	2.7s toolUse	robot_door_action Press the g_office spring lever while maintaining verified door grip ok	26,755 in 3 · out 82 · cR 8562 · cW 18108 · reason 12	$0.0048
16	2.2s toolUse	robot_observe Verify latch press and maintained g_office grip before opening; ensure no stop latch and current TCP state {"observation_id":"obs-36eca40a-8-8371","session_id":"36eca40a","time_s":16.742,"rgb_path":"/home/pawel/Documents/HomeB…	26,954 in 3 · out 39 · cR 26670 · cW 242	$0.0006
17	4.1s toolUse	robot_door_action Open the latch-released g_office door while maintaining the verified grip; do not drive or plan later phases ok	29,176 in 3 · out 99 · cR 8562 · cW 20512 · reason 20	$0.0054
18	2.6s toolUse	robot_observe Verify g_office opening progress, leaf clearance, grip and stop state before release; remain in phase 1 only {"observation_id":"obs-36eca40a-9-12715","session_id":"36eca40a","time_s":25.43,"rgb_path":"/home/pawel/Documents/HomeB…	29,368 in 3 · out 42 · cR 29074 · cW 249	$0.0007
19	5.9s toolUse	robot_door_action Release g_office handle after verified successful opening; obtain controller-suggested retreat waypoints and do not stow yet ok	32,377 in 3 · out 94 · cR 7185 · cW 25095 · reason 13	$0.0065
20	3.3s toolUse	robot_observe Observe immediately after release; confirm no grip, open leaf geometry, contact-side retreat safety, and stop state {"observation_id":"obs-36eca40a-10-12965","session_id":"36eca40a","time_s":25.93,"rgb_path":"/home/pawel/Documents/Home…	32,707 in 3 · out 57 · cR 32280 · cW 367 · reason 15	$0.0008
21	4.5s toolUse	robot_execute_sequence Retreat waypoint 1 from release result, exactly one TCP move; do not stow or cross ok · move_tcp · F=0.00N · grip=no	35,735 in 3 · out 146 · cR 7185 · cW 28401 · reason 58	$0.0074
22	2.3s toolUse	robot_observe Verify retreat waypoint 1 clearance and open-leaf geometry before continuing along suggested retreat sequence {"observation_id":"obs-36eca40a-11-13187","session_id":"36eca40a","time_s":26.374,"rgb_path":"/home/pawel/Documents/Hom…	35,776 in 3 · out 36 · cR 35586 · cW 151	$0.0008
23	3.9s toolUse	robot_execute_sequence Retreat waypoint 2 from the release result, exactly one TCP move; keep clear of the open leaf ok · move_tcp · F=0.00N · grip=no	38,813 in 3 · out 116 · cR 7185 · cW 31509 · reason 27	$0.0082
24	2.5s toolUse	robot_observe Verify retreat waypoint 2 and recheck open-leaf extent before the next suggested retreat point {"observation_id":"obs-36eca40a-12-13988","session_id":"36eca40a","time_s":27.976,"rgb_path":"/home/pawel/Documents/Hom…	38,886 in 3 · out 37 · cR 38694 · cW 152	$0.0009
25	3.6s toolUse	robot_execute_sequence Retreat waypoint 3 from the release result, exactly one TCP move; leave final stow waypoint for a separate verified command ok · move_tcp · F=0.00N · grip=no	41,916 in 3 · out 91 · cR 7185 · cW 34637	$0.0089
26	2.8s toolUse	robot_observe Verify retreat waypoint 3 and final stow corridor; confirm open hand, no door grip, and no stop latch {"observation_id":"obs-36eca40a-13-14682","session_id":"36eca40a","time_s":29.364,"rgb_path":"/home/pawel/Documents/Hom…	42,023 in 3 · out 42 · cR 41822 · cW 156	$0.0009
27	3.0s toolUse	robot_execute_sequence Final suggested retreat/stow waypoint from release result; move TCP to centered stowed-safe pose without crossing the open leaf ok · move_tcp · F=0.00N · grip=no	44,999 in 3 · out 82 · cR 7185 · cW 37729	$0.0097
28	2.8s toolUse	robot_observe Verify final TCP stow position, open hand, no door grip, open door progress, and stop state before lowering lift {"observation_id":"obs-36eca40a-14-16136","session_id":"36eca40a","time_s":32.272,"rgb_path":"/home/pawel/Documents/Hom…	45,107 in 3 · out 43 · cR 44914 · cW 147	$0.0010
29	4.9s toolUse	robot_move_lift Lower the empty stowed arm carriage to lift 0 as required for phase completion; do not drive ok	48,162 in 3 · out 83 · cR 7185 · cW 40891 · reason 11	$0.010
