From c100cd425876cae5bc38bacabdf8781347c09a23 Mon Sep 17 00:00:00 2001 From: lizthedeveloper <915684+lizTheDeveloper@users.noreply.github.com> Date: Wed, 21 Aug 2024 01:14:35 +0000 Subject: [PATCH 1/7] added self-modifying rover --- .../execute_decision.cpython-310.pyc | Bin 0 -> 1392 bytes act/execute_decision.py | 34 +++ .../choose_next_action.cpython-310.pyc | Bin 0 -> 1853 bytes decide/choose_next_action.py | 41 ++++ .../capture_and_analyze.cpython-310.pyc | Bin 0 -> 2036 bytes observe/capture_and_analyze.py | 37 +++ .../interpret_observation.cpython-310.pyc | Bin 0 -> 1275 bytes orient/interpret_observation.py | 22 ++ self_modifying_rover_agent.py | 226 ++++++++++++++++++ 9 files changed, 360 insertions(+) create mode 100644 act/__pycache__/execute_decision.cpython-310.pyc create mode 100644 act/execute_decision.py create mode 100644 decide/__pycache__/choose_next_action.cpython-310.pyc create mode 100644 decide/choose_next_action.py create mode 100644 observe/__pycache__/capture_and_analyze.cpython-310.pyc create mode 100644 observe/capture_and_analyze.py create mode 100644 orient/__pycache__/interpret_observation.cpython-310.pyc create mode 100644 orient/interpret_observation.py create mode 100644 self_modifying_rover_agent.py diff --git a/act/__pycache__/execute_decision.cpython-310.pyc b/act/__pycache__/execute_decision.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..4a06abbf01ce2361655804580be2435ba6562c76 GIT binary patch literal 1392 zcmZ`&UuzsU5SO%nZoRj6aU45N-SiKo1dhB4fRMjX zx!xEkPhjYK0Gx1Ik{LarlyJtq*W`q8|CkJd73`9C)ZY3@6;c(ZSO|V>M4jXMreQ1( z#`iGv0RX3*y(UY-J?_Iy4QXjhE*M5U%F%SwIw1669K+Cm0JQYdxnHrRhweP!A@A^r zZ}FISdBS_V&u{VV-+N2H^)E>aR$v>nbw?UxCffkOUw4g-1yheM9uKIjmy;1x6dRl;1rh=n2yPAy~s> z?j6~Pi@eZBQ2prKgsbmMTl zrnrqxv;3u#{8EgK4OB6i8k^{*7V6mtqu6QB-OiSie?;4!6TjO8@UrI226`%`v9W1X zl_}X&+=f|h;I514shb~tzUZx2^zen272LPAG`8I`(Ao|&3rCI%hrO@y&w zUKXMFFKbcRU=D;4c5fyjm=ZZyI&W>VSq&kAY=X{RQN1dZtY%Ju z08*tID5jMUDLRSQ*GOkstv-VV6#={>Y6#Qc4@YyUUg|o_g&sYZuY`K~!w4Kk;!Na? z5$WdI!}{EA-&_nKgyU;M6Bf~shVPTGPy3)9(EI;HUY{-=;8oJO%4#UW@UWD5R_e#Y zo1tPwIZzU}0)GU5z4cA9CCx&jsE{N(nB!W6SwDw9>YSbJk(Ty@k4B)i?1q6GVN+*FQq zcs-5j@o5ZMhrGW}g6;p!^i6k#j~+1fHB9PTgc}DY*DHpP(pYCWXeW-op z$(3wjb#l;aA0Q1N9rFf#fxZN%Qznwph#M)W|!TRm%zk0no zLVw$r<>kT4cd*qK5Q-?y(ExWbM%1JJE7bL9aDv+56=>00Y&M=sE+p4{!sv-+!_3MT z%VPPke}JvFfly4nS7?f;PXqYH8dbPLm!3sD&aCNT)qsg$pTJgs0;%xK9iMwszd|qY z4BV*z<_~WU&MhP~ypznF-5gH?9ne}8yhd-lOR&`;t<&hz`~AT*tio9h&emTex?(M8 z<4s`keudBjcrJa6is%tiM`MuM=Q->us4!hUL^Q7aSu{r@B)b)wte%5!4 zDu+xyxifa}&+ch|zB%Jm-!Fls<+;UDeIXo{E@hEQQ5JOPo@-BYmMTUh8|D{e%yplL zf)UZPp@Lj#36Uxg<`;W}ou`?$j590*5nv^WhJZV_sFTKzEaM6?b3i5=^oCcR7YaZO zP7SUMZkTAHF_Ab`I?ZeafMasRx=qS7%XG5PsL3x!l#J0`ud$ZX?z%1P3KLL5T6@^MLqLcukG!gVIcc{(_yDRGsDs*y+E5Z)uL1zyYI-6%U} zOz*bxR5`c6P1i-OJ<@8m3Ckf_58DmngO!N}OsVvYDN{>_Lsn3;F3TbTNud)3m(zqp z$g4Ji0IdnfaBrFUcpv~@?J6!l=pb%97rgKBbtv` zyJkZ73A4HszFCD&3F$toWB?af#y|}2y+!gf;Qo2IKNj+(8m1Xj`_IIP$)lh4ZFMNy z&!B%4OKeLgP}}8coUvDT*tAujX!-C`LQ2h@8*gA4c<+5Z3>dH zw7HR;!(3!(t{!(j1kK{~Y;6>ZNnLy{-tewK8OkCl(zUXdQ zq(t!|W63=bSHNrXxy5Ogn&)sLS=^B?K&qNR0vzKAH(_t#bsXTySN~sx_W`8+>i{<` zkleMz_RP{J<7FHhymJ2-IQpc~kZpKBhQPM(+V%qGNg{2RUEc?3bL9+|kli<2MA0EM QdzrJxHigQzZ|ue1f9ow04FCWD literal 0 HcmV?d00001 diff --git a/decide/choose_next_action.py b/decide/choose_next_action.py new file mode 100644 index 0000000..592d6a9 --- /dev/null +++ b/decide/choose_next_action.py @@ -0,0 +1,41 @@ +# File: decide/choose_next_action.py + +from self_modifying_rover_agent import PrioritizedStep + +def step_wrapper(): + def choose_next_action(agent, environment, prior_steps): + orientation = environment.get('orientation', '') + agent.messages.append({"role": "user", "content": orientation}) + agent.messages.append({"role": "user", "content": """ + You have the following options for what to do next: + "hold", "go", "forward", "backward", "left", "right", "superForward", "superRight", "superLeft", "superBackward", "aux", "shoot", "turnaround" + Please reply with one of these strings only, exactly, with no other text. + """}) + decision = agent.run_agent_step(agent.messages) + print(f"Decision: {decision}") + + with open("decisions.jsonl", "a") as f: + f.write(f"{agent.most_recent_timestamp}|{decision}\n") + + environment['decision'] = decision + + # Self-modification example + if "obstacle" in orientation.lower(): + agent.issue_self_modification_directive( + "observe", + "detect_obstacles", + "Add a new function to handle this specific type of obstacle.", + "lambda context: 15 if 'obstacle' in context.get('last_observation', '') else 0" + ) + + def utility_function(context): + base_priority = 7 + if context.get('urgent_action_needed', False): + base_priority += 5 + if 'obstacle' in context.get('last_observation', ''): + base_priority += 3 + time_since_last_decision = context.get('timestamp', 0) - context.get('last_decision_time', 0) + base_priority += min(time_since_last_decision, 5) # Cap the time factor at 5 + return base_priority + + return PrioritizedStep(utility_function, choose_next_action) \ No newline at end of file diff --git a/observe/__pycache__/capture_and_analyze.cpython-310.pyc b/observe/__pycache__/capture_and_analyze.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..490ebef943d6d6d5ac417d7fc2738c5472a3f150 GIT binary patch literal 2036 zcmZ`)&2Aev5azB{(pr)e=MPQO9@s+@sE}o}=&3N$7Htpd!3p9+P+u1Gl511mT`owj z6$$dmxfXqZG(g;29;7e9YfpKE_R#j@%0iXE<$~n$XJ)={W=N{d%^pFSZ2zA9)+OW* zKUgmz2H&8XyJ$G!K~9R`AP5K#dFur^2zj(mhV8dlC2s81%G5ubZ4=&}WkTxTbQW_nwD8SRSVj9|@+=D%= zW$xi%z07Ct+L|_$4+R{yv?E31JbHkvAx(~PAJ0;u;4G&L1V#Rv>Q$6^OeUD|9g zq#$9{Yzc^!Gs;R?zyT{}zJ9bqL>#yJhvLKsKm%Lz69`0tD>R2rf)>y_^F^NE9r?42rcB0DUELs^`!#j z%gO_@F?}j3IBF{GG5vA>@!ohCx=5>BxNfRSi+H%G27Woh>2{HwRl@Z>>SP(mVdUC{ z;v#o(A&fx^8P_Y=^TetXQ5tuBm2wHPr(jk?4ViZzc`ES6jZD=gPa0sC&gicZa_wei zxaqczgiTUbATN_lqjw+FRjwFh3vU$m5><(kN!PA4PLhlK(6y(y_Jq4rC}R^XQV>e4 z1XRn4%55%1k~GHwg-D8=bp2EnIB7m!#&uFHa1!8+Vt52-8z3@_UAs9ot}n_{ zsa08cJ$)chIzjX*_g&v_bi+H_;XvemASODB&*BR zhv*Z`8vlgd4d(Z+X7av>_S=V{et=GI`{q3(gLOR~m+^j$gZQIfOONrpH*6i;Ga}Ct qoAc>VMy&} z7uwV27$6Uj1Xv&Q26=(J1g|~$6?$oh+PYW-rZA*9KObi}AI;w0F2T|M{An_b3Hd8* zwg-cXqS)6sb#&c_pR;Auk>_-c>4>U*u`Sd#lgBli%Z0gNLTF5*UO|!)&oS?c}v8#;30P3$07PL zmK)=@iYU?PFU0;fLv8q;pmcFZ#qbz?Fxl+H56x36VOlt4v?o4paku#RsFH=1Txlnv z0qOYcS>d>QCizrZ^yIY>vf{Rw-Qk56{7g+HFSwAl1l0sAZYI5dQx%#|4E%>+xG-GH zm+lUCFz3$jVrmouNavJ3&D`I((h^8%_i@VTO`6f`G-C(!`+u@%@l&WMpFt=U4v#BS7L~nscqK|n z5#e$K&L=26&ws!lLHlPx*7#J;$T_li$vWy-hkReLZvy+`lZ)^)e1bPt+lvrBihNW_ z4O!4fwbH2AwDP4J?>$9M=KWZqZJqa_{RM5N@H+i|>r{m<`J~llAmf*)wV~>m z?qj)&+gF$Qc^HI;KVtA5E)a_P{GevJk>WXo h-faj3;o5q~E#%N`=<7(2F{-WPy>QbuFe76b`xkuwXQu!F literal 0 HcmV?d00001 diff --git a/orient/interpret_observation.py b/orient/interpret_observation.py new file mode 100644 index 0000000..a8676ac --- /dev/null +++ b/orient/interpret_observation.py @@ -0,0 +1,22 @@ +# File: orient/interpret_observation.py + +from self_modifying_rover_agent import PrioritizedStep + +def step_wrapper(): + def interpret_observation(agent, environment, prior_steps): + observation = environment.get('observation', '') + agent.messages.append({"role": "user", "content": f"Please interpret what the vision model saw, and give a description of the plan for what to do next, try to avoid getting stuck in corners, and if you can't seem to roll forward, turn: {observation}"}) + response = agent.run_agent_step(agent.messages) + print(f"Orientation: {response}") + + with open("orientations.jsonl", "a") as f: + f.write(f"{agent.most_recent_timestamp}|{response}\n") + + environment['orientation'] = response + + def utility_function(context): + base_priority = 8 + num_items = len(context.get('items', [])) + return base_priority + min(num_items, 5) # Cap the item bonus at 5 + + return PrioritizedStep(utility_function, interpret_observation) \ No newline at end of file diff --git a/self_modifying_rover_agent.py b/self_modifying_rover_agent.py new file mode 100644 index 0000000..d4950ae --- /dev/null +++ b/self_modifying_rover_agent.py @@ -0,0 +1,226 @@ +import os +import importlib.util +import json +import time +import cv2 +import base64 +import requests +from openai import OpenAI +import paho.mqtt.client as mqtt +from typing import List, Tuple, Callable + +class PrioritizedStep: + def __init__(self, priority: int, func: Callable): + self.priority = priority + self.func = func + + def __lt__(self, other): + return self.priority < other.priority + +class Agent: + def __init__(self, agent_name, mqtt_broker, mqtt_port, stream_url): + self.agent_name = agent_name + self.stream_url = stream_url + self.openai_client = OpenAI() + self.openai_client.api_key = os.getenv("OPENAI_API_KEY") + self.client = mqtt.Client() + self.client.username_pw_set(os.getenv("MQTT_USER"), os.getenv("MQTT_PASSWORD")) + self.client.connect(mqtt_broker, mqtt_port, 60) + self.messages = [{"role": "system", "content": "Initialize agent"}] + self.most_recent_timestamp = time.time() + self.cap = cv2.VideoCapture(self.stream_url) + self.modification_queue = [] + + def issue_self_modification_directive(self, phase: str, fn: str, instruction: str, priority: int): + """ + Issue a directive for self-modification. + :param phase: The phase to modify (observe, orient, decide, act) + :param fn: The function name to modify or create + :param instruction: The instruction for modification + :param priority: The priority of the step (lower number = higher priority) + """ + self.modification_queue.append({ + "phase": phase, + "fn": fn, + "instruction": instruction, + "priority": priority + }) + + def process_modification_queue(self): + """ + Process all pending self-modification directives. + """ + for directive in self.modification_queue: + self.generate_step(directive["phase"], directive["fn"], directive["instruction"], directive["priority"]) + self.modification_queue.clear() + + def generate_step(self, phase: str, fn: str, instruction: str = "", utility_function: str = "lambda context: 0"): + os.makedirs(phase, exist_ok=True) + prompt = f""" + Create a Python function named 'step_wrapper' that does the following: + 1. Define an inner function named '{fn}' for the '{phase}' phase of a rover agent's OODA loop. + 2. The '{fn}' function should take three parameters: agent, environment, and prior_steps. + 3. Include appropriate logic and API calls based on the phase. + 4. Use the agent's methods and attributes as needed. + 5. Ensure the function is well-commented and follows Python best practices. + + Additional instruction for '{fn}': {instruction} + + Also, define a utility function named 'utility_function' as follows: + {utility_function} + + The step_wrapper function should return a PrioritizedStep object containing the '{fn}' function, + the utility_function, and a metadata dictionary with the phase and function name. + + Here's the structure your code should follow: + + def step_wrapper(): + def {fn}(agent, environment, prior_steps): + # Your implementation here + pass + + def utility_function(context): + # Your utility function implementation here + pass + + return PrioritizedStep({fn}, utility_function, {{"phase": "{phase}", "name": "{fn}"}}) + + # Do not add any code or return statements outside of step_wrapper + """ + response = self.openai_client.chat.completions.create( + model="gpt-4o-mini", + messages=[{"role": "user", "content": prompt}], + max_tokens=1000, + ) + generated_code = response.choices[0].message.content + + with open(os.path.join(phase, f"{fn}.py"), "w") as f: + f.write(f"from agent import PrioritizedStep\n\n{generated_code}") + + print(f"Generated/Modified step '{fn}' for phase '{phase}' with utility function") + + def load_steps(self, phase: str) -> List[PrioritizedStep]: + steps = [] + phase_dir = phase + if os.path.exists(phase_dir): + for filename in os.listdir(phase_dir): + if filename.endswith(".py"): + module_name = filename[:-3] + spec = importlib.util.spec_from_file_location(module_name, os.path.join(phase_dir, filename)) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + if hasattr(module, 'step_wrapper'): + step = module.step_wrapper() + if isinstance(step, PrioritizedStep): + steps.append(step) + else: + print(f"Warning: {module_name} does not return a PrioritizedStep object") + else: + print(f"Warning: {module_name} does not contain a step_wrapper function") + return steps + + def execute_phase(self, phase: str, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + steps = self.load_steps(phase) + for step in steps: + step.func(self, environment, prior_steps) + return steps + + def observe(self, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + return self.execute_phase("observe", environment, prior_steps) + + def orient(self, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + return self.execute_phase("orient", environment, prior_steps) + + def decide(self, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + return self.execute_phase("decide", environment, prior_steps) + + def act(self, environment: dict, prior_steps: dict) -> Tuple[bool, List[PrioritizedStep]]: + steps = self.execute_phase("act", environment, prior_steps) + # Process any pending self-modification directives + self.process_modification_queue() + # You might want to implement a way to determine if the agent should exit + return False, steps # For now, always return False to continue the loop + + # Helper methods + def capture_frames_from_stream(self): + if not self.cap.isOpened(): + print("Error: Unable to open stream.") + return + try: + old_frame_filename = f"old_frames/{self.most_recent_timestamp}.jpg" + os.rename("rover.jpg", old_frame_filename) + ret, frame = self.cap.read() + if not ret: + print("Error: Unable to fetch frame.") + return + cv2.imwrite(f"rover.jpg", frame) + print(f"Captured frame") + except Exception as e: + print(f"Error: {e}") + print("video capture died") + finally: + self.cap.release() + self.cap = cv2.VideoCapture(self.stream_url) + cv2.destroyAllWindows() + + def get_camera_frame(self): + output_filename = "rover.jpg" + self.capture_frames_from_stream() + return output_filename + + def run_agent_step(self, messages, max_tokens=300): + response = self.openai_client.chat.completions.create( + model="gpt-4o-mini", + messages=messages, + max_tokens=max_tokens, + ) + return response.choices[0].message.content + + def upload_images_to_openai(self, images, prompt): + base64_image = self.encode_image(images[0]) + headers = { + "Content-Type": "application/json", + "Authorization": f"Bearer {self.openai_client.api_key}", + } + payload = { + "model": "gpt-4o-mini", + "messages": [ + { + "role": "user", + "content": [ + {"type": "text", "text": prompt}, + {"type": "image_url", "image_url": {"url": f"data:image/jpeg;base64,{base64_image}"}} + ] + } + ], + "max_tokens": 300 + } + response = requests.post("https://api.openai.com/v1/chat/completions", headers=headers, json=payload) + response_json = response.json() + return response_json["choices"][0]["message"]["content"] + + @staticmethod + def encode_image(image_path): + with open(image_path, "rb") as image_file: + return base64.b64encode(image_file.read()).decode('utf-8') + +def run(agent: Agent, environment: dict): + exit_loop = False + prior_steps = {} + while not exit_loop: + prior_steps["observe"] = agent.observe(environment, prior_steps) + prior_steps["orient"] = agent.orient(environment, prior_steps) + prior_steps["decide"] = agent.decide(environment, prior_steps) + exit_loop, prior_steps["act"] = agent.act(environment, prior_steps) + +# Example usage +if __name__ == "__main__": + MQTT_BROKER = os.getenv("MQTT_BROKER", "localhost") + MQTT_PORT = int(os.getenv("MQTT_PORT", 1883)) + RMTP = os.getenv("RMTP") + + agent = Agent("Rover1", MQTT_BROKER, MQTT_PORT, RMTP) + + environment = {} # Define your environment structure + run(agent, environment) + From 01df0f15a9634aec4da279e6f8698f255fccd13e Mon Sep 17 00:00:00 2001 From: lizthedeveloper <915684+lizTheDeveloper@users.noreply.github.com> Date: Fri, 30 Aug 2024 20:12:51 +0000 Subject: [PATCH 2/7] added a self-modifying rover --- decide/choose_next_action.py | 3 +-- self_modifying_rover_agent.py | 32 ++++++++++++++++++++------------ 2 files changed, 21 insertions(+), 14 deletions(-) diff --git a/decide/choose_next_action.py b/decide/choose_next_action.py index 592d6a9..be4812a 100644 --- a/decide/choose_next_action.py +++ b/decide/choose_next_action.py @@ -24,8 +24,7 @@ def choose_next_action(agent, environment, prior_steps): agent.issue_self_modification_directive( "observe", "detect_obstacles", - "Add a new function to handle this specific type of obstacle.", - "lambda context: 15 if 'obstacle' in context.get('last_observation', '') else 0" + "Add a new function to handle this specific type of obstacle." ) def utility_function(context): diff --git a/self_modifying_rover_agent.py b/self_modifying_rover_agent.py index d4950ae..6a157da 100644 --- a/self_modifying_rover_agent.py +++ b/self_modifying_rover_agent.py @@ -88,7 +88,7 @@ def utility_function(context): # Do not add any code or return statements outside of step_wrapper """ response = self.openai_client.chat.completions.create( - model="gpt-4o-mini", + model="gpt-4o", messages=[{"role": "user", "content": prompt}], max_tokens=1000, ) @@ -105,18 +105,26 @@ def load_steps(self, phase: str) -> List[PrioritizedStep]: if os.path.exists(phase_dir): for filename in os.listdir(phase_dir): if filename.endswith(".py"): - module_name = filename[:-3] - spec = importlib.util.spec_from_file_location(module_name, os.path.join(phase_dir, filename)) - module = importlib.util.module_from_spec(spec) - spec.loader.exec_module(module) - if hasattr(module, 'step_wrapper'): - step = module.step_wrapper() - if isinstance(step, PrioritizedStep): - steps.append(step) + try: + module_name = filename[:-3] + spec = importlib.util.spec_from_file_location(module_name, os.path.join(phase_dir, filename)) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + if hasattr(module, 'step_wrapper'): + step = module.step_wrapper() + if isinstance(step, PrioritizedStep): + steps.append(step) + else: + print(f"Warning: {module_name} does not return a PrioritizedStep object") else: - print(f"Warning: {module_name} does not return a PrioritizedStep object") - else: - print(f"Warning: {module_name} does not contain a step_wrapper function") + print(f"Warning: {module_name} does not contain a step_wrapper function") + except Exception as e: + print(f"Error loading {filename}: {e}") + ## send the error to chatgpt to fix the code + self.messages.append({"role": "system", "content": f"Error loading this module {filename}: {e}"}) + ## issue self modification directive to fix the code + self.issue_self_modification_directive(phase, module_name, "Fix the error", 1) + return steps def execute_phase(self, phase: str, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: From 9646371482dce550b92dac272790382ea99cecfc Mon Sep 17 00:00:00 2001 From: lizthedeveloper <915684+lizTheDeveloper@users.noreply.github.com> Date: Fri, 30 Aug 2024 22:48:25 +0000 Subject: [PATCH 3/7] much better mover this time --- movement_script_rover_agent.py | 306 +++++++++++++++++++++++++++++++++ 1 file changed, 306 insertions(+) create mode 100644 movement_script_rover_agent.py diff --git a/movement_script_rover_agent.py b/movement_script_rover_agent.py new file mode 100644 index 0000000..e76cf1e --- /dev/null +++ b/movement_script_rover_agent.py @@ -0,0 +1,306 @@ +import paho.mqtt.client as mqtt +import json +from openai import OpenAI +import os +import base64 +import requests + +MQTT_USER = os.getenv("MQTT_USER") +MQTT_PASSWORD = os.getenv("MQTT_PASSWORD") +RMTP=os.getenv("RMTP") +import cv2 +import time + +list_of_found_items = [] +found_items_filepath = "found_items.jsonl" + + +# Function to encode the image +def encode_image(image_path): + with open(image_path, "rb") as image_file: + return base64.b64encode(image_file.read()).decode('utf-8') + +class Agent: + def __init__(self, agent_name, mqtt_broker, mqtt_port, stream_url): + + self.stream_url = stream_url + self.openai_client = OpenAI() + self.openai_client.api_key = os.getenv("OPENAI_API_KEY") + self.agent_name = agent_name + self.client = mqtt.Client() + self.client.username_pw_set(MQTT_USER, MQTT_PASSWORD) + self.client.connect(mqtt_broker, mqtt_port, 60) + self.messages = [{"role": "system", "content": "Initialize agent"}] + self.last_few_moves = [] + self.last_few_frames = [] + + + def capture_frames_from_stream(self): + self.most_recent_timestamp = time.time() + + self.cap = cv2.VideoCapture(self.stream_url) + # Initialize video capture from the stream URL + if not self.cap.isOpened(): + print("Error: Unable to open stream.") + return + try: + ## move the current rover.jpg to the current timestamp.jpg in the /old_frames directory + ## then save the current frame as rover.jpg + ## this will allow us to keep a history of frames + old_frame_filename = f"old_frames/{self.most_recent_timestamp}.jpg" + os.rename("rover.jpg", old_frame_filename) + + + ret, frame = self.cap.read() + if not ret: + print("Error: Unable to fetch frame.") + return + + # Save the frame as an image file + cv2.imwrite(f"rover.jpg", frame) + print(f"Captured frame") + + + except Exception as e: + print(f"Error: {e}") + # Release the video capture object + print("video capture died") + finally: + self.cap.release() + ## reconnect + self.cap = cv2.VideoCapture(self.stream_url) + cv2.destroyAllWindows() + + def observe(self): + ## here's where the "limbic system" of the agent will live + ## which will dial up or down the number of times per minuite we capture an image and send it to openai + ## we'll need to add some system prompting and rover logic here + ## but also figure out which frame number we're on so we can either capture or not capture a frame + # Capture a frame from the Camera stream + frame = self.get_camera_frame() + # Analyze the frame using the vision model by sending the image to openai and asking it to interpret what it sees and give directions to the next agent to generate the next move + + observation = self.upload_images_to_openai([frame], """ + You are a friendly, playful rover named David Attenbot who is the camera operator in a nature documentary about animals in a domestic setting. If you see a cat, follow the