Current Moleworks Terra trenching runbook for full autonomous Beam6-style trench execution in simulation or on the robot. Use when investigating or running the two-stage flange/bottom trench flow, generate_trench_sequence_plans.py, beam6_sequence_stage.launch.py, BASE_CONTROL target registration, mesh_to_excavation_grid_map.py, workspace planner trench-axis metadata, Terra behavior-tree activation, Newton or Isaac/Terra simulation bringup, robot bringup, and 400 mm tool handoff.
Read recent Google Chat context, draft or send a reply in the correct DM or space, download collaborator attachments such as timesheets or PDFs, and handle simple meeting coordination by creating or updating a Google Calendar invite and posting the Meet link back in Chat. Use when Lorenzo asks to read a collaborator's recent messages, understand chat context before replying, send a Google Chat reply through the Chat API, pull a PDF or timesheet out of Chat, or create a meeting from a chat exchange.
Replay split DIG bags in the `moleworks_ros` container with bag TF, live self-filter, live elevation mapping, live excavation mapping, and Foxglove. Use when reviewing DIG episodes from `sensors/`, `state/`, `commands/`, `lidar/`, and optional `elevation_map/` bags.
Finalize RSL student grading and offboarding. Use when Lorenzo asks to find a student's grading sheet, extract or submit a grade, update the RSL student-project tracker like the onboarding workflow, request eDoz grade entry from admin staff, mark offboarding fields such as completed/report/grading/source/access-revoked only with evidence, or send a short Google Chat status reply after the handoff.
Validate the Newton + ROS Nav2 driving stack in a clean tmux session after bringup. Use when the user wants a repeatable navigation check in Newton sim, including health checks for the bridge/model/drive path and the lateral-shift golden test.
Start or restart the Moleworks ROS2 stack using the Newton simulator in the default moleworks_ros runtime shell, assuming the current shell is already inside the target container unless the user says otherwise. Use when you need a clean tmux layout for Newton bridge, robot/TF/RViz, perception (elevation + excavation mapping), optional Foxglove bridge, an isolated bridge-only validation stack on a specific ROS domain, or Terra failure capture and resume from saved checkpoints in Newton simulation, all with use_sim_time:=true.
Start/restart Mole OCS2 arm controller experiments with real actuation commands in tmux, use configure-time auto-bootstrap (hold+reset+first-policy), activate safely, send cylindrical (r, theta, z, pitch) end-effector goals (Foxglove or CLI), record rosbag, and run staged validation while preventing competing /mole/actuator_commands publishers (e.g. dig_controller).
Use the @steipete/oracle CLI to bundle a prompt plus the right files and get a second-model review (API or browser) for debugging, refactors, design checks, or cross-validation.