| # find-object |
|
|
| > **Hand-authored decision procedure (SOP).** Unlike the generated `SKILL.md` |
| > discovery view, this file is the *content the S2 Reasoner reads and follows*. |
| > It is injected into the reasoner's system prompt when this playbook is |
| > installed. The `rskill.yaml` `playbook.body_uri` points here. |
| |
| ## Trigger |
| The goal names a physical object (e.g. "bring the water bottle", "where is my |
| mug?") whose pose is **not** given in the request and is not in current view. |
| |
| ## Preconditions |
| - A spatial-memory backend is available (`recall_object` / `resolve_place` tools). |
| - The robot has a mobile base (to reach candidate places) and a gripper (to open |
| occluding containers). These are declared in `capabilities_required`. |
|
|
| ## Steps |
| 1. **Recall.** Call `recall_object(target)`. If a `status:current` pose is |
| returned, skip to **Verify**. |
| 2. **Memory prior.** On a miss, call `memory_search(target)` over the |
| `MEMORY.md` Object-Location Log for the last-seen (possibly `stale`) location. |
| Use it as the top search prior — a stale sighting still beats a blind sweep. |
| 3. **Rank candidates.** Build a ranked candidate list from (a) the scene-graph |
| regions/places and (b) commonsense priors ("a water bottle is usually in the |
| kitchen, then the fridge"). Containers whose contents are occluded come first. |
| 4. **Search loop** (bounded by `playbook.max_steps`). For each candidate in rank |
| order: |
| - `resolve_place(candidate)` → `execute_rskill(NAVIGATE, goal=place)`. |
| - If the candidate is an occluding container, `execute_rskill(OPEN, target=container)`. |
| - `locate_in_view(target)`. **Stop on a hit.** |
|
|
| ## Verify (done predicate) |
| `locate_in_view` confirms the target **in view at a known pose**. On success, |
| record it: `memory_write(op=supersede, section="object_locations", target=<object>, |
| content=<place>)` so the next task recalls it directly. |
|
|
| ## Fallbacks |
| - Budget (`max_steps`) exhausted with no hit → `emit_prompt` to the operator |
| ("I can't find the water bottle — where should I look?"). This is the terminal |
| human-handoff rung of the replanning ladder. |
| - **Never** loop past `max_steps`. Every candidate tried and its outcome are on |
| the OTel trace, so the search is replayable. |
|
|
| ## Safety |
| This playbook only *decides* and *sequences*. Every motion it triggers is an |
| `execute_rskill` → Action chunk that still crosses the C++ safety kernel; a wrong |
| recall yields a bad plan the kernel still vetoes, never a relaxed check |
| (CLAUDE.md §1.1). |
|
|