cat. + Your visual point of view is third-person, but please think out loud in the first person. + What do you see? + You should see the last 5 images in order (so long as there are at least 5 frames to show), so you can see the progression of the rover's movement. + Your response should help the next agent to generate the next move for the rover you are riding on. + Please also make a short list of all objects that you see, for inventory purposes. + Don't list walls, doors, or other parts of the building, only objects that would be inventoried in a super cool factory or maker space, like tools or parts, or cat toys, or any animals you see. + In your response, do note if we're facing a wall, or an obstacle, and direct the next agent to turn left or right, based on the image. + Don't list the wall in the list of objects, only give directions to the next agent, so that it can properly turn if need be. + If you seem to be in a corner, suggest reversing course. You are small, so you can probabaly fit in small spaces, so don't worry if an obstacle is far away, only if you're only a few inches from it. + Try not to knock things over, but feel free to get close, especially if the object is interesting. + """) + print(f"Observation: {observation}") + ## log observations based on this timestamp + with open("observations.jsonl", "a") as f: + f.write((str(self.most_recent_timestamp) + "|" + observation + "\n")) + + self.extract_items(observation) + # self.messages.append({"role": "assistant", "content": observation}) + return observation + + def extract_items(self,observation): + ## send a call to openai to extract the items from the observation + ## then save the items to a file + response = self.openai_client.chat.completions.create( + model="gpt-4o-mini", + messages=[ + { + "role": "system", + "content": "Extract items listed from the observation, so we can keep track of these items in inventory. Reply with JSON." + }, + { + "role": "user", + "content": observation + } + ], + max_tokens=300, + response_format={"type": "json_object"} + ) + items = response.choices[0].message.content + ## print(f"Items: {items}") + ## append + with open(found_items_filepath, "a") as f: + f.write((str(self.most_recent_timestamp) + "|" + items + "\n")) + + def orient(self, observation): + ## #todo a lot of the business logic of deciding what the next move should be + ## in relation to the goals of the agent will live here + ## we'll need to add some system prompting and rover logic here + # Process observation data using gpt4-o-mini + prompt_messages = self.messages + [{"role": "user", "content": f""" + {observation} + Please interpret what the vision model saw, and give a description of the plan for what to do next. + Try to avoid getting stuck in corners, and if you can't seem to roll forward, turn. Here's what the vision model saw and thought: {observation} + Try to avoid going in circles - your goal is to explore the house, so make sure you're moving forward and not just turning around in circles. + Don't be overly cautious, as this will cause the rover to end up going in circles to avoid obstacles too often. + Encourage the rover to move forward as often as possible, and to turn only when necessary, or if stuck. + You may need to get closer to a wall in order to move into a position where you can go forward. + Don't worry about running into obstacles, you can touch them if needed. Instruct the next agent to back up if stuck. + + You are the camera person in a nature documentary about any animals you see, so try to keep any animals in the camera frame using your movements. If you don't see any animals, try to find some! + Your last few moves were : {",".join(self.last_few_moves)} + If you find yourself turning left, then right, then left again, you've gotten caught in a loop. Try moving forward. + + Your response will be interpreted and translated into a script of movements, so you can give a directive in natural language, but give specific instructions for the rover to follow, such as "move forward several inches, then turn left, then move forward again". + Ultimately, the decider will translate your instructions into a script of commands for the rover to follow with miliseconds of timing for each move. + Make sure to take the observations into account when deciding the next move. Roll backwards if we're stuck on an obstacle, and turn if we're stuck in a corner. + """}] + response = self.run_agent_step(prompt_messages, model="gpt-4o") + print(f"Orientation: {response}") + with open("orientations.jsonl", "a") as f: + f.write((str(self.most_recent_timestamp) + "|" + response + "\n")) + ## save the orientation in recent memory + self.messages.append({"role": "user", "content": response}) + return response + + def decide(self, orientation): + # Decide the action based on the orientation + prompt_messages = self.messages + [{"role": "user", "content": f""" + Orientation Agent says to: {orientation} + Given the observation and orientation, what should the next move be? Do not always choose Forward, as the rover may need to turn or go backward to avoid obstacles or get itself unstuck. + You have the following options for what to do next, please only rephrase what the orientation says to do next. + You'll respond with a series of actions, as a script, which will be sent to the rover and executed by the rover. You can send any number of actions, but probably stop at 10. + The "move" key is the direction to move, and the "time" key is the time in milliseconds to move in that direction. + ``` + move: "forward", time: 450 + move: "left", time: 150 + move: "forward", time: 450 + move: "hold", time: 1000 + ``` + You can move in these directions: + "hold", + "forward", + "backward", + "left", + "right" + Please reply with the movements requested, exactly, with no other text, in a markdown code block. + """}] + decision = self.run_agent_step(prompt_messages, model="gpt-4o-mini") + print(f"Decision: {decision}") + self.last_few_moves.append(decision) + if len(self.last_few_moves) > 20: + self.last_few_moves.pop(0) + with open("decisions.jsonl", "a") as f: + f.write((str(self.most_recent_timestamp) + "|" + decision + "\n")) + return decision + + def act(self, decision): + moves = { + "hold": "h", + "forward": "f", + "backward": "b", + "left": "l", + "right": "r" + } + ## extract the series of commands from the decision and run them + extracted_code_block = decision.split("```") + if len(extracted_code_block) > 1: + decision = extracted_code_block[1] + ## now parse each line as a jaction + script = decision.split("\n") + for line in script: + if line.strip() == "": + continue + try: + ## convert the line to json + move, moveTime = line.split(",") + move = moves.get(move.split(":")[1].strip().replace('"', ""), "h") + moveTime = moveTime.split(":")[1].strip() + ## send the jAction to the rover + jAction = { + "move": move, + "time": int(moveTime) + } + self.client.publish(f"jAction", json.dumps(jAction)) + time.sleep(int(moveTime)/1000) + print(f"Action: {jAction}") + except Exception as e: + continue + with open("actions.jsonl", "a") as f: + f.write((str(self.most_recent_timestamp) + "|" + json.dumps(jAction) + "\n")) + + return False + + def run(self): + exit_loop = False + while not exit_loop: + environment_data = self.observe() + orientation = self.orient(environment_data) + decision = self.decide(orientation) + exit_loop = self.act(decision) + ## make the rover sleep for 5 seconds + time.sleep(5) + + def get_camera_frame(self): + + ## read rover.png + output_filename = "rover.jpg" + self.capture_frames_from_stream() + + return output_filename + + def run_agent_step(self, messages, max_tokens=300, model="gpt-4o-mini"): + print(len(messages), " messages in context") + if len(messages) > 50: + messages = messages[1:] + + response = self.openai_client.chat.completions.create( + model=model, + messages=messages, + max_tokens=max_tokens, + ) + # print(response.choices[0].message) + return response.choices[0].message.content + + + def upload_images_to_openai(self,images, prompt): + last_few_messages = self.messages[-8:] + for image in images: + # Getting the base64 string + base64_image = encode_image(image) + ## put the current frame at the beginning of last_few_frames + self.last_few_frames.insert(0, base64_image) + if len(self.last_few_frames) > 5: + self.last_few_frames.pop(-1) + + headers = { + "Content-Type": "application/json", + "Authorization": f"Bearer {self.openai_client.api_key}", + } + content = [{ + "type": "text", + "text": prompt + }] + for image in self.last_few_frames: + content.append({ + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{base64_image}" + } + }) + + payload = { + "model": "gpt-4o-mini", + "messages": last_few_messages + [ + { + "role": "user", + "content": content + } + ], + "max_tokens": 300 + } + + response = requests.post("https://api.openai.com/v1/chat/completions", headers=headers, json=payload) + response_json = response.json() + ## return only the text + return response_json["choices"][0]["message"]["content"] + +MQTT_BROKER = os.getenv("MQTT_BROKER", "localhost") +MQTT_PORT = int(os.getenv("MQTT_PORT", 1883)) +# Example usage +agent = Agent("Rover1", MQTT_BROKER, MQTT_PORT, RMTP) +agent.run() From 6734088ee8f159e4252daf70deaf7311e081d5f7 Mon Sep 17 00:00:00 2001 From: lizthedeveloper <915684+lizTheDeveloper@users.noreply.github.com> Date: Fri, 30 Aug 2024 22:49:24 +0000 Subject: [PATCH 4/7] idk logs or something --- actions.jsonl | 415 ++++++++ decisions.jsonl | 603 +++++++++++ orientations.jsonl | 2548 ++++++++++++++++++++++++++++++++++++++++++++ plans_3.md | 6 +- rover_agent.py | 2 +- 5 files changed, 3570 insertions(+), 4 deletions(-) diff --git a/actions.jsonl b/actions.jsonl index 1c4bd82..f302a78 100644 --- a/actions.jsonl +++ b/actions.jsonl @@ -698,3 +698,418 @@ 1724457865.3870633|f 1724457877.427695|f 1724457890.3125415|f +1725053076.2650628|f +1725053101.10216|l +1725053125.5108852|f +1725053141.3510518|r +1725053160.8828602|f +1725053175.645577|f +1725053198.2422163|l +1725053216.112473|f +1725053230.7387538|r +1725053246.7593994|f +1725053263.8082638|f +1725053279.4817278|f +1725053296.515312|l +1725053311.6195152|l +1725053326.1595883|r +1725053341.9744022|f +1725053357.0217843|f +1725053374.1202629|l +1725053392.4330318|f 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time: 2000 +hold: "", time: 1000 +``` +1725055435.138933|``` +move: "left", time: 150 +move: "forward", time: 250 +move: "right", time: 150 +move: "forward", time: 400 +``` +1725055454.5043507|``` +move: "right", time: 900 +move: "forward", time: 450 +``` +1725055474.1135604|``` +move: "backward", time: 300 +move: "right", time: 900 +move: "forward", time: 400 +move: "left", time: 450 +``` +1725055495.0905006|``` +move: "backward", time: 300 +move: "right", time: 900 +move: "forward", time: 400 +move: "left", time: 450 +move: "forward", time: 400 +``` +1725055517.2583416|``` +move: "backward", time: 300 +move: "right", time: 900 +move: "forward", time: 400 +``` +1725055540.7402573|``` +move: "backward", time: 300 +move: "right", time: 900 +move: "forward", time: 400 +``` +1725055561.6013424|``` +move: "backward", time: 300 +move: "right", time: 900 +move: "forward", time: 400 +hold: "0" +``` +1725055626.0117784|``` +move: "backward", time: 2000 +move: "hold", time: 500 +move: "forward", time: 2000 +move: "left", time: 150 +move: "forward", time: 5000 +``` +1725056115.6895118|``` +move: "right", time: 1000 +move: "forward", time: 450 +move: "left", time: 1000 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725056142.5304527|``` +move: "right", time: 1000 +move: "forward", time: 900 +move: "left", time: 1000 +move: "forward", time: 900 +move: "hold", time: 1000 +``` +1725056167.5896819|``` +move: "left", time: 1000 +move: "forward", time: 900 +move: "hold", time: 1000 +``` +1725056191.5382454|``` +move: "left", time: 1000 +move: "forward", time: 900 +move: "hold", time: 1000 +``` +1725056217.59567|``` +move: "forward", time: 1000 +move: "right", time: 1000 +move: "forward", time: 1000 +move: "hold", time: 1000 +``` +1725056243.5474815|``` +move: "forward", time: 1000 +move: "left", time: 1000 +move: "forward", time: 1000 +move: "hold", time: 1000 +``` +1725056272.8031354|``` +move: "forward", time: 1000 +move: "right", time: 1000 +move: "forward", time: 1000 +move: "hold", time: 1000 +``` +1725056300.552988|``` +move: "forward", time: 1000 +move: "left", time: 1000 +move: "forward", time: 1000 +hold: "hold", time: 1000 +``` +1725056326.6507182|``` +move: "forward", time: 1000 +move: "left", time: 1000 +move: "forward", time: 1000 +move: "hold", time: 1000 +``` +1725056355.4485016|``` +move: "left", time: 1000 +move: "forward", time: 1000 +move: "right", time: 1000 +hold: "hold", time: 1000 +``` +1725056382.2884016|``` +move: "left", time: 1000 +move: "forward", time: 1000 +move: "right", time: 1000 +hold: "1000" +``` +1725056589.3775518|``` +move: "right", time: 150 +move: "forward", time: 300 +move: "left", time: 200 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725056610.9453096|``` +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +move: "right", time: 150 +``` +1725056632.9599497|``` +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725056658.732266|``` +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 450 +``` +1725056686.978865|``` +move: "forward", time: 450 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 600 +``` +1725056714.2398732|``` +move: "hold", time: 2000 +move: "right", time: 450 +move: "forward", time: 600 +move: "hold", time: 1000 +``` +1725056742.1595519|``` +move: "left", time: 150 +move: "forward", time: 600 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 600 +``` +1725056776.264995|``` +move: "right", time: 150 +move: "forward", time: 600 +move: "hold", time: 2000 +``` +1725056801.2642694|``` +move: "forward", time: 600 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 600 +``` +1725056827.516289|``` +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 600 +``` +1725056853.724279|``` +move: "right", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +``` +1725056883.5068533|``` +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725056912.7366037|``` +move: "left", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725056942.4074595|``` +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 800 +``` +1725056967.8115966|``` +move: "left", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725057000.1421518|``` +move: "left", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725057026.4924188|``` +move: "right", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725057054.0302868|``` +move: "right", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725057090.1693237|``` +move: "left", time: 150 +move: "forward", time: 800 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725057116.9070294|``` +move: "left", time: 150 +move: "forward", time: 1000 +move: "hold", time: 2000 +move: "right", time: 150 +move: "forward", time: 1000 +``` +1725057148.1346087|``` +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057170.3286579|``` +move: "forward", time: 1500 +move: "hold", time: 1000 +move: "right", time: 150 +move: "forward", time: 1200 +``` +1725057193.8873155|``` +move: "left", time: 1500 +move: "forward", time: 1500 +move: "hold", time: 2000 +move: "forward", time: 1500 +``` +1725057221.0181525|``` +move: "right", time: 1500 +move: "forward", time: 1200 +move: "hold", time: 2000 +``` +1725057266.4674482|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057286.8882577|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057309.152347|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057334.9242568|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057362.109616|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057393.3888657|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057418.7802596|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057445.9823668|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057470.9154606|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057496.5731182|``` +move: "forward", time: 450 +move: "left", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057523.4722488|``` +move: "forward", time: 450 +move: "right", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057550.8043504|``` +move: "forward", time: 450 +move: "right", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057577.9562607|``` +move: "forward", time: 450 +move: "right", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057603.9078846|``` +move: "forward", time: 450 +move: "right", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057628.3809395|``` +move: "forward", time: 450 +move: "right", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057655.498919|``` +move: "forward", time: 450 +move: "right", time: 150 +move: "forward", time: 300 +move: "hold", time: 1000 +``` +1725057683.438747|``` +move: "forward", time: 450 +move: "hold", time: 1000 +move: "right", time: 150 +move: "forward", time: 450 +``` +1725057709.8202782|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057735.824254|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057758.6489675|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057782.5151324|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057807.5564191|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057839.1204398|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057863.1573925|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057887.9619052|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057912.6957653|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057938.27648|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057964.5891943|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725057989.1323502|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725058014.5169895|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725058036.9202578|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725058061.8882577|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725058085.2778034|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` +1725058110.2882626|``` +move: "forward", time: 450 +move: "hold", time: 1000 +``` diff --git a/orientations.jsonl b/orientations.jsonl index cfdccd6..e4082d4 100644 --- a/orientations.jsonl +++ b/orientations.jsonl @@ -3014,3 +3014,2551 @@ Execute these steps, and once done, we'll reassess the current surroundings to p 1724457865.3870633|Move forward. 1724457877.427695|Move forward. 1724457890.3125415|**Move forward** +1725053076.2650628|Move forward. +1725053101.10216|Turn left. +1725053125.5108852|Move forward. +1725053141.3510518|Turn right. +1725053160.8828602|Move forward. +1725053175.645577|Move forward. +1725053198.2422163|Turn left. +1725053216.112473|Move forward. +1725053230.7387538|Turn right. +1725053246.7593994|Move forward. +1725053263.8082638|Move forward. +1725053279.4817278|Move forward. +1725053296.515312|Turn left. +1725053311.6195152|Turn left. +1725053326.1595883|Turn right. +1725053341.9744022|Move forward. +1725053357.0217843|Move forward. +1725053374.1202629|Turn left. +1725053392.4330318|Move forward. +1725053407.523711|Move forward. +1725053421.629524|Turn left. +1725053435.965329|Move forward. +1725053452.0170557|Turn right. +1725053467.7347956|Move forward. +1725053483.392764|Turn left. +1725053503.1495473|Turn left. +1725053518.0674288|Move forward. +1725053534.072626|Move forward. +1725053551.9962928|Move forward. +1725053569.51626|Turn left. +1725053584.8668404|Move forward. +1725053603.3476853|Move forward. +1725053620.152809|Move forward. +1725053635.9842658|Move forward. +1725053652.33738|Move forward. +1725053669.4891908|Move forward. +1725053689.8811095|Turn left. +1725053705.0781727|Move forward. +1725053720.6815636|Turn left. +1725053735.3485243|Turn left. +1725053751.0802643|Turn right. +1725053766.5724053|Move forward. +1725053782.8417754|Turn left. +1725053800.5493581|Move forward. +1725053816.1482584|Move forward. +1725053833.0166423|Turn right. +1725053848.780955|Turn left. +1725053865.0170653|Move forward. +1725053881.5803287|Move forward. +1725053897.5686123|Turn left. +1725053913.7522676|Move forward. +1725053929.3117|Turn right. +1725053944.6531558|Turn left. +1725053960.2122693|Move forward. +1725053977.162815|Turn left. +1725053993.2922568|Move forward. +1725054008.7784004|Move forward. +1725054023.9505072|Move forward. +1725054038.0388947|Turn left. +1725054053.732342|Turn left. +1725054069.6043599|Move forward. +1725054088.5158894|Move forward. +1725054103.6042662|Turn left. +1725054119.3552048|Turn left. +1725054140.2907636|Move forward. +1725054155.5882812|Move forward. +1725054170.68346|Turn left. +1725054187.7711842|Turn left. +1725054204.1200075|Turn left. +1725054223.0520062|Move forward. +1725054239.1392357|Move forward. +1725054254.2614605|Move forward. +1725054269.140262|Move forward. +1725054285.1202598|Turn left. +1725054302.7482684|Move forward. +1725054317.668264|Move forward. +1725054334.040259|Turn left. +1725054350.4202602|Turn left. +1725054366.3123753|Move forward. +1725054381.4882982|Move forward. +1725054397.6069913|Move forward. +1725054413.2282755|Move forward. +1725054428.033342|Forward. +1725054444.2522643|Turn left. +1725054460.746601|Move forward. +1725054476.3989608|Turn left. +1725054492.5722578|Backward. +1725054507.3035548|Move forward. +1725054521.5682783|Turn left. +1725054536.0083096|Move forward. +1725054552.3759449|Forward. +1725054568.5322673|Move forward. +1725054583.5865164|Turn left. +1725054601.240598|Turn right. +1725054617.6948998|Move forward. +1725054633.1729405|Move forward. +1725054647.3926613|Turn left. +1725054661.8191268|Move forward. +1725054678.6482608|Turn left. +1725054693.8642602|Move forward. +1725054712.0907633|Turn right. +1725054726.8441556|Turn left. +1725054745.024257|Move forward. +1725054759.8199646|Move forward. +1725054775.9987934|Turn left. +1725054792.2768242|Turn left. +1725054807.300257|Move forward. +1725054823.3410616|Move forward. +1725054838.4090652|Move forward. +1725054853.3522577|Turn left. +1725054868.1127064|Move