Coding agent 的 focus 能否弥补 Text-world model 和 Vision-world model 的 gap

schema: task_focus_v1
frame: robot_base_at_odometry_origin
updated_from_observation: turn 117
task_phase: cannot_continue_within_turn_limit
task_relevant_objects:
  soda_cans:
    - id: first_orange
      status: likely_inside_receptacle_after_release_at_corrected_mouth
      opening_center_odom_m: [1.05, -0.07, 0.21]
      evidence: released at corrected mouth after base approach; disappeared…
    - id: blue
      status: released_on_floor_outside_receptacle_after_missed_placement
      last_gripper_target_base_m: [0.62, -0.09, 0.25]
      source: turn 117 left-wrist RGB shows the blue can at the upper-left…
      post_release_floor_estimate_current_base_m: [0.65, 0.23, 0.06]
      post_release_uncertainty_m: [0.10, 0.10, 0.04]
    - id: third_orange
      status: on_living_room_floor_after_three_missed_grasps
      center_estimate_base_m: [0.50, -0.07, 0.06]
      source: turn 113 head and wrist RGB; repeated closes left it on the …
      uncertainty_m: [0.03, 0.03, 0.02]
      last_center_estimate_base_m: [0.50, -0.07, 0.06]
      robot_odometry_at_estimate_m: [-4.07, 3.21, -0.08]
      approx_center_odom_m: [-4.57, 3.23, 0.06]
  kitchen_trash_can:
    status: white_floor_receptacle_candidate_by_sink
…

# t0013_trash_can_rim_interior.ply

Current head-depth mesh of the kitchen trash can rim and visible interior; the rim is raised from the floor, with the opening centered near base [0.56,0.05] m.

Frame: robot base frame, transformed from current head depth and the reported head-camera mounting pose; odometry at this observation is included as the robot base frame origin. Pixel polygon: [(207, 416), (272, 416), (281, 445), (273, 472), (210, 472), (198, 445)].
Mesh: 1029 vertices, 1722 triangles; organized samples every 2 pixels. It covers only the visible selected surface and is not a complete room model.

items:
  - role: target
    name: blue soda can near sliding-door threshold
    center_m: [-4.87, 3.05, 0.06]
  - role: target
    name: orange soda can beside the blue can
    center_m: [-4.66, 3.45, 0.08]
  - role: constraint
    name: sliding-door frame and threshold
    center_m: None
  - role: constraint
    name: living-room table/sofa and deposited can/bin back at the kitchen
    center_m: None
  - role: path
    name: continue along the clear living-room right-side corridor to a staging …
    center_m: None
  - role: check
    name: blue/orange can range and empty right gripper at staging point
    center_m: None

turn: 20
robot:
  odom_pose: [-0.32, 0.72, 0.00]
  body_extent_base_m:
    x: [-0.40, 0.24]
    y: [-0.34, 0.34]
    z_max: 0.41
frame: odometry; robot faces +x in kitchen
relevant_scene:
  trash_can_opening_center:
    position_odom_m: [0.92, 0.27, 0.28]
    outer_extent_m: [0.24, 0.24, 0.28]
    opening_diameter_m: 0.16
    position_sigma_m: [0.05, 0.05, 0.03]
    state: open top; rim plane fitted from head depth rays, center pixe…
  trash_can_interior_bottom:
    position_odom_m: [1.00, 0.22, 0.17]
    extent_m: [0.12, 0.12, 0.05]
    state: visible through opening; confirms open interior
  can_1_orange_held:
    position_base_m: [0.16, -0.27, 0.54]
    extent_m: [0.07, 0.07, 0.13]
    state: held in right gripper, opening 0.0789 m
  base_drop_approach:
    position_odom_m: [0.40, 0.46, 0.00]
    extent_m: [0.30, 0.30]
…

action: clockwise in-place base scan
frame: robot base / odometry
start_pose_odom:
  xy: [0.00, -0.00]
  yaw_rad: -0.32
target_pose_odom: [0, 0, -0.62]
swept_region_3d:
  base_body:
    shape: circular sector
    center_xy_m: [0, 0]
    radius_m: 0.53
    yaw_interval_rad: [-0.62, -0.32]
    z_interval_m: [0, 0.41]
  default_arms:
    shape: circular sector
    radius_m: 0.50
    yaw_interval_rad: [-0.62, -0.32]
    z_interval_m: [0.50, 0.65]
    holding: False
  boundary_samples_m:
    - - 0.43
      - -0.31
      - 0
    - - 0.43
      - -0.31
      - 0.41
…

# Turn 20 — approach the kitchen trash can

## Focus before action (3D, episode odometry frame)
- Robot pose `(-0.7167,0.3790) m`, yaw `≈−0.517 rad`. Right gripper holds can 1 at base-frame `(0.4524,-0.2231,0.5560) m`, opening `0.0729 m`; left arm empty.
- Trash can: head-depth samples around its rim map to episode coordinates near center `(0.54,0.02,0.27) m`; rim points `(0.566,0.118,0.269)` and `(0.518,-0.073,0.268)` indicate an opening about `0.20 m` across. The can stands on the kitchen floor at `z≈0`, open and upright. Interior samples show its bottom near floor level.
- Horizontal distance from base to bin center is about `1.31 m`. The visible kitchen floor between robot and bin is clear. Stop the base around `0.55 m` from the opening center to leave footprint clearance while allowing the arm to reach over the bin.

## Prediction before action
Action: move base to `(0.02,0.17,-0.276)` in odometry, approaching along the measured line and facing the bin. Expected: base stops about `0.55 m` from the bin center; the bin remains upright and stationary; can 1 stays held at the same g…

# Persistent scene record

Coordinates are approximate, in the robot's odometry frame; at the initial pose the robot base is at (0, 0, 0) and faces +x. Current robot pose is approximately (0.032, 0.186, yaw −0.37 rad). Positions for objects not yet visible remain explicitly unknown until inspected.

| Object | Approx. position | Approx. size | State / evidence |
|---|---|---|---|
| Kitchen counter and cabinets | Ahead, about x=1.8–2.6 m; spans left/right of view | Countertop about 0.9 m high; cabinets full kitchen run | Fixed fixtures. Upper doors appear closed. |
| Sink and faucet | Ahead-left, around x=2 m, y=+0.5 m | Sink about 0.6 × 0.5 m; faucet about 0.3 m high | Fixed, empty as visible. |
| Dishwasher | Ahead-left, around x=1.6 m, y=+0.8 m | About 0.6 × 0.6 × 0.85 m | Door closed. |
| Stove and oven | Ahead-right, around x=1.9 m, y=−0.8 m | About 0.6 × 0.6 × 0.9 m | Fixed; oven do…