{"time_unix": 1793697329.6779745, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793697329.678047, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793697333.5474284, "phase": "request", "request": {"tool": "robot_capabilities", "arguments": {}}}
{"time_unix": 1793697334.3554626, "phase": "result", "tool": "robot_capabilities", "result": {"mode": "SIMULATION_ONLY", "api_version": 4, "mobile_base": true, "camera_movable": true, "methods": {"move_tcp": 3, "close_gripper": 0, "open_gripper": 0, "wait": 1}, "limits": {"tcp_min": [-0.88, -0.68, 0.018], "tcp_max": [0.88, 0.68, 0.78], "speed_m_s": 0.18, "max_calls": 6, "max_sequence_s": 18, "force_stop_N": 3.0, "grasp_radius_m": 0.021}, "arm_coordinate_frame": "arm_carriage: base-aligned xy, z relative to lift height", "base_command": "robot_move_base", "base_command_frame": "relative to base pose at command start", "base_limits": {"max_translation_m": 0.6, "max_rotation_rad": 1.5707963267948966, "speed_m_s": 0.18, "yaw_speed_rad_s": 0.6, "acceleration_m_s2": 0.3, "yaw_acceleration_rad_s2": 0.8, "footprint_radius_m": 0.22, "clearance_m": 0.04, "robot_height_m": 1.4, "observation_max_age_s": 30}, "camera_mount_height_m": 1.2, "camera_pitch_rad": "variable; see observation.camera_head", "assumptions": ["ideal holonomic mocap base; no wheel dynamics, slip or calibrated arm IK", "ideal drift-free odometry, not SLAM", "virtual pan/tilt RGB-D at 1.2 m", "privileged semantics and visible-vertex association; noisy depth/candidates", "MuJoCo FEM cloth/contact; force-limited spring pinch, not frictional fingers", "static axis-aligned geometry guard; swept full-height circular envelope enlarged by held cloth", "short synchronous commands; stop latched between calls, not hardware emergency control", "PDF manually traced; furniture approximate; source layout is not an observed robot map", "force-limited ideal lever/door coupling; no frictional finger/lock/key/door-closer mechanics", "floor-local scenes; no autonomous stairs or floor teleportation", "oriented live-door box collision guard and supported-floor check", "fixed camera mast; lift changes arm carriage only"], "robot_model": "HomeBot Cartesian + optional lift + ideal handle contact", "camera_command": "robot_look", "camera_head_limits": {"pan_min_rad": -3.141592653589793, "pan_max_rad": 3.141592653589793, "tilt_min_rad": -1.2, "tilt_max_rad": 0.6, "speed_rad_s": 0.8}, "world_frame": "house_ground_v4", "manipulation": "force-limited spring pinch of visible deformable cloth", "collection_bin": {"frame_id": "robot_world_v3", "xy_m": [-0.48, -0.95], "inner_half_size_m": [0.22, 0.17], "rim_z_m": 0.26, "source": "configured fixed collection fixture"}, "drive_interlock": "TCP xy norm <= .10 m, z 0.35..0.65 m; open empty or closed holding cloth", "lift": {"enabled": true, "min_m": 0.0, "max_m": 0.55, "speed_m_s": 0.06, "command": "robot_move_lift", "drive_requires_zero": true}, "door_command": "robot_door_action", "door_actions": ["grasp", "press", "open", "close", "release"], "door_contact": "two-sided visible handle; ideal bounded force coupling", "floor_id": "ground", "building_from_floor_translation_m": [0, 0, 0], "stairs_traversable": false}}
{"time_unix": 1793697334.3580084, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793697334.3580587, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793697334.3589714, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697334.8137813, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-1-350", "session_id": "8928e9d0", "time_s": 0.7, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-1-350.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-1-350-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 159163, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [33], "visible_pixels": 9, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_e", "class": "wall", "mask_ids": [37], "visible_pixels": 22726, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_s", "class": "wall", "mask_ids": [40], "visible_pixels": 21, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 66073, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 521, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [49], "visible_pixels": 23, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 124], "visible_pixels": 14037, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 126227, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8124113282552189, 0.4966451702691731, 0.7751798121533457], [0.8358502437071511, 0.03223793758455883, 0.7540581177617636], [0.8122464610897554, -0.06526947764520842, 0.757896399656768], [0.8192483079114442, -0.04539479820095761, 0.7344522132790361], [0.832192057248938, -0.08942690676040134, 0.7160592512330799], [0.8044316028217182, -0.03241915025283583, 0.7228907164303109], [0.7910275301464468, 0.0064027414616837225, 0.7262042397272472], [0.8126789328394107, -0.040773330743926986, 0.6970630349485102], [0.8139867732990841, -0.0839806559662958, 0.674489859463402], [0.7989816896157832, -0.0866650842892377, 0.6671858752302811], [0.7987242789684936, 0.4751694882357268, 0.6604218208098149], [0.812533943530043, 0.4048623413641571, 0.6275710271697031], [0.8141849635151989, 0.3093752960962367, 0.6018908754844144], [0.8225362119114777, -0.09109742411138456, 0.5820021292448754], [0.8147543855254236, 0.15181649375192852, 0.5759318584745348], [0.814438222201445, -0.014237347201844565, 0.549573842112392], [0.8030442549099374, 0.49253518081323666, 0.5291707483710387], [0.8123285568225374, 0.310024290726422, 0.4924428955486543], [0.8108704325683086, 0.0935817348999831, 0.46349803828794356], [0.8109105832965897, 0.5781293364619825, 0.429370527628406], [0.806219898373198, 0.25371291869001944, 0.400820738073843], [0.8190222156395297, -0.07444411258516305, 0.35298631651473145], [0.8066221710284965, 0.31181509191195655, 0.326625225689099], [0.8234296140889854, 0.7197699124619908, 0.2815692907202302], [0.8122322643624602, 0.5591662053080687, 0.2789386598000124], [0.814311759014276, 0.5325621710988059, 0.23251961306073266], [0.8074115026455218, 0.12439559918265096, 0.19450665638798537], [0.8068267353982006, 0.7052983441305748, 0.178089692809001], [0.8131012862482753, 0.1911465589344613, 0.13448191007734844], [0.8138762436955718, 0.6743728839149786, 0.07308248002073081], [0.8128321001515953, -0.08869284819422764, 0.013996145532292115]], "coordinate_frame": "arm_carriage"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-1.1102230246251565e-16, -0.7833269096274834, 0.6216099682706644], [0.9999999999999999, -2.220446049250313e-16, -5.551115123125783e-17], [1.6653345369377348e-16, 0.6216099682706644, 0.7833269096274833]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.626, 2.645, 2.67, 2.724, 2.8, 2.901, 3.047, 3.211, 3.43, 3.729, 4.098, 1.368, 4.765, 4.558, 4.399, 4.268, 1.532, 4.146, 4.128, 4.141, 4.03, 2.977, 2.254, 1.824, 1.538, 1.338, 1.205, 1.097, 1.008, 0.939, 0.884, 0.845, 0.822, 0.797, 0.772, 0.811, 0.821, 0.815, 0.816, 0.839, 0.855, 0.887, 0.942, 0.999, 1.056, 1.071, 1.187, 1.219, 1.163, 1.105, 1.052, 1.04, 1.017, 1.013, 0.997, 1.01, 1.007, 1.039, 1.061, 1.102, 1.159, 1.14, 1.007, 0.914, 0.851, 0.798, 0.873, 1.017, 1.272, 1.677, 2.666, 2.65], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793697338.6245685, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0, "dy_m": 0, "dyaw_rad": 0.785, "observation_id": "obs-8928e9d0-1-350", "command_id": "cmd-phase1-hinge-clear-001"}}}
{"time_unix": 1793697341.3945394, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.0, "rotated_rad": 0.7850000000000001, "duration_s": 2.4279999999998765, "base_pose": [0.7, 7.36, -2.3565926535897934], "needs_observation": true, "command_id": "cmd-phase1-hinge-clear-001"}}