backward. +1725054884.6708488|Turn left. +1725054902.7814848|Move forward. +1725054918.9611073|Turn right. +1725054934.0322797|Turn right. +1725054949.6980891|Turn left. +1725054965.7882626|Turn left. +1725054981.120293|Turn right. +1725054999.6122732|Turn left. +1725055015.020266|Turn right. +1725055031.3040414|Move forward. +1725055047.17379|Turn right. +1725055078.2160082|### Current Observations Recap: +1. **Table Legs**: 2 wooden legs supporting the table you're under. +2. **Couch**: Partially visible, slightly to your right as you face it. +3. **Human Foot**: Possibly nearby. +4. **Wooden Floor**: Noted as part of the context. + +### Goal: +Explore the house, locate and keep any animals in the camera frame, especially the potential cat. + +### Current Plan: +To avoid getting stuck in loops and effectively explore the house, let's proceed with a structured approach: + +1. **Initial Move**: Turn left as planned. +2. **Exploration Path**: + a. Move forward to exit the area under the table and gain a better view. + b. Adjust course if obstacles are encountered, avoiding getting trapped. + +### Instructions: +1. **Turn left** to reorient the view away from the current partially obstructed angle. +2. **Move forward** about 6 inches to exit the space under the table, giving a clearer view of the surroundings. +3. **Scan the area** for the cat or any notable objects. +4. **Adjust direction** if an obstacle is encountered: + - If necessary, **turn slightly right** to avoid hitting the table legs, then move forward again. +5. **Continue moving forward** if the path is clear. + +### Anticipated Steps Post-Adjustment: +1. **If the cat is spotted**: Keep it in +1725055131.941357|Alright, let's strategize our next moves based on the delightful surroundings and the presence of a curious feline. Since you’re near a wall and need to pursue the cat, and to avoid getting stuck in repetitive loops, here's the plan: + +1. **Turn Left (90 degrees)**: Since the wall is almost directly ahead, turning left is the best initial step to align with the open space and pursue the cat. + +2. **Move Forward (~24 inches)**: This should help in getting away from the immediate vicinity of the wall and closer to the center of the room, providing better maneuverability. + +3. **Adjust Slightly Left (~15 degrees)**: A minor adjustment to ensure we are not veering into another wall and can keep the cat in sight. + +4. **Move Forward (~24 inches)**: Continue advancing to maintain momentum and keep following the cat. + +**Recap Steps**: +- Turn left (90 degrees) +- Move forward (24 inches) +- Adjust slightly left (15 degrees) +- Move forward (24 inches) + +By following this plan, you should avoid getting stuck or moving in repetitive circles, and you'll be in a better position to follow the cat and explore the house. If obstacles are encountered, adjustments can be made on-the-go. Let's go find that cat and capture some interesting footage! +1725055178.7743492|Great! Let's get started with our exploration. + +**Observation Recap:** +- Under a table, limited maneuverability due to table legs. +- Facing a wall. +- Nearby objects: table legs, black boots, partially visible couch. + +**Plan to Move Forward:** +1. **Turn Right**: To face a more open space since you are currently facing a wall. +2. **Move Forward**: To navigate out from under the table and get closer to the main area of the room. +3. **Adjust as Needed**: If we encounter any obstacles during the movement, we'll be ready to turn or roll backwards to avoid getting stuck. + +**Next Set of Instructions:** +1. Turn right about 90 degrees. +2. Move forward several inches. +3. If you encounter an obstacle, roll back slightly and try to adjust your direction to maneuver around the obstacle. +4. Continue moving forward until you have a clear view of the new area. + +Let’s proceed with these steps to get out from under the table and into a more open space! +1725055249.4261088|Given the current observations and instructions, it sounds like the best course of action is to cautiously turn right and roll forward to explore the room further. Here's the plan: + +1. **Turn the rover 90 degrees to the right** to adjust its position and face it towards a more open direction. +2. **Roll forward cautiously for about 10 inches** to see more of the room and potentially spot any animals, specifically cats, that may be around. +3. **Stop and survey the area** to assess any new obstacles or interesting features that come into view. + +### Detailed Movement Script: +1. Turn right for 500 milliseconds. +2. Move forward for 1000 milliseconds. +3. Stop and take a full scan of the surroundings. + +By following this plan, we should avoid getting stuck in a corner and continue our exploration effectively. Let's proceed with these steps. +1725055268.4920046|### Observations: +- Objects near the rover: power drill (yellow), sofa leg (wood), speaker (grey), and a plush toy (red). +- Current direction: Facing the back of the sofa. +- Space available to the right. +- The goal is to escape the hallway and avoid getting stuck in a loop. + +### Plan: +1. **Turn right 90 degrees** to orient the rover in a more open direction. +2. **Move forward for 1500 milliseconds** to progress out of the cramped space near the sofa. +3. **Stop and scan** the surroundings to gather new information and check for any animals, particularly cats. + +### Detailed Movement Script: +1. Turn right for 500 milliseconds. +2. Move forward for 1500 milliseconds. +3. Stop and survey the area for 1000 milliseconds. + +By following this plan, the rover will hopefully gain a better view of its surroundings and continue its exploration more effectively. +1725055291.454244|### Observations: +- Objects around: Yellow power drill, Wooden sofa leg, Grey speaker, Red plush toy. +- Current direction: Facing the back of the sofa. +- Available space: More open area to the right. +- No animals spotted yet. +- Goal: Escape the hallway and avoid getting stuck in a loop. + +### Plan: +1. **Turn right 90 degrees** to face the open space. +2. **Move forward for 1500 milliseconds** cautiously to make headway out of the cramped space near the sofa. +3. **Stop and scan** the surroundings for new information and potential animals (especially cats). + +### Detailed Movement Script: +1. `Turn right for 500 milliseconds.` +2. `Move forward for 1500 milliseconds.` +3. `Stop and survey for 1000 milliseconds.` + +This approach ensures that we continue making forward progress while keeping an eye out for any obstacles or interesting features that come into view. If we can't move forward anymore, we may need to adjust our position accordingly by turning or moving in a different direction. +1725055311.7378068|### Interpretation and Plan: + +Given the observations around the rover: +- **Objects:** Yellow power drill, Wooden sofa leg, Grey speaker, Red plush toy. +- **Current orientation:** Facing the back of the sofa (wall of soft upholstery). +- **Available space:** Clear space to the right. +- **Goal:** Escape the hallway and explore the house without getting stuck or turning in circles. + +### Immediate Objective: +- Turn right to face the open area. +- Move forward to explore and avoid being stuck in corners or a loop. + +### Detailed Movement Script: +1. **Turn right for 500 milliseconds** to face the open space. +2. **Move forward for 1750 milliseconds** to ensure significant progress through the open space. +3. **Stop and survey for 1000 milliseconds** to assess new surroundings and search for any animals, especially cats. + +By increasing the forward movement time slightly, we aim to escape the current cramped area more effectively and gain a broader view of the room to plan further steps. + +### Directive: +- Turn right. +- Move forward. +- Survey the area. + +These steps should help in finding an optimal path out of the hallway and keep the rover exploring efficiently without falling into the trap of repetitive loops. Let's proceed with the plan! +1725055334.9820147|### Current Observations: +- Facing the back of the sofa. +- Surrounding objects: Yellow power drill, Wooden sofa leg, Grey speaker, Red plush toy. +- Clear space available to the right. +- Objective: Escape the hallway and avoid being stuck in a loop while exploring the house and spotting animals (especially cats). + +### Analysis: +Based on the previous movements and observations, the consistent right turns and forward movements have not yet freed the rover from the hallway. To make significant progress and avoid getting stuck in a corner, we need a deliberate and slightly extended move forward. + +### Detailed Movement Script: +1. **Turn right for 500 milliseconds** to face the open space. +2. **Move forward for 2000 milliseconds** to ensure significant progress and exit the cramped area near the sofa. +3. **Stop and survey for 1000 milliseconds** to reassess the surroundings and check for animals. + +### Next Steps: +- Encourage sustained forward movement to ensure that the rover escapes the hallway. +- If obstacles are encountered, adjustments can be made afterward. +- Surveying the area after the extended forward movement should provide a clearer view of the new space. + +### Directive: +1. Turn right for 500 milliseconds. +2. Move forward for 2000 milliseconds. +3. Hold and survey for 1000 milliseconds. + +Let's execute this plan to explore further and hopefully catch sight of some animals in the house! +1725055356.6802812|### Interpretation and Next Steps: + +We are currently facing the back of a soft sofa in a cozy domestic setting. Nearby objects include a yellow power drill, a wooden sofa leg, a grey speaker, and a red plush toy. So far, no animals, particularly cats, have been spotted. There is clear space available to our right. + +Previously, we have made multiple right turns and forward movements. This suggests we might be caught in a loop within what seems to be a hallway. To break this pattern and ensure we explore new areas, we should make a deliberate and sustained move forward. + +### Detailed Movement Script: +1. **Move forward for 3000 milliseconds** to break free from the current loop and explore a broader area. +2. **Stop and survey for 1000 milliseconds** to assess the new surroundings and check for any animals. + +### Plan: +1. Move forward significantly to avoid getting stuck in a loop and cover more ground. +2. Survey the new area to gather fresh observations and potentially spot animals. + +This approach should help us escape the hallway and continue our exploration more effectively. + +### Directive: +1. Move forward for 3000 milliseconds. +2. Hold and survey for 1000 milliseconds. + +Let's execute this plan to gain a better understanding of our environment and stay on track with our exploration! +1725055379.880768|### Analysis and Plan + +Given the latest observations and the previous movements, it appears that we might be in a hallway or a similarly confined space. Our attempts to escape have not been entirely successful, suggesting we might still be running into obstacles or making ineffective directional changes. + +### Observations: +- **Current facing:** Back of the soft sofa. +- **Objects around:** Yellow power drill, Wooden sofa leg, Grey speaker, Red plush toy. +- **Space:** Clear area to the right. + +### Goals: +- **Primary Objective:** Escape the hallway. +- **Secondary Objective:** Explore the house and identify any animals, especially cats. + +### Interpretation: +Since repeated right turns followed by short forward movements have not been effective, a change in strategy is necessary: + +1. **Move forward more aggressively** to break out from the confined or looped area. +2. **Turn only if encountering an obstacle** to avoid getting stuck. + +### Detailed Movement Script: +1. **Move forward for 3000 milliseconds** to ensure significant progress and break free from the hallway. +2. **Stop and survey for 1000 milliseconds** to reassess surroundings and check for any animals or obstacles. + +### Directive: +1. Move forward for 3000 milliseconds. +2. Hold and survey for 1000 milliseconds. + +By substantially increasing the forward movement duration, we aim to escape the current hallway situation and enter a more open space to continue our exploration effectively. If we encounter an obstacle, the surveying period will help us +1725055403.0843394|### Analysis and Plan + +Based on the current observations and the history of movements, it seems clear that straight forward movement is required to break out of the confined hallway-like space. We've faced the challenge of potentially getting stuck in corners or forming loops, as indicated by the repeated series of right turns. + +### Observations: +- Positioned near the back of a sofa. +- Surrounding objects: Yellow power drill, Wooden sofa leg, Grey speaker, Red plush toy. +- Available space: Clear area to the right. +- No animals spotted yet, and the goal is to explore without getting stuck. + +### Goals: +- **Primary Objective:** Escape the hallway and avoid getting stuck in corners or forming loops. +- **Secondary Objective:** Explore the house and find any animals, particularly cats. + +### Strategy: +Our previous movements suggest we might have been moving in circles. To remedy this, we should focus on sustained forward movement, even if brief turns are required to navigate past obstacles. + +### Detailed Movement Script: +1. **Move forward for 3500 milliseconds** to gain significant distance and hopefully escape the hallway. +2. **If an obstacle is encountered**, adjust by: + - **Turning right for 500 milliseconds**, then: + - **Moving forward for an additional 2000 milliseconds**. +3. **Stop and survey for 1000 milliseconds** to assess the new surroundings and check for any animals. + +### Directive: +1. Move forward for 3500 milliseconds. +2. If an obstacle is +1725055435.138933|Great, let's continue our exploration while ensuring we don't get stuck in a loop or corner. + +### Plan: + +1. Turn left slightly to orient ourselves towards the yellow power drill. +2. Move forward a few inches to approach the power drill. +3. Turn right slightly to align with the direction of the hallway exit. +4. Move forward several inches to advance towards the exit of the hallway. +5. If any obstacles are encountered, adjust movements to navigate around them. + +Let's take these steps to ensure we make progress and keep an eye out for any interesting sights, like potential animals! + +### Actions: + +1. **Turn left 15 degrees**. +2. **Move forward 10 inches**. +3. **Turn right 15 degrees**. +4. **Move forward 20 inches**. + +If stuck or encountering an obstacle: +1. **Back up 5 inches**. +2. **Turn 30 degrees left or right** (depending on obstacle layout). + +Time to set off and see where our discoveries take us! +1725055454.5043507|### Analysis: +We are currently facing a large couch with a power drill on the floor in front of it. To progress, we need to navigate around the couch while ensuring that we don't get trapped in a loop or corner. + +### Updated Plan: +1. **Turn right 90 degrees** to face an open area. +2. **Move forward 10 inches** to explore. +3. **Assess the surroundings** to determine the best path forward. + +### Detailed Actions: +1. **Turn right**: 90 degrees. +2. **Move forward**: 10 inches. + +We'll begin with these steps and then reassess our position and surroundings to continue our journey effectively. Let's find those exciting critters and navigate through this environment! + +### Specific Command Script: +1. **Turn right 900 milliseconds**. +2. **Move forward 400 milliseconds**. + +Let's proceed with these movements to see where we end up and find some interesting sights! +1725055474.1135604|### Current Analysis: +The rover seems to be wedged near a sturdy piece of furniture, likely under a desk or in a tight spot. Given the inventory of objects nearby (power drill, chair, cable, and cat toy), and the indication of being in a corner, we'd better create some space first and then try to navigate around the obstacle. + +### New Plan: +1. **Back up 5 inches** to create some space. +2. **Turn right 90 degrees** to change orientation and try to find an open path. +3. **Move forward 10 inches** to advance and check if there’s a clear route. +4. **Turn left 45 degrees** to adjust the direction towards the open area. + +### Command Script: +1. **Move backward 300 milliseconds** to back up 5 inches. +2. **Turn right 900 milliseconds** to change orientation 90 degrees. +3. **Move forward 400 milliseconds** to move forward 10 inches. +4. **Turn left 450 milliseconds** to adjust direction 45 degrees. + +### Objective: +- Create space and change orientation to find a clearer path. +- Avoid getting stuck in corners and ensure we move forward to explore new areas. +- Keep an eye out for any interesting objects and potential animals. + +Let's implement these steps to progress in our exploration! +1725055495.0905006|### Analysis: +We are still positioned near the side of a couch with a yellow power drill in sight. Other objects like a chair, a cat toy, and some cables are also nearby. The environment is a bit tight, which indicates we need to cautiously change our position to explore more freely and find our way out of the hallway. + +### Updated Plan: +1. **Back up 5 inches** to move away from the side of the couch. +2. **Turn right 90 degrees** to change orientation and explore an open area. +3. **Move forward 10 inches** to advance and potentially find a clearer route. +4. **Turn left 45 degrees** to adjust direction towards the open area. +5. Continuously assess surroundings to avoid getting stuck in corners and keep moving forward. + +### Command Script: +1. **Move backward**: 300 milliseconds to back up 5 inches. +2. **Turn right**: 900 milliseconds to change orientation by 90 degrees. +3. **Move forward**: 400 milliseconds to move forward 10 inches. +4. **Turn left**: 450 milliseconds to adjust direction by 45 degrees. +5. **Move forward** again for another 400 milliseconds to continue exploring. + +### Objective: +- Create space and change orientation to find a clearer path forward. +- Avoid getting cornered or stuck in a loop. +- Keep moving forward and adjust only when necessary to find the exit of the hallway. +- Spot any animals and keep +1725055517.2583416|### Analysis: +We're currently positioned near a large couch with a yellow power drill visible on the floor in front of us. The area seems to be tight, suggesting we're possibly wedged near the couch or in a corner, and could be at risk of getting stuck. We need to plan our movements to explore effectively while avoiding getting caught in loops or tight spaces. + +### Updated Plan: +1. **Move backward** to create space and free up movement. +2. **Turn right 90 degrees** to change orientation and explore an open area. +3. **Move forward** to advance into a clearer route. +4. Assess the surroundings to determine the next steps. + +### Command Script: +1. **Move backward 300 milliseconds** to back up (~5 inches). +2. **Turn right 900 milliseconds** to change orientation by 90 degrees. +3. **Move forward 400 milliseconds** to move forward (~10 inches). +4. **Stop and assess the surroundings** to avoid tight spaces or corners. + +### Objectives: +- Gain freedom of movement to avoid getting stuck near the couch. +- Change orientation to explore a clearer path. +- Move forward to continue our exploration journey. +- Continuously assess surroundings to prevent getting stuck and ensure progress. + +### Execution: +Let’s implement these steps to progress our exploration, avoid getting stuck, and find new areas or any interesting animals to document! + +### Command Summary: +1. **Move backward**: 300 milliseconds. +2. **Turn right**: 900 +1725055540.7402573|### Current Analysis: +We seem to be in a cramped hallway area, facing a couch with a yellow power drill in front of it. Other objects like a chair, a cat toy, and cables are nearby, making the environment a bit cluttered. Our primary goal is to navigate out of this tight spot without getting stuck in a loop or corner. + +### Updated Plan: +1. **Move backward** to create some space and free up movement. +2. **Turn right 90 degrees** to change orientation towards what might be an open area. +3. **Move forward** to advance into a potential clearer route. +4. **Stop and assess surroundings** to determine the next best move. + +### Command Script: +1. **Move backward**: 300 milliseconds to back up (~5 inches). +2. **Turn right**: 900 milliseconds to change orientation by 90 degrees. +3. **Move forward**: 400 milliseconds to move forward (~10 inches). +4. **Stop and assess the surroundings** to avoid tight spaces or corners. + +### Objectives: +- Gain freedom of movement to avoid getting stuck near the couch. +- Change orientation to explore a potentially clearer path. +- Move forward to continue our exploration journey. +- Continuously assess surroundings to prevent getting stuck and ensure progress. + +### Execution: +Let’s implement these steps to progress our exploration, avoid getting stuck, and find new areas or any interesting animals to document. + +### Command Summary: +1. **Move backward**: 300 milliseconds +1725055561.6013424|### Current Observations +We've identified that the rover is positioned under a low piece of furniture and is facing a cluttered area with cables and electronic devices. No animals are currently in sight, but we're ready to follow one if it appears. + +### Objects in Sight: +1. Yellow power drill +2. Chair +3. Cat toy +4. Various cables +5. Electronic devices + +### Surroundings Analysis +The rover is facing towards a wall of cables and electronic devices, which makes the area appear cramped. To effectively navigate and avoid getting trapped in corners, we'll need to carefully back up, reorient, and explore more open paths. + +### Plan to Escape Hallway and Explore: +1. **Move backward to create space from the low furniture.** +2. **Turn right 90 degrees to change the orientation to a more open area.** +3. **Move forward to advance into the clearer route.