30	2.8s toolUse	robot_observe Final phase-1 verification: lift 0, stowed TCP within drive interlock, empty open gripper, no door grip, door open, and no stop latch {"observation_id":"obs-36eca40a-15-19470","session_id":"36eca40a","time_s":38.94,"rgb_path":"/home/pawel/Documents/Home…	48,247 in 3 · out 53 · cR 48076 · cW 115	$0.0011
31	6.7s toolUse	mission_memory_write Save bounded phase-1 evidence: observed g_office on house_ground_v4, opened and safely retreated/stowed, no driving or later-door actions {"revision":1,"kind":"agent_mission_notes","notes":"Phase 1 complete. Fresh evidence: g_office visible at start, frame …	51,495 in 3 · out 280 · cR 7185 · cW 44027 · reason 73	$0.011
32	3.2s stop	PHASE_COMPLETE — Otwarto drzwi `g_office` (opening_progress_rad: `-1.4340`), ramię bezpiecznie wycofane i schowane, podnośnik opuszczony do `0 m`, robot gotowy do jazdy. Ostatnia obserwacja: `obs-36eca40a-15-19470`.	51,704 in 3 · out 83 · cR 51212 · cW 406	$0.0012
33	4.0s toolUse	robot_observe Freshly verify phase-2 starting state: lift, arm stow, door grip, open g_office, lidar and nearby crossing geometry {"observation_id":"obs-36eca40a-16-19470","session_id":"36eca40a","time_s":38.94,"rgb_path":"/home/pawel/Documents/Home…	52,298 in 3 · out 61 · cR 51618 · cW 616 · reason 12	$0.0013
34	6.2s toolUse	robot_move_base Begin crossing through the already-open g_office doorway with a short forward step; lift 0, arm stowed, no door grip ok	55,530 in 3 · out 331 · cR 7185 · cW 48011 · reason 242	$0.013
35	2.7s toolUse	robot_observe Observe after first crossing step; verify leaf clearance, signed progress toward and through original office doorway, and lidar for next short step {"observation_id":"obs-36eca40a-17-20419","session_id":"36eca40a","time_s":40.838,"rgb_path":"/home/pawel/Documents/Hom…	55,426 in 3 · out 44 · cR 55196 · cW 183	$0.0012
36	4.5s toolUse	robot_move_base Continue crossing with a second short forward step, gated by the fresh lidar and open-hand stowed state ok	58,530 in 3 · out 80 · cR 7185 · cW 51262	$0.013
37	3.0s toolUse	robot_observe Verify the robot footprint has crossed the original g_office doorway plane; survey the new room for other visible doors and handle candidates {"observation_id":"obs-36eca40a-18-21368","session_id":"36eca40a","time_s":42.736,"rgb_path":"/home/pawel/Documents/Hom…	58,671 in 3 · out 44 · cR 58447 · cW 177	$0.0013
38	4.8s toolUse	robot_look Scan the new room from the crossed position toward the visible g_wc and utility door frames; seek a fresh handle candidate with a door_id different from g_office ok	61,745 in 3 · out 180 · cR 7185 · cW 54377 · reason 86	$0.014
39	3.2s toolUse	robot_observe Observe after new-room scan and identify a different visible door handle candidate, with pose and frame evidence for approach planning {"observation_id":"obs-36eca40a-19-21931","session_id":"36eca40a","time_s":43.862,"rgb_path":"/home/pawel/Documents/Hom…	61,756 in 3 · out 41 · cR 61562 · cW 150	$0.0013
40	4.9s toolUse	robot_look The scan only sees the already-used g_office handle on its open leaf. Look to the opposite side of the new room to search for another door, without manipulating or driving ok	63,831 in 3 · out 169 · cR 7185 · cW 56474 · reason 71	$0.014
41	2.6s toolUse	robot_observe Observe the opposite side of the new room for a distinct door_id and handle candidate before approaching it {"observation_id":"obs-36eca40a-20-22838","session_id":"36eca40a","time_s":45.676,"rgb_path":"/home/pawel/Documents/Hom…	63,851 in 3 · out 38 · cR 63659 · cW 151	$0.0014
42	4.7s toolUse	robot_move_base Approach the distinct g_wc door with a short stowed-arm base step toward its observed handle side; lift remains 0 and no door action ok	67,178 in 3 · out 220 · cR 7185 · cW 59770 · reason 122	$0.015
43	2.7s toolUse	robot_observe Verify approach pose, fresh lidar clearance, and g_wc handle visibility/proximity; do not lift or manipulate in this phase {"observation_id":"obs-36eca40a-21-24028","session_id":"36eca40a","time_s":48.056,"rgb_path":"/home/pawel/Documents/Hom…	67,199 in 3 · out 43 · cR 66955 · cW 198	$0.0014
44	7.3s toolUse	robot_move_base Approach g_wc further with a short stowed-arm step chosen from its fresh local handle offset; keep lift 0 and do not manipulate ok	70,774 in 3 · out 278 · cR 7185 · cW 63308 · reason 181	$0.016
45	2.9s toolUse	robot_observe Final phase-2 verification at the next door: confirm g_wc is distinct from g_office, handle visible, approach safe, lift 0, arm stowed, and no door action/grip {"observation_id":"obs-36eca40a-22-25147","session_id":"36eca40a","time_s":50.294,"rgb_path":"/home/pawel/Documents/Hom…	70,746 in 3 · out 59 · cR 70493 · cW 191	$0.0015
46	7.4s toolUse	robot_move_base Shorten and continue the stowed-arm approach toward the observed g_wc handle; keep lift 0 and avoid door manipulation ok	74,218 in 3 · out 362 · cR 7185 · cW 66668 · reason 269	$0.017
47	3.6s toolUse	robot_observe Confirm final phase-2 pose near distinct g_wc door, with visible handle candidate, safe lidar, lift 0 and arm stowed; no door_action {"observation_id":"obs-36eca40a-23-26128","session_id":"36eca40a","time_s":52.256,"rgb_path":"/home/pawel/Documents/Hom…	74,100 in 3 · out 50 · cR 73853 · cW 194	$0.0016
48	4.3s toolUse	mission_memory_write Save phase-2 evidence: crossed g_office without door manipulation, found distinct g_wc handle, and approached with lift down and arm stowed {"revision":2,"kind":"agent_mission_notes","notes":"Phase 2 complete. Crossed open g_office via two short successful ba…	77,487 in 3 · out 199 · cR 7185 · cW 70100	$0.018
49	3.7s stop	PHASE_COMPLETE — Przekroczono próg przez `g_office` i znaleziono oraz osiągnięto podejście do innych drzwi `g_wc`. Ramię schowane, podnośnik `0 m`, bez chwytu i bez manipulacji drzwiami. Ostatnia obserwacja: `obs-36eca4…	77,769 in 3 · out 85 · cR 77285 · cW 396	$0.0017
50	5.6s toolUse	robot_observe Fresh phase-3 start check and survey g_wc: verify lift 0, arm stowed, no grip, visible second-door handle, leaf and hinge/opening evidence {"observation_id":"obs-36eca40a-24-26128","session_id":"36eca40a","time_s":52.256,"rgb_path":"/home/pawel/Documents/Hom…	78,372 in 3 · out 241 · cR 77681 · cW 447 · reason 186	$0.0020
51	3.4s toolUse	robot_move_base Hinge-clear for g_wc: rotate the stowed base a small positive amount toward the observed hinge side, with lift 0 and no door grip ok	81,414 in 3 · out 93 · cR 7185 · cW 74133	$0.019
52	2.6s toolUse	robot_observe Verify g_wc hinge-clear pose and resurvey handle candidate after yaw; ensure lift 0, stowed arm, no latch {"observation_id":"obs-36eca40a-25-27047","session_id":"36eca40a","time_s":54.094,"rgb_path":"/home/pawel/Documents/Hom…	81,560 in 3 · out 44 · cR 81318 · cW 195	$0.0017
53	3.6s toolUse	robot_move_lift Raise the empty stowed arm carriage to 0.40 m for the fresh g_wc handle candidate at world height about 1.052 m ok	83,700 in 3 · out 82 · cR 7185 · cW 76430	$0.019
54	2.4s toolUse	robot_observe Verify lifted state and refresh the g_wc handle candidate in arm-carriage coordinates before reach {"observation_id":"obs-36eca40a-26-30381","session_id":"36eca40a","time_s":60.762,"rgb_path":"/home/pawel/Documents/Hom…	83,784 in 3 · out 36 · cR 83615 · cW 130	$0.0017
55	3.7s toolUse	robot_execute_sequence Reach the freshly observed g_wc handle with one bounded TCP waypoint; keep arm near contact for the separate grasp action rejected	85,990 in 3 · out 89 · cR 7185 · cW 78713	$0.020
56	4.3s toolUse	robot_observe After workspace-limit rejection, reobserve current safe state and handle geometry; do not repeat unreachable reach blindly {"observation_id":"obs-36eca40a-27-30381","session_id":"36eca40a","time_s":60.762,"rgb_path":"/home/pawel/Documents/Hom…	86,117 in 3 · out 104 · cR 85898 · cW 112 · reason 63	$0.0019
57	6.5s toolUse	robot_move_lift Recover workspace-limit safely: lower empty stowed carriage to 0 before repositioning the base; no door grip or manipulation ok	88,464 in 3 · out 266 · cR 7185 · cW 81010 · reason 187	$0.021
58	2.9s toolUse	robot_observe Verify safe lowered state and current g_wc position before a small base correction to bring the handle within TCP workspace {"observation_id":"obs-36eca40a-28-33715","session_id":"36eca40a","time_s":67.43,"rgb_path":"/home/pawel/Documents/Home…	88,363 in 3 · out 40 · cR 88195 · cW 125	$0.0018
59	6.6s toolUse	robot_move_base Reposition the stowed base a short 0.15 m along base y toward the g_wc handle so its local y enters TCP workspace; lift remains 0, no door grip ok	90,677 in 3 · out 229 · cR 7185 · cW 83260 · reason 126	$0.021
60	3.0s toolUse	robot_observe Verify repositioned safe base pose and obtain a fresh g_wc handle candidate before raising the lift again {"observation_id":"obs-36eca40a-29-34582","session_id":"36eca40a","time_s":69.164,"rgb_path":"/home/pawel/Documents/Hom…	90,688 in 3 · out 38 · cR 90445 · cW 202	$0.0019
61	3.7s toolUse	robot_move_lift Raise empty stowed carriage to 0.40 m now that the base is repositioned and the g_wc handle is within workspace ok	92,778 in 3 · out 81 · cR 7185 · cW 85509	$0.022
62	3.0s toolUse	robot_observe Verify lifted state and refresh g_wc handle candidate for the reachable TCP waypoint {"observation_id":"obs-36eca40a-30-37916","session_id":"36eca40a","time_s":75.832,"rgb_path":"/home/pawel/Documents/Hom…	92,861 in 3 · out 33 · cR 92694 · cW 131	$0.0019
63	3.3s toolUse	robot_execute_sequence Reach the current fresh g_wc handle candidate with one bounded TCP waypoint, now within workspace after base reposition rejected	94,953 in 3 · out 87 · cR 7185 · cW 87678	$0.022
64	6.6s toolUse	robot_move_lift Recover second workspace rejection safely: lower empty stowed carriage to 0 before a small base correction; do not manipulate door ok	95,131 in 3 · out 155 · cR 94863 · cW 110 · reason 76	$0.0021
65	5.1s toolUse	robot_observe Verify lowered state after second reach rejection and refresh g_wc handle before the final small approach correction {"observation_id":"obs-36eca40a-31-41250","session_id":"36eca40a","time_s":82.5,"rgb_path":"/home/pawel/Documents/HomeB…	95,266 in 3 · out 165 · cR 94973 · cW 125 · reason 126	$0.0021
66	3.8s toolUse	robot_move_base Final small stowed-base correction toward g_wc handle to reduce local x/y reach; lift 0, no grip, short safe step ok	97,223 in 3 · out 92 · cR 7185 · cW 89943	$0.023
67	2.9s toolUse	robot_observe Verify final corrected pose and fresh g_wc handle candidate before raising lift; ensure no stop latch and door still closed {"observation_id":"obs-36eca40a-32-42100","session_id":"36eca40a","time_s":84.2,"rgb_path":"/home/pawel/Documents/HomeB…	97,364 in 3 · out 41 · cR 97128 · cW 192	$0.0020
68	5.3s toolUse	robot_move_base Correct the stowed base laterally toward the g_wc handle so its fresh local y coordinate enters TCP workspace; lift 0, short step, no manipulation ok	99,678 in 3 · out 214 · cR 7185 · cW 92276 · reason 117	$0.023
69	2.5s toolUse	robot_observe Verify the latest corrected approach and obtain the current g_wc handle candidate before lifting and reaching {"observation_id":"obs-36eca40a-33-43100","session_id":"36eca40a","time_s":86.2,"rgb_path":"/home/pawel/Documents/HomeB…	99,696 in 3 · out 36 · cR 99461 · cW 196	$0.0021
70	3.6s toolUse	robot_move_lift Raise the empty stowed carriage to 0.40 m for the now closer g_wc handle candidate ok	101,792 in 3 · out 102 · cR 7185 · cW 94502 · reason 25	$0.024
71	3.5s toolUse	robot_observe Verify lift and refresh g_wc handle candidate immediately before reach {"observation_id":"obs-36eca40a-34-46434","session_id":"36eca40a","time_s":92.868,"rgb_path":"/home/pawel/Documents/Hom…	101,845 in 3 · out 30 · cR 101687 · cW 125	$0.0021
72	5.2s toolUse	robot_execute_sequence Reach the freshly observed g_wc handle at the now reachable arm-carriage waypoint; keep this as one short TCP move before grasp ok · move_tcp · F=0.00N · grip=no	103,951 in 3 · out 131 · cR 7185 · cW 96632 · reason 37	$0.024
73	2.8s toolUse	robot_observe Verify TCP contact proximity and safe state after reaching g_wc handle {"observation_id":"obs-36eca40a-35-48430","session_id":"36eca40a","time_s":96.86,"rgb_path":"/home/pawel/Documents/Home…	104,009 in 3 · out 31 · cR 103817 · cW 158	$0.0022
74	3.5s toolUse	robot_door_action Grasp the verified visible g_wc handle at the current TCP contact pose ok	106,039 in 3 · out 88 · cR 7185 · cW 98763 · reason 15	$0.025
75	3.1s toolUse	robot_observe Verify g_wc grasp contact and unchanged closed-door state before pressing the latch {"observation_id":"obs-36eca40a-36-48480","session_id":"36eca40a","time_s":96.96,"rgb_path":"/home/pawel/Documents/Home…	106,228 in 3 · out 33 · cR 105948 · cW 244	$0.0022
76	3.1s toolUse	robot_door_action Press the g_wc spring lever while maintaining verified door grip ok	108,305 in 3 · out 67 · cR 7185 · cW 101050	$0.025
77	2.8s toolUse	robot_observe Verify g_wc latch press and maintained grip before opening {"observation_id":"obs-36eca40a-37-48930","session_id":"36eca40a","time_s":97.86,"rgb_path":"/home/pawel/Documents/Home…	108,508 in 3 · out 29 · cR 108235 · cW 241	$0.0023
78	3.4s toolUse	robot_door_action Open the latch-released g_wc door while maintaining verified grip; remain in phase 3 and do not cross threshold stopped	110,617 in 3 · out 97 · cR 7185 · cW 103332 · reason 17	$0.026
79	— aborted	—	0 in 0 · out 0	—

Źródła: messages.json · openrouter-costs.json. Koszt = OpenRouter total_cost (nie zerowe metadata SDK).

evaluation.json

{
  "objects": {
    "sock_blue": {
      "fraction_in_bin": 0.0,
      "delivered": false,
      "max_z_m": 0.003981423142108927
    },
    "shirt_red": {
      "fraction_in_bin": 0.0,
      "delivered": false,
      "max_z_m": 0.003976833799761402
    },
    "towel_green": {
      "fraction_in_bin": 0.0,
      "delivered": false,
      "max_z_m": 0.003976154337986145
    }
  },
  "events": [
    {
      "event": "door_reach_stop",
      "time_s": 98.54799999995173,
      "opening_progress_rad": 0.046677929633874904,
      "hard_stop": true,
      "tcp_arm_m": [
        0.3152486844121345,
        -0.6802143116814195,
        0.6191862184686147
      ]
    }
  ],
  "sim_time_s": 98.54799999995173,
  "physics": "MuJoCo flex 2D FEM/contact/self collision",
  "controller_kind": "see host run manifest; evaluator is not a planner sensor",
  "doors": {
    "g_entrance": {
      "hinge_angle_rad": -4.1158721361929707e-38,
      "handle_angle_rad": -1.1245660206503022e-18,
      "latch_active": true
    },
    "g_garage_utility": {
      "hinge_angle_rad": -9.015756937731693e-09,
      "handle_angle_rad": 3.099228423664234e-19,
      "latch_active": true
    },
    "g_utility_hall": {
      "hinge_angle_rad": 0.0,
      "handle_angle_rad": -3.719182541721122e-18,
      "latch_active": true
    },
    "g_office": {
      "hinge_angle_rad": -1.3980240208462855,
      "handle_angle_rad": -2.9966074784802545e-16,
      "latch_active": false
    },
    "g_wc": {
      "hinge_angle_rad": 0.046677929633874904,
      "handle_angle_rad": -0.49389407026459153,
      "latch_active": false
    },
    "g_vestibule": {
      "hinge_angle_rad": -8.026163801345635e-09,
      "handle_angle_rad": -3.047064387636746e-18,
      "latch_active": true
    },
    "g_fitness": {
      "hinge_angle_rad": -9.015756937346826e-09,
      "handle_angle_rad": -6.986170852587542e-17,
      "latch_active": true
    }
  },
  "floor_id": "ground"
}