{"time_unix": 1793697343.6590958, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697344.0665653, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-2-1564", "session_id": "8928e9d0", "time_s": 3.128, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-2-1564.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-2-1564-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 166670, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_n", "class": "wall", "mask_ids": [20], "visible_pixels": 88, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_n", "class": "wall", "mask_ids": [31], "visible_pixels": 42, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [32, 33], "visible_pixels": 31, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 84940, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 13203, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [49], "visible_pixels": 25, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 124], "visible_pixels": 10971, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 112817, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.0771887952809531, -0.07235362157342595, 0.6367243163135621], [1.0898338042189613, -0.07961104801785401, 0.6146585978541793], [0.9409504770395383, -0.19837167686233254, 0.6827101044895498], [1.0896635241057724, -0.07488732407913667, 0.596964864809648], [0.7400177361786899, -0.43793850530053263, 0.7766910362575448], [0.8309539559086989, -0.3157088109267275, 0.7199499687581838], [0.7218373279187857, -0.39739297661027007, 0.7690608399326578], [0.7541952842333974, -0.38540619468196713, 0.7423128253981791], [0.6881857392230282, -0.4470721765521356, 0.7614424258669535], [1.0364266072270893, -0.10294914704711694, 0.5043552526607041], [1.0651572816579489, -0.07100087197056726, 0.4520132372941147], [1.0373862809834766, -0.11743160664621555, 0.46916288484918345], [1.0195346706754056, -0.12011462979806758, 0.4462056973501316], [1.0196501009837737, -0.12505668959712873, 0.4088897241111963], [1.0141731374534746, -0.1442689874204795, 0.3743012997491584], [1.038269490473511, -0.10055886811798315, 0.31293353490182807], [0.6737402615609872, -0.4853120811264143, 0.5978391008073691], [0.7019115820408308, -0.4419617157480555, 0.5415338941101951], [0.7540254759052334, -0.39925244713534713, 0.4574026778947524], [0.8102671244482325, -0.3452863184740324, 0.3620406277380226], [0.9551254596235748, -0.20061717353391428, 0.1624236601003466], [0.9193133266344968, -0.23553221370998395, 0.15057096831407724], [0.8600712082223974, -0.28740221170566327, 0.16437298928322508], [0.7155284655124446, -0.43690265232130177, 0.2875550686824714], [0.6820246889855284, -0.46216374644020364, 0.271840236908212], [0.631607781698215, -0.5240554515777216, 0.2751703036893479], [0.6666598396657163, -0.4752945210895576, 0.1326737468168151], [0.5552648646350218, -0.5917413412972387, 0.20679787790327953], [0.5157656576913149, -0.6436880828743972, 0.2231239008869942], [0.517544132977551, -0.6437420603548045, 0.18882265671445175], [0.5046870857090524, -0.6267764393934221, 0.13231678741512387], [0.5124702526019995, -0.6393293890946887, 0.012626109260802432]], "coordinate_frame": "arm_carriage"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.7068251811053659, -0.554116266793477, 0.4397195995520633], [0.7073882691671999, -0.5536751847621526, 0.43936957839981305], [2.7755575615628914e-17, 0.6216099682706644, 0.7833269096274834]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.727, 4.091, 1.357, 4.766, 4.561, 4.39, 4.275, 1.533, 4.151, 4.134, 4.148, 4.026, 2.978, 2.259, 1.822, 1.535, 1.345, 1.191, 1.083, 1.003, 0.938, 0.89, 0.845, 0.815, 0.795, 0.763, 0.812, 0.821, 0.817, 0.825, 0.845, 0.862, 0.894, 0.937, 0.99, 1.057, 1.076, 1.204, 1.226, 1.164, 1.097, 1.066, 1.04, 1.018, 0.993, 1.008, 1.015, 1.022, 1.032, 1.066, 1.106, 1.15, 1.13, 1.012, 0.914, 0.842, 0.794, 0.873, 1.03, 1.27, 1.678, 2.671, 2.65, 2.631, 2.643, 2.669, 2.717, 2.799, 2.91, 3.035, 3.208, 3.421], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793697347.3820076, "phase": "request", "request": {"tool": "robot_move_lift", "arguments": {"height_m": 0.4, "observation_id": "obs-8928e9d0-2-1564", "command_id": "cmd-phase1-lift-001"}}}
{"time_unix": 1793697354.1689951, "phase": "result", "tool": "robot_move_lift", "result": {"status": "ok", "lift_m": 0.4, "command_id": "cmd-phase1-lift-001", "needs_observation": true, "stop_latched": false}}
{"time_unix": 1793697356.254306, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697356.6634243, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-3-4898", "session_id": "8928e9d0", "time_s": 9.796, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-3-4898.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-3-4898-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 166670, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_n", "class": "wall", "mask_ids": [20], "visible_pixels": 88, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_n", "class": "wall", "mask_ids": [31], "visible_pixels": 42, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [32, 33], "visible_pixels": 31, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 84940, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 13203, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [49], "visible_pixels": 25, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 124], "visible_pixels": 10971, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 112817, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.0693508788880177, -0.07182715709560833, 0.2408228622084404], [1.0648987300555872, -0.0710420968095214, 0.21651089609777263], [0.9504047252604846, -0.19541754680294998, 0.2775126077097725], [0.8766163089947615, -0.2818179308271615, 0.29357039156299714], [0.7922865347321197, -0.35327721228370423, 0.3191969598096914], [0.7395995334574615, -0.4418220645543407, 0.33929484739312576], [0.749454998888601, -0.3940709998084261, 0.32239759195598316], [1.0903358882395109, -0.07496376424627271, 0.07524103712465036], [0.7184287433601684, -0.4214315277500161, 0.3193512439580882], [0.691981145798901, -0.4646007613017877, 0.3140691933364236], [0.7191088880153074, -0.3968967323287813, 0.2868175052918436], [1.0601549136053015, -0.08921445008124912, 0.016173067196882496], [1.0670694630742, -0.08328251047317614, -0.027901273692495954], [0.6703699175368549, -0.4927142960205237, 0.25596232931716256], [0.6598665206912752, -0.4985067502954928, 0.23803987364198886], [0.6645841492713314, -0.4888559370626744, 0.20602245146044385], [0.6872492886150664, -0.4634740879668006, 0.15528865112304557], [0.7331908323468294, -0.4185371923817937, 0.07792154762513337], [0.8203369489219252, -0.3340837241838587, -0.04837334999865228], [0.935991352496216, -0.2034166275906294, -0.2167904874857972], [0.9513807263511658, -0.19856546500835948, -0.28603511500742484], [0.9100710289808648, -0.2430533253033606, -0.2958326825418883], [0.7474257120433094, -0.40245251466865956, -0.153120435260239], [0.7199336251404495, -0.423740176524659, -0.17974960986544242], [0.6211779777434416, -0.5226480909314968, -0.10955788886373019], [0.6636011198069074, -0.483376582014234, -0.2624292250255015], [0.5464795186673257, -0.6078978169478899, -0.17748777599955623], [0.5049061947854138, -0.6282044225827645, -0.17123071327402362], [0.5163735730430762, -0.6440764996251638, -0.21284494029919954], [0.5119958711758158, -0.6387375772073455, -0.3862747671962369]], "coordinate_frame": "arm_carriage"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.7068251811053659, -0.554116266793477, 0.4397195995520633], [0.7073882691671999, -0.5536751847621526, 0.43936957839981305], [2.7755575615628914e-17, 0.6216099682706644, 0.7833269096274834]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.722, 4.1, 1.363, 4.764, 4.554, 4.39, 4.265, 1.527, 4.143, 4.124, 4.151, 4.016, 2.975, 2.248, 1.823, 1.546, 1.349, 1.201, 1.094, 1.006, 0.943, 0.896, 0.85, 0.817, 0.804, 0.76, 0.811, 0.813, 0.817, 0.834, 0.844, 0.865, 0.897, 0.941, 0.986, 1.059, 1.064, 1.191, 1.218, 1.143, 1.104, 1.073, 1.039, 1.022, 1.004, 1.008, 1.001, 1.009, 1.03, 1.055, 1.106, 1.161, 1.135, 1.012, 0.921, 0.848, 0.8, 0.866, 1.037, 1.278, 1.669, 2.676, 2.643, 2.623, 2.645, 2.678, 2.726, 2.803, 2.903, 3.043, 3.209, 3.425], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697361.6753685, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": 0.45, "tilt_rad": -0.55, "observation_id": "obs-8928e9d0-3-4898", "command_id": "cmd-phase1-look-handle-001"}}}