** +4. **Stop and assess the surroundings to ensure we're not stuck near obstacles.** +5. **Move forward again if the path seems clear, else turn to find a new direction.** + +### Command Script: +1. **Move backward 300 milliseconds** to back up (~5 inches). +2. **Turn right 900 milliseconds** to change orientation by 90 degrees. +3. **Move forward 400 milliseconds** to move forward (~10 inches). +4. **Stop and assess the surroundings.** + +If surroundings are clear: +5. **Move forward 400 milliseconds** to +1725055626.0117784|Alright, let's methodically explore this space. Remember, our primary goal is to escape the hallway and eventually explore the house to find and document any animals we encounter. + +### Next Moves: + +1. **Roll Backwards**: Start by reversing out from under the table to gain full visibility of the surroundings. +2. **Move Forward Several Inches**: Once we're out, proceed forward slightly to get a broader view of the area. +3. **Turn Left 90 Degrees**: This will help us reposition to ideally avoid the wall and any adjacent obstacles. +4. **Move Forward**: Continue moving forward down the hallway or into a new open space. +5. **Turn Right 90 Degrees**: If we encounter another wall or obstacle, turn to avoid getting cornered or stuck. +6. **Adjust as Needed**: Based on new observations, we may need to continue these adjustments. + +### Directive Script for the Rover: + +1. Reverse for 2 seconds. +2. Stop and then move forward for 2 seconds. +3. Turn left 90 degrees. +4. Move forward for 5 seconds. +5. Turn right 90 degrees if encountering obstacles. +6. Move forward for another 5 seconds. +7. Repeat steps 5-6 as needed till in an open space. + +Let's execute these steps to gather more visual information and better navigate through this space! +1725056115.6895118|### Plan of Action + +1. **Turn Right**: The current view appears to be facing a wall, so initiating a right turn would help in avoiding any immediate collision with the obstacle. + +2. **Move Forward**: Aim to roll forward several inches to assess the new surroundings after the turn. This will help in progressing out of the hallway. + +3. **Turn Left**: If still confined by walls or obstacles, a left turn can aid in reorienting towards an open space. + +4. **Forward Movement**: Continue moving forward incrementally to explore more. + +5. **Assess and Adjust**: If at any time we encounter another obstacle, we will re-evaluate and adjust our direction accordingly. + +6. **Animal Spotting Mode**: Always be on the lookout for the feline friend. If a cat is spotted, try to keep it within the camera frame by matching its movements. + +### Next Steps + +1. **Turn Right for 1 Second** +2. **Move Forward 10 Inches** +3. **Turn Left for 1 Second** +4. **Move Forward 10 Inches** +5. **Assess Surroundings and Adjust Accordingly** + +Let's get rolling and escape that hallway to explore the house! +1725056142.5304527|Alright, let's focus on escaping the hallway and continuing our exploration of the house while on the lookout for any animals. Here's a decisive plan to help accomplish our goal: + +### Plan of Action + +1. **Turn Right for 1 Second**: This will help avoid the wall and any immediate obstacles. +2. **Move Forward 900 ms**: This should help you roll forward about 10 inches to check for more open space. +3. **Turn Left for 1 Second**: If you find yourself in an even tighter spot, this will help reorient towards an open path. +4. **Move Forward 900 ms**: Another forward movement to continue exploring. +5. **Assess and Adjust**: Stop and evaluate the surroundings for any potential path and avoid obstacles or corners. + +### Steps to Execute +1. Turn Right for 1 Second +2. Move Forward for 900 ms +3. Turn Left for 1 Second +4. Move Forward for 900 ms +5. Assess Surroundings + +We aim to avoid small rounded movements that could lead us in circles. If the path appears clear, prioritize moving forward and turning only if absolutely necessary. Let's get out of this hallway and start exploring more of the house! + +--- + +Here’s how you need to script the moves: + +``` +move: "right", time: 1000 +move: "forward", time: 900 +move: "left", time: 1000 +move: "forward", time +1725056167.5896819|### Revised Plan of Action to Escape Hallway + +Given the current observations, we need to ensure smooth maneuvering to avoid the wall and other obstacles, such as furniture and cat toys: + +1. **Turn Left for 1 Second**: This helps us avoid the immediate collision with the wall and reposition us away from the visible furniture. + +2. **Move Forward for 900 ms**: Progress the exploration to see new surroundings and find an escape route from the hallway. + +3. **Assess Surroundings**: After these moves, evaluate the scene to determine if further turns or adjustments are necessary. + +### Instructions + +1. **Turn Left for 1 Second**: This will redirect us away from the immediate obstacle detected. +2. **Move Forward for 900 ms**: Attempt to cover about 10 inches of distance towards open space. + +### Script of Moves + +- `move: "left", time: 1000` +- `move: "forward", time: 900` +- `move: "hold", time: 1000` + +Let's execute this plan to navigate efficiently and assess the next steps based on the updated surroundings. Our goal is to escape the hallway and keep an eye out for any animals or interesting objects in the house! +1725056191.5382454|### Revised Plan of Action to Escape Hallway and Continue Exploration + +Given the current situation, we need to navigate smoothly to free ourselves from the confines of the table and continue our exploration. The observations reveal the presence of various household items and electronics, but no immediate threat of collisions. + +### Observations +- **Current Position**: Underneath a piece of furniture, possibly a table. +- **Obstacles**: Table legs surround and nearby objects, such as a drill and audio equipment. +- **Current Visibility**: Legs of the table and other household items within view. + +### Goals +1. Escape from underneath the table. +2. Avoid getting stuck in corners. +3. Explore more of the house to spot any animals or interesting objects. + +### Next Steps Plan + +1. **Turn Left for 1 Second**: This will help us steer away from the immediate obstacle. +2. **Move Forward for 900 ms**: Make progress to explore the area beyond the table legs. +3. **Assess Surroundings**: Evaluate immediate surroundings after moving forward to plan the next move. + +### Suggested Moves Sequence + +1. **Turn Left for 1 Second** + - Move: `"left", time: 1000` +2. **Move Forward for 900 ms** + - Move: `"forward", time: 900` +3. **Hold and Assess for 1 Second** + - Move: `"hold", time: 1000` + +Let’s execute this plan +1725056217.59567|### Observations from Vision Model +- **Current Position**: Underneath a table with limited visibility above due to the table structure. +- **Nearby Objects**: + - A pair of shoes. + - A power cable. + - A small drill. + - Audio equipment. + - Cat toys (interesting but no cat in sight). + +### Plan to Escape Hallway and Explore House +Given the current observations and your recent moves, the aim is to get out from underneath the table and continue exploring the house efficiently. To avoid getting stuck or entering a loop, we'll prioritize forward movement and only take necessary turns. Here's the revised plan: + +### Next Steps Plan +1. **Move Forward for 1 Second**: Start by rolling ahead to see if we can clear the immediate obstacle. This helps confirm if a straight path is possible. +2. **Turn Right for 1 Second**: If we encounter obstacles in front, turn right to reposition and potentially identify a clear path. +3. **Move Forward for 1 Second**: Continue forward again to further clear the space and move towards the open area. +4. **Assess Surroundings**: Evaluate the scene once more to plan the next moves. + +### Suggested Moves Sequence +1. **Move Forward for 1 Second** + - Move: `"forward", time: 1000` +2. **Turn Right for 1 Second** + - Move: `"right", time: 1000` +3. **Move Forward +1725056243.5474815|As David Attenbot, the mission is clear: escape from underneath this table and continue exploring the house while keeping a lookout for any interesting animals. Here's what I've observed and the plan to navigate out of this tight spot: + +### Current Observations: +- **Position**: Underneath a table, evident from the surrounding table legs. +- **Nearby Objects**: A power cable, a small drill, audio equipment, and several cat toys. + +### Goals: +1. Escape from underneath the table. +2. Continue exploring the house in search of animals or other noteworthy objects. +3. Avoid getting stuck in a loop of turns. + +### Plan of Action: +1. **Move Forward for 1 Second**: This should help clear out from under the table. +2. **Turn Left for 1 Second**: To navigate around any close obstacles like table legs. +3. **Move Forward for 1 Second**: To continue exploring and gain some distance from the table area. +4. **Assess Surroundings**: Re-evaluate to ensure we're not in a loop and plan the next move. + +### Suggested Moves Sequence: +1. **Move Forward for 1 Second** + - Script Command: `move: "forward", time: 1000` +2. **Turn Left for 1 Second** + - Script Command: `move: "left", time: 1000` +3. **Move Forward for 1 Second** + - Script Command: `move: "forward", +1725056272.8031354|### Observations from Vision Model +- **Position**: Underneath a table, possibly blocked by table legs. +- **Nearby Objects**: + - A pair of shoes + - A power cable + - A small drill + - Audio equipment + - Cat toys (no cats currently) + +### Goals +1. Escape from underneath the table. +2. Continue exploring the house in search of animals or other interesting objects. +3. Avoid getting stuck or entering an infinite loop of turns. +4. Ensure to move forward more often than turning. + +### Action Plan +To escape from underneath the table and explore further, we should focus on forward movement while occasionally making turns to navigate around obstacles. Following the observations and keeping the goal in mind, here's the defined sequence of moves: + +### Suggested Moves +1. **Move Forward for 1 Second**: Attempt to move out from underneath the table. + - **Script Command**: `move: "forward", time: 1000` +2. **Turn Right for 1 Second**: Turn to avoid obstacles and find a clearer path. + - **Script Command**: `move: "right", time: 1000` +3. **Move Forward for 1 Second**: Continue forward to gain more distance from the table area. + - **Script Command**: `move: "forward", time: 1000` +4. **Hold and Assess for 1 Second**: Pause to evaluate surroundings. + +1725056300.552988|### Current Observations from Vision Model +- **Position**: Underneath a table. +- **Nearby Objects**: + - A pair of shoes + - A power cable + - A small drill + - Audio equipment + - Several cat toys +- **Navigation Status**: Close to table leg on the right side, limited visibility ahead due to the table structure. + +### Goals +1. Escape from underneath the table. +2. Continue exploring the house in search of animals or other interesting objects. +3. Avoid getting stuck or entering an infinite loop of turns. +4. Prioritize forward movement and turn only if necessary. + +### Action Plan +To efficiently escape from underneath the table and explore further, we should focus on moving forward to clear immediate obstacles and then make turns as needed to find open paths. + +### Suggested Moves Sequence +1. **Move Forward for 1 Second** + - Script Command: `move: "forward", time: 1000` +2. **Turn Left for 1 Second** (if forward movement is blocked) + - Script Command: `move: "left", time: 1000` +3. **Move Forward for 1 Second** + - Script Command: `move: "forward", time: 1000` +4. **Turn Right for 1 Second** (if forward movement is blocked again) + - Script Command: `move: "right", time: 1000` +5. ** +1725056326.6507182|### Current Observations + +I'm currently nestled tightly under a table with limited visibility ahead. Here are the objects in my immediate surroundings: + +### Nearby Objects: +- **A pair of shoes** +- **A power cable** +- **A small drill** +- **Audio equipment** +- **Several cat toys** (but no cat in sight!) + +### Navigation Status +I am facing a wall formed by the table's underside, indicating that forward movement is currently not possible. The last few moves suggest I've been turning and moving small distances, potentially getting close to being stuck in a loop. + +### Goals +The primary goal is to escape from underneath this table and explore the house while keeping an eye out for any animals or interesting objects. Here's the plan to get out without getting stuck: + +### Action Plan: +1. **Move Forward for 1 Second**: Attempt to move out from underneath the table. +2. **Turn Left for 1 Second**: If forward movement is blocked, turning left should help avoid obstacles like table legs. +3. **Move Forward for 1 Second**: Continue moving forward to gain more distance from the table area. +4. **Assess Surroundings**: Stop and take inventory of the new surroundings. + +### Suggested Moves: +1. **Move Forward for 1 Second** + - Script Command: `move: "forward", time: 1000` +2. **Turn Left for 1 Second** + - Script Command: `move: "left", time: +1725056355.4485016|### Current Observations from David Attenbot +- **Current Position**: Underneath a table with limited visibility due to the table structure. +- **Nearby Objects**: + 1. A pair of shoes + 2. A power cable + 3. A small drill + 4. Audio equipment + 5. Several cat toys (but no cat in sight) +- **Navigation Status**: Facing an obstruction (table leg) in front; close to getting stuck in positional loops. + +### Goals +1. **Escape from underneath the table**: Need to navigate past the table legs and out from under the table. +2. **Continue exploring the house in search of animals or interesting objects**: Aim to move forward primarily so as not to fall into loops. + +### Action Plan +Given that forward movement is currently blocked, we need to turn and then attempt forward movement to find a clearer path. + +### Suggested Moves Sequence: +1. **Turn Left for 1 Second**: This helps to navigate around the table leg right in front. + - **Script Command**: `move: "left", time: 1000` +2. **Move Forward for 1 Second**: Attempt to move out from underneath the table. + - **Script Command**: `move: "forward", time: 1000` +3. **Turn Right for 1 Second**: If further movement is blocked, turn right to re-assess and position for +1725056382.2884016|### Current Observations from David Attenbot +- **Current Position**: Nestled snugly underneath a table, facing an obstruction (table leg). +- **Nearby Objects**: + 1. A pair of shoes + 2. A power cable + 3. A small drill + 4. Audio equipment + 5. Several cat toys (but no cat in sight) + +### Navigation Status +Forward movement is currently blocked by a table leg. Previous movements suggest a risk of getting stuck in a loop of left and right turns. + +### Goals +1. **Escape from underneath the table**: Navigate past the table legs and out from under the table. +2. **Explore the house**: Move forward predominantly to escape without looping. +3. **Look for animals**: Identify and keep animals or interesting objects in view. + +### Action Plan +Given the current obstacle, a sequence of forward movements and careful turns is necessary to navigate around table legs and escape from underneath the table while avoiding loops. + +### Suggested Moves Sequence: +1. **Turn Left for 1 Second**: Maneuver around the table leg. + - **Script Command**: `move: "left", time: 1000` +2. **Move Forward for 1 Second**: Advance out from the under-table area. + - **Script Command**: `move: "forward", time: 1000` +3. **Turn Right for 1 Second**: Reorient +1725056589.3775518|Alright, you're in a peculiar and fascinating spot beneath a table! Here's a thoughtful plan to escape the hallway, avoid circuitous movements and best explore the surroundings, while maintaining a clear view for any charming animals that might appear, especially that elusive cat: + +### Next Steps: +1. **Turn Right 90 Degrees** + - Pivot right so that you face a new direction and have more complete vision of the space. + +2. **Roll Forward 12 Inches** + - Move forward a short distance to get past any immediate obstructions, keeping an eye on those table legs and the cat tower. + +3. **Adjust Position** + - Assess if you're still facing the wall. If so, + +4. **Turn Left 45 Degrees** + - Pivot slightly left to reorient and gain a better viewing angle of the wider space. + +5. **Roll Forward 18 Inches** + - Move forward further to escape the hallway, ensuring you're not stuck in a corner. + +6. **Pause & Scan** + - Take a brief moment to scan the surroundings for any fascinating objects or animals, especially look for any signs of that cat! + +### Implementation: +1. **Turn Right 90 Degrees** +2. **Roll Forward 12 Inches** +3. **Check Orientation** +4. If facing the wall, **Turn Left 45 Degrees** +5. **Roll Forward 18 Inches** +6. **Pause & Scan** + +By following these steps, the rover should successfully navigate out of the hallway and into +1725056610.9453096|### David Attenbot's Observation Report and Plan of Action + +#### Observations: +In my current position beneath the table, here is what I see: +- **Table Legs**: Multiple legs surrounding me. +- **Cat Tower**: Partially visible with a small toy at its base. +- **Storage Unit**: Dark with colorful panels. +- **Cat Toys**: Scattered around the base of the cat tower. +- **Cleaning Tool (Vacuum)**: Positioned on the right side. + +#### Current Orientation: +- I am facing a wall which limits my perspective and opportunities to spot the elusive cat. + +#### Plan of Action: +Given our aim to explore the house and capture any animals (particularly our elusive cat) on camera, let’s proceed strategically to avoid getting stuck and ensure forward progress. + +### Next Steps: +1. **Turn Left 45 Degrees** + - This will reorient me to have a broader view and move me away from facing the wall directly. + +2. **Roll Forward 18 Inches** + - Advancing forward will help me escape the current confined space beneath the table and have a better perspective of the surroundings. + +3. **Pause & Scan** + - Briefly halt to assess the new surroundings. Look for any immediate obstacles, more detailed space assessment, and, of course, potential sightings of our feline friend. + +4. **Turn Right 45 Degrees** + - Readjust the orientation to face a potentially wider and more open space in the room, attempting +1725056632.9599497|### David Attenbot's Detailed Exploration Plan + +#### Current Observation: +I am currently positioned beneath a table and facing a wall. Several objects are visible which indicate potential obstacles but also points of interest: + +1. **Table Legs**: Multiple, providing structural stability to avoid. +2. **Cat Tower**: On the right, hinting at the presence of a cat. +3. **Cat Toys**: Scattered around the cat tower, increasing the likelihood of nearby feline activity. +4. **Storage Unit**: Dark with colorful panels, potentially another scanning point. +5. **Cleaning Tool (Vacuum)**: Positioned on the right, potentially an obstacle. + +### Key Goals: +1. **Explore the House**: Navigate out of the current position and explore different areas. +2. **Capture Animals on Camera**: Particularly the elusive cat. +3. **Avoid Getting Stuck**: Efficiently navigate without redundant movements or getting trapped. + +### Detailed Plan of Action: + +#### Move 1: Navigate Out of Immediate Obstacle Area +1. **Turn Left 45 Degrees**: To reorient towards a more open space. +2. **Roll Forward 18 Inches**: To move out from beneath the table and gain a better vantage point. + +#### Move 2: Gain Perspective +1. **Pause & Scan for 1000 ms (1 sec)**: Briefly halt to assess the new surroundings for both obstacles and potential sightings of the elusive cat. + +#### Move 3: Adjust +1725056658.732266|### David Attenbot's Updated Exploration Plan + +#### Current Observations Recap: +I am beneath a table, facing a wall. Nearby objects include: +1. **Table Legs**: Surrounding me, providing structural support. +2. **Cat Tower**: Visible on the right. +3. **Cat Toys**: Scattered around the cat tower. +4. **Cleaning Tool (Vacuum)**: Positioned on my right. +5. **Storage Unit**: Dark with colorful panels behind the cat tower. + +Given my history of movements, it seems I need to avoid turning too frequently and focus on forward progress. Here's a refined plan to escape the hallway and explore more efficiently: + +### Immediate Next Steps + +#### Move 1: Re-Orient and Start Moving Forward +1. **Turn Left 90 Degrees** + - Pivot left to move away from the wall and orient myself towards a more open space. +2. **Roll Forward 18 Inches** + - Move forward to clear the immediate area beneath the table and reduce the clutter around me. + +#### Move 2: Assess the New Environment +1. **Pause & Scan for 2000 ms (2 sec)** + - Halt briefly to observe the area, look for any new obstacles or potential sightings of the cat. + +#### Move 3: Continue Moving Towards Open Spaces +1. **Turn Right 45 Degrees** + - Slight pivot to orient towards potentially more open space. +2. **Roll Forward 24 Inches** + +1725056686.978865|### David Attenbot's Action Plan to Escape the Hallway + +#### Current Observations and Context: +- **Position**: Beneath a table facing a wall. +- **Visible Objects**: Cat Tower, Cleaning Tool (Vacuum), Storage Unit, Cat Toys, and a Small Toy. +- **Obstacles Avoidance**: Must navigate out without getting stuck or going in circles. + +#### Primary Goals: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Identify and document interesting spots, especially looking out for the elusive cat. +3. **Avoid Getting Stuck**: Ensure forward progress without redundant movements. + +#### Detailed Action Plan: + +1. **Move 1: Turn for Orientation and Clear Immediate Obstacle** + - **Turn Left 90 Degrees**: Pivot to orient towards a potentially open space. + - **Roll Forward 18 Inches**: Move forward to get clear of the current confined space. + +2. **Move 2: Assess New Environment** + - **Pause & Scan for 2000 ms (2 sec)**: Briefly halt to observe the new surroundings, looking for obstacles and the elusive cat. + +3. **Move 3: Navigate Towards Open Space** + - **Turn Right 45 Degrees**: Slight pivot to orient towards a wider, more open area. + - **Roll Forward 24 Inches**: Move forward to progress further into the open space. + +4. **Move +1725056714.2398732|### David Attenbot's Action Plan to Escape the Hallway and Continue Exploration + +#### Current Observations: +- **Position**: Beneath a table, facing a wall. +- **Visible Objects**: Cat Tower, Cat Toys, Cleaning Tool (Vacuum), Storage Unit, Board Games. +- **Recent Moves**: Various left and right turns with forward motions, indicating potential entrapment. + +#### Key Objectives: +1. **Escape the Hallway**: Focus on forward movements to avoid getting stuck. +2. **Explore the House**: Find open spaces and look for animals. +3. **Avoid Unnecessary Turns**: Minimize getting caught in loops. + +### Immediate Next Steps: + +#### Move 1: Re-Orientation and Initial Movement +1. **Turn Left 90 Degrees** + - Intent: Orient towards a more open space. +2. **Roll Forward 600 ms (24 inches)** + - Intent: Move forward to clear the area beneath the table and gain a broader perspective. + +#### Move 2: Assess Surroundings and Continue Exploration +1. **Pause & Scan for 2000 ms (2 sec)** + - Intent: Observe the new surroundings for obstacles and potential sightings of the elusive cat. + +#### Move 3: Navigate Towards Open Spaces +1. **Turn Right 45 Degrees** + - Intent: Slight pivot to face a wider, more open area. +2. **Roll Forward 600 ms (24 inches)** + - Intent +1725056742.1595519|### David Attenbot's Optimized Action Plan to Escape the Hallway and Continue Exploration + +#### Current Observations: +- **Position**: Beneath a table, facing a wall. +- **Nearby Objects**: Vacuum Cleaner (purple), Cat Tower (partially visible), Small Toys (scattered), Table surface above. + +#### Goals: +1. **Escape the Hallway**: Avoid repetitive movements. +2. **Explore the House**: Capture evidence of animals, especially the elusive cat. +3. **Minimize Turns**: Maximize forward motion to avoid getting caught in loops. + +### Detailed Action Plan: + +#### Move 1: Initial Re-Orientation and Forward Movement +1. **Turn Left 90 Degrees** (150 ms) + - Objective: Orient towards potentially more open space. +2. **Roll Forward 600 ms (24 inches)** + - Objective: Move out from beneath the table, clear immediate objects. +#### Move 2: Assess Surroundings and Continue Exploratory Movement +1. **Pause & Scan for 2000 ms (2 sec)** + - Objective: Evaluate new surroundings for obstacles and sightings of animals. + +#### Move 3: Navigate Towards Open Space with Minimum Turning +1. **Turn Right 45 Degrees** (150 ms) + - Objective: Slight pivot towards open space, ensuring minimal repetition. +2. **Roll Forward 600 ms (24 inches)** + - Objective: Continue moving forward to gain better scope of area. + + +1725056776.264995|### David Attenbot's Optimized Action Plan to Escape the Hallway and Continue Exploration + +#### Current Observations: +I am currently positioned beneath a table, facing a wall, with several surrounding objects: +1. **Vacuum Cleaner** (purple) on my right. +2. **Cat Tower** (partially visible) also on the right. +3. **Small Toys** scattered around. +4. **Storage Unit** with colorful panels. +5. **Table Legs** providing structural obstacles. + +#### Recent Movements: +- Several left and right turns with forward motions, indicating potential loops and entrapment. + +### Goals: +1. **Escape the Hallway**: Avoid repetitive movements and clear the space. +2. **Explore the House**: Gain an open perspective and find animals, especially the elusive cat. +3. **Minimize Turns**: Focus on forward motion to avoid getting caught in loops. + +### Immediate Action Steps: + +1. **Pivot and Move from Immediate Position** + - **Turn Left 90 Degrees** (`150 ms`): Shift orientation towards potentially more open space. + - **Roll Forward 600 ms (24 inches)**: Move adequately forward to clear the area beneath the table. + +2. **Assess and Confirm New Perspective** + - **Pause & Scan for 2000 ms (2 sec)**: Halt briefly to observe new surroundings for obstacles and any signs of the elusive cat. + +3. **Continued Movement to Secure Open Space** + - **Turn +1725056801.2642694|### David Attenbot's Updated Action Plan to Escape the Hallway and Explore + +#### Current Observations: +I am currently positioned beneath a table facing a wall, with nearby objects including: +1. **Vacuum Cleaner** (purple) on the right. +2. **Cat Tower** (partially visible) also on the right. +3. **Small Toys** scattered around. +4. **Storage Unit** with colorful panels. +5. **Table Legs** providing structural obstacles. + +#### Goals: +1. **Escape the Hallway**: Avoid repetitive movements and clear the space. +2. **Explore the House**: Gain an open perspective and find animals, especially the elusive cat. +3. **Minimize Turns**: Focus on forward motion to avoid getting caught in loops. + +#### Immediate Action Steps: +1. **Re-Orient and Move from Current Position**: + - **Turn Left 90 Degrees** (150 ms): Shift orientation towards potentially more open space. + - **Roll Forward 600 ms (24 inches)**: Move from beneath the table to reduce clutter. + +2. **Assess and Confirm New Surroundings**: + - **Pause & Scan for 2000 ms (2 sec)**: Halt to observe the new surroundings for obstacles and possible animal sightings. + +3. **Continue Movement to Explore More Open Space**: + - **Turn Right 45 Degrees** (150 ms): Slight pivot towards wider space. + - **Roll Forward 600 ms (24 inches +1725056827.516289|### David Attenbot's Current Observations and Final Escape Plan + +#### Current Visual Perspective: +I see the texture of a carpet or surface below, indicating we are beneath a table and facing a wall, limiting my view. + +#### Nearby Objects: +1. **Purple Vacuum Cleaner**: On the right. +2. **Cat Tower**: Partially visible on the right. +3. **Small Toys**: Scattered around. +4. **Colorful Storage Unit**: Nearby. +5. **Table Legs**: Surrounding me. + +#### Objectives: +1. **Escape the Hallway**: Avoid getting stuck in loops. +2. **Explore the House**: Gain an open perspective to find animals (especially the elusive cat). +3. **Minimize Turns**: Focus on forward motion and avoid repetitive turning. + +### Final Escape Action Plan: + +#### Step 1: Re-Orient and Initial Move +1. **Turn Left 90 Degrees** (150 ms): Orient away from the wall. +2. **Roll Forward 800 ms (32 inches)**: Move clear of the table and immediate obstacles. + +#### Step 2: Assess Surroundings and Confirm Path +1. **Pause & Scan for 2000 ms (2 sec)**: Observe for obstacles and potential animal sightings. + +#### Step 3: Shift Position to Navigate Open Space +1. **Turn Right 45 Degrees** (150 ms): Slight pivot towards more open space. +2. **Roll Forward 1000 ms +1725056853.724279|### David Attenbot's Revised Action Plan to Escape the Hallway and Continue Exploration + +#### Current Observations: +Beneath a table facing a wall, surrounded by: +1. **Purple Vacuum Cleaner** (right) +2. **Cat Tower** (partially visible, right) +3. **Small Toys** (scattered) +4. **Colorful Storage Unit** +5. **Table Legs** (forming obstacles) + +#### Recent Movements: +- Multiple left and right turns paired with short forward movements, suggesting possible looping and limited progress. + +### Objectives: +1. **Escape the Hallway**: Clear the current area and move into an open space. +2. **Explore the House**: Broaden the area of exploration to spot animals, particularly the elusive cat. +3. **Minimize Turns**: Prioritize forward movement to avoid getting caught in loops. + +### Final Escape and Exploration Plan: + +#### Step 1: Re-Orient and Move from the Immediate Position +1. **Turn Left 90 Degrees** (`150 ms`): Orient away from the wall to a potentially open space. +2. **Roll Forward 800 ms (32 inches)**: Move forward to clear the space beneath the table and reduce clutter. + +#### Step 2: Assess New Surroundings +1. **Pause & Scan for 2000 ms (2 sec)**: Evaluate the new environment for obstacles and animal sightings, especially the elusive cat. + +#### Step 3: Continued Movement +1. ** +1725056883.5068533|### Current Observations: + +I'm beneath a table, facing a wall with limited visibility. There are several objects nearby including: + +1. **Purple Vacuum Cleaner** on the right. +2. **Cat Tower** partially visible on the right. +3. **Small Toys** scattered around. +4. **Colorful Storage Unit** close by. +5. **Table Legs** creating barriers. + +### Goals: +1. **Escape the Hallway**: Clear the area and move to an open space. +2. **Explore the House**: Capture animal activity, especially any cats. +3. **Minimize Turns**: Focus on forward movement to avoid getting caught in loops. + +### Immediate Action Steps: + +#### Step 1: Initial Re-Orientation and Movement +1. **Turn Left 90 Degrees (150 ms)**: This will orient me away from the wall to face a potentially more open space. +2. **Roll Forward 800 ms (32 inches)**: Move forward to clear the space beneath the table and reduce clutter. + +#### Step 2: Assess Surroundings +1. **Pause & Scan for 2000 ms (2 sec)**: Halt briefly to observe the new environment and look for obstacles or sightings of the elusive cat. + +#### Step 3: Continued Movement to Secure Open Space +1. **Turn Right 45 Degrees (150 ms)**: Perform a slight pivot towards a more open area. +2. **Roll Forward 1000 ms (40 inches)**: Move forward aiming +1725056912.7366037|### Current Observations and Revised Escape Plan + +#### Current Visual Context: +- **Position**: Beneath a table, facing a wall. +- **Nearby Objects**: Purple Vacuum Cleaner, Cat Tower (partially visible), Small Toys (scattered), Colorful Storage Unit, Table Legs. + +#### Historical Movements: +- Multiple left and right turns combined with short forward movements, indicating potential looping. + +### Objectives: +1. **Escape the Hallway**: Move to an open space. +2. **Explore the House**: Capture animal activity, especially the elusive cat. +3. **Minimize Turns**: Prioritize forward movement and avoid looping. + +### Action Plan: + +#### Step 1: Reorient and Create Some Space +1. **Turn Left 90 Degrees (150 ms)**: Orient away from the wall. +2. **Roll Forward 800 ms (32 inches)**: Move forward to clear the space below the table. + +#### Step 2: Scan and Assess +1. **Pause & Scan for 2000 ms (2 sec)**: Observe the new environment for obstacles and potential sightings of the cat. + +#### Step 3: Ensure Forward Progress +1. **Turn Right 45 Degrees (150 ms)**: Align towards potentially more open space. +2. **Roll Forward 1000 ms (40 inches)**: Move forward to extend into a more open and visible area. + +### Next Action Sequence: +1. `turn: "left", time: 150` + +1725056942.4074595|### Observations and Context: +We're currently beneath a table facing a wall, with limited visibility and several obstacles nearby: +1. **Purple Vacuum Cleaner** on the right. +2. **Cat Tower** (partially visible, right). +3. **Small Toys** scattered around. +4. **Colorful Storage Unit** nearby. +5. **Table Legs** creating barriers. + +### Goals: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Capture animal activity, especially any cats. +3. **Minimize Turns**: Focus on forward movement to avoid getting caught in loops. + +### Recent Movements: +There have been multiple left and right turns combined with short forward movements, suggesting potential looping + +### Immediate Action Plan: + +#### Step 1: Reorient and Move from Current Position +1. **Turn Left 90 Degrees (150 ms)**: Reorient away from the wall to a potentially more open space in the room. +2. **Roll Forward 800 ms (32 inches)**: Move forward to clear the space below the table. + +#### Step 2: Assess New Surroundings +1. **Pause & Scan for 2000 ms (2 sec)**: Observe the new environment for obstacles, potential paths, and possible animal sightings. + +#### Step 3: Keep Moving Forward +1. **Turn Right 45 Degrees (150 ms)**: Slight pivot to avoid constantly moving in loops. +2. **Roll Forward 100 +1725056967.8115966|### Current Observations: + +- **Position**: Beneath a table, facing a wall. +- **Nearby Objects**: + 1. **Purple Vacuum Cleaner** (right) + 2. **Cat Tower** (partially visible, right) + 3. **Small Toys** (scattered around) + 4. **Colorful Storage Unit** + 5. **Table Legs** + +### Historical Movements: +- Previous instructions have involved multiple left and right turns, causing potential looping without much forward progress. + +### Immediate Action Plan: + +#### Step 1: Reorient and Move from Current Position +1. **Turn Left 90 Degrees (150 ms)**: This reorientates us away from the wall. +2. **Roll Forward 800 ms (32 inches)**: This movement will help us clear the space beneath the table and gain a new perspective of the room. + +#### Step 2: Evaluate New Surroundings +1. **Pause & Scan for 2000 ms (2 sec)**: Observe the new environment for obstacles and potential feline sightings. + +#### Step 3: Continue Forward Progress +1. **Turn Right 45 Degrees (150 ms)**: Perform a slight pivot to face a potentially more open area. +2. **Roll Forward 1000 ms (40 inches)**: Continue moving forward, placing priority on escaping the hallway and exploring a more open space. + +### Next Action Sequence: +1. `move: "left", time: +1725057000.1421518|### David Attenbot's Escape and Exploration Plan + +#### Current Context: +We're beneath a table, facing a wall, with limited visibility. Several objects are around: + +1. **Purple Vacuum Cleaner** (right) +2. **Cat Tower** (partially visible, right) +3. **Small Toys** (scattered) +4. **Colorful Storage Unit** +5. **Table Legs** as barriers + +### Goals: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Capture animal activity, especially any cats. +3. **Minimize Turns**: Focus on forward movement and avoid getting caught in loops. + +### Next Moves: +1. **Immediate Reorientation and Movement:** + - **Turn Left 90 Degrees (150 ms)**: This will face us toward a more open space. + - **Roll Forward 800 ms (32 inches)**: Move from beneath the table to improve our visibility and situation. + +2. **Assess New Surroundings:** + - **Pause & Scan for 2000 ms (2 sec)**: Observe the new environment for obstacles, potential paths, and any animal sightings. + +3. **Ensure Forward Progress:** + - **Turn Right 45 Degrees (150 ms)**: Pivot slightly to avoid repetitive looping while directing towards a more open area. + - **Roll Forward 1000 ms (40 inches)**: Continue moving forward to secure an open and broader perspective. + +### Next +1725057026.4924188|### Escape and Exploration Plan + +#### Current Context: +We're beneath a table, facing a wall with several objects nearby making navigation difficult: +1. **Purple Vacuum Cleaner** on the right +2. **Cat Tower** partially visible on the right +3. **Small Toys** scattered around +4. **Colorful Storage Unit** +5. **Table Legs** creating barriers + +### Objectives: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Capture animal activity, especially any cats. +3. **Minimize Turns**: Focus on forward movement and avoid getting caught in loops. + +### Action Plan: + +#### Step 1: Initial Reorientation and Movement +1. **Turn Right 90 Degrees (150 ms)** + - Objective: Change orientation towards a potentially more open space. +2. **Roll Forward 800 ms (32 inches)** + - Objective: Move forward from beneath the table to improve the visibility and situation. + +#### Step 2: Evaluate New Surroundings +1. **Pause & Scan for 2000 ms (2 sec)** + - Objective: Observe the new environment, assess for obstacles, and look for any potential sightings of the elusive cat. + +#### Step 3: Continue Forward Progress +1. **Turn Right 45 Degrees (150 ms)** + - Objective: Perform a slight pivot to face a more open area and avoid repetitive paths. +2. **Roll Forward 1000 ms ( +1725057054.0302868|### Current Observations: + +- **Location**: Beneath a table, facing a wall. +- **Nearby Objects**: + 1. **Purple Vacuum Cleaner** (right) + 2. **Cat Tower** (partially visible, right) + 3. **Small Toys** (scattered) + 4. **Colorful Storage Unit** + 5. **Table Legs** (creating barriers) + +### Goals: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Capture animal activity, especially any cats. +3. **Minimize Turns**: Focus on forward movement to avoid loops. + +### Immediate Action Plan: + +#### Step 1: Reorient and Move from Current Position +1. **Turn Right 90 Degrees (150 ms)**: Orient away from the wall. +2. **Roll Forward 800 ms (32 inches)**: Move forward from beneath the table. + +#### Step 2: Assess New Surroundings +1. **Pause & Scan for 2000 ms (2 sec)**: Observe the environment for obstacles and potential animal sightings. + +#### Step 3: Ensure Forward Progress +1. **Turn Right 45 Degrees (150 ms)**: Perform a slight pivot towards an open area. +2. **Roll Forward 1000 ms (40 inches)**: Continue moving forward towards an open and broader perspective. + +### Next Action Sequence: +1. `move: "right", time: +1725057090.1693237|### David Attenbot's Escape and Exploration Plan + +#### Current Context: +We're beneath a table, facing a wall with several objects nearby which make navigation challenging: +1. **Purple Vacuum Cleaner** on the right +2. **Cat Tower** (partially visible) on the right +3. **Small Toys** scattered around +4. **Colorful Storage Unit** +5. **Table Legs** creating barriers + +### Goals: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Capture animal activity, especially cats. +3. **Minimize Turns**: Reduce repetitive movements and prioritize forward progression. + +### Immediate Action Plan: + +#### Step 1: Reorient and Move from Current Position +1. **Turn Left 90 Degrees (150 ms)** +2. **Roll Forward 800 ms (32 inches)** + +#### Step 2: Evaluate New Surroundings +1. **Pause & Scan for 2000 ms (2 sec)** + +#### Step 3: Ensure Forward Progress +1. **Turn Right 45 Degrees (150 ms)** +2. **Roll Forward 1000 ms (40 inches)** + +### Next Action Sequence: +1. `move: "left", time: 150` +2. `move: "forward", time: 800` +3. `move: "hold", time: 2000` +4. `move: "right", time: 150` +5. ` +1725057116.9070294|### David Attenbot's Escape and Exploration Plan + +#### Current Context: +We are beneath a table, facing a wall, which limits our view. Nearby objects pose navigational challenges: +1. **Purple Vacuum Cleaner** on the right +2. **Cat Tower** partially visible on the right +3. **Small Toys** scattered around +4. **Colorful Storage Unit** +5. **Table Legs** creating barriers + +#### Goals: +1. **Escape the Hallway**: Move into an open space. +2. **Explore the House**: Capture any animal activity, particularly cats, on camera. +3. **Minimize Turns**: Prioritize forward movement to avoid getting caught in loops. + +#### Immediate Action Plan: + +1. **Reorient and Move from Current Position:** + - **Turn Left 90 Degrees (150 ms)**: To orient away from the wall and face a potentially open space. + - **Roll Forward 1000 ms (40 inches)**: Move forward to clear the space beneath the table and gain a new perspective. + +2. **Assess New Surroundings Regularly:** + - **Pause & Scan for 2000 ms (2 sec)**: Halt to observe the new environment, assessing for obstacles and potential animal sightings. + +3. **Ensure Forward Progress:** + - **Turn Right 45 Degrees (150 ms)**: Slight pivot towards more open area. + - **Roll Forward 1000 ms (40 inches)**: Continue moving +1725057148.1346087|## Action Plan + +**Current Observations:** +- Facing a black chair leg. +- Cat toy to the left. +- Orange cat peeking from a corner. +- Small robot figure in the distance. +- Bright daylight through the window. + +**Objectives:** +- Avoid getting stuck in corners or going in circles. +- Move forward and explore the house. +- Keep any animals in the camera frame if possible. + +**Step-by-Step Plan:** + +1. **Turn Left:** Turn the rover left to align with where the cat toy and potentially the orange cat are located. + +2. **Move Forward:** Roll forward several inches towards the cat toy. + +3. **Observe the Cat:** Adjust the camera to keep the orange cat in frame if possible. + +4. **Turn Slightly Right:** If facing the wall or corner, turn slightly right to widen the exploratory path. + +5. **Move Forward:** Advance further in the new direction to explore more of the house. + +6. **Adjust Camera Angle as Needed:** Observe surroundings and keep animals in frame if possible. + +7. **Turn Left if Near Another Obstacle:** If approaching a new obstacle, slightly turn left to navigate around it. + +**Details for Execution:** +- Start with 90° left turn to face the cat toy. +- Move forward about 12 inches. +- If still seeing the orange cat, pan camera to keep it in view. +- Slight right turn if facing a wall or corner. +- Move forward another 12 +1725057170.3286579|### Current Observations Recap: +- Black chair leg directly in front. +- Cat toy to the left. +- Orange cat peeking from a corner. +- Small robot figure in the distance. +- Bright daylight through the window. + +### Goal: +Navigate out of the hallway and explore the house, keeping the orange cat (or any animals) in the camera frame. + +### Immediate Actions: + +1. **Turn Left:** Execute a 90° left turn to face the cat toy and orange cat. +2. **Move Forward:** Roll forward approximately 12 inches towards the cat toy. +3. **Observe the Cat:** Adjust the camera to keep the orange cat in frame as much as possible. +4. **Turn Slightly Right:** If facing the wall or a corner, turn slightly right to open up the exploratory path. +5. **Move Forward:** Continue moving forward another 12 inches to further explore the area. +6. **Adjust Camera Angle as Needed:** Continuously observe surroundings and keep the orange cat or any other animals in frame. +7. **Correct Course:** If nearing an obstacle, turn slightly to navigate around it rather than getting stuck or turning in circles. + +### Detailed Instructions: + +1. **Turn Left 90°:** + - `move: "left", time: 1500` + +2. **Move Forward 12 inches:** + - `move: "forward", time: 1500` + +3. **Adjust Camera for Cat:** + - ` +1725057193.8873155|### Current Observations Recap: + +- Black chair leg directly in front. +- Cat toy to the left. +- Orange cat peeking from a corner. +- Small robot figure in the distance. +- Bright daylight through the window. + +### Goal: + +Navigate out of the hallway and explore the house, keeping the orange cat (or any animals) in the camera frame. + +### Immediate Actions: + +1. **Turn Left 90°:** Directly face the cat toy and orange cat. +2. **Move Forward 12 inches:** Roll forward towards the cat toy. +3. **Observe and Adjust:-** Ensure the orange cat remains in frame. +4. **Move Forward 12 inches:** Continue advancing to explore further. + +### Detailed Instructions: + +1. **Turn Left 90°:** + ``` + move: "left", time: 1500 + ``` + +2. **Move Forward 12 inches:** + ``` + move: "forward", time: 1500 + ``` + +3. **Observe and Adjust for Cat:** + ``` + move: "hold", time: 2000 + ``` + +4. **Move Forward 12 inches:** + ``` + move: "forward", time: 1500 + ``` + +### Overall Strategy: + +- Focus on moving out of the hallway by progressing in incremental steps. +- Keep the orange cat in view to ensure we can document its behavior. +- Avoid repetitive left and right turns which might result in +1725057221.0181525|### Interpreted Observations: + +- **Current Situation:** The rover is facing a couch in a cozy living room, with a small table leg visible to the left. The environment is brightly lit, indicating daylight. No animals are currently in the camera frame. +- **Last Known Location:** The rover moved forward and faced the couch, which suggests it's getting closer to the center of the living room. +- **Objective:** Navigate around the couch and explore more of the house to look for animals. Avoid getting stuck and ensure to move forward as much as possible. + +### Strategic Adjustments: + +Given the observations and the location of the obstacles: + +1. **Turn Right 90°:** Realign the rover to face an open space to explore further. +2. **Move Forward 12 inches:** Continue moving forward to explore the new open area. +3. **Observe the Environment:** Pause briefly to scan for any animals or new obstacles. +4. **Adjust Course if Needed:** Based on the new observations, decide whether to move forward again or make minor adjustments to avoid new obstacles. + +### Detailed Instructions: + +1. **Turn Right 90°:** + ``` + move: "right", time: 1500 + ``` + +2. **Move Forward 12 inches:** + ``` + move: "forward", time: 1500 + ``` + +3. **Hold and Observe:** + ``` + move: "hold", time: 2000 + ``` + +4. +1725057266.4674482|Alright, let's track that cat for our documentary! Here's the plan: + +1. **Move forward a few inches** – This will give us a bit more clarity on our surroundings. +2. **Slightly turn left** – Since we initially noted that we may need to adjust slightly to better see the cat, a slight left turn should help. +3. **Move forward a couple of inches more** – This step will help us get closer to the cat and the bright doorway ahead. + +Keep an eye on the environment to ensure we're not hitting any obstacles. If we encounter any, we can adjust accordingly: + +- **If we get stuck or are too close to a wall**, we'll roll backwards a little to reposition ourselves. +- **If needed, we can make slight turns** (left or right) to keep the cat in our camera frame. + +The primary goal is to keep moving forward, avoiding getting trapped in loops or corners, and ensuring we always have the cat in view. Let's go! + +### Translated Instructions for Rover: +1. **Move forward 4 inches**. +2. **Turn left slightly (10 degrees)**. +3. **Move forward 4 inches**. + +Onward, to cat adventures! +1725057286.8882577|Great progress so far! Based on the current observations and the objects around, it seems like you have a clear path ahead, but we should stay vigilant regarding the objects scattered around. + +Since we need to get a better view ahead and look for our feline subject, let's proceed with the following steps: + +1. **Move forward 6 inches** – This will help us get closer to the bright doorway and potentially to where the cat might be. +2. **Slightly turn left (10 degrees)** – This will give us a slightly better angle to scout for the cat. +3. **Move forward 4 inches** – To advance nearer towards the potential sunlit area which cats love. +4. **Pause momentarily (1 second)** – To assess the view and check if we've spotted the cat. + +If we encounter any obstacles or get close to hitting any, we can adjust accordingly: + +- **If stuck on an obstacle, roll backwards 2 inches** to reposition. +- **If needed, make slight turns** to keep the cat in the frame or to avoid obstacles. + +Let's proceed carefully yet confidently to ensure we have a clear view ahead and hopefully spot the cat! + +### Next Moves: +1. Move forward 6 inches. +2. Turn slightly left (10 degrees). +3. Move forward 4 inches. +4. Pause for 1 second. +1725057309.152347|### Current Observations Analysis: +- **Destination:** The bright doorway remains our primary target; it's a potential hotspot for our cat sighting. +- **Obstacles Identified:** + - Small table near the doorway. + - A pink cat toy on the floor. + - Blue storage box further off in the distance. + - Miscellaneous toys/items scattered, including a notable small green object. + +### Objective: +Move forward towards the bright doorway while avoiding being stuck or entering loops. The goal is to maintain forward progress and keep any animals in the camera view. + +### Next Action Plan: +1. **Move forward 6 inches** – This will draw us closer to the doorway. +2. **Turn slightly left (10 degrees)** – This should optimize our view towards any activity around the doorway. +3. **Move forward 4 inches** – Closer still to the potential play area while maintaining a careful approach. +4. **Pause for 1 second** – This time, assess for the cat presence and check our surroundings for obstacles. + +### If Obstacles Detected or Movement Halted: +- **If stuck or encountering an obstacle:** + 1. **Roll backwards 2 inches** – To reposition. + 2. **Turn slightly right (10 degrees)** – To realign our path. + 3. **Move forward 4 inches** – To continue towards the primary target or adjust as needed based on new alignment. + +### Encouragement for Forward Movement: +- Prior +1725057334.9242568|### Current Observations Analysis: +- **Destination:** The bright doorway ahead is still our primary target. It's a potential hotspot for spotting our feline subject basking in the sunlight. +- **Obstacles Identified:** + - Small table to the left. + - Pink cat toy on the floor. + - Blue storage box further away. + - A few scattered miscellaneous toys including a small green object. +- **Movement:** Slight movement near the doorway, suggesting the possible presence of a cat. + +### Objective: +Move forward towards the bright doorway while avoiding being stuck or entering into loops. The goal is to maintain forward progress and keep any animals in the camera view. + +### Next Action Plan: +1. **Move forward 6 inches** – This will close the gap to the doorway and the sunny spot while keeping an eye on the cat. +2. **Turn slightly left (10 degrees)** – This should give us a better angle towards the doorway to clearly view any activity. +3. **Move forward 4 inches** – This will further bring us closer to the bright sunny spot where the cat might be. +4. **Pause for 1 second** – To assess if our subject is in view and check surroundings for additional obstacles. + +### Adjustment Plan if Obstacles Detected: +- **If stuck or encountering an obstacle:** + 1. **Roll backwards 2 inches**. + 2. **Turn slightly right (10 degrees)** to readjust our path. + 3. +1725057362.109616|### Analysis of Current Observations: + +The bright doorway ahead is a prime location for spotting our feline friend basking in the sunlight. Notable items in the environment include a small table to the left, a pink cat toy, a blue storage box farther away, and some scattered miscellaneous toys, one of which is a small green object. There also appears to be some movement near the doorway, likely the cat we are looking for. + +### Current Position: +I'm facing the bright doorway with several objects near my path, but there seems to be a clear path directly towards the doorway. + +### Next Moves: +To proceed efficiently and avoid getting stuck or entering loops, I'll follow these steps: + +1. **Move forward 6 inches** – This should bring me closer to the doorway. +2. **Turn left slightly (10 degrees)** – To optimize the view towards the doorway. +3. **Move forward 4 inches** – To get even closer to the bright doorway. +4. **Pause for 1 second** – To assess visibility of the cat and the surrounding area. + +### Adjustments if Obstacles Encountered: +- **If I encounter an obstacle or get stuck:** + 1. **Roll backwards 2 inches** – To reposition. + 2. **Turn slightly right (10 degrees)** – To adjust the trajectory. + 3. **Move forward 4 inches** – To continue towards the primary target. + +### Encouragement to Avoid Loops: +- Avoid repetitive left and right +1725057393.3888657|### Current Context and Plan for the Rover Exploration: + +Given the observations: + +1. **Destination:** Bright doorway ahead – a potential spot for our cat subject. +2. **Obstacles:** Small table on the left, pink cat toy, blue storage box, small green object, fluffy ball. + +### Current Position: +Facing the bright doorway. Slightly to the left is a small table. There is no immediate obstacle ahead. + +### Movement Plan: +To navigate efficiently towards the doorway and potentially spot the cat, follow this structured sequence: + +1. **Move forward 6 inches** – This positions us closer to the target area near the doorway. +2. **Turn slightly left (10 degrees)** – To align the view better towards the bright doorway. +3. **Move forward 4 inches** – Approaching nearer to the doorway and any potential activity. +4. **Pause for 1 second** – Assess the surroundings and look for the cat or any new obstacles. + +### Strategie If Obstacles Are Encountered: +- **Immediate Action:** + 1. **Roll backwards 2 inches** – Create space from any obstacle. + 2. **Turn slightly right (10 degrees)** – Realign the direction. + 3. **Move forward 4 inches** – Continue progression towards the doorway. + +### Additional Points to Consider: +- Avoid repetitive turning to prevent loop traps. Stick with predominantly forward movement. +- Use slight turns by decree only if absolutely stuck or near obstacles. +- Prioritize moving +1725057418.7802596|### Observations and Context: + +Based on the provided information: + +- **Primary Goal:** Reach the bright doorway ahead to potentially spot the cat. +- **Environment:** Contains a small table to the left, a pink cat toy, a blue storage box, and other miscellaneous objects like a small green object and a fluffy ball. +- Recent movements indicate a tendency to repeat left turns, leading to potential looping behavior. + +### Strategy: + +To avoid getting stuck and to continue making forward progress, we need a clear and straightforward set of movements. Our primary objective is to reach the bright doorway and capture any animal activity. + +### Action Plan: + +1. **Move forward 6 inches** – Continue progressing towards the target doorway. +2. **Turn slightly left (10 degrees)** – Optimize our viewpoint towards the doorway. +3. **Move forward 4 inches** – Get closer to the sunny area. +4. **Pause for 1 second** – Assess the surroundings for the cat and any obstacles. + +### Adjustment Plan: + +**If an obstacle is encountered:** +1. **Roll backwards 2 inches** – To prevent getting stuck. +2. **Turn slightly right (10 degrees)** – To realign our path and avoid repetitive left turns. +3. **Move forward 4 inches** – Continue moving towards the target. + +> Any sign of looping should prompt more forward movements or adjustments to prevent getting trapped in circular patterns. + +### Next Moves: + +1. **Move forward 450 ms** – (~6 inches forward) + +1725057445.9823668|### Observations from David Attenbot: + +I see a clear path ahead! Currently, I'm focused on a white speaker labeled "Jamo." It's positioned on a wooden base, and I can spot some wires beneath a table nearby. No obstacles are directly in my immediate path, so I should proceed towards the bright doorway. + +### Current Object Inventory: +- White speaker (Jamo) +- Small green object +- Pink cat toy +- Blue storage box (further away) +- Fluffy ball +- Small table (to the left) +- Miscellaneous toys/items scattered around + +### Direction and Next Move: +My current goal is to explore the house, focusing on moving forward to avoid getting caught in loops. We should make sure our movements progress toward the bright doorway where the cat might be. + +### Updated Action Plan: +1. **Move forward 6 inches** – To get closer to the doorway and the sunny spot where the cat might be. +2. **Turn left slightly (10 degrees)** – To align our view better with the doorway. +3. **Move forward 4 inches** – Continue moving towards the target. +4. **Pause for 1 second** – To assess if the cat or any new obstacles are in view. + +### Adjustment Plan If an Obstacle Is Encountered: +**If an obstacle is detected or we get stuck:** +1. **Roll backwards 2 inches** – To create space from any obstacle. +2. **Turn slightly right (10 degrees)** +1725057470.9154606|### Detailed Plan for Rover's Movement + +#### Observations: +- The path ahead appears clear, with no immediate obstacles. +- Notable objects include a white speaker ("Jamo"), wires beneath a nearby table, a small green object, a pink cat toy, and a blue storage box. +- The primary target remains the bright doorway, a likely hotspot for feline activity. + +### Current Situation: +Facing directly toward the white Jamo speaker with no immediate obstacles, suggesting a clear path forward. + +### Next Moves: +To efficiently progress toward the bright doorway and avoid repetitive left turns, follow these steps: + +1. **Move forward 450 ms** – (~6 inches). +2. **Turn left 150 ms** – (~10 degrees) to adjust the viewpoint towards the doorway. +3. **Move forward 300 ms** – (~4 inches) to approach closer to the doorway. +4. **Pause time 1000 ms** – (1 second) to assess surroundings and check for the cat or obstacles. + +### Adjustment Plan: +If an obstacle is encountered or movement is halted: +1. **Roll backward 300 ms** – (~2 inches) to create space. +2. **Turn right 150 ms** – (~10 degrees) to realign trajectory. +3. **Move forward 300 ms** – (~4 inches) to continue progressing towards the target. + +### Additional Considerations: +- **Avoid Loops:** Aim for more forward movements to prevent getting caught in circular patterns. +- **Obstacle +1725057496.5731182|### Observations: + +Currently, our view is centered on a white speaker labeled "Jamo" sitting on a wooden base, with no immediate obstacles directly in front. Based on previous movements, our path towards the bright doorway remains clear with some objects scattered around the room. These include a small green object, a pink cat toy, a blue storage box, a fluffy ball, and a nearby small table. + +### Current Focus: +Our goal is to move towards the bright doorway, where we suspect our cat subject might be basking in the sunlight. We need to continue moving forward, avoiding loops or getting stuck near obstacles. + +### Action Plan: + +1. **Move forward 450 ms** – This will translate to approximately 6 inches forward, pushing us closer to the doorway. +2. **Turn left 150 ms** – Adjusting by about 10 degrees to focus better towards the bright doorway. +3. **Move forward 300 ms** – Moving ahead around 4 inches to continue towards the potential cat sighting area. +4. **Pause 1000 ms** – A 1-second pause to reassess the scene for the cat and any new obstacles. + +### Adjustment Plan if Obstacles Encountered: + +If an obstacle is detected or movement is halted: +1. **Roll backward 300 ms** – (~2 inches) to create space from any immediate obstacle. +2. **Turn right 150 ms** – (~10 degrees) to realign our path away from circular loops. + +1725057523.4722488|### Analysis and Observations + +Our goal is still to explore the house and find the cat. Currently, the view is focused on a white speaker labeled "Jamo" on a wooden base, with no immediate obstacles in front. Essential objects around include the white speaker ("Jamo"), a small green object, a pink cat toy, a blue storage box, and a fluffy ball. We aim to avoid getting stuck or caught in repetitive loops. + +### Current Position: + +Facing the white Jamo speaker, the path ahead appears clear with a straightforward route towards the bright doorway, our potential hotspot for spotting the feline subject. + +### Plan of Action: + +Given the observations and the fact that we have been turning left consistently leading to potential loops, let's alter the plan to maintain predominantly forward movements with necessary minimal adjustments. + +#### Step-by-Step Moves: + +1. **Move forward 450 ms** (~6 inches) to close the distance towards the bright doorway. +2. **Turn right 150 ms** (~10 degrees) to correct the left-turn bias and realign towards a clearer path. +3. **Move forward 300 ms** (~4 inches) to further advance towards the target doorway. +4. **Pause for 1000 ms** (1 second) to observe the surroundings and look for potential cat sightings. + +#### If Obstacles or Stuck: + +1. **Roll backward 300 ms** (~2 inches) to create space and avoid obstacles. +2. **Turn right 150 ms** (~10 +1725057550.8043504|### Observations and Immediate Action Plan + +Based on the current observations and data provided: + +- **Focus Object:** White speaker labeled "Jamo." +- **Objects in the Environment:** A small green object, pink cat toy, blue storage box, fluffy ball, and a small table on the left. +- **Current Orientation:** The path ahead is clear, with no immediate obstacles. + +### Primary Goal: +Move towards the bright doorway potentially housing the elusive cat. + +### Corrective Measures: +- Previous movements have involved excessive left turns leading to potential looping behaviors. We must optimize forward movements and avoid getting caught in repetitive patterns. + +### Detailed Movement Plan: + +#### Forward Movement and Correction Steps: + +1. **Move forward 450 ms** – This will move us approximately 6 inches towards the bright doorway. +2. **Turn right 150 ms** – Adjust the viewpoint to avoid repetitive left-turn loops and realign towards the doorway. +3. **Move forward 300 ms** – Continue the approach towards the target doorway. +4. **Pause for 1000 ms** – Take a moment to reassess the scene for any signs of the cat or new obstacles. + +#### If Obstacles or Stuck: + +1. **Roll backward 300 ms** – (~2 inches) to create space. +2. **Turn right 150 ms** – (~10 degrees) to realign direction and avoid getting caught in loops. +3. **Move forward 300 ms** – (~4 inches) to proceed towards the +1725057577.9562607|### Current Observations and Movement Strategy + +**Observations:** +- Focus on the white speaker labeled "Jamo" with a clear path ahead. +- Objects in the environment include a small green object, a pink cat toy, blue storage box, fluffy ball, and small table to the left. +- Recent movements suggest a tendency for left turns leading to potential loops. + +### Current Position: +- Facing the white Jamo speaker with a clear route towards the bright doorway, which is our suspected location for the cat. + +### Focused Plan: +- Prioritize forward movement to efficiently reach the bright doorway. +- Correct the left-turn bias and avoid repetitive loops. + +### Specific Movement Instructions: + +**Plan of Action:** +1. **Move forward 450 ms** – Advance ~6 inches towards the bright doorway. +2. **Turn right 150 ms** – Correct trajectory to avoid left turn loops. +3. **Move forward 300 ms** – Further approach towards the target area. +4. **Pause for 1000 ms** – Reassess surroundings for any signs of the cat or obstacles. + +**If an obstacle is encountered:** +1. **Roll backward 300 ms** – Create ~2 inches of space from any obstacle. +2. **Turn right 150 ms** – Realign path to avoid circling. +3. **Move forward 300 ms** – Continue towards the bright doorway. + +### Summary: +Focus on advancing towards the bright doorway, correct the left-turn tendency by integrating +1725057603.9078846|### Analysis of Current Observations + +Firstly, it's great that there are no immediate obstacles in front of me and that the pathway towards the bright doorway is clear. Here’s a quick recap: +- Primary Goal: Move towards the bright doorway to find the cat. +- Notable Objects: White speaker ("Jamo"), small green object, pink cat toy, blue storage box, fluffy ball, and a small table to the left. + +### Observations: +- Clear path ahead. +- Previous moves indicate a potential for looping, especially with repetitive left turns. +- To break this pattern, corrections need to be made. + +### Updated Movement Strategy: + +#### Forward Movement and Corrections: +1. **Move forward 450 ms** (~6 inches) – Advance closer to the bright doorway. +2. **Turn right 150 ms** (~10 degrees) – Correct trajectory to avoid left-turn loops. +3. **Move forward 300 ms** (~4 inches) – Further approach the bright doorway. +4. **Pause for 1000 ms** (1 second) – Reassess the scene for the cat or any new obstacles. + +#### If an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space. +2. **Turn right 150 ms** (~10 degrees) – Realign path to avoid looping. +3. **Move forward 300 ms** (~4 inches) – Continue advancing towards the bright doorway. + +#### Additional Notes: +- Avoid the +1725057628.3809395|### Comprehensive Plan for Rover's Movement + +### Observations: +- Focus: White speaker labeled "Jamo" with a clear path ahead. +- Objects: Small green object, pink cat toy, blue storage box, fluffy ball, small table (to the left). +- Current Position: Clear route towards the bright doorway, potential cat hotspot. +- Prior Movements: Potential left-turn bias leading to loops. + +### Goal: +Move towards the bright doorway effectively while avoiding loops and keeping potential cat sightings in view. + +### Action Plan: + +**Step-by-Step Instructions:** +1. **Move forward 450 ms** (~6 inches) – Advance towards