{"time_unix": 1793697362.2676005, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "cmd-phase1-look-handle-001", "camera_head": {"pan_rad": 0.45, "tilt_rad": -0.55}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793697364.5990374, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697364.8499792, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-4-5180", "session_id": "8928e9d0", "time_s": 10.36, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-4-5180.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-4-5180-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 35107, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_n", "class": "wall", "mask_ids": [20], "visible_pixels": 104, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_n", "class": "wall", "mask_ids": [31], "visible_pixels": 60, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [32], "visible_pixels": 10, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 260156, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42], "visible_pixels": 33000, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 124, 125], "visible_pixels": 25434, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 34909, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.0719894419664373, -0.07156496469905438, 0.6108322920071593], [1.0927794127632549, -0.07382900804206949, 0.4620081020045156], [1.044236950778987, -0.09185530375978507, 0.47066101383857284], [1.0474159134127639, -0.096431918838563, 0.39967998868672094], [1.0278365106734533, -0.09087707738406792, 0.39953648676533027], [1.024597873293997, -0.11792266412068664, 0.3571951067247543], [1.0956687970872134, -0.07753888187118418, 0.28584480289679237], [1.031984191778744, -0.11585581153521524, 0.303128774221623], [1.0644091843802894, -0.07094079584791002, 0.23023854087987672], [1.0265158061282036, -0.11509204384630173, 0.2590138545226657], [1.062236108573207, -0.08687375515991996, 0.18437536304917734], [1.0719140119569852, -0.0764788721633688, 0.13010065975911655], [1.0284000058962386, -0.12866634031786633, 0.1348670042127148], [0.9780541018133044, -0.16518834409341915, 0.14545587049139097], [1.0543717652619504, -0.09821633470543717, 0.0241320852566822], [0.9682706535798551, -0.18616874616601864, 0.08959634729816468], [0.9608093797629431, -0.17736339574792448, 0.05753294186078495], [0.9398786501681657, -0.21438686791413514, 0.058494826254653964], [0.9503375246810821, -0.1910136990854423, 0.0053103080940630765], [1.0829379242953445, -0.07385400042231016, -0.21269793611391485], [0.9364099929234625, -0.22026838982988411, -0.03261548618522914], [1.0082607209046957, -0.13705527385609395, -0.18306280220178117], [1.0028927796322007, -0.14693526231918203, -0.20833257410306116], [1.037910358108964, -0.104567845152507, -0.3075333373745065], [0.9265036430806617, -0.23021669470418749, -0.14503418601417406], [0.9871049665481835, -0.1617075255102426, -0.2951742679834036], [0.8965805211135343, -0.2576419257548299, -0.1668049732784297], [0.9026762621108144, -0.2711155458103015, -0.18648809649511655], [0.8606257417339007, -0.2763606005385679, -0.14331641181192778], [0.8704839334965995, -0.28085597601386275, -0.1589294732581512], [0.8673614603765225, -0.2805129116613721, -0.15789178719482966]], "coordinate_frame": "arm_carriage"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.9441482025185626, -0.17223648358909288, 0.2809248394176487], [0.3295211247871182, -0.4934942076742903, 0.8049094951054789], [-8.326672684688674e-17, 0.8525245220595057, 0.5226872289306592]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.723, 4.094, 1.373, 4.765, 4.557, 4.392, 4.274, 1.54, 4.144, 4.12, 4.142, 4.018, 2.98, 2.248, 1.827, 1.535, 1.345, 1.199, 1.089, 1.005, 0.941, 0.883, 0.851, 0.825, 0.794, 0.766, 0.817, 0.812, 0.81, 0.826, 0.842, 0.866, 0.897, 0.936, 0.994, 1.063, 1.068, 1.198, 1.213, 1.164, 1.096, 1.066, 1.036, 1.017, 1.009, 0.996, 1.005, 1.017, 1.024, 1.055, 1.106, 1.156, 1.122, 1.019, 0.921, 0.854, 0.795, 0.863, 1.028, 1.27, 1.677, 2.674, 2.635, 2.632, 2.641, 2.674, 2.72, 2.8, 2.909, 3.035, 3.215, 3.441], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.45, "tilt_rad": -0.55}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697369.0337138, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": -0.45, "tilt_rad": -0.25, "observation_id": "obs-8928e9d0-4-5180", "command_id": "cmd-phase1-look-handle-002"}}}
{"time_unix": 1793697370.1898487, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "cmd-phase1-look-handle-002", "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793697372.5596344, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697373.2881684, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-5-5743", "session_id": "8928e9d0", "time_s": 11.486, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-5-5743.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-5-5743-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 636, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 1147, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 44498, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 6722, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 56323, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 276908, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.0729122228710275, -0.0721282733250348, 0.9693658994196229], [1.0591158394432307, -0.07092575273662421, 0.9503536298973031], [0.5431915257884454, -0.6069665301259852, 0.9063744454098391], [0.525034647050627, -0.6546134868504605, 0.9069924555559058], [1.0208685481606943, -0.13327529412126, 0.9068396842249652], [0.5242635998850931, -0.6541653374529395, 0.8760653197466152], [0.7770932753610539, -0.38064509842723004, 0.8678066496262863], [0.5190450077027178, -0.6295007753836532, 0.8347501696397898], [0.664789310576064, -0.47102748377153697, 0.8107263660363752], [0.749983780845055, -0.4009340057207341, 0.7823501410025323], [0.7248956837491076, -0.415403614307174, 0.7537497944467487], [0.5907889037868398, -0.5641139215125113, 0.7293893087956215], [0.8869392867694347, -0.2527762266836248, 0.6832805251289135], [0.5539918285341103, -0.6085979936877183, 0.6739213465304444], [1.0928671372650167, -0.0737575252019248, 0.611609572479746], [0.775576585579035, -0.3949777457178899, 0.6178669286938437], [0.6238164682923705, -0.5192769610195607, 0.6009712551491623], [0.9939928622373655, -0.15588096088202208, 0.5157295537798768], [0.6433783768055902, -0.49875031168798567, 0.5317979395477758], [1.0925140481340683, -0.07281499874976116, 0.4393615154728173], [0.5540496841819689, -0.6311494429551475, 0.5066908881206728], [0.7210790055737304, -0.4271808686781116, 0.48174296725426424], [0.639863863004899, -0.5074253792119422, 0.46028680137295275], [0.49597539168755045, -0.6175911681841405, 0.49373085069255085], [0.5659976346466575, -0.5419400285474264, 0.45361516559628845], [1.0304016085044052, -0.11210648984350441, 0.3366895721980888], [0.6847653443656802, -0.46142574018864374, 0.37367923166692063], [0.7663746636358556, -0.3920768280456347, 0.30782723027487136], [0.6792230471774671, -0.4753841033088703, 0.2899088480246661], [1.0369572604407893, -0.114922141029135, 0.13301693975383855], [0.5704545480301835, -0.5854129804587074, 0.23767186090875192], [0.5096330180615809, -0.635828076738943, 0.21949082594627722]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2556, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.5616077442693365, -0.47886889864892007, 0.6525687525161049], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.718, 4.088, 1.367, 4.768, 4.558, 4.396, 4.294, 1.528, 4.153, 4.127, 4.146, 4.007, 2.971, 2.261, 1.824, 1.543, 1.341, 1.193, 1.079, 1.007, 0.942, 0.89, 0.845, 0.825, 0.808, 0.769, 0.811, 0.813, 0.815, 0.83, 0.846, 0.872, 0.903, 0.931, 0.986, 1.05, 1.074, 1.201, 1.22, 1.147, 1.102, 1.06, 1.04, 1.013, 1.005, 0.994, 1.005, 1.02, 1.036, 1.066, 1.098, 1.162, 1.14, 1.007, 0.92, 0.849, 0.795, 0.867, 1.032, 1.274, 1.681, 2.677, 2.644, 2.631, 2.638, 2.669, 2.726, 2.793, 2.897, 3.043, 3.213, 3.439], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697376.5867963, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5616,-0.4789,0.6526)", "observation_id": "obs-8928e9d0-5-5743", "command_id": "cmd-phase1-reach-001"}}}
{"time_unix": 1793697380.9493568, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "cmd-phase1-reach-001", "executed": ["move_tcp"], "duration_s": 4.252, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793697383.7700992, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697384.4662657, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-6-7869", "session_id": "8928e9d0", "time_s": 15.738, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-6-7869.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-6-7869-rgbd.npz", "tcp_m": [0.5616, -0.4789, 0.6526], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 636, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 1147, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 44498, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 6722, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 56323, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 276908, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.0679188365830994, -0.0732042637032187, 0.9686819215725117], [1.0566421231297503, -0.07061681998624669, 0.9625875596064054], [0.5232858168010351, -0.653015606391642, 0.9217998284802863], [1.0184881138127273, -0.10980250973961359, 0.9348917063960848], [1.092567977488378, -0.07449052986150384, 0.9244354510986327], [0.9148974575987335, -0.22350798660224314, 0.9006981764250351], [0.7515950843059037, -0.40080092302153514, 0.8666944809702725], [0.5297481885132984, -0.6539321273231063, 0.85853617956698], [0.5147205694864608, -0.6342560785994399, 0.834664580001503], [0.5649649534232524, -0.5441385136329315, 0.8202291791797439], [0.6486522657955868, -0.4840618831391945, 0.8106080733831355], [0.7538341542695779, -0.406105786236137, 0.7822313982871653], [1.091991611996824, -0.07287613111351321, 0.7693667610143747], [0.7211096293310928, -0.42410721051443423, 0.753728893882364], [0.6088990206238402, -0.5542396821056326, 0.7282981665613032], [0.4965057357505132, -0.6196215418158005, 0.7209032821582072], [0.9345865382888128, -0.21421317849279053, 0.6799237809834758], [0.6647123714851843, -0.527350172388967, 0.6826711282600312], [0.5757786817820217, -0.567545713527325, 0.6736304747926841], [0.7749131954296805, -0.373521763154747, 0.6199453497442672], [0.5943996508802505, -0.5394245454545303, 0.6054504642089876], [0.9358610455324499, -0.21051629554310491, 0.5241675929356103], [0.6166318497896209, -0.528600093324721, 0.5355367568080683], [0.6876871130213378, -0.4589402475226768, 0.4879371271332319], [0.6521115002762388, -0.508221446829963, 0.4554377343915895], [1.0548485558183747, -0.10294624542967035, 0.32813636806031543], [0.7023002918150697, -0.4411792540245795, 0.3700368701020942], [0.7349991510375611, -0.40532247366637186, 0.32068918932961865], [0.6607558322748812, -0.48767296070134736, 0.2969417950747826], [0.95983349771283, -0.183598430029774, 0.159849195597364], [0.5426967381933354, -0.6069066993401698, 0.24912294977253613], [0.51088796534804, -0.6373937734094484, 0.21806134946629063]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2556, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.5622630158490053, -0.47896236759282157, 0.6528610128944877], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.717, 4.088, 1.362, 4.763, 4.553, 4.386, 4.272, 1.536, 4.135, 4.124, 4.144, 4.018, 2.98, 2.252, 1.819, 1.544, 1.337, 1.19, 1.097, 1.011, 0.945, 0.891, 0.857, 0.813, 0.802, 0.768, 0.817, 0.811, 0.819, 0.814, 0.849, 0.862, 0.899, 0.938, 0.998, 1.062, 1.06, 1.198, 1.224, 1.152, 1.107, 1.065, 1.034, 1.018, 1.005, 1.003, 1.008, 1.019, 1.038, 1.062, 1.106, 1.149, 1.128, 1.011, 0.926, 0.844, 0.792, 0.87, 1.028, 1.259, 1.675, 2.671, 2.637, 2.635, 2.647, 2.672, 2.725, 2.804, 2.905, 3.035, 3.21, 3.444], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697387.0938191, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "grasp", "observation_id": "obs-8928e9d0-6-7869", "command_id": "cmd-phase1-grasp-001"}}}
{"time_unix": 1793697387.3540168, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "cmd-phase1-grasp-001", "action": "grasp", "door_id": "g_office", "grip_contact": true, "opening_progress_rad": -4.427426847783383e-09, "handle_rotation_rad": -8.97932933170792e-19, "peak_force_N": 0.0, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-0.706825419583072, -0.707388030879244, 0.0], "normal_arm_m": [-0.707388030879244, 0.706825419583072, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793697389.8026316, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697390.5011883, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-7-7919", "session_id": "8928e9d0", "time_s": 15.838, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-7-7919.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-7-7919-rgbd.npz", "tcp_m": [0.572947763737768, -0.4806043484612932, 0.65], "gripper_closed": true, "grip_contact": true, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 636, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 1147, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 44498, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 6722, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 56323, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 276908, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.0737664525681172, -0.07218570030905147, 0.969500744915717], [0.5668230426822861, -0.5425283244709875, 0.9054211227767383], [0.5158397489887341, -0.6267706169870608, 0.9041124585067289], [0.4967236981870031, -0.6197014653017001, 0.8815134269784571], [1.009244565210608, -0.15058767558268965, 0.9065186329836047], [0.5835982171836797, -0.6012168272905566, 0.8768062884117663], [0.8393574036531185, -0.31316556793964967, 0.869900037373787], [0.5761184921018164, -0.5740005402417101, 0.8360278226853465], [0.7396799541097969, -0.4133967996742829, 0.8112919641410635], [1.0609883702151, -0.07080386697564467, 0.785677615209836], [0.8451070124985651, -0.30539643900646335, 0.7814341595436635], [0.8093257815109831, -0.3289770290396338, 0.7516170078159102], [0.6828686181190523, -0.4624618630507359, 0.7258741657655582], [0.9767156968077273, -0.17652361586948967, 0.6771565255414226], [0.6012550433633919, -0.5477924561381975, 0.6712613170323761], [1.0930865655558015, -0.07440125963562172, 0.6184149624226466], [0.826739121105302, -0.3272559631763603, 0.6143897948738285], [0.6564006880704947, -0.48275728887506675, 0.5975709145286715], [1.075959639040442, -0.07858911364975768, 0.5038645539825051], [0.6881693706616687, -0.45448710220732963, 0.524698040810612], [0.7841186892086341, -0.3594622740528398, 0.47133565912815045], [0.7564337104831376, -0.4084870438858867, 0.433885568765065], [0.5720322754236937, -0.5698839626812396, 0.4395188991994682], [0.7641856073999977, -0.3924558471022128, 0.3520245273622562], [0.5229889496081739, -0.6525253031186621, 0.38060431081791235], [0.813205755022083, -0.3278886098945721, 0.2996783390449066], [0.6984833099792046, -0.4466143785392958, 0.2868989571996263], [1.0242000772190853, -0.12217995566109685, 0.13866508345893958], [0.5801322110023666, -0.5659020464512211, 0.23750524829983533], [0.512038573167407, -0.6388292941291445, 0.21675072324858424]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2556, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.5621768003813974, -0.47898818293184386, 0.6526508015682139], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.717, 4.087, 1.373, 4.774, 4.557, 4.394, 4.274, 1.538, 4.153, 4.129, 4.147, 4.022, 2.977, 2.25, 1.818, 1.539, 1.34, 1.197, 1.086, 1.003, 0.933, 0.888, 0.847, 0.821, 0.802, 0.766, 0.813, 0.81, 0.818, 0.826, 0.849, 0.866, 0.892, 0.938, 0.99, 1.051, 1.061, 1.199, 1.217, 1.144, 1.108, 1.061, 1.031, 1.011, 1.007, 0.995, 1.002, 1.022, 1.028, 1.059, 1.107, 1.155, 1.129, 1.012, 0.916, 0.845, 0.79, 0.863, 1.029, 1.274, 1.678, 2.676, 2.641, 2.628, 2.65, 2.677, 2.729, 2.805, 2.896, 3.037, 3.217, 3.439], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": "g_office"}}
{"time_unix": 1793697393.0023406, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "press", "observation_id": "obs-8928e9d0-7-7919", "command_id": "cmd-phase1-press-001"}}}
{"time_unix": 1793697395.3464231, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "cmd-phase1-press-001", "action": "press", "door_id": "g_office", "grip_contact": true, "opening_progress_rad": 3.2450469228480755e-08, "handle_rotation_rad": -0.5188679585628105, "peak_force_N": 1.2223222750731928, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-0.706825390132267, -0.7073880603066247, 0.0], "normal_arm_m": [-0.7073880603066247, 0.706825390132267, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793697397.6184752, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697398.368097, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-8-8369", "session_id": "8928e9d0", "time_s": 16.738, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-8-8369.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-8-8369-rgbd.npz", "tcp_m": [0.5669007280196561, -0.48665623592933227, 0.617766668045047], "gripper_closed": true, "grip_contact": true, "force_N": 0.958, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 636, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 1147, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 44498, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 6722, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 56321, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 276958, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.081642588712077, -0.07271518640160102, 0.9707440422270327], [0.5295042383172629, -0.6285152144626492, 0.9059575290101968], [1.0603599354039668, -0.07073125265304814, 0.9335258343354892], [0.9781692394450869, -0.16884194236569167, 0.9043274420018829], [0.535753903048749, -0.6492513684155776, 0.8690014643215088], [0.5397104265581428, -0.5685165659714667, 0.8585500050729223], [0.7642432789317852, -0.37435075988294664, 0.8666854004362538], [0.5384534579927032, -0.5960098886379699, 0.8348865525831989], [0.690026111000599, -0.46200635144069097, 0.8109773482536718], [0.777764827573936, -0.382660922718345, 0.7819956287916244], [0.7191641199037664, -0.41675139770561553, 0.754003667802417], [0.598598205054939, -0.5465096355622838, 0.7294461170476455], [1.0991424385282145, -0.07352186734473687, 0.7055365962469818], [0.9035211672501038, -0.22970679219450602, 0.6826514851851792], [0.5816528131670393, -0.5750486151924885, 0.6722182317349809], [1.0054182921608084, -0.1510707865610061, 0.6000878158143345], [0.8387514498855502, -0.30383805076848996, 0.5788545018422542], [0.5719773736132429, -0.59064444747693, 0.5734712028251786], [0.5002157860644623, -0.6134827811616396, 0.5636382703887955], [0.6529226505684894, -0.47542960973673115, 0.5323198781320407], [0.7357188059685549, -0.41700629253758414, 0.47840576534016777], [0.5207476211880069, -0.6498912400029752, 0.5051433424538179], [0.6998049536764849, -0.4562382669414954, 0.44676899451635266], [0.5251059984791203, -0.6540927632629036, 0.47425653965880477], [0.5291325914113054, -0.6330761394874508, 0.4447834317835708], [0.7222546365084526, -0.4394092044574073, 0.36106606668934205], [0.7684967698795531, -0.3790672011479437, 0.30997058313907566], [0.6534396816553687, -0.4858915533724437, 0.30153089283975365], [0.9740599006429955, -0.17227773419433412, 0.15450227105320935], [0.5640846303030741, -0.5808185206894747, 0.24333263051602538], [0.5062490276742324, -0.6316061444397477, 0.22334543778488436]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2505, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.5563438109373158, -0.485197021338544, 0.6228639077819865], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.728, 4.098, 1.375, 4.761, 4.564, 4.389, 4.271, 1.528, 4.147, 4.129, 4.141, 4.027, 2.981, 2.255, 1.825, 1.535, 1.348, 1.199, 1.09, 1.008, 0.941, 0.882, 0.853, 0.813, 0.794, 0.774, 0.82, 0.811, 0.814, 0.824, 0.842, 0.865, 0.905, 0.939, 0.994, 1.063, 1.081, 1.205, 1.222, 1.149, 1.099, 1.066, 1.041, 1.019, 1.005, 1.003, 1.002, 1.019, 1.043, 1.078, 1.098, 1.151, 1.133, 1.008, 0.916, 0.846, 0.787, 0.88, 1.029, 1.267, 1.676, 2.675, 2.639, 2.638, 2.644, 2.667, 2.726, 2.807, 2.904, 3.034, 3.214, 3.439], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 1.222, "lift_m": 0.4, "door_grip": "g_office"}}
{"time_unix": 1793697401.1717098, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "open", "observation_id": "obs-8928e9d0-8-8369", "command_id": "cmd-phase1-open-001"}}}
{"time_unix": 1793697423.4822326, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "cmd-phase1-open-001", "action": "open", "door_id": "g_office", "grip_contact": true, "opening_progress_rad": -1.4545998247434442, "handle_rotation_rad": -0.5188697498443818, "peak_force_N": 1.0069833904726255, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-0.7845062754173265, 0.6201208784026175, 0.0], "normal_arm_m": [0.6201208784026175, 0.7845062754173264, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793697428.054708, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697428.5504732, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-9-12713", "session_id": "8928e9d0", "time_s": 25.426, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-9-12713.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-9-12713-rgbd.npz", "tcp_m": [0.628970193712973, 0.38754708203968735, 0.6177665666603692], "gripper_closed": true, "grip_contact": true, "force_N": 0.958, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 44936, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1065, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [35], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [44], "visible_pixels": 9180, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [45, 47], "visible_pixels": 116101, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 17, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_s", "class": "wall", "mask_ids": [52], "visible_pixels": 137, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 92, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [63], "visible_pixels": 131, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66], "visible_pixels": 30015, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [68, 69, 131, 132], "visible_pixels": 14795, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 75395, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.9045114639477838, 0.04748085075913505, 0.93478518139616], [1.0960480767037313, -0.09814650302874173, 0.970443652792217], [0.888971752268092, 0.046460352761544144, 0.9012014400100413], [0.9805758354159894, -0.032745630502793166, 0.8809446729663392], [1.044263418791668, -0.07280983254298456, 0.8485061250715947], [1.0945456985066169, -0.1000058306850421, 0.8121550918418917], [0.9522304458442995, 0.0042817996123944435, 0.807470595773801], [0.937377924639966, 0.010463381603009192, 0.7733424402666801], [1.0674979191738772, -0.09000787299253599, 0.7284918886802817], [0.8859303928542199, 0.05352923806318077, 0.7119799431186723], [1.0042291001722663, -0.04339456254267321, 0.6584065850255832], [0.8551452093928034, 0.07841782231472139, 0.6560497774623785], [1.0081630068914107, -0.049182713448716664, 0.5814178355014218], [0.8783404715468743, 0.056847604951228314, 0.5874527068284674], [0.9044427696395003, 0.033485317189835107, 0.5451362910322529], [0.875854969622542, 0.07559279624061788, 0.5273954015836274], [0.9648699677568124, -0.00929281632732587, 0.449372034889448], [1.0045410634865566, -0.028017350279609998, 0.3934290175224163], [0.9510198319268581, 0.0035206473607765076, 0.3844543966607835], [0.8573127039997532, 0.07968753919468297, 0.409533505549473], [0.9412521223254235, 0.010680977318205831, 0.3179597535837112], [0.9246640822230517, 0.022185842881642825, 0.2938882209910033], [0.85680026954112, 0.07418113379775537, 0.3128931732496849], [0.9754608888987055, -0.02245565228234314, 0.1769120644139015], [0.8093417372617401, 0.11468227084702859, 0.2927161602673106], [0.8119428689991208, 0.12465630876000616, 0.26874404996963674], [0.7802601666706663, 0.11788559330093623, 0.2873696901780528], [1.0791104673225558, -0.09842444516848603, -0.0007530965580438975]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 95295, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.156982689581911, -0.6827507044064877, 1.1802082207290465], [1.965969951839286, -0.86351982904945, 1.1123384614671457], [1.7269189976756945, -1.0980858603644865, 1.045944718768831], [1.9833029797113728, -0.8479842821649128, 1.0039357055606675], [2.168067991733684, -0.6848153899762259, 0.9629207674377226], [1.5876774627276036, -1.2463387339648766, 0.9368796337964466], [1.6828471785435966, -1.1355947776372397, 0.8850835337801356], [1.711889237782502, -1.1153085298131709, 0.8301691200605449], [1.7427752289391183, -1.0872609445438046, 0.7735240782592042], [1.6288361206107442, -1.2103093174572839, 0.7178513832173748], [1.939513141745818, -0.8887190467729115, 0.6475311191098024], [1.8601385391839138, -0.9344631856691163, 0.6075582084668475], [1.8760090636854176, -0.9502570484727764, 0.5816610475202084], [2.101211682413405, -0.7176253568092074, 0.5022647466512759], [1.7098208012162042, -1.128169916713882, 0.46475462511856913], [1.5708619227468008, -1.2309122486738393, 0.45172190052769456], [2.127401352717082, -0.6725467735236347, 0.3868669629093847], [1.7601361703960954, -1.0739798591898992, 0.3950942178359699], [1.7071327468726596, -1.1356173988066252, 0.33278340990121624], [1.6200406617648246, -1.2772175686952714, 0.3226501191604344], [2.1377766008693344, -0.6970827901670084, 0.20948111540344017], [1.904245958315663, -0.9299734948268432, 0.16673638210869546], [1.609734696354081, -1.2177026432826434, 0.14059885687449414], [1.771997484421028, -1.0492403670576531, 0.04088398896675749], [1.866317104699388, -0.9653093756902482, -0.055606710261725145], [1.885555830671997, -0.9462606795482722, -0.139593121048453], [1.7415913260465148, -1.0789266866522993, -0.18649956589346217], [2.1140558565303005, -0.736970989771926, -0.3690161959752628], [1.5898724066035512, -1.2532373065424456, -0.3465503183251849], [1.5854884038835921, -1.2432282021822583, -0.3820853614835674]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [134, 135], "visible_pixels": 365, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.6354180748698914, -1.0879261832908842, 0.6508968398064486], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210], "visible_pixels": 1183, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.721, 4.097, 1.372, 4.771, 4.554, 4.396, 4.287, 1.532, 4.141, 4.127, 4.143, 4.024, 2.982, 2.251, 1.814, 1.541, 1.349, 1.193, 1.093, 1.007, 0.935, 0.889, 0.858, 0.824, 0.805, 0.769, 1.968, 1.965, 1.976, 2.043, 2.079, 2.126, 2.209, 2.267, 2.385, 1.082, 0.957, 0.872, 0.796, 0.742, 0.697, 0.656, 0.64, 0.612, 0.602, 1.003, 1.009, 1.01, 1.03, 1.059, 1.11, 1.148, 1.123, 1.013, 0.918, 0.847, 0.793, 0.872, 1.029, 1.271, 1.684, 2.678, 2.655, 2.632, 2.644, 2.672, 2.722, 2.801, 2.908, 3.039, 3.218, 3.442], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 1.007, "lift_m": 0.4, "door_grip": "g_office"}}
{"time_unix": 1793697433.6457112, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "release", "observation_id": "obs-8928e9d0-9-12713", "command_id": "cmd-phase1-release-001"}}}
{"time_unix": 1793697434.1606898, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "cmd-phase1-release-001", "action": "release", "door_id": "g_office", "grip_contact": false, "opening_progress_rad": -1.4340476748911057, "handle_rotation_rad": -0.00016498870071353754, "peak_force_N": 0.0, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-0.797097268044336, 0.6038509296807089, 0.0], "normal_arm_m": [0.6038509296807089, 0.797097268044336, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793697436.6784413, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697437.180091, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-10-12963", "session_id": "8928e9d0", "time_s": 25.926, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-10-12963.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-10-12963-rgbd.npz", "tcp_m": [0.628970193712973, 0.38754708203968735, 0.6177665666603692], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 44936, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1065, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [35], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [44], "visible_pixels": 9180, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [45, 47], "visible_pixels": 116101, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 17, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_s", "class": "wall", "mask_ids": [52], "visible_pixels": 137, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 92, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [63], "visible_pixels": 131, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66], "visible_pixels": 29950, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [68, 69, 131, 132], "visible_pixels": 14795, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 75461, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8840665122350099, 0.04640762643888685, 0.9317385903521785], [0.9415852926733115, 0.0091630891653669, 0.9094503000688409], [0.9145465666417448, 0.0253074403700157, 0.8721015080767939], [0.8968290353390116, 0.039726780107655235, 0.8382452399690242], [1.0127662120198972, -0.04754372090800946, 0.808143387782175], [1.0097874197266377, -0.04362725250620042, 0.7705249748873729], [1.0896481238684401, -0.09217044180043643, 0.7302747444100616], [0.917782239439433, 0.024744927388531734, 0.7403865121985135], [0.905386892133867, 0.03399688170715781, 0.7090231593798194], [1.0615056869366815, -0.08372949324701295, 0.6478048611566759], [0.870631411059818, 0.053482239698436074, 0.6512004818747691], [0.850887233385361, 0.08289365919475677, 0.6269756126885474], [0.9506251025367527, 0.0028464051059565176, 0.5628801259215808], [0.9557139478162164, -0.0014599645253645654, 0.5255820599647568], [0.8910803187006849, 0.043884631283025666, 0.5174757831077917], [0.9955350176000846, -0.03869586901610339, 0.4331426529937751], [1.0962742179860308, -0.10009928651236094, 0.35472296362653155], [1.0163319548300263, -0.04963313717962947, 0.3845504062086327], [0.9997932801617808, -0.040757768054222876, 0.35374221709301545], [0.9108640959662149, 0.031837814733417624, 0.3729744143525119], [0.93780055748157, 0.01339199382687184, 0.3204114968014452], [0.9335766279302642, 0.015539801662096175, 0.2871749576176459], [0.8491370634159803, 0.06997065460999019, 0.3162332316425661], [0.9752925509037231, -0.03163144786868877, 0.1742182871176713], [0.8011967963552731, 0.1156702465833161, 0.2985175156633697], [0.7667158221184022, 0.11616969005925759, 0.3020853840112384], [0.8025980536084245, 0.12392647720072614, 0.27807995303037214], [1.0800923692784115, -0.09851400333527355, -0.001481716153050261]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 95295, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.164718174341572, -0.6851992208893005, 1.181571743445827], [1.7116041327668026, -1.0852003646568478, 1.1304104393804657], [1.9645084954678866, -0.8521002058076771, 1.1114239274383477], [1.6990757499716156, -1.1357094029835144, 1.04489125542415], [1.9441697366405075, -0.8965174913965296, 1.0025986172453214], [1.5737607704027428, -1.2361243541407498, 0.9792440612560956], [2.1034195996783662, -0.7179330865369301, 0.9498662812096487], [1.6222677147863203, -1.199462777910121, 0.8839500141321247], [2.1352122665463003, -0.67520315841704, 0.8871326152260072], [1.6660031175155405, -1.157139013500708, 0.8298248925788109], [1.6647717651887202, -1.170627943578829, 0.773964560431201], [2.1675445889394385, -0.6880926132931166, 0.7637950179341987], [2.1322613898166267, -0.7045137961635758, 0.7047145297339567], [1.6183719560775136, -1.27605210893584, 0.6883281599431798], [1.9204564903763257, -0.9104069155082019, 0.648083385498217], [2.164396270706394, -0.6835813175049331, 0.5704032437443672], [1.8300880605381789, -0.9919747891164445, 0.5840705973886923], [2.0717381778040993, -0.7531888660788978, 0.5037601186928548], [1.5734741569832933, -1.2328594692922976, 0.5134669671689328], [1.6148813405716707, -1.2104219445054945, 0.4729629138606105], [1.6723438450586527, -1.1620819255080783, 0.4031311469268911], [1.6322282076122234, -1.2062086391939475, 0.34123525391979415], [2.031439871045232, -0.7859315606400191, 0.224615229788391], [1.871484570163534, -0.9622858646738872, 0.17135177230944254], [1.591277700443782, -1.2246885714435247, 0.14512368564846112], [1.7738715970781989, -1.0545132678302611, 0.03941121474042242], [1.9051349846385697, -0.9306688556367115, -0.06370737648726132], [1.871797516940339, -0.9644987805230998, -0.1376084493116414], [1.7486530398257472, -1.0876021014240977, -0.19140527566566623], [2.063321388630212, -0.7736735982398757, -0.3533956912557309], [1.5915598115850635, -1.24798897196331, -0.38661199324569717]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [134, 135], "visible_pixels": 365, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.6364915507369642, -1.088320945635907, 0.6507032473657638], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210], "visible_pixels": 1183, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.714, 4.089, 1.369, 4.77, 4.555, 4.393, 4.276, 1.525, 4.143, 4.126, 4.141, 4.014, 2.989, 2.263, 1.819, 1.546, 1.343, 1.198, 1.088, 1.01, 0.94, 0.885, 0.848, 0.822, 0.804, 0.766, 1.973, 1.955, 1.965, 2.028, 2.084, 2.141, 2.206, 2.262, 2.388, 1.071, 0.94, 0.862, 0.779, 0.728, 0.682, 0.645, 0.612, 0.607, 0.581, 0.998, 1.004, 1.016, 1.034, 1.064, 1.096, 1.152, 1.133, 1.014, 0.916, 0.85, 0.803, 0.864, 1.034, 1.27, 1.676, 2.677, 2.643, 2.628, 2.643, 2.679, 2.726, 2.796, 2.904, 3.044, 3.21, 3.437], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697442.1984668, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.6531,0.4194,0.6178)", "observation_id": "obs-8928e9d0-10-12963", "command_id": "cmd-phase1-retreat-normal-001"}}}
{"time_unix": 1793697442.4303951, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "cmd-phase1-retreat-normal-001", "executed": ["move_tcp"], "duration_s": 0.222, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793697445.9755576, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697446.481054, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-11-13074", "session_id": "8928e9d0", "time_s": 26.148, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-11-13074.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-11-13074-rgbd.npz", "tcp_m": [0.6531, 0.4194, 0.6178], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 44936, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1065, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [35], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [44], "visible_pixels": 9180, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [45, 47], "visible_pixels": 116101, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 17, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_s", "class": "wall", "mask_ids": [52], "visible_pixels": 137, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 92, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [63], "visible_pixels": 131, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66], "visible_pixels": 29926, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [68, 69, 131, 132], "visible_pixels": 14795, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 75485, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8800864195838373, 0.046198697981139236, 0.9311454994613008], [0.9001021957495587, 0.02755334871379339, 0.9035680112239096], [1.057799158070191, -0.08622548902049082, 0.8893167829893057], [1.0664993048687605, -0.09643288526969845, 0.8500181124689951], [0.9696919722012829, -0.01326466632772244, 0.8076745273942058], [1.1005617259243314, -0.09979947511317988, 0.7865895088508189], [0.9619326230721543, -0.016985212289880813, 0.7722612428636332], [0.883961593120858, 0.042945926469057705, 0.7431908972549962], [1.0984734305883772, -0.10005268598808054, 0.7212074024095619], [0.9111315924151413, 0.025979738094801585, 0.7080389101177443], [1.071396380388308, -0.09544142701558694, 0.6456574340563229], [0.8635268411036925, 0.06403433433332584, 0.6533496666290096], [1.0556955368297158, -0.08229736579611341, 0.5679611388343019], [0.8946054457320862, 0.044997310035158666, 0.5819598399675747], [0.9221563575988692, 0.017801822720305227, 0.537880148170783], [0.8848072897403613, 0.0495205533997371, 0.520397380260711], [1.0042948506543188, -0.04500847823622933, 0.42887114372513835], [1.0536043382540334, -0.08211665307623572, 0.36339920612066023], [0.9816714778888521, -0.023796427680113752, 0.36526111337611133], [0.785413659097304, 0.10045015607255764, 0.4525683675111988], [0.8598116786962897, 0.06008214134588308, 0.4038256845162135], [0.9155684510706035, 0.01975363361803939, 0.33344235529130317], [0.9322219001084513, 0.011383628402735435, 0.2868133864244794], [0.8507612178154995, 0.0629518174264016, 0.313257879507269], [1.003493141530779, -0.040482119280258466, 0.15370200837856984], [0.7844637154938829, 0.1163896214117473, 0.31001001745627466], [0.7717820617158913, 0.11521158440087775, 0.3039377672930611], [0.788944696084498, 0.12217633682325157, 0.28415056205257316], [1.074478700193021, -0.09800198692748219, 0.0026839026962706125]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 95295, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.148599999776578, -0.6836390191452956, 1.1789921873208682], [1.7869722889017998, -1.0113586358862967, 1.130449365992121], [2.133353648146902, -0.6738846513862248, 1.1412920145788572], [1.9436301372690177, -0.889591257610067, 1.111061126934672], [1.6430953568681748, -1.1903859938291905, 1.04166968039635], [1.909514136972367, -0.916898906681493, 1.0004841780889224], [1.6248153790426139, -1.2812126861041444, 0.9703146435678008], [2.0587839832241155, -0.767546616552516, 0.9486020406588228], [1.6092112356578774, -1.2319785790419935, 0.8840510757449586], [2.166584869498611, -0.6910866125472571, 0.8507782840137162], [1.6461349118646587, -1.2086773856047224, 0.8298922867183872], [1.5707631956890733, -1.229429687592927, 0.8230225939263432], [1.579530454334552, -1.242281675187159, 0.7928625898199716], [1.599782045707161, -1.2280276533500496, 0.7743995546004484], [2.049396903917434, -0.7727932274385109, 0.7066368159133977], [1.847862915149302, -0.9813915508908069, 0.650548831450889], [1.8020564222265603, -1.0269111441895735, 0.585113695156094], [2.011306267464893, -0.8145698890979965, 0.5075040912577968], [1.6039685090065305, -1.2264761677316942, 0.47343241396475266], [1.667446605256921, -1.1546346992760428, 0.40464042569599434], [2.1361281700422396, -0.6872842781596894, 0.28492616030793805], [2.0322254079291846, -0.810106481031561, 0.22164096084008045], [2.165896302484301, -0.6841174298078498, 0.14438554022158834], [1.811230982956371, -1.0154396219057142, 0.1806557217815734], [2.0904408186449372, -0.7401896496289051, 0.06156537375512172], [1.70383543349802, -1.115192490897753, 0.05297725611603277], [1.795816133244152, -1.0313599731199306, -0.04145004222148718], [1.802707573197871, -1.036818554188561, -0.12390932325880066], [1.684206816607117, -1.1492536323934823, -0.17629233476456319], [2.057025738901507, -0.7755329393884862, -0.35084119264472713], [1.591083103830637, -1.247615171358367, -0.3862565764184075]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [134, 135], "visible_pixels": 365, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.6350793610991774, -1.087925218206699, 0.651134287171326], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210], "visible_pixels": 1183, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.72, 4.09, 1.37, 4.771, 4.554, 4.398, 4.277, 1.526, 4.139, 4.127, 4.145, 4.012, 2.981, 2.26, 1.831, 1.538, 1.343, 1.199, 1.079, 0.997, 0.941, 0.89, 0.861, 0.82, 0.799, 0.765, 1.967, 1.96, 1.967, 2.03, 2.076, 2.128, 2.215, 2.26, 2.385, 1.073, 0.951, 0.842, 0.772, 0.722, 0.674, 0.648, 0.618, 0.598, 0.571, 1.006, 1.005, 1.014, 1.033, 1.064, 1.104, 1.155, 1.14, 1.005, 0.919, 0.845, 0.781, 0.874, 1.029, 1.28, 1.678, 2.678, 2.643, 2.626, 2.636, 2.677, 2.724, 2.801, 2.912, 3.032, 3.212, 3.441], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697452.5102296, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.6031,0.3694,0.6178)", "observation_id": "obs-8928e9d0-11-13074", "command_id": "cmd-phase1-retreat-edge-001"}}}
{"time_unix": 1793697452.918707, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "cmd-phase1-retreat-edge-001", "executed": ["move_tcp"], "duration_s": 0.392, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793697455.7341275, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793697456.230592, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8928e9d0-12-13270", "session_id": "8928e9d0", "time_s": 26.54, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-12-13270.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/obs-8928e9d0-12-13270-rgbd.npz", "tcp_m": [0.6031, 0.3694, 0.6178], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 44936, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1065, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [35], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [44], "visible_pixels": 9180, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [45, 47], "visible_pixels": 116101, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 17, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_s", "class": "wall", "mask_ids": [52], "visible_pixels": 137, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 92, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [63], "visible_pixels": 131, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66], "visible_pixels": 29892, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [68, 69, 131, 132], "visible_pixels": 14795, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 75519, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8829806860416389, 0.04635062776778903, 0.931576786675529], [1.0964273459422254, -0.09893576339974308, 0.9470064604102791], [1.0904001372344319, -0.09987516961999326, 0.9462904004009266], [0.9452783019091207, 0.005673962633166552, 0.9100784463061516], [0.8760297267529324, 0.048734380736655925, 0.8681194923495869], [0.8804994683431184, 0.050792362401105295, 0.8373007056961063], [0.9538918615648915, -0.013048532543447733, 0.8075494790434029], [0.9464644888709177, 0.0007335077884242369, 0.7729482446103854], [1.0839011770067493, -0.097601843056846, 0.7271999807327748], [0.867371185442429, 0.06431307664023261, 0.7144124063316636], [0.989393255393267, -0.04275347875608976, 0.6604983964717247], [0.8500263518917905, 0.07477441975810828, 0.6566414012429208], [1.0309692622181252, -0.06974999588697967, 0.5744825341520063], [0.8756759458652237, 0.04520086563627462, 0.586712935204381], [0.9034765657617017, 0.026095595807828553, 0.54438930662582], [0.8622970565760392, 0.06427978755460628, 0.530023918637999], [0.937384371010331, 0.0017232928272670756, 0.4612386881512487], [1.0160488993883532, -0.05423492729215751, 0.3837757168716355], [0.9215829608216011, 0.006082442588624837, 0.3978814879842151], [0.8316560354756284, 0.07394884282541664, 0.42044635956159737], [0.8861663347343751, 0.048275150140975664, 0.35567764973600313], [0.8747713143513753, 0.04997366415717108, 0.32895029425419153], [0.8185319872236649, 0.09550931077650388, 0.3417119418123099], [0.7802630449989011, 0.10232766606070298, 0.359404333228565], [0.945685830404781, 0.00013751312432552787, 0.2026167084410706], [1.054481354585461, -0.08183693993491942, 0.06606531382368963], [0.7672165071141771, 0.11638467912064615, 0.31739095465330014], [0.7671649432755574, 0.1160644618002043, 0.303158678842142], [0.787598760134218, 0.12214680448302057, 0.28362749260126074], [1.0746051547876687, -0.09801352070803016, 0.0025900671610733506]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 95295, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.1511550598078166, -0.680906082123471, 1.1791809928527277], [2.134212496166417, -0.6750400220548219, 1.1635840079775228], [1.9309112464092852, -0.9017918128953482, 1.1101665686949103], [2.163073620146023, -0.6840319874482391, 1.0749363020964222], [1.624597558432641, -1.2182421070062088, 1.041120367267614], [1.8530702010465985, -0.9435076748262234, 1.0333763787879238], [1.8483443363957184, -0.9778814581793187, 0.9977815527706698], [2.031901433493398, -0.7901563295261389, 0.94762580711784], [2.1357961177166556, -0.6864570108892473, 0.8907151187976695], [1.6459696952880578, -1.1930157684593579, 0.8297886601391385], [1.6128708684587187, -1.2106657963877845, 0.7743446634443291], [2.1648906119020457, -0.685914476113252, 0.728626419356108], [2.0076687692124118, -0.80904326462871, 0.7075700772124011], [1.8255922635720458, -1.0040321154189056, 0.6512783461396859], [1.7894637245402154, -1.05875505015346, 0.5848528460365684], [2.0034556399385695, -0.8345268813295043, 0.5072864090940769], [1.596437473198225, -1.249186382561621, 0.47292106139128964], [1.638400345628288, -1.1948697604424563, 0.40634796168970577], [1.6188529283830255, -1.2761153522069206, 0.38907410537262865], [2.1528967278139053, -0.6848043171460387, 0.281676725634902], [2.011660544969565, -0.8217731865948869, 0.22520368230919485], [1.7781848179225324, -1.0495509609581468, 0.1851139112059106], [2.057836683347633, -0.772683432061504, 0.06666560905605601], [1.5777583944173221, -1.2403822392808466, 0.13258944943592377], [1.6633558574303517, -1.1592296564376618, 0.05937546910303371], [1.7897170833023321, -1.0404210622607584, -0.04081839345123062], [1.6187061676520018, -1.2762440501442844, -0.08106511506236702], [1.7595681552108098, -1.0750279937673677, -0.11400978024193731], [1.6297868170430705, -1.2019572996587937, -0.16366612547103143], [1.576204358829371, -1.238207250625538, -0.19410564478140657], [1.997000566880062, -0.8448051170923174, -0.3382696203357397], [1.5909375481464267, -1.247501036854983, -0.3861480551304787]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [134, 135], "visible_pixels": 365, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.6358940685900112, -1.0878235943280823, 0.6507601966106286], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210], "visible_pixels": 1183, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-0.328769169873903, -0.233650849763906, 0.9150508801946641], [0.944410309632643, -0.08133879430762658, 0.3185485325663216], [1.1102230246251565e-16, 0.9689124217106448, 0.24740395925452308]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": -2.3565926535897934, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [3.722, 4.09, 1.368, 4.761, 4.552, 4.386, 4.263, 1.524, 4.136, 4.128, 4.15, 4.011, 2.983, 2.26, 1.823, 1.545, 1.346, 1.202, 1.096, 1.016, 0.933, 0.883, 0.844, 0.817, 0.789, 0.762, 1.963, 1.957, 1.968, 2.024, 2.068, 2.13, 2.21, 2.268, 2.395, 1.071, 0.935, 0.845, 0.771, 0.71, 0.675, 0.624, 0.607, 0.585, 0.578, 0.999, 1.004, 1.014, 1.029, 1.062, 1.098, 1.15, 1.128, 1.008, 0.918, 0.841, 0.802, 0.861, 1.026, 1.276, 1.672, 2.668, 2.633, 2.642, 2.64, 2.671, 2.722, 2.804, 2.903, 3.046, 3.216, 3.43], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.45, "tilt_rad": -0.25}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793697461.4177477, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5531,0.3194,0.6178)", "observation_id": "obs-8928e9d0-12-13270", "command_id": "cmd-phase1-retreat-base-001"}}}
{"time_unix": 1793697461.4239995, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "collision_guard", "command_id": "cmd-phase1-retreat-base-001", "executed": [], "duration_s": 0.0, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": true, "needs_observation": true}}
{"time_unix": 1793697461.4354274, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793697461.4371011, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793697461.4483254, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793697461.5054305, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 12, "stop_latched": true, "video": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/mobile.mp4", "note": "Kinematic mobile simulation; no room truth in planner tools.", "api_version": 4, "evaluation_file": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-001/simulation/evaluation.json", "floor_id": "ground"}}