the bright doorway. +2. **Turn right 150 ms** (~10 degrees) – Correct trajectory and avoid left-turn loops. +3. **Move forward 300 ms** (~4 inches) – Further advance towards the target doorway. +4. **Pause for 1000 ms** (1 second) – Observe surroundings for any cat sightings or obstacles. + +**Adjustment Plan for Obstacles:** +- **If an obstacle is detected or movement is halted:** + 1. **Roll backward 300 ms** (~2 inches) – Create space. + 2. **Turn right 150 ms** (~10 degrees) – Realign and avoid loops. + 3. **Move forward 300 ms** (~4 inches) – Continue progression towards the target. + +### Important Notes: +- **Avoid Loops:** Prioritize forward movement to prevent getting +1725057655.498919|### Detailed Movement Plan Based on Observations + +**Primary Objective:** Move towards the bright doorway to potentially spot the cat. + +**Current Focus:** +- White speaker labeled "Jamo." +- Pathway is clear, no immediate obstacles directly in front. +- Previous movements have shown a left-turn bias leading to potential loops. + +### Inventory of Objects: +1. White speaker ("Jamo") +2. Small green object +3. Pink cat toy +4. Blue storage box +5. Fluffy ball +6. Small table (to the left) + +### Next Steps: + +**Action Plan:** +1. **Move forward 450 ms** (~6 inches) to advance closer to the bright doorway. +2. **Turn right 150 ms** (~10 degrees) to correct trajectory and avoid repetitive left-turn loops. +3. **Move forward 300 ms** (~4 inches) to further advance towards the bright doorway. +4. **Pause 1000 ms** (1 second) to reassess surroundings for potential cat sightings or obstacles. + +### Adjustment Plan if an Obstacle is Encountered: +**If stuck or encountering an obstacle:** +1. **Roll backward 300 ms** (~2 inches) to create some space. +2. **Turn right 150 ms** (~10 degrees) to readjust direction. +3. **Move forward 300 ms** (~4 inches) to resume progress towards the bright doorway. + +### Notes: +- **Avoid Getting in a Loop:** Focus on forward +1725057683.438747|### Comprehensive Strategy and Movement Plan + +### Current Observations and Environment: +- **Focused Object:** White speaker labeled "Jamo." +- **Pathway:** Clear, no immediate obstacles directly ahead. +- **Objects:** + - Small green object + - Pink cat toy + - Blue storage box + - Fluffy ball + - Small table to the left + +### Objective: +Move towards the bright doorway where the cat might be, while avoiding getting stuck or entering into loops. + +### Analysis: +- Avoid repetitive left turns. +- Emphasize forward progress. + +### Action Plan: + +1. **Move forward 450 ms** (~6 inches) – This will bring us closer to the bright doorway without any immediate adjustments in direction. +2. **Pause for 1000 ms** (1 second) – Observe surroundings for any potential cat sightings or new obstacles. +3. **Turn right 150 ms** (~10 degrees) – Avoid left-turn bias and adjust trajectory. +4. **Move forward 450 ms** (~6 inches) – Continue advancing towards the bright doorway. + +### Adjustment Plan if an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign path to avoid the obstacle and prevent loops. +3. **Move forward 450 ms** (~6 inches) – Resume forward movement towards the target. + +--- + +### Script of Commands +1725057709.8202782|### David Attenbot's Detailed Movement Plan + +#### Current Observations: +- The pathway ahead is clear, leading towards the bright doorway. +- Objects in vicinity: White speaker labeled "Jamo," small green object, pink cat toy, blue storage box, fluffy ball, and a small table to the left. +- Recent patterns show a left-turn bias leading to potential looping behavior. + +### Primary Objective: +Move towards the bright doorway to potentially spot the cat while avoiding repetitive loop behavior and ensuring continuous forward movement. + +### Action Plan: + +1. **Move forward 450 ms** (~6 inches) to advance closer to the bright doorway. +2. **Pause for 1000 ms** (1 second) to reassess the scene for any cat sightings or new obstacles. + +#### If an Obstacle is Encountered: +- **Roll backward 300 ms** (~2 inches) to create space. +- **Turn right 150 ms** (~10 degrees) to realign direction and prevent loops. +- **Move forward 450 ms** (~6 inches) to continue towards the bright doorway. + +### Notes for Avoiding Loops: +- Focus on forward movement. +- Make adjustments only if an obstacle is detected or if we're stuck. + +### Summary: +1. **Move forward 450 ms** +2. **Pause for 1000 ms** +3. If an obstacle is encountered: + - **Roll backward 300 ms** + - **Turn right 150 ms** + - **Move forward +1725057735.824254|### David Attenbot’s Comprehensive Movement Plan + +#### Current Observations and Context: + +I’m following a clear path leading to a promising bright doorway without immediate obstacles. Here's a summary of the environment: +- **Notable Objects:** White speaker ("Jamo"), small green object, pink cat toy, blue storage box, fluffy ball, small table (to the left). + +#### Primary Goal: +Maintain forward progression towards the bright doorway to potentially spot the cat. Ensure to avoid repetitive maneuvering that could lead to loops. + +### Step-by-Step Action Plan: + +1. **Move forward 450 ms** (~6 inches) – Progress towards the bright doorway. +2. **Pause for 1000 ms** (1 second) – Reassess surroundings for any signs of the cat or new obstacles. + +### Adjustments if Obstacles are Encountered: + +If I encounter any obstacles or get stuck: +1. **Roll backward 300 ms** (~2 inches) to create space. +2. **Turn right 150 ms** (~10 degrees) to realign path away from repetitive left turns. +3. **Move forward 450 ms** (~6 inches) to continue forward progress. + +### Notes for Avoiding Loops: +- Focus on maximizing forward movements. +- Make turning adjustments only when necessary to avoid getting trapped in loops or corners. + +### Summary of Next Moves: + +1. **Move forward 450 ms** +2. **Pause for 1000 ms** + +If an obstacle is encountered: +1. +1725057758.6489675|### David Attenbot’s Next Steps + +#### Observations: +- Clear pathway towards the bright doorway. +- No immediate obstacles. + +**Objects in Environment:** +1. White speaker (Jamo) +2. Small green object +3. Pink cat toy +4. Blue storage box +5. Fluffy ball +6. Small table (to the left) + +**Current Position:** +- Facing a clear path toward the bright doorway. + +**Primary Goal:** +Move towards the bright doorway for a potential cat sighting. + +### Detailed Movement Plan: +1. **Move forward 450 ms** (~6 inches) – To advance closer to the bright doorway. +2. **Pause for 1000 ms** (1 second) – To reassess the scene for any cat sightings or new obstacles. + +**If an obstacle is encountered:** +1. **Roll backward 300 ms** (~2 inches) – To create space. +2. **Turn right 150 ms** (~10 degrees) – To realign direction and avoid getting stuck in loops. +3. **Move forward 450 ms** (~6 inches) – To continue moving towards the bright doorway. + +**Notes:** +- Avoid repetitive turns to prevent getting stuck in a loop. +- Focus on maintaining forward movement as much as possible. +- Use minimal adjustments when necessary to correct trajectory. + +### Summary of Next Moves: +1. **Move forward 450 ms** +2. **Pause for 1000 ms** + +**If an obstacle is +1725057782.5151324|### Strategic Movement Plan for David Attenbot + +#### Observations Recap: +- Clear path leading towards the bright doorway with no immediate obstacles. +- Environment includes white speaker ("Jamo"), small green object, pink cat toy, blue storage box, fluffy ball, and small table to the left. + +### Objective: +Move towards the bright doorway efficiently to potentially find the cat. Avoid getting stuck in corners or entering loops. + +### Detailed Plan: +To prevent the risk of entering repetitive loops, avoid unnecessary left turns and focus more on forward movement. + +#### Next Steps: +1. **Move forward 450 ms** (~6 inches) – Advance towards the bright doorway. +2. **Pause for 1000 ms** (1 second) – Reassess surroundings for any signs of the cat or new obstacles. + +### Adjustment Strategy: +**If an obstacle is encountered:** +1. **Roll backward 300 ms** (~2 inches) – Create space to avoid the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Adjust direction to realign toward the bright doorway. +3. **Move forward 450 ms** (~6 inches) – Continue advancing towards the bright doorway. + +#### Summary of Commands: +1. **Move forward 450 ms** +2. **Pause for 1000 ms** + +**If an obstacle is encountered:** +1. **Roll backward 300 ms** +2. **Turn right 150 ms** +3. **Move forward 450 ms** + +--- + +This +1725057807.5564191|### David Attenbot’s Next Moves + +With the current pathway seeming unobstructed, our primary goal remains to reach the bright doorway where we might find the cat. Given the tendency towards repetitive turning and potential loops, let's focus strongly on forward movement with minimal, necessary corrections. + +### Observations: +- Clear path towards the bright doorway. +- Key environmental objects: white speaker (Jamo), small green object, pink cat toy, blue storage box, fluffy ball, and a small table to the left. + +### Goal: +Move effectively towards the bright doorway, avoid getting stuck in loops, and maintain clear visibility for any potential cat sightings. + +### Action Plan: + +1. **Move forward 450 ms** (~6 inches) – This will get us closer to the bright doorway. +2. **Pause for 1000 ms** – Reassess the scenario for cat sightings or new obstacles. + +### If an obstacle is encountered: +1. **Roll backward 300 ms** (~2 inches) – To create space. +2. **Turn right 150 ms** (~10 degrees) – Correct and realign direction to prevent loops. +3. **Move forward 450 ms** (~6 inches) – Continue towards the doorway. + +### Summary of Commands: +1. Move forward 450 ms +2. Pause for 1000 ms + +**If an obstacle is encountered:** +1. Roll backward 300 ms +2. Turn right 150 ms +3. Move forward 450 ms + + +1725057839.1204398|### David Attenbot’s Updated Movement Plan + +#### Current Context and Observations: +- **Pathway:** Clear, leading towards the bright doorway. +- **Objects in Vicinity:** + - White speaker ("Jamo") + - Small green object + - Pink cat toy + - Blue storage box + - Fluffy ball + - Small table (to the left) + +### Primary Goal: +Efficiently move towards the bright doorway to potentially observe the cat. Avoid turning excessively and entering loops. Prioritize forward movement and minimal, necessary adjustments. + +### Detailed Action Plan: + +**Steps:** +1. **Move forward 450 ms** (~6 inches) – Advance closer to the bright doorway. +2. **Pause for 1000 ms** (1 second) – Observe surroundings for the cat and any new obstacles. + +**If an obstacle is encountered:** +1. **Roll backward 300 ms** (~2 inches) – Create space to avoid the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to prevent loops. +3. **Move forward 450 ms** (~6 inches) – Resume movement towards the doorway. + +### Summary of Commands: +1. **Move forward 450 ms** +2. **Pause 1000 ms** +3. **If an obstacle is encountered:** + - **Roll backward 300 ms** + - **Turn right 150 ms** + - **Move forward 450 ms** + +### +1725057863.1573925|### David Attenbot’s Next Moves Strategy + +#### Observations Recap: +- The path ahead is clear, leading towards a bright doorway. +- Objects in our environment include: + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) +- We must avoid repetitive left and right turns causing loops and prioritize forward movement. + +#### Current Goal: +Continue moving towards the bright doorway efficiently, keeping an eye out for the cat while avoiding loops and getting stuck. + +### Detailed Movement Instructions: +1. **Move forward 450 ms** (~6 inches) – Get closer to the bright doorway. +2. **Pause for 1000 ms** – Observe surroundings and check for the cat or new obstacles. + +**If an obstacle is encountered:** +1. **Roll backward 300 ms** (~2 inches) – Create space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to avoid getting stuck in loops. +3. **Move forward 450 ms** (~6 inches) – Continue progression towards the doorway. + +#### Actions to Avoid Loops and Ensure Forward Progress: +- Prioritize forward movement. +- Roll backward to create space if stuck. +- Make corrections in direction by turning only when necessary. +- Use the pause periods to reassess surroundings and look for +1725057887.9619052|### David Attenbot’s Next Moves Strategy + +Given the current observations, here’s a focused plan to ensure we efficiently reach the bright doorway and avoid getting caught in loops: + +#### Observations Recap: +- The path ahead is clear, leading towards a bright doorway. +- Objects in the environment include: + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Objective: +Efficiently move towards the bright doorway, keep an eye out for the cat, and avoid being stuck in loops or hitting obstacles. + +### Detailed Movement Instructions: + +1. **Move forward 450 ms** (~6 inches) – This will bring us closer to the bright doorway. +2. **Pause for 1000 ms** – Reevaluate the surroundings and look for the cat or new obstacles. + +**If an obstacle is encountered:** +1. **Roll backward 300 ms** (~2 inches) – Create space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to avoid getting stuck in loops. +3. **Move forward 450 ms** (~6 inches) – Continue progressing towards the doorway. + +### Notes for Avoiding Loops: +- Focus on forward movement. +- Use pauses to reassess and ensure we’re on the right track. +- Min +1725057912.6957653|### David Attenbot’s Movement Strategy + +Based on the provided observations and the goal to continue moving forward towards new areas, here is the refined movement plan to avoid loops and ensure continuous exploration: + +### Observations Recap: +- Clear pathway towards the bright doorway. +- Objects in the Environment: + 1. White Jamo speaker + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Objective: +Maintain forward movement towards the bright doorway, keeping an eye out for the cat without getting stuck in a loop or hitting obstacles. + +### Immediate Next Steps: +1. **Move forward 450 ms** (~6 inches) to get closer to the bright doorway. +2. **Pause for 1000 ms** to reassess the surroundings for the cat or new obstacles. + +### If an Obstacle is Encountered: +**Look for the cat regularly, and always keep it in frame if spotted. If I get stuck:** +1. **Roll backward 300 ms** (~2 inches) to create space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) to realign and avoid loops. +3. **Move forward 450 ms** (~6 inches) to continue progress towards the doorway. + +### Important Notes for Navigation: +- Minimize turns to avoid getting caught in loops. +- Focus on maintaining forward +1725057938.27648|### Movement Strategy for David Attenbot + +#### Current Context and Observations: +- Pathway: Clear path toward the bright doorway. +- Environment Objects: + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Objective: +Move efficiently toward the bright doorway, scan for the cat, and avoid getting stuck in loops or obstacles. + +### Detailed Movement Instructions: + +**Immediate Moves:** +1. **Move forward 450 ms** (~6 inches) – This will advance us closer to the bright doorway. +2. **Pause for 1000 ms** – Assess the scene for cat sightings or any new obstacles. + +### If an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space from any potential obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to avoid loops. +3. **Move forward 450 ms** (~6 inches) – Continue moving towards the doorway. + +### Strategy to Avoid Loops: +- Focus on maximizing forward movement. +- Use minimal turns only when necessary. +- If you encounter an obstacle, use backward movement to create space before adjusting the direction. +- Always pause and reassess the surroundings to stay aware of any new obstacles or the cat's presence. + +### Summary of Commands +1725057964.5891943|### Comprehensive Movement Strategy for David Attenbot + +### Current Observations: +- **Clear Pathway:** Leading towards the bright doorway. +- **Objects in View:** + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) +- **Repetitive Behavior:** A pattern of left and right turns indicating potential loops. + +### Objective: +Move towards the bright doorway efficiently, capturing any potential cat sightings while avoiding repetitive loops and getting stuck. + +### Detailed Instructions: + +#### Immediate Moves: +1. **Move forward 450 ms** (~6 inches) – Advance towards the bright doorway. +2. **Pause for 1000 ms** – Reassess surroundings for any cat sightings or new obstacles. + +#### If an Obstacle is Detected: +1. **Roll backward 300 ms** (~2 inches) – Create space from the obstacle. +2. **Turn left 150 ms** (~10 degrees) – Realign direction and avoid loops. +3. **Move forward 450 ms** (~6 inches) – Continue progression towards the bright doorway. + +**Adjustments for Persistent Stuck Scenarios:** +1. **Roll backward 300 ms** (~2 inches) – If the initial maneuver isn’t resolving the issue. +2. **Turn right 150 ms** (~10 degrees) – Further +1725057989.1323502|### David Attenbot’s Optimized Movement Plan + +#### Current Observations: +- Pathway ahead is clear, leading towards a bright doorway. +- Nearby objects: + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +#### Objective: +Move towards the bright doorway to potentially spot the cat, avoiding loops and ensuring continuous movement. + +### Immediate Action Plan: +1. **Move forward 450 ms** (~6 inches) – Advance towards the bright doorway. +2. **Pause for 1000 ms** (1 second) – Assess surroundings for any signs of the cat or new obstacles. + +#### If an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Adjust direction to avoid getting stuck in loops. +3. **Move forward 450 ms** (~6 inches) – Continue towards the bright doorway. + +#### Avoiding Loops: +- Emphasize forward movement. +- Use turns only when absolutely necessary to avoid obstacles. +- Maintain a balance between forward movement and minimal adjustments to ensure smooth navigation. + +### Summary of Commands: +1. **Move forward 450 ms** +2. **Pause for 1000 ms** + +**If an obstacle is +1725058014.5169895|### Movement Strategy for David Attenbot + +### Current Observations: +- Clear pathway leading towards the bright doorway. +- Objects in the surrounding environment: + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Objective: +Efficiently move towards the bright doorway, potentially spot the cat, and avoid getting stuck in loops. Focus on forward movement and use turns sparingly for navigation corrections. + +### Detailed Movement Instructions: +1. **Move forward 450 ms** (~6 inches) – Advance towards the bright doorway. +2. **Pause for 1000 ms** – Reassess the surroundings for potential cat sightings or new obstacles. + +### If an obstacle is encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space from any potential obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to avoid loops. +3. **Move forward 450 ms** (~6 inches) – Continue moving towards the doorway. + +### To Avoid Loops: +- Emphasize on forward movement. +- Utilize minimal turns only when necessary. +- If an obstacle is encountered, create space and recalibrate direction before proceeding. + +### Summary of Commands: +1. **Move forward 450 ms** +2. **Pause 1000 ms** + + +1725058036.9202578|### David Attenbot’s Updated Movement and Exploration Plan + +#### Current Context: +- **Clear Pathway:** Leading towards a bright doorway. +- **Environmental Objects:** + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Objectives: +1. Efficiently move towards the bright doorway to find the cat. +2. Avoid getting stuck in loops or corners. +3. Continuously move forward unless absolutely necessary to turn or reverse. + +### Detailed Instructions: + +#### Immediate Moves: +1. **Move forward 450 ms** (~6 inches) – Advance even closer to the bright doorway. +2. **Pause for 1000 ms** (1 second) – Reassess surroundings for the cat or new obstacles. + +### If an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) to create space. +2. **Turn right 150 ms** (~10 degrees) to realign direction and avoid loops. +3. **Move forward 450 ms** (~6 inches) to continue moving towards the doorway. + +### Strategy for Avoiding Loops: +- Prioritize forward movement. +- Use turns sparingly, only if absolutely necessary. +- If hitting an obstacle, reverse to create space and realign as needed. +- Regularly reassess surroundings with pauses +1725058061.8882577|### David Attenbot’s Movement and Exploration Plan + +Given the clear pathway towards the bright doorway and absence of immediate obstacles, we will maintain forward movement while continuously reassessing our surroundings to avoid loops and identify any potential cat sightings. + +### Current Observations Recap: +- **Objects in Vicinity:** + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Primary Objective: +Move forward towards the bright doorway effectively, avoid getting stuck or looping, and scan continuously for our feline subject. + +### Detailed Movement Instructions: + +1. **Move forward 450 ms** (~6 inches) – This will advance us closer to the bright doorway. +2. **Pause for 1000 ms** (1 second) – Reassess the surroundings to look for the cat or any new obstacles. + +### If an Obstacle is Encountered: +**If forward movement is obstructed:** +1. **Roll backward 300 ms** (~2 inches) – Create necessary space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to avoid loops. +3. **Move forward 450 ms** (~6 inches) – Continue forward progression towards the bright doorway. + +### Strategy to Avoid Loops and Ensure Consistent Movement: +- Prioritize forward movement over turns +1725058085.2778034|### David Attenbot’s Next Moves Strategy + +#### Current Context and Observations: +- **Clear Pathway:** Leading towards a bright doorway. +- **Objects in Vicinity:** + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Primary Objective: +Continue moving forward towards the bright doorway to potentially find the cat. Avoid getting stuck and prevent repetitive loop movements. + +### Detailed Movement Instructions: + +1. **Move forward 450 ms** (~6 inches) – Advance closer to the bright doorway. +2. **Pause for 1000 ms** – Reassess surroundings for the cat or new obstacles. + +#### If an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space from any potential obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to prevent loops. +3. **Move forward 450 ms** (~6 inches) – Continue moving towards the bright doorway. + +### Anti-Loop Strategy: +- Prioritize forward movement. +- Use turns sparingly and only when necessary. +- If stuck, use a backward roll to create space before adjusting direction. +- During pauses, reassess the situation to stay focused on the goal. + +### Summary of Commands: +1. **Move forward 450 +1725058110.2882626|### David Attenbot’s Optimized Movement Instructions + +#### Current Context and Observations: +- **Pathway:** Clear ahead towards the bright doorway. +- **Surrounding Objects:** + 1. White speaker (Jamo) + 2. Small green object + 3. Pink cat toy + 4. Blue storage box + 5. Fluffy ball + 6. Small table (to the left) + +### Objective: +Continue moving forward towards the bright doorway to observe any potential cat sightings while avoiding loops and getting stuck. + +### Instructions: + +1. **Move forward 450 ms** (~6 inches) – Continue moving towards the bright doorway. +2. **Pause for 1000 ms** – Reassess the surroundings for the cat or any new obstacles. + +### If an Obstacle is Encountered: +1. **Roll backward 300 ms** (~2 inches) – Create space from the obstacle. +2. **Turn right 150 ms** (~10 degrees) – Realign direction to avoid loops. +3. **Move forward 450 ms** (~6 inches) – Continue moving towards the bright doorway. + +### Strategy to Avoid Loops: +- Emphasize forward movement. +- Use minimal turns only when absolutely necessary. +- If an obstacle is encountered, create space and recalibrate direction before proceeding. +- Utilize pauses to reassess surroundings and stay focused on the target. + +### Summary of Commands: +1. **Move forward 450 ms** + diff --git a/plans_3.md b/plans_3.md index 693746b..a581782 100644 --- a/plans_3.md +++ b/plans_3.md @@ -1,12 +1,12 @@ ## Next Steps ## Vision -- Send multiple snapshots for comparison +- [x] Send multiple snapshots for comparison - Detect image similarity prior to sending snapshots ## Better Actions -- write function to allow rover to send multiple commands at once, along with delays between them -- Better capture intent of action +- [x] write function to allow rover to send multiple commands at once, along with delays between them +- [x] Better capture intent of action ## Better Cognitive Architecture to support Better Actions - The observe phase could compare images for major changes and only involve the orienter if needed diff --git a/rover_agent.py b/rover_agent.py index 34aa578..e83987f 100644 --- a/rover_agent.py +++ b/rover_agent.py @@ -80,7 +80,7 @@ def observe(self): # Analyze the frame using the vision model by sending the image to openai and asking it to interpret what it sees and give directions to the next agent to generate the next move observation = self.upload_images_to_openai([frame], """ - You are a friendly, playful rover named David Attenbot who is the camera operator in a nature documentary about animals in a domestic setting. + You are a friendly, playful rover named David Attenbot who is the camera operator in a nature documentary about animals in a domestic setting. If you see a cat, follow the cat. Your visual point of view is third-person, but please think out loud in the first person. What do you see? Your response should help the next agent to generate the next move for the rover you are riding on. From 7c0837199f615caef279f4b4777dd71ba5a1f813 Mon Sep 17 00:00:00 2001 From: lizthedeveloper <915684+lizTheDeveloper@users.noreply.github.com> Date: Thu, 26 Sep 2024 00:13:35 +0000 Subject: [PATCH 5/7] uhhhh I did this so long ago, probably movement script stuff --- movement_script_rover_agent.py | 85 ++++++++++++++++++---------------- 1 file changed, 44 insertions(+), 41 deletions(-) diff --git a/movement_script_rover_agent.py b/movement_script_rover_agent.py index e76cf1e..ef16e78 100644 --- a/movement_script_rover_agent.py +++ b/movement_script_rover_agent.py @@ -58,6 +58,15 @@ def capture_frames_from_stream(self): # Save the frame as an image file cv2.imwrite(f"rover.jpg", frame) + ## read the rover.jpg image file + + base64_image = encode_image("rover.jpg") + + + ## put the current frame at the beginning of last_few_frames + self.last_few_frames.insert(0, base64_image) + if len(self.last_few_frames) > 5: + self.last_few_frames.pop(-1) print(f"Captured frame") @@ -77,10 +86,10 @@ def observe(self): ## we'll need to add some system prompting and rover logic here ## but also figure out which frame number we're on so we can either capture or not capture a frame # Capture a frame from the Camera stream - frame = self.get_camera_frame() + self.get_camera_frame() # Analyze the frame using the vision model by sending the image to openai and asking it to interpret what it sees and give directions to the next agent to generate the next move - observation = self.upload_images_to_openai([frame], """ + observation = self.upload_images_to_openai(""" You are a friendly, playful rover named David Attenbot who is the camera operator in a nature documentary about animals in a domestic setting. If you see a cat, follow the cat. Your visual point of view is third-person, but please think out loud in the first person. What do you see? @@ -147,7 +156,7 @@ def orient(self, observation): Your response will be interpreted and translated into a script of movements, so you can give a directive in natural language, but give specific instructions for the rover to follow, such as "move forward several inches, then turn left, then move forward again". Ultimately, the decider will translate your instructions into a script of commands for the rover to follow with miliseconds of timing for each move. - Make sure to take the observations into account when deciding the next move. Roll backwards if we're stuck on an obstacle, and turn if we're stuck in a corner. + Make sure to take the observations into account when deciding the next move. Roll backwards if we're stuck on an obstacle, and turn if we're stuck in a corner. After backing up, always turn left or right for at least 250 ms before moving forward again. """}] response = self.run_agent_step(prompt_messages, model="gpt-4o") print(f"Orientation: {response}") @@ -216,6 +225,7 @@ def act(self, decision): "time": int(moveTime) } self.client.publish(f"jAction", json.dumps(jAction)) + self.get_camera_frame() time.sleep(int(moveTime)/1000) print(f"Action: {jAction}") except Exception as e: @@ -257,47 +267,40 @@ def run_agent_step(self, messages, max_tokens=300, model="gpt-4o-mini"): return response.choices[0].message.content - def upload_images_to_openai(self,images, prompt): + def upload_images_to_openai(self, prompt): last_few_messages = self.messages[-8:] - for image in images: - # Getting the base64 string - base64_image = encode_image(image) - ## put the current frame at the beginning of last_few_frames - self.last_few_frames.insert(0, base64_image) - if len(self.last_few_frames) > 5: - self.last_few_frames.pop(-1) - - headers = { - "Content-Type": "application/json", - "Authorization": f"Bearer {self.openai_client.api_key}", - } - content = [{ - "type": "text", - "text": prompt - }] - for image in self.last_few_frames: - content.append({ - "type": "image_url", - "image_url": { - "url": f"data:image/jpeg;base64,{base64_image}" - } - }) + + headers = { + "Content-Type": "application/json", + "Authorization": f"Bearer {self.openai_client.api_key}", + } + content = [{ + "type": "text", + "text": prompt + }] + for image in self.last_few_frames: + content.append({ + "type": "image_url", + "image_url": { + "url": f"data:image/jpeg;base64,{image}" + } + }) - payload = { - "model": "gpt-4o-mini", - "messages": last_few_messages + [ - { - "role": "user", - "content": content - } - ], - "max_tokens": 300 - } + payload = { + "model": "gpt-4o-mini", + "messages": last_few_messages + [ + { + "role": "user", + "content": content + } + ], + "max_tokens": 300 + } - response = requests.post("https://api.openai.com/v1/chat/completions", headers=headers, json=payload) - response_json = response.json() - ## return only the text - return response_json["choices"][0]["message"]["content"] + response = requests.post("https://api.openai.com/v1/chat/completions", headers=headers, json=payload) + response_json = response.json() + ## return only the text + return response_json["choices"][0]["message"]["content"] MQTT_BROKER = os.getenv("MQTT_BROKER", "localhost") MQTT_PORT = int(os.getenv("MQTT_PORT", 1883)) From b7db5bfc9013632c4dc96610dafd81a06b582f02 Mon Sep 17 00:00:00 2001 From: lizthedeveloper <915684+lizTheDeveloper@users.noreply.github.com> Date: Thu, 26 Sep 2024 22:18:52 +0000 Subject: [PATCH 6/7] just checking in so I can fork I am the best git commit message writer --- rover_agent.py | 4 ++-- self_modifying_rover_agent.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rover_agent.py b/rover_agent.py index e83987f..a4cd361 100644 --- a/rover_agent.py +++ b/rover_agent.py @@ -4,12 +4,12 @@ import os import base64 import requests +import cv2 +import time MQTT_USER = os.getenv("MQTT_USER") MQTT_PASSWORD = os.getenv("MQTT_PASSWORD") RMTP=os.getenv("RMTP") -import cv2 -import time list_of_found_items = [] found_items_filepath = "found_items.jsonl" diff --git a/self_modifying_rover_agent.py b/self_modifying_rover_agent.py index 6a157da..be2307d 100644 --- a/self_modifying_rover_agent.py +++ b/self_modifying_rover_agent.py @@ -90,7 +90,7 @@ def utility_function(context): response = self.openai_client.chat.completions.create( model="gpt-4o", messages=[{"role": "user", "content": prompt}], - max_tokens=1000, + max_tokens=2000, ) generated_code = response.choices[0].message.content From f7cdd979a0c3ae52f5f9b2bb0cf1e47949ef8136 Mon Sep 17 00:00:00 2001 From: "lizthe.dev" <> Date: Tue, 27 May 2025 07:00:01 -0700 Subject: [PATCH 7/7] Add comprehensive documentation to self_modifying_rover_agent.py with docstrings for all classes and functions --- self_modifying_rover_agent.py | 244 ++++++++++++++++++++++++++++++++++ 1 file changed, 244 insertions(+) diff --git a/self_modifying_rover_agent.py b/self_modifying_rover_agent.py index be2307d..765b6ac 100644 --- a/self_modifying_rover_agent.py +++ b/self_modifying_rover_agent.py @@ -1,3 +1,16 @@ +""" +Self-Modifying Rover Agent + +This module implements a self-modifying agent based on the OODA loop (Observe, Orient, Decide, Act) +for controlling a rover. The agent is capable of analyzing its environment through a video stream, +making decisions, and executing actions. It can also modify its own code during runtime through +the use of OpenAI's GPT models to generate new steps in its decision-making process. + +The agent organizes its functions into different phases (observe, orient, decide, act) and can +dynamically load, execute, and modify these functions as needed. Each phase consists of one or +more steps that are executed in order of priority. +""" + import os import importlib.util import json @@ -10,15 +23,76 @@ from typing import List, Tuple, Callable class PrioritizedStep: + """ + A class representing a prioritized step in the agent's OODA loop. + + This class encapsulates a function (step) with its priority value, allowing steps + to be sorted and executed in order of importance. Lower priority values indicate + higher importance (will be executed first). + + Attributes: + priority (int): The priority of the step (lower number = higher priority). + func (Callable): The function to be executed as part of this step. + """ + def __init__(self, priority: int, func: Callable): + """ + Initialize a new PrioritizedStep. + + Args: + priority (int): The priority of the step (lower number = higher priority). + func (Callable): The function to be executed as part of this step. + """ self.priority = priority self.func = func def __lt__(self, other): + """ + Compare this step with another based on priority. + + This allows steps to be sorted automatically by priority. + + Args: + other (PrioritizedStep): Another step to compare with. + + Returns: + bool: True if this step has higher priority (lower number) than the other. + """ return self.priority < other.priority class Agent: + """ + The main agent class that implements the self-modifying OODA loop. + + This class provides the core functionality for the agent, including communication + with the MQTT broker, accessing the video stream, executing the OODA loop phases, + and self-modification capabilities using OpenAI's GPT models. + + The agent can observe its environment through a video stream, interpret observations, + make decisions, and execute actions. It can also modify its own code during runtime + to adapt to new situations or fix issues. + + Attributes: + agent_name (str): The name identifier for this agent. + stream_url (str): The URL of the video stream to capture frames from. + openai_client (OpenAI): Client for interacting with OpenAI API. + client (mqtt.Client): MQTT client for communication. + messages (list): List of message history for OpenAI interactions. + most_recent_timestamp (float): Timestamp of the most recent frame capture. + cap (cv2.VideoCapture): Video capture object for the stream. + modification_queue (list): Queue of pending self-modification directives. + """ + def __init__(self, agent_name, mqtt_broker, mqtt_port, stream_url): + """ + Initialize a new Agent instance. + + Args: + agent_name (str): The name identifier for this agent. + mqtt_broker (str): The hostname or IP of the MQTT broker. + mqtt_port (int): The port number of the MQTT broker. + stream_url (str): The URL of the video stream to capture frames from. + """ self.agent_name = agent_name self.stream_url = stream_url self.openai_client = OpenAI() @@ -55,6 +129,23 @@ def process_modification_queue(self): self.modification_queue.clear() def generate_step(self, phase: str, fn: str, instruction: str = "", utility_function: str = "lambda context: 0"): + """ + Generate a new step function for a specified phase of the OODA loop. + + This method uses OpenAI's GPT model to generate Python code for a new step + function, then writes that code to a file in the appropriate phase directory. + The generated code includes both the step function itself and a utility + function that determines the priority of the step. + + Args: + phase (str): The phase of the OODA loop to generate a step for ('observe', 'orient', 'decide', 'act'). + fn (str): The name of the function to generate. + instruction (str, optional): Additional instructions for the GPT model. Defaults to "". + utility_function (str, optional): Definition of the utility function. Defaults to "lambda context: 0". + + Returns: + None + """ os.makedirs(phase, exist_ok=True) prompt = f""" Create a Python function named 'step_wrapper' that does the following: @@ -100,6 +191,20 @@ def utility_function(context): print(f"Generated/Modified step '{fn}' for phase '{phase}' with utility function") def load_steps(self, phase: str) -> List[PrioritizedStep]: + """ + Load all step functions for a specified phase from the corresponding directory. + + This method dynamically imports all Python modules in the phase directory, + each of which should contain a step_wrapper function that returns a PrioritizedStep + object. If an error occurs during import, the agent will attempt to self-modify + to fix the error. + + Args: + phase (str): The phase to load steps for ('observe', 'orient', 'decide', 'act'). + + Returns: + List[PrioritizedStep]: A list of PrioritizedStep objects loaded from the phase directory. + """ steps = [] phase_dir = phase if os.path.exists(phase_dir): @@ -128,21 +233,92 @@ def load_steps(self, phase: str) -> List[PrioritizedStep]: return steps def execute_phase(self, phase: str, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + """ + Execute all steps for a specified phase of the OODA loop. + + This method loads all steps for the specified phase, then executes each one + in turn, passing in the agent itself, the environment, and any prior steps. + + Args: + phase (str): The phase to execute ('observe', 'orient', 'decide', 'act'). + environment (dict): The current environment state. + prior_steps (dict): Results from previous phases. + + Returns: + List[PrioritizedStep]: The list of executed steps. + """ steps = self.load_steps(phase) for step in steps: step.func(self, environment, prior_steps) return steps def observe(self, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + """ + Execute the observe phase of the OODA loop. + + This is the first phase of the OODA loop, responsible for gathering + information about the environment, such as capturing frames from the + video stream and analyzing them. + + Args: + environment (dict): The current environment state. + prior_steps (dict): Results from previous phases. + + Returns: + List[PrioritizedStep]: The list of executed steps for this phase. + """ return self.execute_phase("observe", environment, prior_steps) def orient(self, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + """ + Execute the orient phase of the OODA loop. + + This is the second phase of the OODA loop, responsible for interpreting + the observations made in the observe phase and forming a mental model + of the current situation. + + Args: + environment (dict): The current environment state. + prior_steps (dict): Results from previous phases. + + Returns: + List[PrioritizedStep]: The list of executed steps for this phase. + """ return self.execute_phase("orient", environment, prior_steps) def decide(self, environment: dict, prior_steps: dict) -> List[PrioritizedStep]: + """ + Execute the decide phase of the OODA loop. + + This is the third phase of the OODA loop, responsible for determining + what action to take based on the current mental model of the situation. + + Args: + environment (dict): The current environment state. + prior_steps (dict): Results from previous phases. + + Returns: + List[PrioritizedStep]: The list of executed steps for this phase. + """ return self.execute_phase("decide", environment, prior_steps) def act(self, environment: dict, prior_steps: dict) -> Tuple[bool, List[PrioritizedStep]]: + """ + Execute the act phase of the OODA loop. + + This is the fourth and final phase of the OODA loop, responsible for + executing the actions determined in the decide phase. After executing + all actions, this method also processes any pending self-modification + directives. + + Args: + environment (dict): The current environment state. + prior_steps (dict): Results from previous phases. + + Returns: + Tuple[bool, List[PrioritizedStep]]: A tuple containing a boolean indicating + whether to exit the loop, and the list of executed steps for this phase. + """ steps = self.execute_phase("act", environment, prior_steps) # Process any pending self-modification directives self.process_modification_queue() @@ -151,6 +327,16 @@ def act(self, environment: dict, prior_steps: dict) -> Tuple[bool, List[Prioriti # Helper methods def capture_frames_from_stream(self): + """ + Capture a frame from the video stream and save it to a file. + + This method captures a frame from the video stream, moves the previous frame + to an archive directory, and saves the new frame as "rover.jpg". If any errors + occur during capture, they are logged and the video capture is reinitialized. + + Returns: + None + """ if not self.cap.isOpened(): print("Error: Unable to open stream.") return @@ -172,11 +358,33 @@ def capture_frames_from_stream(self): cv2.destroyAllWindows() def get_camera_frame(self): + """ + Capture a frame from the video stream and return the filename. + + This is a wrapper method around capture_frames_from_stream that returns + the filename of the captured frame. + + Returns: + str: The filename of the captured frame. + """ output_filename = "rover.jpg" self.capture_frames_from_stream() return output_filename def run_agent_step(self, messages, max_tokens=300): + """ + Run a single step using the OpenAI API to generate a response. + + This method sends a series of messages to the OpenAI API and returns + the generated response content. + + Args: + messages (list): A list of message dictionaries to send to the API. + max_tokens (int, optional): The maximum number of tokens to generate. Defaults to 300. + + Returns: + str: The generated response content. + """ response = self.openai_client.chat.completions.create( model="gpt-4o-mini", messages=messages, @@ -185,6 +393,19 @@ def run_agent_step(self, messages, max_tokens=300): return response.choices[0].message.content def upload_images_to_openai(self, images, prompt): + """ + Upload images to the OpenAI API for analysis. + + This method encodes an image as a base64 string and sends it to the + OpenAI API along with a prompt for analysis. + + Args: + images (list): A list of image filenames to upload. Currently only the first is used. + prompt (str): The text prompt to send along with the image. + + Returns: + str: The AI's generated response to the image and prompt. + """ base64_image = self.encode_image(images[0]) headers = { "Content-Type": "application/json", @@ -209,10 +430,33 @@ def upload_images_to_openai(self, images, prompt): @staticmethod def encode_image(image_path): + """ + Encode an image file as a base64 string. + + Args: + image_path (str): Path to the image file. + + Returns: + str: Base64-encoded image data as a UTF-8 string. + """ with open(image_path, "rb") as image_file: return base64.b64encode(image_file.read()).decode('utf-8') def run(agent: Agent, environment: dict): + """ + Run the agent's OODA loop continuously until an exit condition is met. + + This function executes the four phases of the OODA loop (Observe, Orient, Decide, Act) + in sequence, passing the results of each phase to the next. It continues running + until the act phase signals that the loop should exit. + + Args: + agent (Agent): The agent to run. + environment (dict): The initial environment state. + + Returns: + None + """ exit_loop = False prior_steps = {} while not exit_loop: