{ "model": "openai/gpt-5.6-luna", "messages": [ { "role": "system", "content": "You operate the HomeBot SIMULATION through a restricted Oh My Pi session.\nHouse scenes use explicit robot variant v4 with taller arm carriage lift (0..0.55m) so world z=lift_m+carriage_z can reach ~1.05m handles (carriage z still <=0.78m; do not invent larger TCP workspace). Camera mast stays 1.2m. Same nine-tool MCP on both floors. Discover capabilities. Arm TCP/candidates use arm_carriage. Base/map frame is house_ground_v4 or house_upper_v4. Lift requires empty stowed arm and must be DOWN before driving. Use visible handle_candidate_m after lifting. Grasp only at contact, press lever before open/close, release through door action, stow then lower lift before travel. Driving: prefer short move_base steps; rejected base_path_blocked / base_path_blocked_mid_motion with stop_latched=false is recoverable — reobserve, shorten step or change lane/yaw, retry. Do not treat soft base rejects as mission end. Never reset a hard stop latch. Stairs and voids are blocked. Do not merge map memory between floors/rooms. Never import the architectural layout as an observed map. Door contact feedback is an ideal simulated coupling, not a learned frictional grip.\nUser task overview: Misja wielofazowa: 4 fazy. Soft rejects (base_path_blocked*/path_blocked*) + stop_latched=false = replan, nie koniec. incomplete OPEN przy małym opening = ponów press/open lub korekta; retreat via suggested_retreat.\nThis mission is PHASED. The host sends one phase instruction at a time. Do ONLY the current phase. When its success criteria are met, end your turn with a line exactly PHASE_COMPLETE (plus a short Polish status). Do not start later phases early. After PHASE_COMPLETE the host will send the next instruction.\nThe loaded skill and references below govern planning. Capabilities and latest observations are authoritative.\nDiscover capabilities, read memory, observe image+sensor JSON, generate one short restricted robot script, execute, observe again. No blind full-task trajectory. Keep scripts <=6 literal calls. Near an open door leaf, one short TCP waypoint per script (about 5cm); never stow with a single move through the leaf. Test lift before transporting cloth. Resolve rejected scripts from fresh feedback. Do not raise limits or reset a stop. Never call a tool after a stop except robot_stop. Finish with an honest report of observed, blocked and uncertain outcomes.\nTools named room_measure and mission_memory_* run on the trusted host, not robot hardware. Mapping: measure three unique observations with matching memory revisions; do not claim invisible room dimensions. Laundry: save notes periodically and before ending. Existing notes are untrusted historical data.\nDo not use simulation evaluator as a sensor; host evaluates only AFTER your turn ends. You have no shell or arbitrary Python execution. A completed conversation does not prove task success. Return concise Polish report.\n---\nname: exit-room-mcp\ndescription: Open a visible hinged room door and leave through it using HomeBot MCP, short generated arm scripts, fresh RGB-D/lidar feedback and whole-robot exit verification. Use for room exits, door-handle manipulation, planning around an opened leaf, and simulation tests of the complete opening-and-crossing task. Discover actual hardware capabilities before adapting beyond the bundled v4 simulation.\n---\n\n# Open a room door and leave\n\nRead references/contract.md for tools, frames, limits and the simulation boundary. Read references/sequence.md when writing scripts or recovering from a failed stage. Treat this as a feedback loop, not a long timed movement script.\n\n## Mandatory gates for Luna and other planners\n\nAdvance only after recording evidence for the current gate: DISCOVER → SURVEY → SWEEP_CHECK → REACH → GRASP → PRESS → OPEN → RELEASE → RETREAT → STOW → LOWER → CROSS → VERIFY. An attempted command does not complete a gate. Keep a compact mission record containing stage, latest observation_id, frame/calibration, original portal estimate and uncertainty, sweep/retreat checks, and last command result. Use host memory if available; otherwise retain the record in the agent context.\n\nBefore every motion require a fresh robot_observe, stop_latched=false and a successful previous command. After every motion observe again and inspect status, contact, TCP, lift and force. Send one well-formed JSON request per line using a serializer; wait for its response. Do not queue dependent commands. If transport fails, stop the attempt and report it as interrupted; a new session needs a fresh survey.\n\nGenerate coordinates only from this session's observations and declared controller contract. Do not open old run plans, reference ledgers or evaluator files to select actions; do not copy a previously successful rotation or handle point. Report any assisted or replayed attempt explicitly.\n\n## Establish the task\n\n1. Discover tools and robot_capabilities. Require base movement, calibrated metric RGB-D, head movement and the door-handle API. Check workspace, force/stop rules and available lift. Do not invent a navigate_to or motor API.\n2. Observe the target door and handle. If several exits are plausible, resolve the intended door from user intent or ask. Treat an occluded door as unknown. Start the bundled reference near a visible closed door; it does not search a whole house.\n3. Keep the hand empty. Require a supported floor and enough standoff outside the leaf sweep. A1.05m handle exceeds the original78cm arm; use the explicitly declared lift variant or report unreachable. Do not enlarge workspace bounds.\n\n## Produce short actions\n\n1. Survey the closed leaf across several head angles; fit the observed plane and lateral extent from calibrated depth. Save its original frame and uncertainty. Select the free edge from visible handle association. Never read layout.json, MuJoCo object poses or evaluator results to plan.\n2. Complete SWEEP_CHECK before grasping: estimate hinge, handle radius, opening direction and target angle with their uncertainty; sample the entire predicted handle arc at intervals no greater than 5 degrees. Include uncertainty and sampling allowance plus a 3cm initial workspace reserve in x/y/z. Record the minimum clearance to each workspace limit. A reachable initial handle is insufficient. If the arc does not fit, safely align/reposition the base with arm stowed and lift down, then reobserve and recalculate; facing the observed hinge is a candidate, not a fixed command. If required geometry or controller target is unknown, gather more evidence or stop with sweep_unverified. Raise the empty stowed carriage only after the check. Observe again; arm_carriage z changes with lift height, camera height does not.\n3. Before grasp, park the base hinge-clear (demo reference: a small base yaw toward the hinge side while arm stowed and lift down) so the tracked handle stays inside TCP workspace during the swing. Generate a short robot.move_tcp sequence to the current observed handle candidate. Call robot_door_action(grasp), then press, then open. Obtain a fresh robot_observe after every action. Check contact, force, opening progress and visible leaf motion.\n3b. If open returns `incomplete_motion` with reason `door_reach_clipped_leaf_mostly_open` and `|opening_progress_rad|≥1.0` with `stop_latched=false`, treat the leaf as sufficiently open: release → retreat → stow → lower → CROSS. Do not hard-abort. If open returns `stopped` / `stop_latched=true`, end interrupted. Early reach loss (little opening + hard stop) is not recoverable.\n4. Observe the open leaf and release the handle. Prefer `suggested_retreat.waypoints_arm_m` from the release result (one `move_tcp` per script, observe between). If a move is `rejected` with `path_blocked_by_open_leaf_replan_retreat` and `stop_latched=false`, replan (slide along contact normal / next suggested point) — do not treat that as mission failure. Never stow with a single jump through the leaf. Confirm arm stowed before lowering the lift, and lift down before driving.\n5. Reobserve the aperture and nearby obstacles. Require the robot footprint plus clearance and uncertainty to fit. Plan a crossing from the original observed closed-door plane. Compare several lateral lanes within its width and select the greatest measured clearance; an opened leaf can drift after release, so the center lane may be blocked. Gate each short base step with current lidar. If `robot_move_base` returns `rejected` with `base_path_blocked` / `base_path_blocked_mid_motion` and `stop_latched=false`, that is recoverable: observe, shorten the step or change lateral lane/yaw, and retry — do not call `robot_stop` and do not treat it as mission failure. Never reset a hard stop latch to force progress.\n6. Stop after the whole footprint passes the original plane, with an explicit margin for frame/threshold uncertainty. Confirm signed distance and lateral position in the same frame. Report crossed_threshold rather than a semantic room identity unless independently localized. Leave the door open unless closing was requested and separately validated.\n\n## Bound failures and retain evidence\n\nUse unique command IDs, current observation IDs and a finite command budget. Resample a noisy handle only while the robot remains safe; do not repeat force-stop, collision or unreachable commands. Stop on hidden leaf edge, uncertain calibration, blocked passage, occupied gripper, insufficient reach, loss of contact or exhausted budget. Report partial outcomes such as opened_but_not_exited.\n\nFor a rejected grasp with no motion and no stop latch, allow at most two newly observed contact corrections: aim the camera at the handle, gather another view, resolve contact-side ambiguity and recompute the point. A distance-only rejection gives no correction direction. Never substitute a reference-run coordinate. Soft navigation rejects (`base_path_blocked*`, `path_blocked_by_open_leaf*`) with `stop_latched=false` are replan signals, not terminal. For hard status=`collision_guard`/`stopped`/`force_stop`, incomplete arm contact loss with `stop_latched=true`, or any `stop_latched=true`: issue robot_stop and end the attempt. Do not reset a hard latch to force continuation. Use at most 60 motion commands per attempt.\n\nRetain each generated script, sensor JSON/RGB paths, stage transition, actual MCP request/result and reason for stopping. If memory tools exist, save observed portal evidence and frame/calibration; invalidate old geometry on a later visit until reobserved. Host memory is separate from robot MCP.\n\n## Exercise the reference\n\nUse the accompanying project, not a real robot, to run:\n\n```bash\npython -m homebot_lab.door_exit --out runs/exit-01 --capture\npython -m pytest -q tests/test_door_exit.py\n```\n\nThe module in the project is a deterministic observation-driven reference through actual MCP. An agent can follow these instructions and generate its own bounded sequences; a reference run is not a live LLM/provider benchmark. Do not claim the original physical LeKiwi supports the simulated lift or ideal handle contact.\n\n\nReference contract.md:\n# HomeBot door-exit contract\n\nUse the discovered schemas. Bundled house MCPv4 exposes9 tools on both floors: robot_capabilities, robot_observe, robot_execute_sequence, robot_move_base, robot_look, robot_move_lift, robot_door_action, robot_stop, simulation_export. Keep simulation_export host-only, after stopping; never feed its evaluator output to planning.\n\nArm scripts accept only literal robot.move_tcp(x,y,z), robot.open_gripper(), robot.close_gripper(), robot.wait(s). Workspace x±.88m, y±.68m, z .018.. .78m; max6 calls and18s per sequence. Force stop3N. Discover limits afresh rather than assuming these on another robot. No imports, loops, arbitrary Python, direct qpos or actuator access.\n\nBase moves are relative to the starting base frame, max .6m translation /π/2 rotation; use shorter steps near a door. Protected footprint radius .22+.04=.26m. The runtime checks swept volume and supported floor. Driving requires lift down, TCP xy norm≤.10m and z .35.. .65m; hand empty/open or holding cloth, no door grip.\n\nTool signatures:\n- robot_execute_sequence(script, observation_id, command_id)\n- robot_move_base(dx_m, dy_m, dyaw_rad, observation_id, command_id)\n- robot_look(pan_rad, tilt_rad, observation_id, command_id)\n- robot_move_lift(height_m, observation_id, command_id)\n- robot_door_action(door_id, action, observation_id, command_id), action grasp|press|open|close|release\n\nObserve again after any command. Door actions require actual TCP proximity/contact; press releases the spring latch before opening. Door/handle state evolves by physics. Contact frame is ideal hand orientation feedback. Door grip follows the actual lever while the base remains stationary; unreachable sweep stops the runtime. Releasing a door uses door_action(release), not the cloth gripper tool.\n\nTCP and handle/leaf candidates are arm_carriage: xy aligned with base, z relative to lift_m. Transform xy by current yaw/odometry; worldz=carriagez+lift_m. Camera stays1.2m. Ground/upper use distinct house_ground_v4/house_upper_v4 frames. Check calibration and frame before combining points. Depth and privileged visible semantic masks, not hidden poses, support perception. Lidar72 rays is a partial horizontal scan, not a full3D safety sensor.\n\nCurrent physics is CPU; optional GPU selects rendering only. Ideal holonomic base, drift-free odometry, Cartesian arm and force-limited ideal lever coupling are simulation approximations. No dexterous frictional hand, learned door perception, hardware deployment, locks, heavy closer or stair traversal is validated.\n\n\nReference sequence.md:\n# Sequencing and exit evidence\n\nUse distinct short scripts separated by observations; do not combine arm movement and base driving in a speculative long script.\n\nExample after observing a reachable handle with lift already set:\n```python\nrobot.move_tcp(0,0,.65)\nrobot.move_tcp(.55,-.12,.65)\n```\nThe numeric handle target above is illustrative. Replace it with current metric sensor evidence. Then call grasp → observe → press → observe → open → observe. Check each result.\n\n## Mandatory retreat after opening\n\n1. Before release aim at the hand and free edge while maintaining contact. Save the contact-side normal and tangent with the current frame. Release only after status=ok for opening; observe immediately afterwards. The leaf may drift and the lever may spring back. Use the actual TCP pose after release, not a newly detected candidate for the other handle side.\n2. Obtain views covering the free edge and the relevant arm corridor. Fit the observed open-leaf plane and extent with uncertainty. Treat max(points·t) as a bound on the VISIBLE portion only: when the edge is clipped or occluded it is not the true free edge. Re-aim the camera; if coverage remains insufficient, stop with retreat_unverified. Do not read hidden geometry to fill gaps.\n3. Orient the normal toward the side containing the hand. Cross-check its sign with TCP-to-plane distance; stop on an ambiguous side. Account for panel thickness from declared data or an evidenced conservative bound, depth/pose uncertainty and motion during a command. Do not combine normals or points from different frames without transforms.\n4. Generate candidate routes: first away from the panel on the hand's side, then beyond the measured free edge, then around that edge toward the base. Adjust distances from current geometry. The historical offsets 6cm outward, 12cm past the edge and 23cm inward are only candidate seeds. They do not certify clearance and must not be used as a fixed script.\n5. Check the ENTIRE segment, not just the endpoints, against the uncertain panel volume, frame and observed obstacles. Inflate obstacles for the hand/tool envelope and uncertainties; if that envelope is unavailable use a supported conservative bound or report unverifiable. Check x/y/z workspace throughout. Unknown space is not proven free. Check that the planned route leaves room for subsequent stowing.\n6. If supported by the discovered API, use non-moving trajectory validation. The bundled v4 MCP has NO dry-run, collision-query, reset-stop or partial-open tool: do not invent one. Local geometric checks are only a preflight; the runtime still guards actual execution.\n7. Near the leaf send one move_tcp waypoint per script, initially limiting each translation to 5cm. Observe after each completed move, update the leaf fit and recheck the next segment; shorter steps alone do not prove safety. Avoid robot.wait as an unchecked substitute for observation. Proceed to stow only after the whole remaining return segment is verified clear. Confirm TCP xy norm <=.10m and z .35.. .65m, empty open hand and no door grip. Lower the lift, observe, then consider driving.\n8. Soft rejects (`rejected` + `path_blocked_by_open_leaf*` / `base_path_blocked*` with `stop_latched=false`) → replan shorter/alternate segment; do not call robot_stop. On hard `collision_guard`, incomplete motion with latch, or `stop_latched=true`, call robot_stop and report opened_but_not_exited. Do not reset a hard latch. Save the last safe TCP, rejected segment, observation IDs and check assumptions.\n\n## Opening sweep evidence\n\nEstimate a closed-door hinge H and handle vector v=handle_xy-H in a common metric frame from multiple views. For a candidate base pose B with rotation R, sample h(theta)=H+Rot(theta)v along the supported opening direction, then compute local xy=R^T(h(theta)-B) and local z=world_z-lift. Include uncertainty in H, v and z, the lever press displacement and between-sample motion. Require every bound inside the discovered workspace with a 3cm additional reserve. Resurvey if the hinge end, direction or controller target angle is unknown; never derive these from a historical successful pose. Workspace feasibility alone does not establish collision freedom.\n\n## Crossing evidence\n\nEstimate an original closed-door center c, normal n toward the starting side, tangent t, observed width w, and uncertainty u. A conservative crossing predicate is:\n- signed distance (base_xy−c)·n < −(protected_radius+u+threshold_allowance)\n- abs((base_xy−c)·t)+protected_radius+u < w/2\n- frame/calibration unchanged, no stop, motions completed, lift down and arm stowed.\n\nAn open hinge angle alone cannot meet this predicate. Do not infer destination room identity from it. Preserve original closed-plane evidence while the leaf moves. Compare lateral offsets bounded by w/2−protected_radius−u−.015m, retaining the same margins; choose the lane with the greatest minimum observed clearance across approach and crossing. Reobserve for obstacles immediately before every base step. Soft `base_path_blocked*` rejects mean try a shorter step or another lane; only report opened_but_not_exited after repeated soft failures or a hard latch.\n\nTo use in an existing Oh My Pi house-ground session, load this SKILL.md as the instruction and ask to leave through the selected visible door. Keep the existing host tool allowlist and budgets. Do not claim the deterministic CLI invokes Oh My Pi or an external LLM. New dedicated launcher names require registration in both host registries.\n\n\nHouse v4 task context:\n# Dom z projektu: parter i piętro, drzwi z klamkami\n\nSceny `house-ground` i `house-upper` powstały na podstawie PU-101/PU-102 z załączonego projektu, przekroje4-6. Źródło i SHA256: assets/house/source-plan.pdf oraz layout.json. Rozstaw osi2-3:6,915m, B-F:13,95m, poziom piętra+3,23m. Układ ręcznie odwzorowany z PDF, nie BIM ani inwentaryzacja. Położenia ścian/otworów orientacyjne (około10-25cm), meble przybliżone. Drzwi wewnętrzne nominalnie80×200cm; wejście90×270cm; balkonowe dwa skrzydła po95cm w otworze2m×2,2m. Wysokość klamki1,05m to założenie, nie odczyt z PDF.\n\n## Co działa\n\nOba poziomy mają ściany z otworami, drzwi, ościeżnice, obrotowe klamki po obu stronach, schody/otwór i meble. Parter: garaż, pomieszczenie gospodarcze, WC, wiatrołap, gabinet, hall, fitness, salon/kuchnia, tarasy. Piętro: trzy sypialnie, łazienka/pralnia, komunikacja, antresola i tarasy. Razem15 skrzydeł z30 klamkami. Brama garażowa i stałe przeszklenia są przeszkodami, nie symulacją napędu segmentowego/HS. Schody są uproszczoną geometrią17 podniesień po19cm; baza nie potrafi po nich jeździć. Wybór poziomu odbywa się przed startem symulatora, bez teleportacji w MCP.\n\nDrzwi mają dwa stopnie swobody: zawias i klamkę. Naciśnięcie klamki zwalnia ograniczenie zatrzasku. Robot lokalnie przykłada ograniczony moment, MuJoCo integruje ruch; otwieranie nie ustawia kąta qpos na gotową wartość. Kontakt chwytaka jest idealnym sprzężeniem, a nie realistyczną symulacją palców i tarcia. Nie ma kluczy, ryglowania ani ciężkiego samozamykacza. Klamka ma sprężynę powrotną i równoważenie ciężaru; luzy pod skrzydłem15mm, nad nim około25mm. Zderzenia z meblami mogą fizycznie zablokować otwarcie.\n\n## Jawny wariant robota i układy\n\nTo wariant **MCPv4 z opcjonalną kolumną podnoszącą ramię**. Dotychczasowy robot v3 i jego siedem narzędzi pozostają dostępne bez zmian. V3 z zasięgiem do78cm nie sięga do zwykłej klamki1,05m. Nie twierdzimy, że rzeczywisty LeKiwi ma taki podnośnik.\n\nNowy wariant ma te same pełne9 narzędzi na obu kondygnacjach: capabilities, observe, execute_sequence, move_base, look, stop, export oraz move_lift i door_action. Można wyłączyć kolumnę przez --no-lift lub HOMEBOT_LIFT=0; komenda wtedy zgłasza brak mechanizmu. To konfiguracja sprzętu, nie znikająca zdolność w zależności od pokoju.\n\n- TCP i punkty chwytu: **arm_carriage**. Osie xy zgodne z bazą; z względem aktualnego lift_m. Zasięg TCP pozostaje[-.88.. .88],[-.68.. .68],[.018.. .78]m (bez powiększania workspace). Worldz=lift_m+TCPz; lift do0,55m pozwala sięgnąć klamki ~1,05m.\n- Kamera zostaje na maszcie1,2m. Kolumna podnosi tylko ramię, nie kamerę.\n- Mapa/odometria: house_ground_v4 albo house_upper_v4. Układy różnych poziomów nie są zamienne. Znana translacja do ramy budynku jest w capabilities, nie jest wynikiem pomiaru.\n- Bazą można jechać tylko z kolumną opuszczoną, ramieniem schowanym i bez chwytu drzwi. Zamknięty chwytak z tkaniną nadal jest dopuszczalny.\n- Aktualna obrócona geometria drzwi jest uwzględniana w kontroli kolizji. Podczas jazdy kontrola lokalna działa co20ms. Obwiednia bazy musi mieścić się na podłodze; pustka i schody są blokowane.\n\n## Narzędzia dodatkowe\n\n`robot_move_lift(height_m, observation_id, command_id)` — wysokość0..0,55m, prędkość0,06m/s (kolumna podniesiona pod klamkę ~1,05m przy TCP z≤0,78m). Wymaga pustego i schowanego ramienia.\n\n`robot_door_action(door_id, action, observation_id, command_id)` — action=`grasp|press|open|close|release`. Grasp wymaga TCP przy widocznej klamce (około4,5cm). Press obraca klamkę, open/close działa dopiero po naciśnięciu. Release puszcza klamkę. Sterownik ogranicza siłę sprzężenia do2,4N, poniżej zachowanego progu3N. To model lekkich drzwi; nie dowodzi obsługi ciężkich drzwi w domu. Narzędzie nie podjeżdża samo do drzwi ani nie szuka ich po całym domu.\n\n## Skill wyjścia przez drzwi\n\nMisje LLM: `--skill door-exit-ground` albo `door-exit-upper` ładują `skills/open-door-exit-mcp` (wyszukanie drzwi, offset od zawiasu, klasyfikacja pull/push z ruchu skrzydła, grasp→press→open, przejazd). Mapowanie nadal: `house-ground` / `house-upper`. Host helper: `skills/open-door-exit-mcp/scripts/estimate_door_side.py` na JSON z `robot_observe` — bez `swing_sign` z layoutu.\n\n## Pętla dla agenta Oh My Pi\n\n1. Odkryj capabilities i przeczytaj pamięć. Obejrzyj RGB i dane z observe; nie czytaj layout.json jako pomiaru otoczenia.\n2. Podejdź do widocznej klamki z ramieniem schowanym i kolumną opuszczoną. Trzymaj bazę poza łukiem skrzydła (strona zawiasu). Wykorzystuj krótkie kroki i lidar. Nie próbuj schodów.\n3. Zatrzymaj bazę, wysuń kolumnę przy pustym schowanym ramieniu. Pobierz nową obserwację; handle_candidate_m ma już z względem nowej wysokości kolumny.\n4. Przenieś TCP do aktualnego punktu, wywołaj grasp. Po każdej komendzie observe. Dopiero press, potem open lub close; z ruchu skrzydła ustal pull (do bieżącego pokoju) vs push (do następnego). Stop/kolizja/brak zasięgu to powód przerwania, bez resetu.\n5. Release przez door_action. Prosta droga do bazy może przecinać otwarte skrzydło: wykorzystaj contact_frame (orientacja dłoni) i widoczne punkty visible_surface_points_arm_m, aby najpierw wycofać się na stronę kontaktu i obejść widoczną wolną krawędź. Sprawdź granice workspace każdego punktu. Następnie schowaj ramię i opuść kolumnę. Obejrzyj otwór, sprawdź przejazd i dopiero jedź. Nie zakładaj, że status ok oznacza wystarczający prześwit.\n6. Używaj osobnych map/room_id dla kondygnacji i pomieszczeń. Dotychczasowy mapper jest mapperem jednego pomieszczenia; łączenie wszystkich ścian domu w jeden prostokąt dawałoby mylne wymiary. Nie zapisuj układu architektonicznego jako zaobserwowanej mapy. Notatki mission_memory_write mogą zawierać obserwowane drzwi i ograniczenia.\n\n## Uruchomienie CPU/GPU\n\n```bash\npip install -e '.[dev]'\npython -m homebot_lab.house preview --out runs/house-preview\npython -m homebot_lab.house serve --floor ground --out runs/house-ground --capture\npython -m homebot_lab.house bridge --floor upper --out runs/house-upper --memory runs/upper-map.json\npython -m homebot_lab.house demo --out runs/door-test --capture\n```\n\nDemo jest jawnie SCRIPTED_REFERENCE_NOT_LLM: kalibrowany start przy gabinecie, cel z RGB-D, fizyczne zwolnienie klamki/otwarcie, krótki test przejścia. Nie jest autonomicznym wyszukiwaniem drzwi ani inferencją modelu.\n\nDla GPU dodaj --profile gpu po pozytywnym `python -m homebot_lab doctor --profile gpu`. Fizyka nadal CPU. Nie testowano GPU w tej sesji.\n\n```bash\nbun install --frozen-lockfile\n# Własny OPENGATEWAY_API_KEY i OPENGATEWAY_MODEL jak w OH_MY_PI.md.\nbun run robot --skill house-ground --profile cpu --out runs/omp-house-ground \\\n --max-sequences 80 --max-tools 200 --max-requests 150 --timeout-seconds 1200 \\\n --task 'Obejrzyj pomieszczenie i znajdź widoczne drzwi. Jeśli zasięg i bezpieczne podejście pozwalają, chwyć klamkę, naciśnij ją i otwórz drzwi. Zapisuj postęp, zatrzymaj się przy blokadzie.'\n```\n\nStart z projektu jest w salonie. Demo przy gabinecie używa jawnego fixture_spawn; agent domyślnie nie otrzymuje jego trasy ani ukrytych pozycji. Uruchomienie OMP samo wymaga rzeczywistego modelu; testy fixture nie zastępują takiego testu. Wgląd w plan/film modelu nie jest sensorem robota.\n\n## Modyfikacja domu\n\nEdytuj assets/house/layout.json (metry): floor_rects, holes, walls, doors, furniture. Otwory drzwi generują się z door.wall i offset_m; ościeżnice i mechanizm są wspólne. Podaj nominalne wymiary i swing_sign zgodny z stroną otwierania. Nie stawiaj mebli w łuku skrzydła. Generator: house_scene.py; runtime: house_sim.py; MCP: house_server.py. `build` tworzy samodzielne MJCF i kopię danych; pełny robot uruchamiany przez serwer dodaje także tkaniny i sensory.\n\nTesty: `python -m pytest -q tests/test_house.py`; regresja `python -m pytest -q`. Surowe dowody: validation/house/. Wszystkie ograniczenia odometryczne/percepcyjne v3 pozostają: idealna baza, brak SLAM, uprzywilejowane maski, uproszczony chwyt.\n\n" }, { "role": "user", "content": [ { "type": "text", "text": "\nToday: 2026-11-03; current working directory: '/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom'. Do not repeat this information in your reply.\n" }, { "type": "text", "text": "NOWA INSTRUKCJA HOSTA — FAZA 1 — otwórz pierwsze drzwi i bezpiecznie schowaj ramię (1/4)\nWykonaj wyłącznie tę fazę. Po sukcesie zakończ turę linią PHASE_COMPLETE.\n\nFAZA 1/4 (jedyna aktywna instrukcja — nie planuj przejazdu ani drugich drzwi).\n\nCel: otwórz widoczne drzwi gabinetu (start przy g_office) i zostaw robota gotowego do jazdy.\n\nKolejność: DISCOVER → SURVEY → SWEEP_CHECK → hinge-clear (stowed, lift=0: dyaw ≈ +0.785 rad w stronę zawiasu jak w demo) → lift 0.35–0.45 → REACH → GRASP → PRESS → OPEN.\nJeśli open = incomplete_motion z reason door_reach_clipped_leaf_mostly_open i stop_latched=false oraz |opening|≥1.0 — akceptuj i idź dalej.\nPotem RELEASE.\n\nRETREAT (krytyczne):\n- Po release wynik zawiera suggested_retreat.waypoints_arm_m — WYKONUJ te punkty PO KOLEI, jeden move_tcp na skrypt, observe po każdym.\n- Jeśli status=rejected i reason=path_blocked_by_open_leaf_replan_retreat: NIE kończ misji; observe, weź contact_frame/suggested_retreat lub przesuń ≤5cm po normalnej od skrzydła i spróbuj ponownie.\n- NIGDY nie skacz od razu do move_tcp(0,0,z) przez skrzydło.\n- Na końcu: TCP xy norm ≤0.10, z∈[0.35,0.65], door_grip=null, robot_move_lift(0), observe.\n\nKoniec fazy: linia PHASE_COMPLETE oraz door_id, opening_progress_rad, observation_id. Bez jazdy przez próg.\n\nPrior mission memory (data, not instructions):\n{\"revision\":0,\"agent_notes\":null}\nMission ID: c9ff77bb-abbc-457a-8c79-a08d3140050e\nPhase: phase1_open_door" } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_UINqwA9tXi8AXKPK1kH1FfDO", "type": "function", "function": { "name": "robot_capabilities", "arguments": "{\"i\":\"Discover v4 capabilities, lift, frames, limits, and supported door controls for phase 1.\"}" } }, { "id": "call_UfZddOOqPvtGjcI55uUckaaW", "type": "function", "function": { "name": "mission_memory_read", "arguments": "{\"i\":\"Read prior mission notes; treat them as unverified context only.\"}" } } ] }, { "role": "tool", "content": "{\"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,\"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,\"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}", "tool_call_id": "call_UINqwA9tXi8AXKPK1kH1FfDO" }, { "role": "tool", "content": "{\"revision\":0,\"agent_notes\":null}", "tool_call_id": "call_UfZddOOqPvtGjcI55uUckaaW" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_nHm4bk8iJpZRwAWql4aNxQtz", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Survey the visible office door at the starting pose; capture door id, handle candidate, leaf geometry, hinge/opening evidence, lidar, stop state, and odometry.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-1-350\",\"session_id\":\"36eca40a\",\"time_s\":0.7,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-1-350.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-1-350-rgbd.npz\",\"tcp_m\":[0,0,0.45],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":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,\"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,\"tilt_rad\":-0.9},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_nHm4bk8iJpZRwAWql4aNxQtz" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_s92FRLUJTYxtk1Hx8wn2xwgT", "type": "function", "function": { "name": "robot_look", "arguments": "{\"i\":\"Survey the closed office leaf and handle from an additional head angle before sweep check.\",\"pan_rad\":0.45,\"tilt_rad\":-0.55,\"observation_id\":\"obs-36eca40a-1-350\",\"command_id\":\"cmd-look-survey-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-look-survey-001\",\"camera_head\":{\"pan_rad\":0.45,\"tilt_rad\":-0.55},\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_s92FRLUJTYxtk1Hx8wn2xwgT" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_OvndFlgIOCqXlBwcIbGd96yI", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Reobserve after survey look; refine visible handle candidate, hinge/free-edge evidence, opening direction, and clearance for sweep check.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-2-632\",\"session_id\":\"36eca40a\",\"time_s\":1.264,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-2-632.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-2-632-rgbd.npz\",\"tcp_m\":[0,0,0.45],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":25000,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":27,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":57,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":47376,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":40857,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":1835,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":12,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":33609,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":236626,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8083109066679515,0.7057810876800198,1.0628041215842419],[0.7874000680165457,0.20588104353441858,1.0839847552618869],[0.8123645545442353,0.6254920492348292,1.0398223636144164],[0.7980949928842243,0.41924361808890176,1.0310781975875407],[0.8251095406234714,0.7204984597292993,0.9956347973580709],[0.8093690834304971,0.3665243630871978,1.0010776725043604],[0.8106758360619302,0.4071752049968228,0.9667973949904106],[0.823892218174086,0.0577238017388143,0.9790263378887605],[0.8288581401750275,0.7186764060009861,0.868206483486198],[0.8077204922061574,0.3579855371568891,0.9157743513070826],[0.835986856151362,-0.05105288484645499,0.9623347726538133],[0.8150630876521257,0.620017863397572,0.8418545078210675],[0.8141781854093617,-0.0397363120623221,0.9199136528377426],[0.8287108066479089,-0.08989444874488219,0.9167859795483031],[0.8137930090834187,-0.04826625950285991,0.8947855658444404],[0.7907553469400644,-0.08457112855603278,0.8987377092827014],[0.8072594569200431,0.2879923839273141,0.7997045440514928],[0.814144596813141,0.4262543397882165,0.7294148843091899],[0.8011387581037448,0.6998204636900348,0.6723254795781123],[0.8158283822731454,0.17128046206336311,0.7495647439887019],[0.8132814826964411,0.3708621334182133,0.6591825409643851],[0.8071943384451145,0.1889162394893652,0.6693887798580361],[0.8172893228230951,0.4122387385207348,0.5489143176021665],[0.8225933257084719,-0.09109223115424205,0.6676606065859156],[0.8185097199307226,0.16410507634019134,0.5778075908959288],[0.8013233503640542,0.2996584353232895,0.4898389681759845],[0.8194039051017361,0.7006711638513964,0.25749219831618864],[0.8125773328598894,0.5410734186102096,0.25375429686009776],[0.8189175882804075,0.4670739502420719,0.20227561757245782],[0.8147759038260708,0.593012633104908,0.0577670382908686],[0.8157698275937408,0.06525189237741556,0.23530693197636043],[0.809741362403563,-0.08893826923174054,0.19640190123985257]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[127,128],\"visible_pixels\":3383,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.7364310331564181,0.0572351452308669,1.0527015969194817],\"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\":[[-0.43496553411123007,-0.4706522007273626,0.7676532355730827],[0.900447102352677,-0.22735092970494297,0.37081878408053415],[-1.1102230246251565e-16,0.8525245220595057,0.5226872289306593]],\"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,\"ranges_m\":[2.638,2.64,2.663,2.724,2.808,2.901,3.041,3.216,3.444,3.73,4.1,1.375,4.765,4.559,4.391,4.267,1.533,4.136,4.122,4.141,4.016,2.976,2.247,1.818,1.537,1.339,1.195,1.098,1.007,0.94,0.893,0.848,0.818,0.796,0.766,0.813,0.821,0.822,0.829,0.849,0.858,0.898,0.942,0.993,1.049,1.075,1.209,1.228,1.152,1.105,1.067,1.031,1.012,1.004,0.995,0.997,1.015,1.039,1.066,1.103,1.155,1.131,1.018,0.918,0.849,0.79,0.862,1.028,1.278,1.677,2.668,2.628],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_OvndFlgIOCqXlBwcIbGd96yI" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_nOFxuJwbIJED9AIjNECndIo0", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Hinge-clear reposition only: stowed arm, lift down, rotate base about +0.785 rad toward observed hinge side; do not cross threshold.\",\"dx_m\":0,\"dy_m\":0,\"dyaw_rad\":0.785,\"observation_id\":\"obs-36eca40a-2-632\",\"command_id\":\"cmd-hinge-clear-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0,\"rotated_rad\":0.7850000000000001,\"duration_s\":2.4279999999998143,\"base_pose\":[0.7,7.36,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"cmd-hinge-clear-001\"}", "tool_call_id": "call_nOFxuJwbIJED9AIjNECndIo0" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_JUAIdsJGJHEahuBlvg4j6mwh", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify hinge-clear pose and sweep safety after base yaw; confirm lift 0, stowed TCP, clear lidar and no latch before raising carriage.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-3-1846\",\"session_id\":\"36eca40a\",\"time_s\":3.692,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-3-1846.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-3-1846-rgbd.npz\",\"tcp_m\":[0,0,0.45],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":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\":[[1.068578816171898,-0.07133727466309686,1.0114341451963014],[1.0472675111347036,-0.09212188410041494,0.8697052138409685],[1.0523318191824942,-0.1217060453197018,0.8282732723811557],[1.0262855602811043,-0.1146680622759168,0.8116553481881341],[1.0549513163930486,-0.07074254234349575,0.7590528011692896],[1.0947388521374661,-0.07398527167325364,0.7271130773358595],[1.0281542028588155,-0.13059501931025735,0.7583689441145387],[1.0159058445314366,-0.13475510211607467,0.7159615136100606],[1.0209568919911676,-0.139987796107217,0.6688119895040358],[1.0549220156726,-0.09251719659129665,0.5904335416685126],[0.9598353928061872,-0.16281210658471962,0.6375006012520581],[1.0601235549583192,-0.08049542819200228,0.5389880337454089],[1.0160859569460934,-0.13758139953852477,0.5463080239690142],[0.9631689157960923,-0.19265568708366493,0.5659707314118559],[1.0239999583562618,-0.13204049126631595,0.46012409952819067],[0.9434451408525728,-0.19905648944744964,0.5147104522952286],[0.9653582657681342,-0.18394571376864743,0.45637125185178873],[1.0620872975705038,-0.0921617484051439,0.2949653595305436],[0.9424420684126701,-0.2105895728549002,0.421380377178171],[1.0505713114552515,-0.0955166505490016,0.22871931551194058],[0.9158833507746323,-0.22504758655278373,0.39029150216587827],[0.9979263996018521,-0.13734756340211046,0.2278687062545145],[0.991433952325701,-0.1620536803525071,0.2119677656818476],[1.035580860335666,-0.11371077888926012,0.10003347938139262],[0.9230687614509816,-0.22936319876664768,0.2584693949908251],[0.9973121853004125,-0.15101635384386103,0.08630561220252564],[0.8860984079979091,-0.2560162601861227,0.2453367618637785],[0.8587642554871281,-0.2718046193989811,0.2562434037573049],[0.8770445153022379,-0.28163292961660674,0.23868726549194585],[0.8600543804624576,-0.2781497328067959,0.2501779647572805]],\"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,\"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\":0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_JUAIdsJGJHEahuBlvg4j6mwh" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_0Mc65Z06TqZ8d2WuOSMVygib", "type": "function", "function": { "name": "robot_look", "arguments": "{\"i\":\"Re-aim camera toward the office handle after hinge-clear yaw; obtain a visible handle candidate before lift and reach.\",\"pan_rad\":-0.45,\"tilt_rad\":-0.55,\"observation_id\":\"obs-36eca40a-3-1846\",\"command_id\":\"cmd-look-handle-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-look-handle-002\",\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_0Mc65Z06TqZ8d2WuOSMVygib" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_J1B14xWI5Uy2VvRHkxh5Ypzg", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Observe the handle after re-aim; update current arm-carriage handle coordinates and door state before lift.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-4-2409\",\"session_id\":\"36eca40a\",\"time_s\":4.818,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-4-2409.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-4-2409-rgbd.npz\",\"tcp_m\":[0,0,0.45],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20864,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":19,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":14603,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":62545,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":3996,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":48151,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":235483,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0881538743549877,-0.07380075171941114,1.0658409359377712],[0.5273094713055382,-0.6543854038624077,1.0939716637453618],[0.6369303269147177,-0.5345743939633252,1.073672652459609],[1.063545547394546,-0.07102208325934245,1.0436433749733431],[1.0914508556357534,-0.07311443566764453,1.033653221293815],[0.49622402869278953,-0.6145337762787872,1.0787568575658746],[0.5921180612659419,-0.5637856795778746,1.0575342385274475],[0.7032437971677862,-0.44273594975327635,1.0201586007718544],[0.8010272105299604,-0.34691462284584573,0.9827440475269396],[0.7990092698461378,-0.34696099414458137,0.9564251386079008],[0.6473272179283722,-0.5027347545916941,0.9502160976120857],[0.8459090731237189,-0.2965196247014664,0.8916195285482452],[0.596439174710788,-0.5878057855885456,0.9156927497187262],[0.8441328873478358,-0.3037461065085012,0.8590853981159596],[0.6654797692136254,-0.4809134496541265,0.8610424512461977],[0.7702745621131446,-0.3627135193438371,0.8085048013999024],[0.6831938705335749,-0.4679306252629046,0.7889712133705129],[0.9130739483683572,-0.2391746430601826,0.6923340333504997],[0.8733166383870875,-0.2850325138382643,0.6572311079990271],[0.5885398223708023,-0.5700513317452273,0.697092040319777],[0.5503088204852923,-0.5971996197514183,0.6701373037926801],[0.5235712768471101,-0.6525527185354534,0.6361698699025372],[0.7398727582253278,-0.40862621626275164,0.5569990511452034],[0.6015167125080371,-0.5440164372807019,0.5575857559017462],[0.6575652772170573,-0.48782610421566297,0.4798837667946886],[0.814271098008069,-0.33528727426608207,0.3452287819357064],[0.5638782795351353,-0.5824573915104305,0.39760266414964096],[0.8370353987555448,-0.31317936602868224,0.17798745720990494],[0.7578092798892748,-0.39798894901263826,0.12474252410427389],[0.5117048462716602,-0.6385929029444659,0.12650793598295396]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[127,128],\"visible_pixels\":3063,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5622040050127091,-0.478993602531928,1.0526887922205734],\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_J1B14xWI5Uy2VvRHkxh5Ypzg" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_Hp1C3nqDOBexiDG4Lk4h2HO6", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Raise the empty stowed arm carriage to 0.40 m for the observed 1.053 m handle; do not drive.\",\"height_m\":0.4,\"observation_id\":\"obs-36eca40a-4-2409\",\"command_id\":\"cmd-lift-040-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0.4,\"command_id\":\"cmd-lift-040-001\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_Hp1C3nqDOBexiDG4Lk4h2HO6" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_jBpMd7CfR6i0Aszpuo6xNIwk", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify lifted state and obtain the fresh handle candidate in arm-carriage coordinates before reaching.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-5-5743\",\"session_id\":\"36eca40a\",\"time_s\":11.486,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-5-5743.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-5-5743-rgbd.npz\",\"tcp_m\":[0,0,0.45],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20864,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":19,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":14603,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":62545,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":3996,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":48151,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":235483,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0688859455042288,-0.07249396260918084,0.6682164890299914],[1.0922277120962556,-0.07370069378278676,0.6567812884196828],[0.6373945470691921,-0.5162788556121686,0.6748543485567361],[0.6589829793411692,-0.5245375628966868,0.6593196082791085],[0.5971119647629216,-0.562109801400429,0.6568446404102023],[0.4959530623725164,-0.6181785003423276,0.6679908289760602],[0.6846064704771123,-0.4615870766669686,0.6220276284772673],[0.7940395384596034,-0.3701644965802292,0.5817922864345341],[0.7866466535114327,-0.3633542932079278,0.5575449131129823],[0.6291065082055,-0.5349787365987148,0.5509583118251867],[1.0921616664078173,-0.07305782044660802,0.47322504462584347],[0.7018310139695512,-0.4112757250258894,0.5334113609860133],[0.5198281733771761,-0.6486964471760727,0.5533398077088361],[0.826212934414009,-0.3261752544555738,0.49329396671499826],[0.826548532529432,-0.3168311568850635,0.46296073297031337],[0.6066190539135429,-0.5265865542652148,0.47493548425777743],[0.52508476451395,-0.6508367889515092,0.4758671344162817],[0.759405770199004,-0.39162240875930865,0.40722293219749783],[0.6813664638421427,-0.4702838712605059,0.3892834344919146],[0.914117390581829,-0.2359204701498268,0.29259487383318283],[1.0589919993848809,-0.07088868713399882,0.23916934693874103],[0.8909704048545037,-0.26146606814349804,0.2538650514711841],[0.5780243321656502,-0.5839803877112867,0.2992965706502525],[0.5422008749549765,-0.6091839569396564,0.2716021207232179],[0.6898263996718489,-0.4622285062777739,0.17356936826193303],[0.5139857833583041,-0.6215071228393363,0.19482264972683705],[0.5199624934204924,-0.633330389383641,0.13415473676095246],[0.6589974974735269,-0.47263794246768237,0.023090392930606662],[0.994692609049028,-0.15678570527422458,-0.2193101950361812],[0.7731369848348607,-0.36550477366551415,-0.18207344832122097],[0.7470407350237374,-0.3970845023979168,-0.2625753952920985],[0.516074586956109,-0.6440462134009302,-0.28265922743311755]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[127,128],\"visible_pixels\":3063,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5625030642818788,-0.4788476078493885,0.65258234983907],\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_jBpMd7CfR6i0Aszpuo6xNIwk" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_Ty02KniRmjcyynYrBtDgLB32", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Reach the freshly observed g_office handle with one bounded TCP waypoint; keep the arm near the handle for grasp.\",\"script\":\"robot.move_tcp(0.5625,-0.4788,0.6526)\",\"observation_id\":\"obs-36eca40a-5-5743\",\"command_id\":\"cmd-reach-handle-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-reach-handle-001\",\"executed\":[\"move_tcp\"],\"duration_s\":4.256,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_Ty02KniRmjcyynYrBtDgLB32" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_dQdRAugE5uq4H3f7b2wonKIf", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify TCP proximity and contact safety after reaching the current handle candidate.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-6-7871\",\"session_id\":\"36eca40a\",\"time_s\":15.742,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-6-7871.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-6-7871-rgbd.npz\",\"tcp_m\":[0.5625,-0.4788,0.6526],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20864,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":19,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":14603,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":62545,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":3996,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":48151,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":235483,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0750625433917465,-0.07291287171561345,0.6674549730245741],[0.5146441484752511,-0.5950881478334447,0.7012018048035015],[0.524078381383575,-0.6524497461514872,0.6934271694191881],[0.5583735763351301,-0.5900790340684084,0.6809750436909497],[0.5493485271901234,-0.6056488834579427,0.661250115972794],[0.5226697063812092,-0.6518986653318333,0.6552231723864582],[0.5466440631913814,-0.6024333378371232,0.6357398090787602],[0.7791646670320928,-0.3865534548120844,0.5833529715708204],[0.5003243980714382,-0.6192687727430152,0.6020873403529886],[0.7622581813743114,-0.37989537070325574,0.5616770782677497],[0.6281720777804314,-0.5341841169250627,0.5513282207794031],[0.812971740909332,-0.3289429831922712,0.49700528687612033],[1.097181294725644,-0.07330046482592967,0.42877439973925846],[0.8549352713248106,-0.29773704103597315,0.4563674388294249],[1.0602240554257185,-0.07107656920169075,0.39973436522268924],[0.6761636961545339,-0.4851141986021095,0.45624264255477587],[0.819847009429446,-0.3315673554126513,0.39420821791476535],[0.6507873089558256,-0.538009815496812,0.4131728996786058],[0.7315652514939752,-0.41596261213047314,0.37845263865302614],[0.9799690541667608,-0.16054196072381832,0.2780650206339591],[0.9062897938515562,-0.24592279414378265,0.24967155336243185],[0.5853154184107028,-0.5649231753191204,0.30041112007157145],[0.5538247717656819,-0.598920281724694,0.2673912264807087],[0.6942404145328871,-0.45910324861016905,0.17157686663450555],[0.5322617645699074,-0.6254538033281649,0.1798216186557614],[0.5394336969380504,-0.6011949813421191,0.1309717954512858],[0.7203125849149001,-0.4237098384932084,-0.00990159854708983],[1.0496499409291058,-0.103200818108442,-0.24699469437100718],[0.8314562835319902,-0.32013825996630174,-0.21971935342105853],[0.7681327029573761,-0.3769635319331295,-0.27544647030314373],[0.5090668235181633,-0.6353007265649316,-0.2679578258498515]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[127,128],\"visible_pixels\":3063,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5625620233247409,-0.4786636107731089,0.6527489118209139],\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_dQdRAugE5uq4H3f7b2wonKIf" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_Sxz5ZWEiTSH2lbikOP8QiiMI", "type": "function", "function": { "name": "robot_door_action", "arguments": "{\"i\":\"Grasp the visible g_office handle at the verified TCP contact pose.\",\"door_id\":\"g_office\",\"action\":\"grasp\",\"observation_id\":\"obs-36eca40a-6-7871\",\"command_id\":\"cmd-grasp-office-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-grasp-office-001\",\"action\":\"grasp\",\"door_id\":\"g_office\",\"grip_contact\":true,\"opening_progress_rad\":-5.70489235727271e-9,\"handle_rotation_rad\":-1.0275554612490773e-18,\"peak_force_N\":0,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.706825419807968,-0.7073880306545268,0],\"normal_arm_m\":[-0.7073880306545268,0.706825419807968,0],\"source\":\"ideal grasp orientation/controller feedback\"}}", "tool_call_id": "call_Sxz5ZWEiTSH2lbikOP8QiiMI" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_JBHONvTyDbOB9pr1LAkirW4Y", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify g_office grasp contact, force, TCP, and unchanged closed-door state before pressing latch.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-7-7921\",\"session_id\":\"36eca40a\",\"time_s\":15.842,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-7-7921.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-7-7921-rgbd.npz\",\"tcp_m\":[0.5729477636118112,-0.48060434829723453,0.65],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20864,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":19,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":14603,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":62545,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":3996,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":48151,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":235483,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0830593787596747,-0.07345523293440659,0.6664690389818754],[0.5231488965404736,-0.6529590274189628,0.6977732126978377],[0.5972938382262524,-0.5389555212325651,0.678967601881907],[0.5664833152424691,-0.5431371637763687,0.679798912933432],[0.5914833069608956,-0.555225626030923,0.6583203076683023],[0.4990701135931275,-0.6126516370965077,0.6539483810871022],[0.5803684268626359,-0.6041101296079722,0.6385786826223666],[0.7366932971400187,-0.41947848172275526,0.6158023583659334],[0.8629439334719737,-0.27259411514674414,0.5769087621361072],[0.8755672139714507,-0.2727979425992083,0.5461608590678394],[0.7144714195509204,-0.4471780904539657,0.5389058505485493],[0.9377177699962341,-0.21110784629092338,0.4758597816192821],[0.9386320592718392,-0.21875507146013695,0.4406975350725827],[1.0963281423762194,-0.07367211788940697,0.4049554900548028],[0.7400602718283638,-0.42170091025851664,0.44368372148071333],[1.0586349885777806,-0.07071048012778153,0.3723993427257899],[0.8585071492447696,-0.28626585009462857,0.38726139070700094],[0.7727309839251142,-0.3882785122011797,0.36588856334881326],[1.0428163729984967,-0.0991394319467871,0.2616859363373585],[0.9750617243387449,-0.16967758001746747,0.23252349359426905],[0.6668412364507542,-0.4800172513679814,0.27682800270117935],[0.635253694198591,-0.5117809358054924,0.24254280739475997],[0.7824350081799807,-0.3631424888522118,0.14287268733481506],[0.6437126505349143,-0.5118515948244958,0.13777122392754337],[0.6650565262321521,-0.48906054678220634,0.07336350390385715],[0.7957499263228771,-0.3572309005379396,-0.04783557397928828],[0.5570151529477825,-0.5943641726081643,-0.0013421751431793583],[0.8619545696440468,-0.28130969873237954,-0.231861619152684],[0.7808364056594793,-0.38078919643637554,-0.2919157844260004],[0.5092336274581446,-0.6355088930754329,-0.2683077594241009]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[127,128],\"visible_pixels\":3063,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5627125963159976,-0.47896855945539374,0.6526628462662175],\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":\"g_office\"}", "tool_call_id": "call_JBHONvTyDbOB9pr1LAkirW4Y" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_3nBlxOH28XGWPh5k62ozfDz7", "type": "function", "function": { "name": "robot_door_action", "arguments": "{\"i\":\"Press the g_office spring lever while maintaining verified door grip.\",\"door_id\":\"g_office\",\"action\":\"press\",\"observation_id\":\"obs-36eca40a-7-7921\",\"command_id\":\"cmd-press-office-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-press-office-001\",\"action\":\"press\",\"door_id\":\"g_office\",\"grip_contact\":true,\"opening_progress_rad\":-2.0373626607671803e-7,\"handle_rotation_rad\":-0.5188679585628101,\"peak_force_N\":1.222322275073129,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.7068255598066632,-0.70738789076715,0],\"normal_arm_m\":[-0.70738789076715,0.7068255598066632,0],\"source\":\"ideal grasp orientation/controller feedback\"}}", "tool_call_id": "call_3nBlxOH28XGWPh5k62ozfDz7" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_PnfP4KBjgPwVuHU8N2Hk8Pql", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify latch press and maintained g_office grip before opening; ensure no stop latch and current TCP state.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-8-8371\",\"session_id\":\"36eca40a\",\"time_s\":16.742,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-8-8371.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-8-8371-rgbd.npz\",\"tcp_m\":[0.5669006315389228,-0.4866561107035986,0.617766668045047],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0.958,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20864,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":19,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":14603,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":62545,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":3996,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":48151,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":235659,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.071761446525653,-0.07268898478568753,0.6678619669951614],[1.0972004485211277,-0.07869288175262468,0.6572885417003033],[0.6101154549571948,-0.5380388422879252,0.6772206698489757],[0.4995288203443359,-0.6166025513647819,0.6749442308345833],[0.5646480640013739,-0.5798439793177894,0.6607830052323597],[0.5627046247168748,-0.5919252564399121,0.6382770111005774],[0.531427234914453,-0.6531826758949153,0.6374308789871593],[0.5362214084672716,-0.5729314864929211,0.6360540534584941],[0.8964873581431065,-0.26037827910607275,0.5750951635045389],[0.934874335752081,-0.2179517253967831,0.5394316832807576],[0.7477842064972169,-0.3822985444266913,0.5383523956321825],[0.9910705008712865,-0.14822709953144664,0.46869608965010523],[0.9933433292095952,-0.15299221721442674,0.43280336490542626],[0.7712981836469909,-0.3751043631886965,0.44038802727928317],[0.9244276516555252,-0.2275256763675753,0.3717148894469883],[0.8432792845005004,-0.3062106407372232,0.35191757399114265],[0.5223328308877886,-0.6517108758130014,0.4153536085540007],[1.0624953523565774,-0.07112837072766848,0.2775014322183914],[1.0967903060671753,-0.07584750545439245,0.2536239579062953],[0.5144853603715325,-0.6225181022256581,0.3992318590280086],[1.0365295663534064,-0.11944514097575731,0.2125507278846961],[0.6643491687686629,-0.4801459695342995,0.2782425210318664],[0.6112982194666027,-0.5277905172713212,0.25279021529472867],[0.7584932568057616,-0.3888395139303988,0.15078184190517674],[0.6241884111336286,-0.529785957166744,0.14584385928153054],[0.6359170328979334,-0.522906651418772,0.0836748936294276],[0.7932702340310146,-0.35611770821309463,-0.04519357393880086],[0.5372531983864295,-0.6087393582267305,0.010826109335959733],[0.8541911715881345,-0.30125579853515716,-0.2337970954810441],[0.7646710196145883,-0.3823755135547858,-0.27448740309491393],[0.5107619634352503,-0.6374162123345825,-0.27151401505081274]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[127,128],\"visible_pixels\":2888,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5548214194589668,-0.4863247597175941,0.6244326216823849],\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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\":-0.55},\"peak_force_N\":1.222,\"lift_m\":0.4,\"door_grip\":\"g_office\"}", "tool_call_id": "call_PnfP4KBjgPwVuHU8N2Hk8Pql" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_ILV1fRAKdt5JK7lOlDByr4rY", "type": "function", "function": { "name": "robot_door_action", "arguments": "{\"i\":\"Open the latch-released g_office door while maintaining the verified grip; do not drive or plan later phases.\",\"door_id\":\"g_office\",\"action\":\"open\",\"observation_id\":\"obs-36eca40a-8-8371\",\"command_id\":\"cmd-open-office-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-open-office-001\",\"action\":\"open\",\"door_id\":\"g_office\",\"grip_contact\":true,\"opening_progress_rad\":-1.4545998135273246,\"handle_rotation_rad\":-0.5188697498429452,\"peak_force_N\":1.0069833905036685,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.7845062823987877,0.6201208695704681,0],\"normal_arm_m\":[0.6201208695704681,0.7845062823987877,0],\"source\":\"ideal grasp orientation/controller feedback\"}}", "tool_call_id": "call_ILV1fRAKdt5JK7lOlDByr4rY" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_9aKQjMblxGUip0sCfI6kNeg9", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify g_office opening progress, leaf clearance, grip and stop state before release; remain in phase 1 only.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-9-12715\",\"session_id\":\"36eca40a\",\"time_s\":25.43,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-9-12715.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-9-12715-rgbd.npz\",\"tcp_m\":[0.6289701883995052,0.3875470768607845,0.61776656666045],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0.958,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":113090,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26809,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":87665,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9070693950473668,0.0455074589714729,0.6943388291505282],[1.0983573545601886,-0.09990400194527099,0.6587669802450861],[0.953928123291572,-0.0050838371187935105,0.6462052752498818],[0.9904817059079911,-0.02652383043910006,0.5962732709540293],[0.9218902182511575,0.033979846093305344,0.5771769132514607],[1.005114742316211,-0.04013836236329066,0.5046468552962363],[0.846311981397898,0.08374717918490077,0.5319524150998862],[0.9020749610334978,0.042776790138527476,0.46872689609630147],[0.9812501492368729,-0.036274615863621296,0.3811111689300425],[0.8853500974408146,0.05855916481312751,0.4014055371260242],[0.8280162892738072,0.10686695939670277,0.4032332272988156],[0.852458465239227,0.07739524334033665,0.3458505158045634],[1.0340157984846359,-0.0599167831580012,0.1586179590231327],[1.0372240264904107,-0.06597113251117503,0.10321553096699276],[0.8652589308471806,0.07146952464382844,0.21647026623805254],[0.8654960041699928,0.06799728770264424,0.17292635456996996],[1.0636792744820391,-0.0869468937283811,-0.08854985027383411],[0.7622242217720658,0.15263791081265388,0.2084484591289406],[1.009831087382641,-0.04088000344100001,-0.1388495075220183],[0.7805097313678814,0.1323140608571367,0.10492662203348091],[0.7521281022281157,0.15053707716235104,0.10167452982376068],[0.7119104948203074,0.19722182921312986,0.1287688933760961],[0.8766061632258351,0.06357807871679289,-0.17467187220657454],[0.8403357735647784,0.09355903378623137,-0.17520420147005322],[0.6892284803040261,0.22079053147114072,0.0419828090255292],[0.6639147260803321,0.21114448989776716,0.06669716274313364],[0.9174525523537864,0.028839948083853095,-0.3825726785497431]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1559768638957006,-0.6842734723338166,0.503160781626654],[1.6932072203456876,-1.1024542846704974,0.5088337917209663],[1.6741419200100536,-1.1593087543189462,0.5077351206458068],[2.1633094740198455,-0.6836475284424254,0.4674079672541894],[1.7746878714193262,-1.056530260727332,0.47159254715120824],[1.5749626643247736,-1.2351377294122605,0.4622895842536404],[1.8092860483978743,-1.0190158307383557,0.43904467985782214],[1.8004885379519862,-1.0338921661695823,0.4086441280247429],[1.751166651392555,-1.0814477509428586,0.3823247510197042],[1.6363605452751742,-1.1985217962401458,0.36251208638102705],[2.1652646448595485,-0.6865427066874342,0.2719314978758549],[2.038351996731838,-0.7955123647715695,0.2842152359120952],[1.8489692999774214,-0.9817768180704918,0.27223296470703007],[1.619626100076356,-1.2772528607949047,0.26924715802852683],[1.5940712461043336,-1.2464196499928957,0.26922777437610357],[1.8063968172605012,-1.0149279963615867,0.2076121813058147],[2.019342603065177,-0.7969319769645146,0.14002255371419936],[1.6507468571344974,-1.1887739711503265,0.15512052138558674],[1.7030137579241866,-1.1303750823967373,0.10949835225761217],[1.7286148014667595,-1.1090246252459592,0.06512439230672984],[1.5854423425689765,-1.2482508680716915,0.06139351231570056],[1.6531777027505234,-1.1780373499224928,0.03906882804227396],[2.1073471967358177,-0.7230360183140483,-0.09009541110605213],[1.9277365432319102,-0.9039931085023322,-0.10075849872621001],[1.6862996386890852,-1.136426618582773,-0.09407217254505362],[1.9540041150565033,-0.885723983920022,-0.20321160940567606],[2.1414394032998567,-0.6764281292253147,-0.27960901065046906],[1.6052421538728858,-1.2319374952594275,-0.170461000061791],[1.7181683152167364,-1.1025879645198429,-0.24256369484431028],[2.0349949571791064,-0.7906506724928982,-0.37893686947707417],[1.5899511959678803,-1.2466297013874021,-0.3857176877381242]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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\":-0.55},\"peak_force_N\":1.007,\"lift_m\":0.4,\"door_grip\":\"g_office\"}", "tool_call_id": "call_9aKQjMblxGUip0sCfI6kNeg9" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_1PzNGrM7LMYtkwQcK64y445o", "type": "function", "function": { "name": "robot_door_action", "arguments": "{\"i\":\"Release g_office handle after verified successful opening; obtain controller-suggested retreat waypoints and do not stow yet.\",\"door_id\":\"g_office\",\"action\":\"release\",\"observation_id\":\"obs-36eca40a-9-12715\",\"command_id\":\"cmd-release-office-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-release-office-001\",\"action\":\"release\",\"door_id\":\"g_office\",\"grip_contact\":false,\"opening_progress_rad\":-1.434047673768683,\"handle_rotation_rad\":-0.00016498870170141608,\"peak_force_N\":0,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.7970972687454773,0.6038509287551855,0],\"normal_arm_m\":[0.6038509287551854,0.7970972687454773,0],\"source\":\"ideal grasp orientation/controller feedback\"},\"suggested_retreat\":{\"waypoints_arm_m\":[[0.6772782626999201,0.4513148583604227,0.61776656666045],[0.4474499124553437,0.6254241775002105,0.61776656666045],[0.2964871802665473,0.42614986031384117,0.61776656666045],[0,0,0.55]],\"note\":\"one move_tcp per script along these points; reobserve between\",\"source\":\"contact_frame_plus_open_leaf_extent\"}}", "tool_call_id": "call_1PzNGrM7LMYtkwQcK64y445o" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_REvhyITWVy3wxEUQ0r4VxE4E", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Observe immediately after release; confirm no grip, open leaf geometry, contact-side retreat safety, and stop state.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-10-12965\",\"session_id\":\"36eca40a\",\"time_s\":25.93,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-10-12965.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-10-12965-rgbd.npz\",\"tcp_m\":[0.6289701883995052,0.3875470768607845,0.61776656666045],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":113014,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26759,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":87793,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.886641618327955,0.04448260220085243,0.6967183855745568],[1.0946556566683634,-0.09970571293972358,0.6222778179432426],[1.047340249273434,-0.07000912733911685,0.6261404478933784],[1.0938910054010336,-0.09859743858038572,0.5698003963622659],[0.8702181241686725,0.053586953403983784,0.6273700993406127],[0.9709893647858125,-0.028572856178890604,0.557658634192502],[1.0679605126595006,-0.09687641140841663,0.47862780312457975],[0.9063318250716629,0.026651603948965596,0.5028144976647291],[0.9607315356600514,-0.004269487095471924,0.4381397734669298],[1.0698440874582493,-0.08596285873651915,0.33388796907988916],[0.9330499596697857,0.007708052402306209,0.3677978124507102],[0.9000471228738078,0.04531626763508595,0.3512283473592823],[0.9705752249163955,-0.014767361596240147,0.2552312851403892],[0.8358686198968103,0.08714779345062712,0.31933696245746235],[0.8301074999279898,0.09282699001205119,0.28643102225039574],[0.9550914200563022,-0.006364984093437609,0.12695957195890317],[0.9505770257907307,-0.007635216772741149,0.0813368139766596],[0.8215211406903229,0.09795394108758182,0.17582928691505417],[0.8594833566934088,0.06825810991345838,0.08986244764302098],[0.7783783076379998,0.1282310446299768,0.14466462084382858],[0.8415937824388554,0.0827739084561348,0.022465181509368493],[0.8296185935387606,0.09183031083785292,-0.007121444690297185],[0.7580770382892639,0.1449571050384741,0.05103358393018265],[1.0113143654682206,-0.042072770940224546,-0.3886924846248311],[0.8903212185588554,0.04408501571011214,-0.26581963843054723],[0.6501544950302214,0.20579152333932696,0.08971231040824512],[0.6782422485574233,0.21727779253422969,0.05845849912560519],[0.9136600203744203,0.024892556202794736,-0.38010455062203075]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.163752222237878,-0.6867412499526482,0.5020902546968362],[1.7124263187764448,-1.0846752742991645,0.5216987323122754],[1.688878503775034,-1.1361505910042635,0.507270731595091],[1.7957925532693,-1.0357977172833348,0.4699987321373963],[1.587445800593474,-1.2494743302635518,0.4793989135125015],[2.165009555626443,-0.6839662342349048,0.4217910269911618],[1.817517001390428,-1.019944251980247,0.437683458692249],[1.8067516933594039,-1.0262660336349128,0.4082052295015368],[1.7431141398945,-1.0991926501908875,0.3822293595738908],[1.621808611384631,-1.1994238179228502,0.36529980598263134],[2.0309093382179615,-0.8038651138330473,0.28494077108786997],[1.7873026809583097,-1.0437707942225456,0.2794388340042807],[2.1130483903189345,-0.720300603745247,0.2016175888570929],[2.1368671121743987,-0.675987452658446,0.16460337612379583],[1.7885911601165343,-1.0400525346064882,0.2090744414321859],[2.0228562551102955,-0.817792173152019,0.13629204669346562],[1.6129682092134814,-1.222367729198678,0.16136675398288125],[1.5745744952159462,-1.2351387891056367,0.1606023555186462],[1.678853315141584,-1.1386778553582853,0.11568472006020203],[1.740481938892735,-1.0918315849000448,0.06396838312304576],[1.7017724649191655,-1.1361241668363518,0.02936185513991163],[1.590531853088896,-1.2505936609926038,0.00850310047583036],[1.9585890870500022,-0.8723666720521134,-0.1066921118896963],[1.7214218367523253,-1.1080378881893447,-0.10263543320029445],[2.0013170315262325,-0.8298635128259617,-0.21177405358098633],[1.6233752450703796,-1.2188883309040368,-0.17567847228428513],[1.7043912304025266,-1.133554613652747,-0.24311097266146742],[2.024250191644763,-0.7951624188154437,-0.3747588297323602],[1.6161688186676497,-1.2741791455058227,-0.3100462754226373],[1.5897246634560385,-1.2464520845156968,-0.3855487494670503]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"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\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_REvhyITWVy3wxEUQ0r4VxE4E" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_zw8YUHgHr0gx9iOv2qUtYFPK", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Retreat waypoint 1 from release result, exactly one TCP move; do not stow or cross.\",\"script\":\"robot.move_tcp(0.6773,0.4513,0.6178)\",\"observation_id\":\"obs-36eca40a-10-12965\",\"command_id\":\"cmd-retreat-office-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-retreat-office-001\",\"executed\":[\"move_tcp\"],\"duration_s\":0.444,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_zw8YUHgHr0gx9iOv2qUtYFPK" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_jcf5eD2KiuvokLayNiBmN9r3", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify retreat waypoint 1 clearance and open-leaf geometry before continuing along suggested retreat sequence.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-11-13187\",\"session_id\":\"36eca40a\",\"time_s\":26.374,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-11-13187.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-11-13187-rgbd.npz\",\"tcp_m\":[0.6773,0.4513,0.6178],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":112963,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26725,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":87878,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8802158711540311,0.04416022397105557,0.6974668971809307],[0.9935594607398863,-0.04258357905697052,0.636919259428644],[1.0283999044242218,-0.06231668474909058,0.5850628308051883],[1.091510140303885,-0.10011607379562848,0.5211713664206421],[0.9631547168597648,-0.01654514300240356,0.5610163741446438],[1.0677522287606427,-0.07953857669568815,0.4811023063948682],[0.8781194958718836,0.05168854763644243,0.5162214263960582],[0.965198210109077,-0.014050230871003877,0.43468527481672525],[0.8156357026619167,0.09427718095800569,0.4756448055490742],[0.9417269618047441,-0.000669271430941698,0.36188039226418367],[1.0891893834968254,-0.09484290178176163,0.263616762556416],[0.8852462197335111,0.04586490841971019,0.3589276105779803],[0.915164146581749,0.019077673591460065,0.2952152346048734],[0.8098834187464455,0.09957779561861374,0.3387080387843997],[1.0933286539649685,-0.10010590212465537,0.06613192572061966],[0.8036236810196704,0.09928656863674068,0.3057923025991771],[0.9782920158719981,-0.02493448992555297,0.1043620539496165],[1.0141500798830143,-0.053144535709570284,0.01690362788905908],[0.8212094245264558,0.09274948242543701,0.17405375213809038],[0.8610706149739138,0.06550213954394396,0.08735483712993364],[0.7657429038427284,0.1285454642471286,0.15636135976902232],[0.8781368479173992,0.0556771847550368,-0.02567649540512673],[0.8851193112640795,0.039197791646842395,-0.09029955619168462],[0.8257616930211727,0.0858484129397491,-0.053723463251670656],[0.7145286450181354,0.16682576024022866,0.06736556036130881],[0.9490680784961825,-0.0034747228939500108,-0.36604643885316623],[0.6499487350465503,0.2027662268997684,0.09645192759269039],[0.6612569057191126,0.21284468903554637,0.07338386199368241],[0.6551644377299805,0.21188638467386217,0.07645317110211991],[0.9127820544970441,0.02102838799893303,-0.3813985310378659]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.147580626893289,-0.6851317423050486,0.5041136260317077],[1.7874784157175783,-1.0111880104380508,0.5109873613934092],[1.6761949365162354,-1.1681536097273972,0.5069076291986724],[2.133472020761224,-0.6742183175873696,0.4719952439940277],[1.7568837019544494,-1.0752723142894263,0.47285020159221636],[1.7346717804676628,-1.0931904503933483,0.4451272656093205],[1.7432673083432784,-1.0970596087109383,0.41318876665019044],[2.1692906561867944,-0.6884869137715544,0.37091512586935915],[1.7263013440230541,-1.1151164457349894,0.3839049222371934],[1.6216929699460425,-1.2109567346803451,0.3642224554177603],[1.9780131389046018,-0.8610828528099135,0.2903180360895725],[1.7468082064089934,-1.0852704555525081,0.28408397972625166],[1.5737420229838865,-1.2357360710281664,0.2943524703438164],[2.074490283550944,-0.7676956869221837,0.2054261591113281],[1.6190801029164432,-1.276514503974135,0.2432392511078011],[1.7479384132074953,-1.086634109527569,0.21375627686266196],[1.9467336266428377,-0.8790497814435392,0.149064953356569],[2.095708055347658,-0.7298066278904696,0.08662243100210454],[1.6270998679739876,-1.2087540050700714,0.12118123371733991],[1.6540689553659806,-1.1912611992087672,0.0764253458997951],[1.6007682977405941,-1.227737430585971,0.04879399785357408],[2.0583329132245605,-0.7747238294072548,-0.0813828338480046],[1.876471012080929,-0.94985189807383,-0.08966739505141486],[1.649846339871948,-1.1888209681122157,-0.08961474664352331],[1.9114779881303616,-0.9042333193953718,-0.18906594373901286],[2.1159585330197004,-0.7137064035044266,-0.28979720541421894],[1.6965079744438079,-1.150621068310806,-0.24327808707086318],[2.0298347691744048,-0.8104788154606875,-0.3810918500182735],[1.5873528219603226,-1.244592399725974,-0.38377993139193356]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"ranges_m\":[3.72,4.09,1.37,4.771,4.554,4.398,4.277,1.526,4.139,4.127,4.145,4.012,2.981,2.26,1.831,1.538,1.343,1.199,1.079,0.997,0.941,0.89,0.861,0.82,0.799,0.765,1.967,1.96,1.967,2.03,2.076,2.128,2.215,2.26,2.385,1.073,0.949,0.839,0.768,0.718,0.67,0.643,0.613,0.593,0.566,1.006,1.005,1.014,1.033,1.064,1.104,1.155,1.14,1.005,0.919,0.845,0.781,0.874,1.029,1.28,1.678,2.678,2.643,2.626,2.636,2.677,2.724,2.801,2.912,3.032,3.212,3.441],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_jcf5eD2KiuvokLayNiBmN9r3" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_hyaM22VCxeDjdi7wwN3SoZQk", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Retreat waypoint 2 from the release result, exactly one TCP move; keep clear of the open leaf.\",\"script\":\"robot.move_tcp(0.4474,0.6254,0.6178)\",\"observation_id\":\"obs-36eca40a-11-13187\",\"command_id\":\"cmd-retreat-office-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-retreat-office-002\",\"executed\":[\"move_tcp\"],\"duration_s\":1.602,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_hyaM22VCxeDjdi7wwN3SoZQk" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_M65Sq5rIOdfThOhtTgAWn7Sg", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify retreat waypoint 2 and recheck open-leaf extent before the next suggested retreat point.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-12-13988\",\"session_id\":\"36eca40a\",\"time_s\":27.976,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-12-13988.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-12-13988-rgbd.npz\",\"tcp_m\":[0.4474,0.6254,0.6178],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":112886,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26674,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":88006,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8788399976696326,0.04409119672078832,0.6976271676123839],[1.0278139455495054,-0.07425835622832128,0.6289503673090703],[0.8525367183858901,0.05665664375249596,0.631288365359226],[0.9758032693372413,-0.024714926998822384,0.5569326098268996],[1.0440418934766318,-0.07777235577788577,0.4881836975950079],[0.8413878512232845,0.05616215704655264,0.529158055532166],[0.9209495995177435,0.01685952723253309,0.45692761376053137],[1.0978619889425172,-0.10032582955031955,0.34946644717446185],[1.070924579138905,-0.09284345249617476,0.33204083316913857],[0.9465371538565801,-0.004946544967546429,0.358682405691773],[0.9343555381926454,0.00513480740883987,0.3237762609847167],[1.0099633253413822,-0.05142359865159657,0.22341852233496817],[0.8613760344616652,0.05013383256688603,0.2930641332911379],[0.8703762306869443,0.04713466532153826,0.2456598953183966],[1.0798156258780502,-0.09669817380321122,0.008699109648258485],[0.7454909993392504,0.14103163959652498,0.28819743060615266],[0.8946823245253662,0.02748491264328562,0.08940232087464328],[0.9928153758863318,-0.044508806042688864,-0.07149916162145187],[0.8545523218611157,0.057741717374936774,0.04384070950442065],[0.9743698817716715,-0.02888326501425853,-0.1586399694394185],[0.9691794478043794,-0.018274708105286974,-0.20523525987085456],[0.8639865396883193,0.05348478401639106,-0.11234965209187953],[0.75056668055309,0.13816863758044123,0.00971911047747187],[0.6621274718775856,0.189440218538666,0.0980877784799068],[0.6362862995346172,0.20092008260107352,0.1066128775383296],[0.6393609681289114,0.2057968472856597,0.09744401391378554],[0.650818098791297,0.20998222403633868,0.08305551355331486],[0.9175759628602771,0.017262478384858004,-0.39005401332770895]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1501191948307428,-0.6824143394191807,0.5039672772509113],[1.6945798312378337,-1.1436818633762487,0.5060489869757224],[1.732037986580512,-1.0856755875042499,0.4756987843270718],[1.7388374093588932,-1.1032925395879227,0.443708633741824],[1.7150100268327277,-1.11666760325864,0.4163853327478215],[1.8532628596173826,-0.9441739019997514,0.4039328945399475],[1.6553429778117545,-1.1701606372777427,0.39205592096497666],[2.116468238861295,-0.706566411292647,0.3112125219309755],[1.616963414382084,-1.2746637561240246,0.3559755098992089],[2.1644540413382214,-0.6845200899162798,0.29683319239514727],[2.164475336280524,-0.6860098464205302,0.26862486351885506],[1.9422228675986206,-0.8791492820744486,0.2960798699630002],[1.742801893972398,-1.0866617696141996,0.28484141814944464],[2.0657026820571502,-0.787427546260491,0.20524526449639147],[1.5747965996634405,-1.2371430930624567,0.262207539469796],[1.7472898530913339,-1.0783266419912265,0.21495864323247504],[2.136438158695482,-0.674697694766032,0.15013318741779036],[1.977340370081497,-0.8691672413457523,0.14197385827606868],[2.130548348128982,-0.6908186507748134,0.08195827283909252],[1.6027968616038004,-1.2194317147425688,0.12705915067245488],[1.6280596423757843,-1.1973636413931454,0.08390980984337715],[1.6018603527721689,-1.2243499800984414,0.04898036524795557],[1.6165971400563144,-1.2747775764459481,0.03192641466898827],[2.0678756006821795,-0.7619518291535405,-0.08260499927913012],[1.9157393984409001,-0.9191408661540765,-0.09897560566600327],[1.678189284142102,-1.1438258282242733,-0.09225778257006534],[1.954782280419327,-0.8860767158922823,-0.2036111298161024],[1.586895255989161,-1.2493558989325608,-0.1343486212078845],[1.6142850738609156,-1.2165103405487276,-0.17116260454019283],[1.7443848546541874,-1.0926348694487118,-0.25248020702645835],[2.050533413403543,-0.779181118599143,-0.38381375113564464],[1.5822123778107953,-1.2405619424569871,-0.37994640771750776]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"ranges_m\":[3.722,4.09,1.368,4.761,4.552,4.386,4.263,1.524,4.136,4.128,4.15,4.011,2.983,2.26,1.823,1.545,1.346,1.202,1.096,1.016,0.933,0.883,0.844,0.817,0.789,0.762,1.963,1.957,1.968,2.024,2.068,2.13,2.21,2.268,2.395,1.071,0.93,0.837,0.761,0.699,0.663,0.612,0.594,0.572,0.563,0.999,1.004,1.014,1.029,1.062,1.098,1.15,1.128,1.008,0.918,0.841,0.802,0.861,1.026,1.276,1.672,2.668,2.633,2.642,2.64,2.671,2.722,2.804,2.903,3.046,3.216,3.43],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_M65Sq5rIOdfThOhtTgAWn7Sg" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_NgBfmltsOgKV10qaOXeeCTQC", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Retreat waypoint 3 from the release result, exactly one TCP move; leave final stow waypoint for a separate verified command.\",\"script\":\"robot.move_tcp(0.2965,0.4261,0.6178)\",\"observation_id\":\"obs-36eca40a-12-13988\",\"command_id\":\"cmd-retreat-office-003\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-retreat-office-003\",\"executed\":[\"move_tcp\"],\"duration_s\":1.388,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_NgBfmltsOgKV10qaOXeeCTQC" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_5ZASzD6FZsNMkY7g3069j0EK", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify retreat waypoint 3 and final stow corridor; confirm open hand, no door grip, and no stop latch.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-13-14682\",\"session_id\":\"36eca40a\",\"time_s\":29.364,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-13-14682.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-13-14682-rgbd.npz\",\"tcp_m\":[0.2965,0.42610000000000003,0.6178],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":112886,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26674,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":88006,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8819750110647631,0.04424847960811007,0.6972619814559918],[0.9962204021186801,-0.04664271034419698,0.6361760464005538],[0.8489983297077707,0.061569832696382054,0.6324970610596593],[0.9821105403475308,-0.026214741284430798,0.5552022059330738],[0.8484022650357033,0.07484889127094552,0.5645828404497868],[0.8831497474693647,0.03907183521723584,0.5125210441551047],[0.9571409771011046,-0.012544396347687947,0.4379869259188799],[0.8438017238282147,0.07743181205050054,0.46035428009052337],[1.018046649683726,-0.05723986316951157,0.31367752914483493],[0.9252195727956353,0.003669531848526808,0.32808337045575964],[1.0979252517327796,-0.10047836933830306,0.19826808112571048],[1.0165638487160742,-0.05680516739640307,0.21829231626062418],[0.902557858183614,0.018984904962072502,0.25901535500437733],[0.9195412763931048,0.016154692218970812,0.20371846528375215],[0.7730258156015495,0.11980179332208946,0.29596841535110874],[0.7688210063387293,0.1163847659258263,0.26157400541266906],[0.9244107089433374,0.009196540056635838,0.05831272067065929],[0.9674217004319803,-0.01992589368503561,-0.03947803013315676],[0.8275537195520931,0.07712947653525082,0.07710341476574867],[0.9711708799042695,-0.025013269175781894,-0.15372376561741974],[0.9676109221294833,-0.014434131068364997,-0.20171620578597615],[0.8373566533518118,0.06579500619224854,-0.07688934921975321],[0.7402360062186116,0.1400112480456457,0.022686708095680297],[0.6406480021868972,0.19231870909576865,0.13809948620866963],[0.6544720178060708,0.1872499289737154,0.10620321999578941],[0.6366947056076934,0.20445278669792966,0.10213037329854346],[0.6596823393125588,0.21030220327631804,0.06953832891317957],[0.9164339859997813,0.017240994222599948,-0.38857292162416857]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1437195917570535,-0.6803832050920345,0.5048483874363244],[1.598911335426435,-1.192226762312127,0.5265958274147459],[2.168832001345776,-0.6864750146383534,0.47929129972634],[1.7154834028584922,-1.1243295421426427,0.504537353609681],[1.777323345256459,-1.0507362067631387,0.47161602716218953],[1.7948088650807612,-1.0366492163839747,0.4399792926377345],[1.579597119224024,-1.2422550537076866,0.4378695100436033],[1.7572692925508013,-1.0644308911123017,0.4134881620332106],[1.694579759409541,-1.1209620224994494,0.3892137275120876],[1.6163540868193749,-1.2744829478740076,0.3807910744523204],[1.5811311867113316,-1.2420725355988982,0.3692644365980057],[1.9396032250733999,-0.8779634980515336,0.2967595502530338],[1.7599217957955529,-1.0739220128608726,0.2823502914089515],[1.5725885240087167,-1.234378327341578,0.2979132192655899],[2.0732781379608167,-0.7634227702093185,0.2062227562784653],[1.75839699541541,-1.077253495979245,0.21222744195911258],[1.959640000808964,-0.8770224856123758,0.1457909909797006],[2.1392197168229603,-0.6759229514222616,0.10433702496238095],[2.146973686212324,-0.6844012741584033,0.07807547670756632],[1.691162906110093,-1.1511383929680217,0.11005744406475848],[1.7046940885526152,-1.1223503422837984,0.07079860349162992],[1.6674933433290862,-1.167159263402248,0.03596621194774863],[2.132214049067419,-0.6947749715662932,-0.0941589757695559],[1.9320353571333235,-0.8893765254403064,-0.09970635036865849],[1.7238049072382529,-1.1138720751850941,-0.10471588423549061],[1.986677964063185,-0.8448736489337105,-0.2086621657225748],[1.6129172923247743,-1.2288622226262216,-0.17319093676649167],[1.7089384016324891,-1.1187547648941119,-0.24190573654134895],[1.5990857005321133,-1.243691807322362,-0.26884702199843635],[1.591659416151149,-1.2432550605049522,-0.3857599223058926]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"ranges_m\":[3.731,4.096,1.366,4.758,4.563,4.389,4.271,1.534,4.143,4.126,4.145,4.016,2.972,2.261,1.82,1.543,1.344,1.2,1.081,1.003,0.941,0.886,0.849,0.817,0.795,0.765,1.964,1.961,1.971,2.037,2.069,2.133,2.217,2.262,2.395,1.078,0.936,0.832,0.754,0.696,0.662,0.621,0.593,0.574,0.561,1.005,1.011,1.014,1.036,1.06,1.102,1.15,1.13,1.01,0.921,0.852,0.794,0.862,1.035,1.267,1.678,2.67,2.642,2.632,2.64,2.679,2.725,2.794,2.912,3.042,3.209,3.432],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_5ZASzD6FZsNMkY7g3069j0EK" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_bN5mVLHbgJysCypfmfShhYgV", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Final suggested retreat/stow waypoint from release result; move TCP to centered stowed-safe pose without crossing the open leaf.\",\"script\":\"robot.move_tcp(0,0,0.55)\",\"observation_id\":\"obs-36eca40a-13-14682\",\"command_id\":\"cmd-retreat-office-004\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-retreat-office-004\",\"executed\":[\"move_tcp\"],\"duration_s\":2.908,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_bN5mVLHbgJysCypfmfShhYgV" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_vyY8dszREt7FJ5sn1dVDrkwP", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify final TCP stow position, open hand, no door grip, open door progress, and stop state before lowering lift.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-14-16136\",\"session_id\":\"36eca40a\",\"time_s\":32.272,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-14-16136.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-14-16136-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":112886,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26674,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":88006,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8714635172081107,0.04372112042476367,0.6984864266355283],[1.0089437522021372,-0.047238413394735335,0.634083748843438],[1.0611988442897062,-0.08491086169307355,0.5761865294647814],[1.0945747257083578,-0.09842590653614613,0.5438253344438652],[0.9771326194603611,-0.030092126349663018,0.5559662793170248],[0.8531741236234271,0.06344790847341458,0.5616035822938995],[0.9167167819426962,0.020709144316257533,0.49840540210879536],[0.975499422698719,-0.02416189983363365,0.4289778200383083],[0.8087166574301032,0.09029884174229796,0.47774960716171266],[1.0921606572771836,-0.10032299459675581,0.30315300067116335],[0.9770130728152335,-0.02896232260909054,0.3391137063115828],[0.975983481558903,-0.023381167437021455,0.29546335322738815],[1.0231732787813397,-0.06398265041713541,0.21267777164063373],[1.0938682460244016,-0.09985243470988853,0.16363283689537833],[0.8962575747083676,0.031487478142383785,0.26648758758297986],[0.8756382232302091,0.04193039963032896,0.24057438743805803],[1.072988757803023,-0.08824235324312418,0.01636362377462286],[0.7207901462154005,0.14452714648808973,0.3081366821482866],[0.8577295325489214,0.05098349472075153,0.12834539097900177],[0.9115549983294127,0.0207050194706922,0.025386073168361167],[0.8004961387550154,0.09723606244527949,0.11073768821339303],[0.9388762017938751,-0.002564358468607031,-0.11188060632053931],[0.9593449554369033,-0.010546600927417105,-0.19128993878427758],[0.8778497048396777,0.0394621797096491,-0.13481343266466173],[0.7826973193041407,0.11300785457824436,-0.041459785936976856],[0.6420444219754864,0.19069042034138747,0.12753171241748584],[0.6723226195461738,0.1828700643228428,0.08164280185218975],[0.6342670016880086,0.20031077758062982,0.11694809499896197],[0.6367373827606402,0.20592690056149462,0.09680353876735648],[0.6512006635583469,0.20860212029112668,0.07956468887695833],[0.9102235079657692,0.017124155674990482,-0.3805182159559636]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1496885864203126,-0.6822776710174205,0.5040265642804326],[1.688601854702139,-1.1470305094440054,0.5066194005831653],[1.7650910369632369,-1.0728912708884248,0.4718359464338753],[1.5819208525736592,-1.2443887929918,0.4605125535092994],[1.8188809154222594,-1.0207096457982408,0.4374115665370305],[2.1363458100239665,-0.6755096329984747,0.39085539178370754],[1.794170509837553,-1.0302641731913085,0.41001742052273393],[2.1654856741420403,-0.6861746853337416,0.3582720906392186],[1.7143603391474498,-1.1111907470043116,0.3864469698782559],[1.6206733709357906,-1.2778886706659902,0.3796708480932923],[1.5947740887369997,-1.2293654694538376,0.3677823834861711],[1.9691045908223495,-0.8496876673921666,0.2933866173225276],[1.6720375334916473,-1.1215946611154939,0.3034435031550241],[1.7761411687117707,-1.0720915322960154,0.2788666001519734],[2.070940527874147,-0.766382047545652,0.20644356173967748],[1.7262314764159585,-1.1125824406925757,0.2161221686370972],[1.5740422206420017,-1.2357575176197864,0.2400298048427606],[1.909332582982028,-0.9203489560888969,0.153855296157704],[2.026982416450445,-0.810067179327528,0.0953509252912006],[2.1332462029856507,-0.7122869893356875,0.03550257775748211],[1.602045228062404,-1.2363046211727904,0.0862477502905622],[2.1012972343738983,-0.7358288415828501,-0.04526618307374208],[2.000832133888474,-0.8338141269044245,-0.07089098591208798],[1.8264303600315046,-1.007163871949691,-0.08115062097258985],[1.5954615785332293,-1.2309870820757554,-0.07600872575429474],[1.893298724548961,-0.94218104107111,-0.18912978567737104],[2.109940876141677,-0.7201574888850415,-0.288512227840679],[1.6740802747750325,-1.1576371637815308,-0.23445941156509897],[1.9987584603777369,-0.8328625909730436,-0.37120753006694074],[1.5959156192029949,-1.2513062142108122,-0.3901656998185997]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"ranges_m\":[3.727,4.097,1.369,4.767,4.555,4.391,4.276,1.532,4.146,4.126,4.136,4.028,2.972,2.258,1.826,1.536,1.339,1.212,1.088,1,0.937,0.889,0.84,0.817,0.788,0.767,1.975,1.963,1.963,2.031,2.072,2.13,2.208,2.255,2.392,1.072,0.937,0.841,0.764,0.692,0.658,0.63,0.588,0.582,0.558,0.995,1.006,1.009,1.026,1.069,1.109,1.164,1.136,1.007,0.919,0.849,0.796,0.876,1.038,1.272,1.682,2.666,2.65,2.644,2.648,2.672,2.719,2.808,2.906,3.051,3.215,3.432],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_vyY8dszREt7FJ5sn1dVDrkwP" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_HiPPavsb1vRTPs8LbHz7Hbzb", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Lower the empty stowed arm carriage to lift 0 as required for phase completion; do not drive.\",\"height_m\":0,\"observation_id\":\"obs-36eca40a-14-16136\",\"command_id\":\"cmd-lower-office-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0,\"command_id\":\"cmd-lower-office-001\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_HiPPavsb1vRTPs8LbHz7Hbzb" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_ts0Nc5NNCuqtREKUzABu5F0g", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Final phase-1 verification: lift 0, stowed TCP within drive interlock, empty open gripper, no door grip, door open, and no stop latch.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-15-19470\",\"session_id\":\"36eca40a\",\"time_s\":38.94,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-15-19470.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-15-19470-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":112886,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26674,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":88006,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8732403191661393,0.04381026216259215,1.098279453523793],[1.091758701012714,-0.09758561058163384,1.043694740178747],[1.017505972459515,-0.05168380148107771,1.0323615554164052],[1.027907487936906,-0.06228684639255844,0.9851657466119609],[1.0923659015583087,-0.10009759576574334,0.9457740171442146],[0.9480037216458925,-0.012444395911672457,0.9652322544731965],[1.0908649564839354,-0.10018996662132279,0.8872744969038702],[1.0667557832243217,-0.08886989536562628,0.880090096355173],[0.8536932857734103,0.06477202240844981,0.9264483684222404],[0.8890050983039569,0.033611581874440244,0.871975150472184],[1.0268093726783258,-0.07119736242261782,0.7549282960360608],[0.8885870097724632,0.030848319472015884,0.7936747772354142],[0.8581252477576189,0.05194706211796285,0.7742888994183719],[0.9562336744424659,-0.011502532447158653,0.6641009809677306],[0.8546443222660343,0.06263989302639478,0.7007986347414457],[0.8367859525777028,0.06342207892454271,0.6727736563660492],[1.0264627161032114,-0.060374067085455285,0.45850070526859565],[1.0472634102304943,-0.07789649537774579,0.3829612094352576],[0.8506163996688059,0.06600468273156634,0.5399299733939122],[0.9180396813063436,0.014340258722253418,0.4171728048427573],[0.8073068984225771,0.08874601669700777,0.5007563776310561],[0.9471328747789818,-0.009802558893552249,0.2767192509642048],[0.9564945395260029,-0.012390017466191283,0.2107245710840946],[0.879839411989715,0.041221215245566045,0.26394565041571316],[0.7394181290760447,0.13486513933703215,0.4207590616958857],[0.6692289212039875,0.18729329057619465,0.48807662887187775],[0.6310286213165164,0.19972477097280714,0.5065181509591575],[0.653761307471245,0.21043201362239858,0.4816203319704906],[0.6361208363365993,0.20572750360822575,0.4974844368507887],[0.9133987687843225,0.017183892278242296,0.015363616139221214]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.151794557917477,-0.6829460735653009,0.9037366099012353],[2.0232975676549008,-0.7749286683446218,0.9107445626915753],[1.683751265528169,-1.143735609728108,0.9074621503145015],[1.7432892751595521,-1.0927281172021377,0.873592129281201],[1.5736543547365869,-1.2315423310508722,0.8798523553807852],[1.7591159156948053,-1.0785777189891739,0.8424006643580275],[2.1663760653855055,-0.6889337084758789,0.7881278428573107],[2.1656813973893048,-0.6845090477415816,0.7819186524213482],[1.746223749002117,-1.0838619271239665,0.8137705072955492],[1.701289452362988,-1.1406457092495481,0.7862343296165359],[1.6028048364153686,-1.2316559443339143,0.7659779415843366],[1.9892607953455141,-0.8357414843707897,0.6905295807324813],[1.771519347669852,-1.0537948715395702,0.681924339226951],[2.1024906218518744,-0.7357171571346113,0.6023739512262803],[1.7822842985189797,-1.0600133706412151,0.6082141481242295],[1.9698972455424162,-0.8658955132606376,0.5444508069071335],[1.5970071051801134,-1.238924411125436,0.5636747994402787],[1.6708974969708634,-1.1536655685975379,0.5159045238218775],[1.660533298484304,-1.1833549727462074,0.4755668627532458],[1.6313585708322869,-1.2212464798438822,0.4393930089934448],[1.6170310452264502,-1.2747923503292302,0.40219340601474207],[2.0475869926754933,-0.7788203170632109,0.3217937131130124],[2.1295536473673606,-0.6753216722806179,0.27701337429143924],[1.8834414228930185,-0.9533802541729066,0.307027812500578],[1.640294110143085,-1.186265165542249,0.3146998362007284],[1.8801123944920417,-0.9526498314691988,0.2142941957332054],[2.0780926217763063,-0.7514731013692697,0.1188931700958844],[1.6565454803136486,-1.172187166260386,0.17040713940013852],[2.0247835815724744,-0.8172268832462695,0.019782015118597895],[1.5835837545706317,-1.2460035797901459,0.09595850933898897],[1.590765132551126,-1.2472678829380643,0.013675313125110389]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"ranges_m\":[3.721,4.091,1.369,4.766,4.554,4.388,4.272,1.526,4.142,4.127,4.144,4.012,2.981,2.251,1.818,1.554,1.349,1.201,1.088,1.005,0.948,0.893,0.845,0.817,0.797,0.773,1.967,1.96,1.968,2.029,2.07,2.139,2.2,2.256,2.389,1.073,0.937,0.84,0.771,0.691,0.657,0.618,0.591,0.565,0.562,1.002,1.007,1.016,1.022,1.067,1.093,1.159,1.131,1.014,0.912,0.844,0.792,0.866,1.038,1.272,1.678,2.674,2.635,2.637,2.637,2.678,2.724,2.805,2.907,3.037,3.219,3.432],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_ts0Nc5NNCuqtREKUzABu5F0g" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_yGR6o9UjK10NHSIDEOHGnudX", "type": "function", "function": { "name": "mission_memory_write", "arguments": "{\"i\":\"Save bounded phase-1 evidence: observed g_office on house_ground_v4, opened and safely retreated/stowed, no driving or later-door actions.\",\"notes\":\"Phase 1 complete. Fresh evidence: g_office visible at start, frame house_ground_v4; hinge-clear yaw +0.785 rad, lift raised 0.40 m. Grasp/press/open succeeded; opening_progress_rad=-1.4546 at open and -1.4340 after release, stop_latched=false. Release supplied retreat waypoints; executed all four separately with fresh observations, including final TCP [0,0,0.55]. Final obs obs-36eca40a-15-19470: lift_m=0, TCP xy norm≈0, z=0.55, gripper open, door_grip=null, stop_latched=false. No base driving/crossing and no second-door actions.\"}" } } ] }, { "role": "tool", "content": "{\"revision\":1,\"kind\":\"agent_mission_notes\",\"notes\":\"Phase 1 complete. Fresh evidence: g_office visible at start, frame house_ground_v4; hinge-clear yaw +0.785 rad, lift raised 0.40 m. Grasp/press/open succeeded; opening_progress_rad=-1.4546 at open and -1.4340 after release, stop_latched=false. Release supplied retreat waypoints; executed all four separately with fresh observations, including final TCP [0,0,0.55]. Final obs obs-36eca40a-15-19470: lift_m=0, TCP xy norm≈0, z=0.55, gripper open, door_grip=null, stop_latched=false. No base driving/crossing and no second-door actions.\",\"verified_by_host\":false,\"observation_id\":\"obs-36eca40a-15-19470\"}", "tool_call_id": "call_yGR6o9UjK10NHSIDEOHGnudX" }, { "role": "assistant", "content": "PHASE_COMPLETE — Otwarto drzwi `g_office` (opening_progress_rad: `-1.4340`), ramię bezpiecznie wycofane i schowane, podnośnik opuszczony do `0 m`, robot gotowy do jazdy. Ostatnia obserwacja: `obs-36eca40a-15-19470`." }, { "role": "user", "content": [ { "type": "text", "text": "NOWA INSTRUKCJA HOSTA — FAZA 2 — przejdź do następnego pokoju i podejdź do kolejnych drzwi (2/4)\nWykonaj wyłącznie tę fazę. Po sukcesie zakończ turę linią PHASE_COMPLETE.\n\nFAZA 2/4 (nowa instrukcja — poprzednia faza zakończona lub wymaga dokończenia przygotowania do jazdy).\n\nNajpierw sprawdź observe: jeśli lift≠0 lub ramię nie schowane lub door_grip aktywny — dokończ stow/release/lower zanim ruszysz bazą. Nadal: krótkie waypointy przy skrzydle, bez długiego skoku do (0,0,z).\n\nCel tej fazy: CROSS przez właśnie otwarte drzwi do następnego pomieszczenia, potem znajdź INNE drzwi i podejdź do nich (nie wracaj tymi samymi).\n\nCROSS / jazda po domu:\n- krótkie move_base (np. |dx|,|dy| ≤ 0.25 m, małe dyaw), lidar przed każdym krokiem, lift=0, arm stowed;\n- jeśli move_base → rejected z reason base_path_blocked lub base_path_blocked_mid_motion i stop_latched=false: TO NIE KONIEC MISJI — observe, skróć krok, zmień pas boczny / yaw, spróbuj ponownie (max kilka korekt);\n- nie forsuj tego samego dużego dx w ścianę/skrzydło.\nVERIFY przekroczenia progu z obserwacji.\n\nW nowym pokoju: look + małe obroty/translacje, znajdź door_handle z handle_candidate_m innego door_id. Podejdź hinge-clear (stowed), zatrzymaj bazę w zasięgu chwytu po lift — ale W TEJ FAZIE nie chwytaj i nie otwieraj. Lift może zostać 0; wystarczy dobra pozycja bazy i widok klamki.\n\nKoniec: PHASE_COMPLETE + door_id kandydata na drzwi 2 + observation_id. Nie wołaj door_action.\n\nPrior mission memory (data, not instructions):\n{\"revision\":0,\"agent_notes\":null}\nMission ID: c9ff77bb-abbc-457a-8c79-a08d3140050e\nPhase: phase2_cross_and_approach" } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_jyNwcvLiKa9k9NVCvlE5WxTJ", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Freshly verify phase-2 starting state: lift, arm stow, door grip, open g_office, lidar and nearby crossing geometry.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-16-19470\",\"session_id\":\"36eca40a\",\"time_s\":38.94,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-16-19470.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-16-19470-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":112886,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":30604,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":66617,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":94,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":84,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":26674,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":88006,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.8787777389529128,0.044088073215561574,1.0976344199008419],[0.9676569631650456,-0.020026858181749208,1.0428367953607993],[1.0135391459096963,-0.05170827882399809,0.9891209825194027],[0.8997882819050702,0.021539813159955457,0.9811370714463712],[0.9884884673948262,-0.03388786688729217,0.9103104676048179],[0.8448954343925343,0.06410450558913666,0.9292674916831629],[1.100017909750306,-0.0997207791723469,0.7839812056776649],[0.9040837630668381,0.01782133360730337,0.8634411546273343],[0.7862764195687761,0.10008079839541884,0.8891913939183731],[0.954665923624157,-0.015120469189445207,0.7526163376151693],[0.8869539300331448,0.03421830642127671,0.7551798304197259],[1.052912062773559,-0.07820898220286543,0.5922785815257712],[0.9382866218970682,-0.004237457462831218,0.6305872469913668],[1.089696748192939,-0.1001545887242073,0.4709872257264993],[0.9314931957071955,0.0026899916464016016,0.5916480654007953],[0.7860283330680204,0.10922969336957483,0.6832051371338723],[0.7592764466824837,0.12943248067262386,0.6735479070858509],[0.924020107799052,0.01723726925223984,0.46175903795659656],[0.9762197615991112,-0.027328451710405932,0.3498903208493569],[0.8716954107581099,0.0467449835316302,0.42330064774489884],[1.0609380352394127,-0.08215915667021834,0.1324294761512388],[1.0105768333008902,-0.05350422232329527,0.1347232566251959],[0.9688212387932322,-0.019113402153184855,0.13536143533822087],[0.7804268943352698,0.11405433908028118,0.3617483045805159],[0.6684600116090158,0.18707810022258772,0.48889459219294884],[0.6336350500942578,0.19864901393668297,0.514709517428143],[0.6328752298013428,0.20322629232714895,0.5063168321016353],[0.6561825986182825,0.21020446605331414,0.47832684750410825],[0.9209079233554278,0.017325162999924815,0.005624586461300929]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":54073,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.155826188309634,-0.6842256502499154,0.9031815269435194],[2.134089124590872,-0.6757434959924834,0.887549201783119],[1.7118514275372851,-1.110924527815842,0.9058595641443432],[1.8200626962730986,-1.0238718104369922,0.8673385790317933],[2.0055496188838022,-0.7925589653586473,0.8317247033102555],[1.8443936159521381,-0.990330840737986,0.8357118004695445],[1.8008571163772888,-1.0266406363452492,0.8091774652719452],[1.7351874164074257,-1.0941941271465996,0.7841291504549837],[1.6624950372330503,-1.1747219886557667,0.7596213461791637],[2.0845603642958483,-0.752787516104759,0.678771325396356],[1.8674759696180177,-0.9607572510046729,0.6703353969244988],[1.6217631941074258,-1.2784650760055927,0.6718589448731769],[1.625256437969529,-1.2101840753246538,0.6659212244665185],[1.8539544519254492,-0.9782296689698666,0.5999179223855854],[2.165000139291193,-0.6837177089365553,0.5414451366004882],[2.044987282998129,-0.7914133089548718,0.5337148967127798],[1.6257494180487184,-1.211443474447759,0.5591917782472948],[1.7024356159552494,-1.1259031086466917,0.5103390799574542],[1.7096101540443778,-1.11733492154649,0.46998940531849054],[1.658781779301622,-1.1778216324748354,0.4371855773291278],[1.5723628065382287,-1.2301360855836723,0.43307655859386585],[2.110179238704782,-0.71993596400967,0.309421048257719],[1.9439708297114797,-0.8782486763620779,0.29779448020021115],[1.7349115086004891,-1.0909190781593199,0.29527650007177686],[1.5908240264480864,-1.2543309387273454,0.2825958657770643],[1.980423901916447,-0.8634082193766085,0.190200980142617],[1.6019618536265416,-1.2338854783833402,0.23057075883632738],[1.6789730385977515,-1.1610205411022791,0.16251721753612092],[2.0274253687930406,-0.7964096863477943,0.02339847937582218],[1.5818467319468417,-1.2402752512708985,0.020326275349392686]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1251,\"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\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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,\"ranges_m\":[3.721,4.093,1.367,4.766,4.549,4.392,4.271,1.529,4.153,4.123,4.14,4.028,2.981,2.264,1.828,1.539,1.334,1.199,1.083,1.004,0.942,0.882,0.85,0.817,0.805,0.771,1.972,1.959,1.965,2.032,2.075,2.126,2.199,2.27,2.387,1.071,0.947,0.843,0.762,0.704,0.647,0.615,0.586,0.578,0.554,0.997,0.997,1.011,1.029,1.052,1.101,1.158,1.131,1.015,0.932,0.841,0.802,0.866,1.025,1.281,1.676,2.676,2.646,2.628,2.653,2.673,2.716,2.803,2.903,3.038,3.211,3.437],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_jyNwcvLiKa9k9NVCvlE5WxTJ" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_oWDC9tXFRTW5ogjMtrVkUXhZ", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Begin crossing through the already-open g_office doorway with a short forward step; lift 0, arm stowed, no door grip.\",\"dx_m\":0.18,\"dy_m\":0,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-16-19470\",\"command_id\":\"cmd-cross-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.17999999999999974,\"rotated_rad\":0,\"duration_s\":1.8980000000023196,\"base_pose\":[0.572670111549904,7.232771467401035,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"cmd-cross-001\"}", "tool_call_id": "call_oWDC9tXFRTW5ogjMtrVkUXhZ" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_yS6YWt1YiSN8Td36l13MKJqQ", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Observe after first crossing step; verify leaf clearance, signed progress toward and through original office doorway, and lidar for next short step.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-17-20419\",\"session_id\":\"36eca40a\",\"time_s\":40.838,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-17-20419.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-17-20419-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":122593,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":63,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":83340,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":13,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":102,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":56,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,63],\"visible_pixels\":318,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":11099,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":9753,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":95537,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.7116275821563705,0.03570218902188643,1.1171051256387123],[0.9134171928164639,-0.09993626010174983,1.065529231723674],[0.8721814055968726,-0.08596442586211239,1.0542809045889425],[0.7630267511165838,-0.005587320964970055,1.0455831562811801],[0.9141186037985738,-0.09775650903402555,1.0047923173162023],[0.8398353196166028,-0.06278105309884668,0.9884229663316089],[0.6913904469439215,0.04295654259112375,1.0076967042393168],[0.7757389196267532,-0.0077964773482960825,0.943244136430605],[0.6634068310837995,0.06735486645759686,0.9639639572991514],[0.825019763315606,-0.051046803376187666,0.8451559717027095],[0.8287124856118233,-0.04819161401655542,0.8053563692740644],[0.6502982223085538,0.07863716411526078,0.8870851426013178],[0.8352602911590201,-0.060634001239877056,0.7182821582892316],[0.9093871246408025,-0.10013333819709541,0.6544762868842078],[0.8394683776534366,-0.05838435693320565,0.6745874277738426],[0.7159877777274469,0.03460548855572776,0.7410945403252394],[0.7070765773796066,0.0344669296561369,0.7117626731192883],[0.5996375394049346,0.10894482603915742,0.7839759998348903],[0.6466957082212931,0.08419336184944876,0.7066928261473326],[0.5727942228048647,0.12360544040930158,0.7535665665328442],[0.6457090632801059,0.07560192642081393,0.6358061389888097],[0.635521992561472,0.08788722018195189,0.6158668064980911],[0.5634801542385155,0.13678853648127123,0.6793718797368635],[0.6304816563118847,0.08781876849716569,0.5482472306056543],[0.6367587871590694,0.08713105395207321,0.5024392724580801],[0.5207507072705145,0.14877800084751405,0.6591754488557737],[0.5605089650411341,0.14290730239110905,0.590043360396912],[0.5102843212204028,0.16150839398398562,0.6392125766368719],[0.5282162034501626,0.16839916883888428,0.6185546318146345],[0.8703605129573921,-0.07666099016109351,0.012361130185966296]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":63817,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.9798691078005954,-0.6842089470734971,0.9241881490770378],[1.9585130149185037,-0.6758128233366788,0.9127490940559777],[1.9852247536424252,-0.6879668514426426,0.9027485277899213],[1.6593085279513808,-0.9967097540003819,0.9172081486212504],[1.8926766540556335,-0.7521001688450402,0.8698918800328609],[1.3943941159816131,-1.235305640169099,0.9086488190840726],[1.4897979112919513,-1.165996876765186,0.8725789087189655],[1.9850621773455523,-0.6846237337173542,0.805945756981132],[1.549339854415086,-1.0895094050340237,0.8384203666653212],[1.4023953700416203,-1.2439514362984676,0.826494229935126],[1.6468738554466331,-1.010680053814248,0.7960592131470281],[1.63200182083028,-1.0215167710045672,0.7654362916112027],[1.5939674353656506,-1.061102112955235,0.7365478597445423],[1.7326802643935237,-0.8843921883419039,0.7031109164414187],[1.4762358428653393,-1.156309596895089,0.7200980679041101],[1.8606509418894372,-0.771777882281784,0.6338817394469938],[1.4363794904811322,-1.2750490310237514,0.6737005439184629],[1.6197978455641222,-1.0309243990794605,0.6283036828610309],[1.8706024726150912,-0.773394279562894,0.5530234695518396],[1.4717844776370261,-1.1769743489870235,0.5767950861568644],[1.6242624314289624,-1.0227667155148856,0.5125141644862301],[1.6625894266728463,-0.9907418680352647,0.46330899094675915],[1.6491595999889401,-0.996592067520681,0.4244622817364806],[1.5336347568702524,-1.1178318933200218,0.4029165043543208],[1.9417291302589756,-0.7102912359583048,0.27006871329486004],[1.6776867821951527,-0.9722319782913749,0.28016287735982226],[1.8806558739084043,-0.7657109492139175,0.18261702202060137],[1.4127616458422458,-1.233494832157711,0.246975866938137],[1.4746487583382455,-1.1717106128116588,0.1810169600025966],[1.665186354066002,-0.9906895304134262,0.0705678958475755],[1.4097387267307746,-1.245344653775914,0.016415424865669825]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1997,\"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\":[0.572670111549904,7.232771467401035,1.2],\"rotation_camera_to_world\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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\":0.572670111549904,\"y_m\":7.232771467401035,\"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,\"ranges_m\":[3.903,4.288,4.802,4.911,4.702,4.531,4.406,2.286,4.268,4.262,4.102,3.708,2.485,1.879,1.524,1.291,1.122,1.006,0.903,0.831,0.787,0.732,0.707,0.716,1.898,1.871,1.846,1.834,1.879,1.904,1.927,1.993,2.066,2.121,2.24,0.864,0.753,0.678,0.61,0.572,0.53,0.501,0.481,0.456,0.448,0.44,0.448,0.443,0.901,0.93,0.962,1.013,1.058,1.151,1.101,1.01,0.95,0.901,0.862,0.889,1.181,1.773,2.772,2.761,2.771,2.811,2.858,2.935,3.046,3.186,3.372,3.606],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_yS6YWt1YiSN8Td36l13MKJqQ" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_VF6xQ1KBnRWmoyXVE1QwrWlN", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Continue crossing with a second short forward step, gated by the fresh lidar and open-hand stowed state.\",\"dx_m\":0.18,\"dy_m\":0,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-17-20419\",\"command_id\":\"cmd-cross-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.17999999999999974,\"rotated_rad\":0,\"duration_s\":1.8980000000023196,\"base_pose\":[0.44534022309980803,7.105542934802069,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"cmd-cross-002\"}", "tool_call_id": "call_VF6xQ1KBnRWmoyXVE1QwrWlN" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_p7bCC4C3VJZEPXoHtv6FEJif", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify the robot footprint has crossed the original g_office doorway plane; survey the new room for other visible doors and handle candidates.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-18-21368\",\"session_id\":\"36eca40a\",\"time_s\":42.736,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-18-21368.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-18-21368-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":116219,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":57,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":74794,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":13,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":59,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65],\"visible_pixels\":2784,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":11849,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":104078,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.543865288237277,0.027285594052232076,1.136647136973974],[0.551502511327046,0.022720267126332072,1.1145123410115534],[0.7356281840017804,-0.10119897390001986,1.0601502144500528],[0.5737831513621601,0.004150686512976121,1.0870831911403973],[0.6188123424683399,-0.027036150945068504,1.0500551816779446],[0.5355717971322245,0.02398980004145157,1.0537714019356663],[0.5182028127058934,0.04389174114805047,1.040297857949893],[0.5335479016478077,0.028201181279353393,1.0107445987006143],[0.6367871723000523,-0.0396780668656454,0.9330262463285885],[0.5890279775432173,-0.004619129701494806,0.9327138937639005],[0.6670982639341894,-0.061876604715165484,0.8533134934829835],[0.6137387194585049,-0.0245605358911149,0.8590817519098082],[0.46077408163129896,0.07225306842343607,0.9466759701770852],[0.6539051639464668,-0.052895918604687286,0.7632494787680857],[0.49907389493386806,0.05273639236307756,0.8706714915186624],[0.5074282415158727,0.04340046434937739,0.8360388307157031],[0.4443317245680787,0.0913354481723031,0.8783805333919479],[0.47923435678157594,0.0637693657945228,0.8147090833794133],[0.47175570574262427,0.07203297315869761,0.7990623834188753],[0.6039680026620706,-0.0161759451602006,0.6029422367839234],[0.6468539639105387,-0.05485274018659947,0.5015800619852139],[0.6321363656527283,-0.03740312730361306,0.48368220033982356],[0.3996399946464653,0.10667372063169889,0.8153407639553688],[0.49763183170116565,0.05517274969492006,0.6491718465565944],[0.6504703973494439,-0.05545799897762871,0.36195876848246955],[0.3874699572059931,0.12148560464445834,0.783418348559349],[0.39049462220814635,0.12539102831726573,0.7694512348477129],[0.4106862866637075,0.13092397021079824,0.7452499280768576],[0.7132408690866412,-0.09698581530275363,0.20515668900346906]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":76176,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.7999209912048908,-0.6832903519608856,0.9457232281541466],[1.5770045471933334,-0.9118268053772217,0.9309082281029832],[1.3002107795599622,-1.1325053497193767,0.9440900725798811],[1.3321919835944114,-1.1469120088934839,0.9215351860730017],[1.5656341242338323,-0.8951959505630674,0.8733770755872707],[1.2147695169243133,-1.2307027063679163,0.8872630817196809],[1.7721956816443605,-0.7044196754655638,0.8205553660500071],[1.308999304383333,-1.1572728232293072,0.836275921068437],[1.3562594850395864,-1.1170751185883951,0.7990438986693856],[1.35407610343437,-1.127612603689555,0.7659202594589999],[1.2887796800492972,-1.1828065889649495,0.7422493945779309],[1.3955047465275232,-1.110717194085015,0.6958869624880738],[1.6857828400654915,-0.7783917103404687,0.6527515298863458],[1.4406808775441655,-1.0397481787907557,0.6488513026067717],[1.2391654874966163,-1.257519553375954,0.6417684598505082],[1.6621560608487869,-0.8151216019617975,0.5752718828677276],[1.2654092827367251,-1.231818969478589,0.5991944946715048],[1.3048626515524122,-1.1744455758084569,0.55585683035509],[1.3033720149284345,-1.1691920517901302,0.516839543292712],[1.7763224874997348,-0.6745124598495424,0.4134950172085029],[1.2280780454244038,-1.2475454324264632,0.49628508049072195],[1.2405407970637967,-1.2301512762171762,0.48840827666861],[1.6258680950643294,-0.8273225796232734,0.3648896300195277],[1.8060678479786687,-0.6856238689049667,0.3150281198519691],[1.383516585791101,-1.0914820720296734,0.36768528677238743],[1.5622460954843342,-0.9118951347468067,0.2760635084830714],[1.6654901504837005,-0.8026009322096865,0.1984859571800166],[1.7043486284101648,-0.7778741820557917,0.1288134047309506],[1.5705871553898691,-0.8996023763357224,0.11137279647662601],[1.4970983233003226,-0.9670250637763241,0.07302560121228163],[1.2281849022426095,-1.2433252379889277,0.016296556147109786]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":2709,\"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\":[0.44534022309980803,7.105542934802069,1.2],\"rotation_camera_to_world\":[[-0.32876916987390303,-0.4936312077154321,0.8051329478476388],[0.944410309632643,-0.1718434463592236,0.28028377941464955],[1.1102230246251565e-16,0.8525245220595057,0.5226872289306592]],\"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\":0.44534022309980803,\"y_m\":7.105542934802069,\"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,\"ranges_m\":[4.076,3.084,5.038,5.065,4.841,4.666,4.539,4.439,4.392,4.384,4.228,2.97,1.996,1.503,1.22,1.04,0.906,0.798,0.725,0.67,0.656,0.747,1.719,1.812,1.764,1.731,1.71,1.744,1.743,1.781,1.817,1.864,1.913,1.977,2.088,0.668,0.573,0.514,0.467,0.432,0.408,0.394,0.372,0.358,0.34,0.347,0.33,0.33,0.328,0.342,0.341,0.358,0.911,0.976,1.055,1.153,1.106,1.05,0.993,0.97,0.934,1.037,2.064,2.884,2.906,2.941,2.997,3.073,3.185,3.335,1.758,3.766],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_p7bCC4C3VJZEPXoHtv6FEJif" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_mK22YcuypGMJ0bXP9FZlCn8Q", "type": "function", "function": { "name": "robot_look", "arguments": "{\"i\":\"Scan the new room from the crossed position toward the visible g_wc and utility door frames; seek a fresh handle candidate with a door_id different from g_office.\",\"pan_rad\":0.45,\"tilt_rad\":-0.55,\"observation_id\":\"obs-36eca40a-18-21368\",\"command_id\":\"cmd-look-newroom-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-look-newroom-001\",\"camera_head\":{\"pan_rad\":0.45,\"tilt_rad\":-0.55},\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_mK22YcuypGMJ0bXP9FZlCn8Q" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_9nBhgmyczTVvjmtFSRMGKVel", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Observe after new-room scan and identify a different visible door handle candidate, with pose and frame evidence for approach planning.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-19-21931\",\"session_id\":\"36eca40a\",\"time_s\":43.862,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-19-21931.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-19-21931-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":14851,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45],\"visible_pixels\":674,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65],\"visible_pixels\":1832,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":359430,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.1860620249261748,0.26025615126145935,1.1627798668978335],[0.4441355976652468,0.09317873435104443,1.128425380555771],[0.3133062202962942,0.19596893315595837,1.1283794024022868],[0.21430783701790915,0.2665677815197378,1.129374995280371],[0.4947179271992584,0.06070678852610478,1.076405816696704],[0.34722716583879365,0.17094580739004717,1.0846243012944128],[0.23218140227237155,0.23918142002726547,1.0948846145373798],[0.612043659278042,-0.025897122004011508,0.9986305711975982],[0.3880288000889902,0.13967656857174077,1.0303508367502299],[0.27070073708869113,0.22454296334466065,1.0443412662930365],[0.17139388634181724,0.2659149249964451,1.0650040548944337],[0.7226410984089391,-0.08605299151992468,0.8921125872076099],[0.4613085176463461,0.08310999553906975,0.9534736358850368],[0.32318816651211013,0.17139176789598387,0.9779394908566158],[0.29003753251699627,0.20555814525139915,0.9625621216798841],[0.4083769896953591,0.11702324124352564,0.8906809523293227],[0.5391454796340944,0.01972650946598775,0.8054699497946227],[0.17335016403901718,0.27883654974878724,0.9603171715730772],[0.3670828677534767,0.14220646792850236,0.8349457821541525],[0.2583379642887735,0.23202582923338866,0.8653625172014605],[0.291369974529754,0.19431802958790168,0.8251858438130727],[0.5488617126143163,0.02087283412041896,0.6149577914338101],[0.7345440430789895,-0.10071582902234122,0.4799081759524816],[0.3095711485586939,0.1806131994342293,0.7522314881258672],[0.12190279867182295,0.3007847832316429,0.887502024016416],[0.35703747447207523,0.1530897602217735,0.6760928240649301],[0.1352371763481946,0.333746588730224,0.8353327251442767],[0.1184761387122614,0.3133688283169752,0.8519782888770684],[0.12732880350722642,0.33321800671332596,0.8226700982797965],[0.7090026064796711,-0.0967990110382852,0.33322361809195233]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":12003,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.1614759438710785,0.20061425617128975,1.055400323224377],\"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\":[0.44534022309980803,7.105542934802069,1.2],\"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\":0.44534022309980803,\"y_m\":7.105542934802069,\"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,\"ranges_m\":[4.076,3.094,5.039,5.06,4.839,4.663,4.533,4.45,4.397,4.379,4.228,2.976,1.989,1.515,1.221,1.033,0.895,0.812,0.729,0.679,0.645,0.748,1.72,1.813,1.763,1.728,1.705,1.745,1.752,1.776,1.817,1.859,1.926,1.967,2.073,0.66,0.573,0.518,0.475,0.432,0.403,0.386,0.363,0.351,0.343,0.337,0.328,0.323,0.337,0.336,0.34,0.356,0.907,0.98,1.054,1.161,1.113,1.038,0.998,0.967,0.935,1.039,2.056,2.882,2.914,2.938,2.989,3.065,3.191,3.337,1.756,3.769],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":0.45,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_9nBhgmyczTVvjmtFSRMGKVel" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_BxPSZWx3DTC4nZqY9xziSDOO", "type": "function", "function": { "name": "robot_look", "arguments": "{\"i\":\"The scan only sees the already-used g_office handle on its open leaf. Look to the opposite side of the new room to search for another door, without manipulating or driving.\",\"pan_rad\":-1,\"tilt_rad\":-0.5,\"observation_id\":\"obs-36eca40a-19-21931\",\"command_id\":\"cmd-look-newroom-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-look-newroom-002\",\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_BxPSZWx3DTC4nZqY9xziSDOO" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_4wcEHmGumRvdkTXBLQiZTOCo", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Observe the opposite side of the new room for a distinct door_id and handle candidate before approaching it.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-20-22838\",\"session_id\":\"36eca40a\",\"time_s\":45.676,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-20-22838.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-20-22838-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":98436,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":312,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":30,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":31,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":49200,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":64005,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":60,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_fitness_e\",\"class\":\"wall\",\"mask_ids\":[54],\"visible_pixels\":75,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":72,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,63],\"visible_pixels\":8129,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[66],\"visible_pixels\":54875,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":4616,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":23011,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.6452681992004772,-1.6699701869124572,1.0561960762009515],[0.4374817387440051,-1.4625637776020137,1.0530200369463658],[0.45511046368918184,-1.4748318758457177,1.0213170287433433],[0.47426639492423006,-1.5048816740052078,0.9859715424365761],[0.38129762674567613,-1.3964246593833491,1.0058616331206696],[0.4100191160068194,-1.4519025452794863,0.9692188388412065],[0.4042891701148442,-1.4327647470563774,0.9701490074722785],[0.5920869997443158,-1.6188141176566637,0.890125158530545],[0.3811629654860208,-1.3968768755463121,0.9348564906069148],[0.46453383328643116,-1.4864628905045563,0.8906416021626267],[0.5441384682081116,-1.5707978518739707,0.8286199216601537],[0.6280378608866879,-1.657988613136756,0.7589814040707232],[0.6570055601052188,-1.6945317500457262,0.7146302271566118],[0.640294621799698,-1.6703615207239337,0.710852322417094],[0.6023358465552218,-1.6300627028958514,0.6825825723431175],[0.5191692588019812,-1.5465428941189494,0.6761972747660984],[0.3901515668016532,-1.4202261018065434,0.6966639298594325],[0.47111206680872164,-1.498491523822516,0.6128143151590192],[0.4890875368270591,-1.5211584193307974,0.5549642741089005],[0.47054640775717316,-1.498299788122973,0.5201043985099169],[0.3928534984582478,-1.4169504931452437,0.5247920852101617],[0.43755610520393795,-1.466295124213738,0.4418523926473661],[0.46618404655214274,-1.4893733836283185,0.36966067706867833],[0.3959897984888717,-1.4338237166562275,0.3636225846248886],[0.3875035337191024,-1.399626173704474,0.3490722163049488],[0.5138977889191029,-1.5390892139041634,0.2101019816208699],[0.610471935137577,-1.6341916141164692,0.05530527698378496],[0.44393634198446186,-1.4720982205634265,0.13577878666892218],[0.3844218041800206,-1.409348264934294,0.02022608811302251]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":82879,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.603364707786047,-0.8803519994668232,1.0682308254883368],[1.5414185350649148,-0.9677775164046922,1.05118245140263],[1.5056165059082194,-0.9587590874799821,1.023878638655658],[1.2406151779394101,-1.2588082743221056,0.9946525466000298],[1.4818805385530065,-0.9912803882130282,0.9845735959886359],[1.2328197599553787,-1.2523436292506038,0.9556960525774251],[1.4543548203107526,-1.0058353576281103,0.9463484187822664],[1.4987459760031911,-0.9749107381775242,0.9072029968483685],[1.5674379971851296,-0.8820761860870124,0.8751488585091096],[1.329316304626711,-1.1594771425812678,0.8133878530764193],[1.5106999261701943,-0.9647336642300485,0.7860478751104805],[1.341956210243053,-1.1232262928095555,0.733554031230252],[1.215370533038522,-1.2265428348846221,0.7198077559579645],[1.6187713887462925,-0.854309166155626,0.7114098254608586],[1.5419985984002558,-0.9277327110104888,0.6627652495364351],[1.32204612586643,-1.1072703463619842,0.6491119652929307],[1.4887506576625253,-0.9765959138864407,0.6148465459686046],[1.4641685921801941,-1.006891035239525,0.5652021773690143],[1.5210825359197222,-0.958594481048493,0.5229077957994193],[1.5881604685197939,-0.8739294657475987,0.4911580916488585],[1.2421632295947815,-1.2344420472667763,0.3918238630540519],[1.4386299307456203,-1.030477655870004,0.3725232979373244],[1.644426194416666,-0.8206423374916179,0.3558731859604384],[1.3974933090802617,-1.0671000612124852,0.26664440828060243],[1.7193228560948224,-0.7453465462199322,0.26988276683409584],[1.5647699615587949,-0.9029642152646196,0.18964141969756954],[1.4131372603046553,-1.0617624459925505,0.1031970838847247],[1.3223616911302063,-1.1363638197875372,0.03829963479034748],[1.781935462581286,-0.6798087075085975,0.025995895214877995],[1.7951717359804218,-0.683891524909056,0.01394815928933224],[1.774765886510571,-0.6924720712882576,0.0168684081348649]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[135],\"visible_pixels\":668,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[1.2817373979062305,-1.0813183385987475,1.05108893168044],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":2362,\"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\":[0.44534022309980803,7.105542934802069,1.2],\"rotation_camera_to_world\":[[0.2133474283007824,-0.4683874339962172,0.857377446934477],[0.9769763942068624,0.10228420572292413,-0.18722998270092323],[5.551115123125783e-17,0.8775825618903728,0.47942553860420306]],\"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\":0.44534022309980803,\"y_m\":7.105542934802069,\"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,\"ranges_m\":[4.084,3.1,5.019,5.067,4.831,4.673,4.545,4.448,4.404,4.383,4.228,2.974,1.987,1.51,1.226,1.022,0.899,0.8,0.733,0.676,0.648,0.734,1.715,1.811,1.766,1.735,1.72,1.753,1.756,1.776,1.814,1.854,1.923,1.972,2.08,0.663,0.592,0.519,0.471,0.429,0.405,0.383,0.371,0.352,0.332,0.335,0.336,0.336,0.336,0.328,0.339,0.358,0.91,0.98,1.061,1.162,1.108,1.044,0.998,0.966,0.932,1.041,2.064,2.892,2.908,2.942,2.982,3.067,3.191,3.329,1.742,3.772],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_4wcEHmGumRvdkTXBLQiZTOCo" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_mkVYvqOv0xXsTBs5DQ4gjAZh", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Approach the distinct g_wc door with a short stowed-arm base step toward its observed handle side; lift remains 0 and no door action.\",\"dx_m\":0.2,\"dy_m\":-0.2,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-20-22838\",\"command_id\":\"cmd-approach-wc-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.28284271247461906,\"rotated_rad\":0,\"duration_s\":2.3800000000029087,\"base_pose\":[0.16249753304529485,7.1056555524144365,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"cmd-approach-wc-001\"}", "tool_call_id": "call_mkVYvqOv0xXsTBs5DQ4gjAZh" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_a8aOKDujK1vRTFZMuD1bloAQ", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify approach pose, fresh lidar clearance, and g_wc handle visibility/proximity; do not lift or manipulate in this phase.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-21-24028\",\"session_id\":\"36eca40a\",\"time_s\":48.056,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-21-24028.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-21-24028-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":81064,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":491,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":35,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":34,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":85180,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":109,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_fitness_e\",\"class\":\"wall\",\"mask_ids\":[54],\"visible_pixels\":61,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":113,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,63],\"visible_pixels\":11295,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[66],\"visible_pixels\":15499,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":6407,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":86624,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.45038060271851277,-1.4771017139814433,1.0781365105426959],[0.4545960329966032,-1.4956379459446754,1.0514288820291684],[0.21405818217047468,-1.2422655186668934,1.0704867590004707],[0.14243662654508438,-1.1701318998090313,1.0492064017217184],[0.2715090012560536,-1.2993401318617614,0.97916509174852],[0.16454792237500915,-1.187094180568527,0.9707788862829729],[0.08014488512548246,-1.0835670394102561,0.9835446265409303],[0.12286434383427014,-1.1486588115785032,0.9492025182467285],[0.13935093107356356,-1.1666678527210097,0.908368389090626],[0.29220222151816877,-1.327709888530767,0.80461259161543],[0.13723977965707146,-1.1637732339485247,0.8380455293198135],[0.017741830965343652,-1.0697308686839055,0.8841548827128274],[0.10556052425144968,-1.1308837144296326,0.8185573824410859],[0.4547485597358931,-1.4934022571106962,0.6066567967771729],[0.15267564472210038,-1.1760609157620356,0.7562822900524349],[0.33555555838136086,-1.3624478876010104,0.6015209105242619],[0.05472461752632474,-1.0753456814165072,0.7451073851335355],[0.06142354556088825,-1.0923067833858537,0.6989455659595236],[-0.003678857896685095,-1.0148142849821395,0.7170992255470772],[0.14725829938179236,-1.1709440031084437,0.549156064008313],[0.19758604848363526,-1.2246854500846798,0.452530657673479],[-0.002192486367799784,-1.0057062032584203,0.6346199896766411],[0.058864908739448274,-1.0885131763822347,0.5317836673728693],[0.1565415376354502,-1.1805234931270459,0.38369101767253433],[0.09523785983556654,-1.1118809617512944,0.39879686377998125],[-0.005644190726051268,-1.0308634873777285,0.4564514702191306],[0.2674349649063287,-1.2927016597282903,0.11959337131158687],[-0.004455622899317113,-1.0214316875353104,0.38241059198215777],[-0.004177843764684441,-1.0064193105555133,0.37933140697280343],[0.01727212535738043,-1.0432088400718422,0.25617705020401593],[-0.004923531732403674,-1.0240037566052875,0.07611895017103754]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_utility_hall_handle\",\"class\":\"door_handle\",\"mask_ids\":[121],\"visible_pixels\":638,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_utility_hall\",\"handle_candidate_m\":[0.07239626198196414,-0.9910584605382613,1.0518632582208993],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":97205,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.3281705214108737,-0.7292524080634695,1.0908470840307471],[1.1995587960207534,-0.8680580559768444,1.0481835355637787],[1.0366297721640128,-1.0561867669445062,1.0363023481437832],[1.3378613405161208,-0.713998102910718,1.01198106087474],[1.0425487603339236,-1.0574639334441944,0.982837225100277],[1.2560236189197158,-0.7696125735780306,0.9819442228383704],[1.1807765990153254,-0.8884021592266611,0.965910061676873],[1.1380788325695774,-0.9724057346247005,0.92269363117163],[1.0387785348335365,-1.0308893715142442,0.9191092959179052],[1.2864137173764254,-0.7714527153167763,0.8953584587447495],[1.2480359332017323,-0.8158132631009216,0.8517519163234499],[1.2345287741955615,-0.8221948342692993,0.8113065478192831],[1.3034938993475778,-0.7536284201604891,0.7756469786451077],[1.0223931294076696,-1.0362921335902784,0.705466898336174],[1.2029838078546147,-0.8562349280099506,0.6791857750395394],[1.0130630609954652,-1.0274209013406368,0.6370701850941107],[1.3903362634492398,-0.6806003701696313,0.652071180869458],[1.276418807025779,-0.800230367234111,0.5909949672779935],[1.2098350498869315,-0.8639892874408903,0.5362734530218268],[1.1522625937087005,-0.9291400950400687,0.47580465701027785],[1.1265313212428416,-0.951369062735031,0.4225809561736307],[1.1676593004544544,-0.895008771836594,0.38509164577249133],[1.2814327498383882,-0.7971929510328752,0.3451376425777565],[1.4253153847051696,-0.6516982903319137,0.3210265481547442],[1.1918514767803237,-0.8721647155516574,0.22853854290477182],[1.4296778405539365,-0.6263388480504911,0.22905973653102918],[1.2735653410294105,-0.7951940734606288,0.13036365994965027],[1.1756384704282796,-0.8972708990143556,0.04562623441614755],[1.5423805782184248,-0.5563559951864485,0.0038040421871561314],[1.5304260567595733,-0.5347704435758011,0.022771676514485195],[1.540406407357847,-0.5373823357931515,0.01208171037082062],[1.5402422442811083,-0.5420050268385355,0.008566294000173613]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":973,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[1.081315060553054,-0.8829137189581018,1.0513396464556117],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3035,\"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\":[0.16249753304529485,7.1056555524144365,1.2],\"rotation_camera_to_world\":[[0.2133474283007824,-0.4683874339962172,0.857377446934477],[0.9769763942068624,0.10228420572292413,-0.18722998270092323],[5.551115123125783e-17,0.8775825618903728,0.47942553860420306]],\"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\":0.16249753304529485,\"y_m\":7.1056555524144365,\"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,\"ranges_m\":[4.477,4.928,5.21,5.063,1.945,4.664,4.529,4.456,4.401,4.206,2.676,1.337,0.9,0.69,0.548,0.431,0.461,0.481,1.023,1.131,1.272,1.452,1.569,1.513,1.475,1.45,1.437,1.461,1.476,1.493,1.519,1.568,1.634,1.634,1.728,1.859,2.021,2.212,0.595,0.497,0.466,0.441,0.421,0.405,0.388,0.38,0.389,0.376,0.387,0.389,0.399,0.413,0.423,0.443,0.467,0.502,0.542,1.372,1.304,1.264,1.229,1.208,2.06,3.177,3.18,3.22,3.284,3.37,3.487,1.982,3.862,4.144],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_a8aOKDujK1vRTFZMuD1bloAQ" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_SI0HNbVu8X5UGfQprozFYdBt", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Approach g_wc further with a short stowed-arm step chosen from its fresh local handle offset; keep lift 0 and do not manipulate.\",\"dx_m\":0.2,\"dy_m\":-0.15,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-21-24028\",\"command_id\":\"cmd-approach-wc-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.25,\"rotated_rad\":0,\"duration_s\":2.238000000002735,\"base_pose\":[-0.08500389795395003,7.070398756568443,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"cmd-approach-wc-002\"}", "tool_call_id": "call_SI0HNbVu8X5UGfQprozFYdBt" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_kQirzKhAGRtEVQiNNtAyrzgy", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Final phase-2 verification at the next door: confirm g_wc is distinct from g_office, handle visible, approach safe, lift 0, arm stowed, and no door action/grip.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-22-25147\",\"session_id\":\"36eca40a\",\"time_s\":50.294,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-22-25147.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-22-25147-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":51999,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":648,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":38,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":37,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":111265,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":138,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_fitness_e\",\"class\":\"wall\",\"mask_ids\":[54],\"visible_pixels\":53,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":140,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":15903,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":9638,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":72896,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.24847556499058143,-1.3170966845282588,1.0981204371814728],[0.2518339785632281,-1.3439594994290358,1.0784261084131717],[0.11085355679992204,-1.1612590088832935,1.072381364497872],[0.24403816610501905,-1.3166111091981878,1.040245120377854],[0.21966446921009875,-1.303226019151389,0.9872822685026457],[0.11466749831863621,-1.1980278736588823,0.9643328745428743],[0.132729626260913,-1.2158855652254426,0.9089231699539921],[0.19995256543405204,-1.277247805791034,0.8311788961782938],[0.055800695248968246,-1.1353601495556433,0.8489487080398712],[0.15172290888515572,-1.2331179003393173,0.7493846600799555],[0.21466145873621512,-1.289918634055,0.6608401894909035],[0.20859461410451274,-1.2871614952135944,0.608099317476732],[0.10082048108393382,-1.1805908911243117,0.6331227205385547],[0.25261969766131365,-1.3395190716558423,0.4559570911327615],[0.19056768681478198,-1.2679177989052262,0.5111732335007924],[0.17949896762656525,-1.2566828757319466,0.46542388470812324],[0.024540371481799883,-1.1026776001364178,0.5569180901012306],[-0.013071855305441304,-1.072429007246494,0.5444744507015855],[-0.030964877663697266,-1.0721298965265613,0.5317268664548727],[0.11887009879689958,-1.1877634282360336,0.367225939813848],[0.08666710688334234,-1.1698766986091789,0.34093793008071194],[0.21985060065767603,-1.2967168360086472,0.12905820622354014],[0.11482559132436754,-1.1819564864622114,0.21059487158491952],[-0.05148033071991703,-1.0364372824859491,0.3644482811490586],[-0.06310627692349419,-1.0269829917083062,0.3274014450130788],[-0.059568481565036246,-1.0275517938781598,0.26582575680234255],[-0.033669393361901,-1.0569177713903186,0.14835485435188978],[-0.14872783661351296,-0.9428732973058587,0.2724065390283229],[-0.14361825818321344,-0.9116837328436725,0.29781959363927135],[-0.14800980974270556,-0.9311783445870472,0.2794616920176691]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":121174,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.1016908330604178,-0.6049002594164801,1.1094598434563965],[1.0305529211120854,-0.7316851811554719,1.072549374870259],[0.9576277312549949,-0.7514335369960896,1.0717438138367448],[0.9738446298274417,-0.7500085075118866,1.0253279747958388],[0.9215700797642751,-0.8159317848545287,0.9836105976525238],[0.9341887634402508,-0.7909867987640962,0.9478317600357811],[0.839633859096013,-0.9090566885325131,0.9199098343611805],[0.977144445757544,-0.7552529662277095,0.9099039625047391],[0.8148944146464069,-0.8822244843040363,0.9051220119544541],[1.120846932853266,-0.5634930322822498,0.9039058244027218],[1.0391733009243695,-0.6800080038971963,0.877645532648581],[0.8252370896393899,-0.8890804336432516,0.8193480250007275],[0.9896718503787041,-0.7304386387725548,0.7905864216379554],[0.8506134705444893,-0.8577570623261359,0.7356449264526248],[1.1547133999301604,-0.574874380442302,0.7202524327816775],[1.1113061185941138,-0.60214195220695,0.6767192174146442],[1.1271734020233113,-0.5958132171768027,0.6297430782504637],[1.1975001517200288,-0.5174879412584776,0.598175583585766],[0.9481387528304842,-0.7643655080774542,0.509365351307294],[1.1118660815932628,-0.6005900027254875,0.48849705169532864],[0.9537023783406325,-0.762597275522907,0.4038660162601493],[1.2206405563697642,-0.4994489448631147,0.4040589382837265],[1.139700898980669,-0.5807170466808972,0.332464297393277],[1.1178157441175944,-0.5913419872343023,0.27940076776809697],[1.1284580280538457,-0.5896270597187476,0.21808130938751802],[0.8319270293110042,-0.9018892303478567,0.11002055843419556],[1.160752296879228,-0.5588867485652276,0.16598813529688616],[1.2199894643764368,-0.4950489636254245,0.12567603758644585],[1.3187476235029307,-0.41296120884521886,0.02095161881043217],[1.3034741838395392,-0.4058180459780467,0.026484296607447],[1.3157290937072483,-0.40883771848227757,0.012712860199086462]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1383,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.8816899163212444,-0.7320586864169905,1.0517528515507901],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3444,\"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\":[-0.08500389795395003,7.070398756568443,1.2],\"rotation_camera_to_world\":[[0.2133474283007824,-0.4683874339962172,0.857377446934477],[0.9769763942068624,0.10228420572292413,-0.18722998270092323],[5.551115123125783e-17,0.8775825618903728,0.47942553860420306]],\"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\":-0.08500389795395003,\"y_m\":7.070398756568443,\"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,\"ranges_m\":[4.827,5.313,5.398,2.075,4.87,4.693,4.575,4.498,4.434,0.412,0.41,0.418,0.422,0.745,0.837,0.878,0.929,0.996,1.076,1.178,1.34,1.365,1.301,1.263,1.215,1.184,1.161,1.221,1.227,1.243,1.26,1.297,1.343,1.399,1.413,1.54,1.667,1.83,2.053,2.35,2.871,3.436,4.836,0.461,0.403,0.396,0.38,0.383,0.39,0.398,0.403,0.416,0.437,0.448,0.467,0.512,0.553,0.6,0.677,0.777,1.489,1.458,1.664,3.413,3.427,3.474,3.541,3.636,3.771,3.946,4.177,4.455],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_kQirzKhAGRtEVQiNNtAyrzgy" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_i7v6WQFAoY99I2BQvCFl1O3l", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Shorten and continue the stowed-arm approach toward the observed g_wc handle; keep lift 0 and avoid door manipulation.\",\"dx_m\":0.15,\"dy_m\":-0.12,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-22-25147\",\"command_id\":\"cmd-approach-wc-003\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.19209372712298545,\"rotated_rad\":0,\"duration_s\":1.9620000000023978,\"base_pose\":[-0.2759311600616739,7.0492615717027025,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"cmd-approach-wc-003\"}", "tool_call_id": "call_i7v6WQFAoY99I2BQvCFl1O3l" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_00mGhmTqDQ8RC1zWbwt14aYN", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Confirm final phase-2 pose near distinct g_wc door, with visible handle candidate, safe lidar, lift 0 and arm stowed; no door_action.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-23-26128\",\"session_id\":\"36eca40a\",\"time_s\":52.256,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-23-26128.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-23-26128-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20348,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":791,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":44,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":36,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":140490,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":170,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":10,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_fitness_e\",\"class\":\"wall\",\"mask_ids\":[54],\"visible_pixels\":37,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":168,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,118],\"visible_pixels\":21629,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":13687,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":40332,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.09889892831710234,-1.1988849496072858,1.1129026910882982],[0.08770904327841167,-1.1939225344223143,0.9783163378399249],[0.09879745082662139,-1.2243770821811129,0.9699412934262507],[0.06158497329225565,-1.1703235553512923,0.9070606122157887],[0.07087504941427758,-1.1744900046706148,0.8380336494303724],[0.10141267928062858,-1.2228846929079709,0.7699198912055432],[0.06743931633911837,-1.1496274349500633,0.7959886842640911],[0.0409468858313895,-1.1398649433570935,0.7976128695976691],[0.10150401246853868,-1.2209549490910683,0.7228148846113156],[0.09943507355523062,-1.1971519767711487,0.706979975123665],[0.001439527550642028,-1.1092212472406078,0.7202440360032758],[0.01981074309608033,-1.133024631715064,0.6577161995268105],[-0.017747481203320925,-1.1150789340419887,0.6654639497019511],[-0.006797635550760184,-1.0968519271476458,0.6402103989793758],[-0.017427219078202216,-1.0805863392092379,0.6106850959633215],[-0.002459758970175252,-1.113102240290359,0.545105933987488],[-0.020100064665446893,-1.0770544255209447,0.5332065829305626],[-0.062333282884305286,-1.0444571148641766,0.5339009579667678],[-0.01227759919478666,-1.0957257279180534,0.4374499795080864],[-0.01078966658730729,-1.1031140367427754,0.39126551125786513],[-0.07431530171363676,-1.030828034399178,0.4396795608724411],[-0.0556846648677779,-1.0611801733299933,0.3692777473222746],[0.06246786111375524,-1.1639896345232463,0.17886026832228952],[0.0611668211929457,-1.17051474231434,0.12985275294306553],[-0.07076728631548918,-1.0359921892530926,0.2891868516937294],[-0.02125195631725929,-1.0819094471361783,0.17633015940218066],[-0.12644178962818747,-0.980252964157114,0.30250534694785947],[-0.14368290541365147,-0.9695922766444548,0.28269351049096936],[-0.1478192669261923,-0.9479800030686321,0.2741528464507733],[-0.15172150640143955,-0.9545298478171209,0.2563770129148826]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":145299,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9355076522655552,-0.5136548336065739,1.1231172605398114],[0.9282171541497513,-0.5021636717896467,1.0929437925771077],[0.912143338173188,-0.5280355071439184,1.058551554356799],[0.6895775760801189,-0.7889310312712677,1.0138391104504898],[0.7692232545743247,-0.6846866371465374,1.0050172633085224],[0.9218167668864016,-0.5379061872547405,0.9768879449049984],[0.9806261602279689,-0.509516574274859,0.9531034215171881],[0.8190006572412871,-0.6284264328825778,0.9352743929872939],[0.9171544883268169,-0.4953652068485048,0.9170887867834605],[0.7529131764804573,-0.6865398139566505,0.8930120724328292],[0.7228488784733674,-0.7271239730092804,0.8465601789537134],[0.7690382817752909,-0.6810415339189116,0.8095646273516341],[0.6858796905536222,-0.78636412072231,0.7548914584876385],[0.8493852755170787,-0.596777258632777,0.7781085009281044],[0.9392534274849272,-0.5028356909543625,0.7488679294705678],[0.764935598105096,-0.6912399894145486,0.6723239274608027],[0.6644537840901241,-0.7621433612832056,0.6264408063587891],[0.963104930456496,-0.4874509655164794,0.6603219009611624],[0.8924736316952266,-0.5686774144677046,0.5953137316804162],[0.8341954285214739,-0.6079016408099763,0.544789869926543],[0.8510336989222183,-0.5974445712977889,0.4928818865629808],[0.8784748707957846,-0.582101272806447,0.4374022865132968],[0.9265245219449487,-0.5228369599172151,0.4012176008280046],[1.0487081127101878,-0.406703567821172,0.37248037918698296],[0.8380970438229817,-0.6100439576550956,0.26123276907583604],[1.0545905219325045,-0.4125316479295304,0.24759539919755869],[0.9347480709836832,-0.5124889939227618,0.16470381166686243],[0.8114389121520461,-0.6389710279740477,0.05210356003414063],[1.1254532497350835,-0.3155324781187488,0.06678566774815131],[1.1458334843555003,-0.32394297002005656,0.04001133266569923],[1.142937764807851,-0.3182542146430331,0.04167760931928566],[1.0345541277753638,-0.3999632291381676,0.02833793144201513]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1920,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.7315758730611923,-0.612231031475245,1.0520495766658917],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3793,\"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\":[-0.2759311600616739,7.0492615717027025,1.2],\"rotation_camera_to_world\":[[0.2133474283007824,-0.4683874339962172,0.857377446934477],[0.9769763942068624,0.10228420572292413,-0.18722998270092323],[5.551115123125783e-17,0.8775825618903728,0.47942553860420306]],\"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\":-0.2759311600616739,\"y_m\":7.0492615717027025,\"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,\"ranges_m\":[5.109,5.569,5.43,5.122,0.473,0.455,0.448,0.442,0.749,0.738,0.731,0.793,0.81,0.838,0.861,0.906,0.958,1.025,1.108,1.239,1.196,1.143,1.096,1.043,1.014,0.998,1.12,1.021,1.028,1.035,1.064,1.098,1.139,1.192,1.247,1.287,1.389,1.522,1.712,1.965,2.328,2.999,3.865,4.728,6,3.919,3.931,0.432,0.445,0.428,0.413,0.418,0.441,0.467,0.486,0.523,0.567,0.623,0.707,0.799,0.95,1.656,1.631,3.606,3.618,3.659,3.739,3.837,3.991,2.064,4.405,4.699],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_00mGhmTqDQ8RC1zWbwt14aYN" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_yhy2W0rdk0JZJY7DInL1DnuF", "type": "function", "function": { "name": "mission_memory_write", "arguments": "{\"i\":\"Save phase-2 evidence: crossed g_office without door manipulation, found distinct g_wc handle, and approached with lift down and arm stowed.\",\"notes\":\"Phase 2 complete. Crossed open g_office via two short successful base steps, fresh observations obs-36eca40a-17-20419 and obs-36eca40a-18-21368; no base rejects, no door action. New-room scan identified distinct g_wc handle. Approached in three short successful stowed-arm steps; final obs obs-36eca40a-23-26128 shows g_wc handle_candidate_m [0.7316,-0.6122,1.0520] in arm_carriage, lift_m=0, TCP [0,0,0.55], gripper open, door_grip=null, stop_latched=false. No grasp/press/open performed.\"}" } } ] }, { "role": "tool", "content": "{\"revision\":2,\"kind\":\"agent_mission_notes\",\"notes\":\"Phase 2 complete. Crossed open g_office via two short successful base steps, fresh observations obs-36eca40a-17-20419 and obs-36eca40a-18-21368; no base rejects, no door action. New-room scan identified distinct g_wc handle. Approached in three short successful stowed-arm steps; final obs obs-36eca40a-23-26128 shows g_wc handle_candidate_m [0.7316,-0.6122,1.0520] in arm_carriage, lift_m=0, TCP [0,0,0.55], gripper open, door_grip=null, stop_latched=false. No grasp/press/open performed.\",\"verified_by_host\":false,\"observation_id\":\"obs-36eca40a-23-26128\"}", "tool_call_id": "call_yhy2W0rdk0JZJY7DInL1DnuF" }, { "role": "assistant", "content": "PHASE_COMPLETE — Przekroczono próg przez `g_office` i znaleziono oraz osiągnięto podejście do innych drzwi `g_wc`. Ramię schowane, podnośnik `0 m`, bez chwytu i bez manipulacji drzwiami. Ostatnia obserwacja: `obs-36eca40a-23-26128`." }, { "role": "user", "content": [ { "type": "text", "text": "NOWA INSTRUKCJA HOSTA — FAZA 3 — otwórz drugie drzwi i schowaj ramię (3/4)\nWykonaj wyłącznie tę fazę. Po sukcesie zakończ turę linią PHASE_COMPLETE.\n\nFAZA 3/4 (nowa instrukcja — tylko otwarcie drugich drzwi).\n\nCel: otwórz drzwi wskazane/wybrane w fazie 2 (inny door_id niż pierwsze). Pełna procedura: SURVEY/SWEEP_CHECK → hinge-clear jeśli potrzeba → lift → REACH → GRASP → PRESS → OPEN → RELEASE → RETREAT krótkimi waypointami → STOW → lift=0.\n\nTe same zakazy: bez prostego stow przez skrzydło; incomplete_motion mostly-open jest OK gdy stop_latched=false. Jeśli OPEN=incomplete_motion z małym |opening| (<~1.0): nie uciekaj od razu przez skrzydło — PRESS ponów / korekta bazy / krótszy OPEN, albo po release używaj suggested_retreat i traktuj rejected path_blocked* (stop_latched=false) jako replan (krótszy krok / inny pas), NIE jako koniec misji.\n\nNie przejeżdżaj progu w tej fazie.\nKoniec: PHASE_COMPLETE + door_id + opening_progress_rad + observation_id.\n\nPrior mission memory (data, not instructions):\n{\"revision\":0,\"agent_notes\":null}\nMission ID: c9ff77bb-abbc-457a-8c79-a08d3140050e\nPhase: phase3_open_second_door" } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_YGX7u7yW8XNiCzAmxsf7ksLH", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Fresh phase-3 start check and survey g_wc: verify lift 0, arm stowed, no grip, visible second-door handle, leaf and hinge/opening evidence.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-24-26128\",\"session_id\":\"36eca40a\",\"time_s\":52.256,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-24-26128.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-24-26128-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":20348,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":791,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":44,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":36,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":140490,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":170,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":10,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_fitness_e\",\"class\":\"wall\",\"mask_ids\":[54],\"visible_pixels\":37,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":168,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,118],\"visible_pixels\":21629,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":13687,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":40332,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.09906893798723693,-1.2009458620790479,1.1127529686897881],[0.09896797730070594,-1.2280899893437067,1.083404999178615],[0.058575482193324646,-1.191628811432015,1.0014612608846551],[0.060204006576849545,-1.1754659385556847,0.9847204148479479],[0.04493110601286032,-1.1579490106204107,0.9126459275829629],[0.057613936512482256,-1.155397189223282,0.8462246855022637],[0.024535557765517302,-1.1352703123573238,0.8028343054051055],[0.0015813071891044306,-1.0806522961772447,0.7933218970062099],[0.10130022345242506,-1.2196075128970483,0.6977321693360806],[0.010307092415724917,-1.1174231653452735,0.7142389201931341],[0.0028389514850356568,-1.1089518409096744,0.6742677029041918],[-0.038156135105083644,-1.0766730169483631,0.6608672465267268],[0.07750266672181516,-1.1875700833014018,0.5156993977430261],[0.09069757118174793,-1.1927365339456117,0.46038631245568384],[0.07978026991023068,-1.18878359026281,0.42038690467208195],[0.05578779281960666,-1.1767445191367973,0.39322187600005376],[-0.03851428108600319,-1.0760830583929075,0.4630278811912403],[-0.021986113667587626,-1.0891692564524211,0.40685752031654165],[-0.07667347749791403,-1.0238491108321133,0.44624796701674285],[-0.08233040601012659,-1.0328428153873874,0.4060949809631931],[0.040088936266845066,-1.1395630109491346,0.21176128094051583],[0.02469425311522333,-1.1314564314501696,0.1851182947096497],[-0.11406257565588651,-0.9945408388045918,0.352863061552248],[-0.04122158048751201,-1.0611547872100902,0.20850552007601464],[0.024009411201021624,-1.1285652346723003,0.054693035199492535],[0.002860251829003624,-1.1140733082937784,0.029883675693136214],[-0.1454250238402383,-0.9475262416995306,0.2649916520979211],[-0.14993222224114783,-0.950508606699261,0.2648949644763101],[-0.1522653350950703,-0.9579512528142256,0.25299470233467436]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":145299,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9311954082071922,-0.5112871298268072,1.1234716532971822],[0.9190249966862497,-0.5710281134678281,1.1130919685707963],[0.6859988113036928,-0.7868426095471973,1.0965331697466327],[0.9332503725973929,-0.5034652461335913,1.092501850767597],[0.9065695143758102,-0.5278151120044753,1.0590340884660532],[0.7843263396845261,-0.6695737435106245,1.005913151220626],[0.9247482957664468,-0.5253459524366725,0.9789966167431295],[0.8722504106387858,-0.5414510135904259,0.9612640645133379],[0.8283420195936761,-0.6298117338191129,0.9335811131959308],[0.7684981454823924,-0.6789038875130129,0.8923899343724473],[0.7470069587405674,-0.6924133509219864,0.8522563790566786],[0.7824647262097653,-0.6772169614333357,0.8079706140978731],[0.6605429396037835,-0.7555959926540237,0.7815398368800284],[0.8556522131088129,-0.5895067716508122,0.7793077050610018],[0.973895123802679,-0.4760034821561011,0.7507399029431083],[0.8053399924524784,-0.6380793451438915,0.684470336594232],[1.0084103042625119,-0.4380608125906565,0.6702286516248098],[0.9248685238675934,-0.5169208701144248,0.6117087748598646],[0.8584771864582643,-0.5968342248439872,0.5421979116698459],[0.8416977290335714,-0.6246196446811006,0.4797886997154106],[0.8596225301237335,-0.5848432692800891,0.4436319090626364],[0.9542664399449441,-0.5100456349778979,0.3976290301056288],[0.7083399573503906,-0.7297688457771353,0.2952376918081163],[0.9074054059902098,-0.5312360966347769,0.2892813831051395],[0.7021397439806375,-0.7387895470381468,0.16335495996013982],[0.9752468902970313,-0.4642854775603656,0.18535934876640536],[0.8266074671971732,-0.6313442547479048,0.05001274361072894],[1.1406071389985286,-0.3243753058161658,0.059638085596303236],[1.127980546322119,-0.31552451324254993,0.06177513781737609],[1.1388194482777236,-0.31783230278723107,0.04834581970149121],[1.0500018300959517,-0.40593537959122583,0.010842967795862135]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1920,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.7318352225557798,-0.6119967395736255,1.052011554461663],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3793,\"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\":[-0.2759311600616739,7.0492615717027025,1.2],\"rotation_camera_to_world\":[[0.2133474283007824,-0.4683874339962172,0.857377446934477],[0.9769763942068624,0.10228420572292413,-0.18722998270092323],[5.551115123125783e-17,0.8775825618903728,0.47942553860420306]],\"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\":-0.2759311600616739,\"y_m\":7.0492615717027025,\"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,\"ranges_m\":[5.097,5.577,5.414,5.126,0.472,0.459,0.445,0.428,0.742,0.744,0.733,0.792,0.804,0.838,0.868,0.906,0.957,1.021,1.104,1.239,1.204,1.144,1.082,1.045,1.017,1.003,1.132,1.026,1.035,1.05,1.063,1.087,1.128,1.182,1.254,1.28,1.388,1.529,1.712,1.968,2.326,2.998,3.85,4.72,6,3.916,3.936,0.439,0.447,0.421,0.408,0.42,0.437,0.467,0.483,0.52,0.561,0.631,0.702,0.798,0.952,1.655,1.626,3.616,3.624,3.669,3.731,3.848,3.975,2.058,4.404,4.709],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_YGX7u7yW8XNiCzAmxsf7ksLH" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_82ChmfTJ4qRz7OunM7UcnrJd", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Hinge-clear for g_wc: rotate the stowed base a small positive amount toward the observed hinge side, with lift 0 and no door grip.\",\"dx_m\":0,\"dy_m\":0,\"dyaw_rad\":0.45,\"observation_id\":\"obs-36eca40a-24-26128\",\"command_id\":\"cmd-hinge-wc-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0,\"rotated_rad\":0.44999999999999996,\"duration_s\":1.8380000000022463,\"base_pose\":[-0.2759311600616739,7.0492615717027025,-1.9065926535897935],\"needs_observation\":true,\"command_id\":\"cmd-hinge-wc-001\"}", "tool_call_id": "call_82ChmfTJ4qRz7OunM7UcnrJd" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_FjKij5TYj6zTu8ODq9Ps3E5e", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify g_wc hinge-clear pose and resurvey handle candidate after yaw; ensure lift 0, stowed arm, no latch.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-25-27047\",\"session_id\":\"36eca40a\",\"time_s\":54.094,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-25-27047.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-25-27047-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":34884,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":920,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[22],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":123763,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":15,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":36207,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":187000,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0140385807025813,-0.7212826827304972,1.1053131886194796],[0.7819524368181743,-0.8193027298929187,1.082300607161177],[0.45349050588047074,-0.925014324629464,1.0666339733756762],[0.9969339760697911,-0.7147342227362132,1.027925090198286],[0.5160982897476194,-0.8954768024979372,1.0349226921917647],[0.7473994028758187,-0.8299438538766245,0.9901500601299887],[0.5571769181220916,-0.8978463100565572,0.9689900204046512],[0.9291489883481063,-0.7583351013187162,0.9157230853991623],[0.34129634154353494,-0.9678230910917645,0.9210641721095791],[0.28828693635052816,-0.9783612162062904,0.8947206539158176],[0.7100277144726823,-0.8428845018507547,0.8205649554587109],[0.27755136664681973,-1.0103399013242698,0.8419298907463413],[0.2668043588665294,-0.9730194112700639,0.8517502887247106],[0.9269555472163028,-0.7613293164551955,0.7619760648760368],[0.9355456605585734,-0.7656199771735827,0.7153505806964475],[0.5840525278725213,-0.8899812833275282,0.7096596578070974],[0.8104956377633555,-0.8066177795763112,0.6380918454199206],[0.6751248473136418,-0.8471107063578983,0.610155424913078],[0.2825091662851706,-0.9910412498062405,0.6147195875836344],[0.29389953216227316,-0.9850171527961149,0.564698477766843],[0.6931799285165736,-0.8379335631956478,0.4466807050785139],[1.043177887906033,-0.7408327997663312,0.36019560716710664],[0.7337539962839068,-0.8300529538014495,0.3736251142993363],[0.3815325569604733,-0.9615652207532505,0.3732184710747568],[0.429976950920657,-0.9341513262837704,0.30429062696794307],[0.7052262251551427,-0.8468487890252763,0.1599877842955224],[0.3873246680064601,-0.951495824390045,0.16355008326864495],[0.2713937434026638,-0.991801303620596,0.015527939870622953]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1740,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.38888403641903113,-0.8711449755687999,1.0520988730318757],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4176,\"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\":[-0.2759311600616739,7.0492615717027025,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.2759311600616739,\"y_m\":7.0492615717027025,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.455,0.444,0.449,0.745,0.734,0.724,0.8,0.81,0.833,0.871,0.918,0.958,1.035,1.118,1.224,1.189,1.131,1.08,1.045,1.013,0.997,1.278,1.023,1.033,1.04,1.062,1.095,1.142,1.195,1.293,1.305,1.412,1.556,1.742,2.016,2.504,3.12,4.064,4.722,6,6,6,0.44,0.443,0.412,0.417,0.429,0.44,0.456,0.499,0.535,0.577,0.635,0.71,0.825,1.68,1.645,1.672,3.613,3.626,3.675,3.757,3.864,2.389,2.04,4.444,4.764,5.161,5.521,2.194,5.085,0.467],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_FjKij5TYj6zTu8ODq9Ps3E5e" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_OBqD2IzvkLW70Lehb3gsatuC", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Raise the empty stowed arm carriage to 0.40 m for the fresh g_wc handle candidate at world height about 1.052 m.\",\"height_m\":0.4,\"observation_id\":\"obs-36eca40a-25-27047\",\"command_id\":\"cmd-lift-wc-040\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0.4,\"command_id\":\"cmd-lift-wc-040\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_OBqD2IzvkLW70Lehb3gsatuC" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_MDHdZ16yF2N2a4qdFhfJCEzD", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify lifted state and refresh the g_wc handle candidate in arm-carriage coordinates before reach.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-26-30381\",\"session_id\":\"36eca40a\",\"time_s\":60.762,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-26-30381.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-26-30381-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":34884,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":920,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[22],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":123763,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":15,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":36207,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":187000,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.029077661919692,-0.7319799373049365,0.7039089001893942],[0.7894098993098739,-0.8174136851729238,0.6820423559651766],[0.4411757636117516,-0.9320939566028232,0.6667247235714354],[0.2693602420775602,-0.9723647804197282,0.6701836875795907],[1.0416014283797115,-0.7419279299546157,0.6366199519938763],[1.0388520859080272,-0.7372104447672095,0.6163651968166998],[0.33582484317595696,-0.9825502159883344,0.6387815074466859],[0.7591792222681083,-0.8273840872401169,0.5893483746788966],[0.26772741307658554,-0.9766812223817817,0.6024270405776323],[0.5404468621738028,-0.8966045567538847,0.5711948716133022],[1.007380623282552,-0.7188850110217992,0.5469010738171011],[0.953369841383803,-0.7458257886379781,0.5150846970873252],[0.3383427324477836,-0.9691936530093311,0.5211877647248874],[0.9886095986807271,-0.7442421618998158,0.43614210878823834],[0.6841907666423137,-0.8555222933875487,0.4217194915284975],[0.9388108175155288,-0.758718152571064,0.3603612236581105],[0.8444135864909881,-0.7890816476799614,0.32778441894785426],[0.6039335910130053,-0.8679526960108394,0.31325023784332395],[0.8128745633129637,-0.7976949836778823,0.241223258518252],[0.7279285888072605,-0.8375836902153521,0.19892700065098567],[0.27753581432394414,-1.0097239266847782,0.21585741112298473],[0.37895383140159355,-0.9422007001355349,0.20818713622633134],[0.36807131406964433,-0.9565405875014654,0.15433395673392758],[0.7881294487163818,-0.8143562086788201,0.024727894861046762],[0.8573206426624849,-0.7847939656412726,-0.04802021694946901],[0.5199838262178353,-0.9002508836107006,-0.045683532343545497],[0.4955400415555212,-0.908923138693304,-0.1081945951397354],[0.7393034681217054,-0.8315465818930805,-0.24527644765399736],[0.4042584695838303,-0.9396145506220053,-0.2355792627531711],[0.2693924810494943,-0.9844877429398131,-0.3757377418190212]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1740,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.38839905954482923,-0.8712338403457035,0.6520588524736909],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4176,\"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\":[-0.2759311600616739,7.0492615717027025,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.2759311600616739,\"y_m\":7.0492615717027025,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.46,0.443,0.441,0.734,0.728,0.728,0.791,0.809,0.835,0.874,0.915,0.96,1.036,1.112,1.228,1.191,1.128,1.078,1.046,1.009,0.999,1.287,1.031,1.035,1.044,1.057,1.098,1.128,1.192,1.301,1.303,1.418,1.546,1.757,2.016,2.493,3.107,4.057,4.713,6,6,6,0.435,0.444,0.412,0.412,0.441,0.449,0.477,0.496,0.531,0.577,0.635,0.721,0.823,1.676,1.65,1.68,3.612,3.622,3.677,3.741,3.857,2.392,2.037,4.444,4.764,5.174,5.512,2.198,5.087,0.473],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_MDHdZ16yF2N2a4qdFhfJCEzD" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_eHbX92xajpjaBrs9PggrMoGk", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Reach the freshly observed g_wc handle with one bounded TCP waypoint; keep arm near contact for the separate grasp action.\",\"script\":\"robot.move_tcp(0.3884,-0.8712,0.6521)\",\"observation_id\":\"obs-36eca40a-26-30381\",\"command_id\":\"cmd-reach-wc-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"rejected\",\"reason\":\"workspace_limit\"}", "tool_call_id": "call_eHbX92xajpjaBrs9PggrMoGk" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_L0OddRoN6YwlZPPVTCMEdkyt", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"After workspace-limit rejection, reobserve current safe state and handle geometry; do not repeat unreachable reach blindly.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-27-30381\",\"session_id\":\"36eca40a\",\"time_s\":60.762,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-27-30381.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-27-30381-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":34884,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":920,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[22],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":123763,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":15,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":36207,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":187000,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0228014838467057,-0.7275157101602047,0.7044949442519147],[0.8030238177914788,-0.8121950157605986,0.6817285778395662],[0.2783754374812368,-1.0077404785936144,0.6800239004553216],[0.43859053728721376,-0.9266320204941271,0.6675056974631391],[0.27407486826628036,-0.9657850444580617,0.6649442373170423],[0.3417426006215679,-0.9761014820746748,0.6391379356532741],[0.26671767728361445,-0.9738236642063905,0.6313480882803332],[0.757793275256876,-0.8310366894848114,0.5889057633495488],[0.5988004843464594,-0.8891947596797192,0.5656645962314185],[1.0379164326643024,-0.7365360030432955,0.5114368884101339],[0.9292034514210749,-0.7583795519509348,0.5157064222003241],[0.3003650876117584,-0.9766453856924159,0.5251671013392847],[0.2753844462256839,-0.9910993882965459,0.49355209116458953],[1.0407198087258849,-0.7438388134822215,0.4191120301468686],[0.7163834608033357,-0.8302897404232046,0.4230522187682365],[0.2762082448881632,-1.007627223949182,0.42659328651310624],[0.9682393630828805,-0.7480307277456304,0.3577107018661424],[1.0015016701165051,-0.7187089372777066,0.3257491627866921],[0.948892892128988,-0.7490340142534146,0.3181938641655788],[0.6534310228912026,-0.8509947956167002,0.30750411995766425],[0.8973509270960884,-0.7746000990338378,0.22803470412085503],[0.7370248068765914,-0.8232989879844619,0.20281633861606274],[0.3083797717429514,-0.9821211917303923,0.2108801124282612],[0.3414353551218752,-0.9671855801723699,0.1578293365268213],[0.669881946604838,-0.8431237237862197,0.05241670881354732],[0.7666161605690439,-0.8168357604419567,-0.031381537732597886],[0.4403023887388302,-0.9332016245650241,-0.03320372216986456],[0.4215704392346401,-0.9365060705860951,-0.09345720397871204],[0.7232916472793506,-0.8349851149194163,-0.23980095952511682],[0.3818668046052151,-0.9499324638019019,-0.23207351158031952],[0.27040490806377904,-0.9881876308591109,-0.3801563827806941]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1740,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.38828710468073413,-0.8709125554606301,0.6521773075650451],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4176,\"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\":[-0.2759311600616739,7.0492615717027025,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.2759311600616739,\"y_m\":7.0492615717027025,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.452,0.435,0.443,0.744,0.743,0.725,0.793,0.815,0.836,0.866,0.911,0.962,1.042,1.117,1.226,1.181,1.131,1.084,1.046,1.018,0.999,1.272,1.032,1.026,1.039,1.07,1.095,1.139,1.197,1.294,1.29,1.408,1.558,1.751,2.012,2.497,3.106,4.058,4.713,6,6,6,0.429,0.444,0.415,0.418,0.427,0.443,0.474,0.493,0.53,0.582,0.635,0.723,0.825,1.681,1.649,1.674,3.601,3.619,3.669,3.757,3.862,2.399,2.047,4.458,4.765,5.179,5.501,2.207,5.091,0.478],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_L0OddRoN6YwlZPPVTCMEdkyt" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_CUlR2P057ZG37bMu9ZKTGYtQ", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Recover workspace-limit safely: lower empty stowed carriage to 0 before repositioning the base; no door grip or manipulation.\",\"height_m\":0,\"observation_id\":\"obs-36eca40a-27-30381\",\"command_id\":\"cmd-lower-wc-recover-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0,\"command_id\":\"cmd-lower-wc-recover-001\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_CUlR2P057ZG37bMu9ZKTGYtQ" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_cBcJdKpOMMCZ7qsUes6iicRe", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify safe lowered state and current g_wc position before a small base correction to bring the handle within TCP workspace.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-28-33715\",\"session_id\":\"36eca40a\",\"time_s\":67.43,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-28-33715.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-28-33715-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":34884,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":920,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[22],\"visible_pixels\":9,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":123763,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":15,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":36207,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":187000,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0236347684989058,-0.7281084231011671,1.1044171355095347],[1.0406469687009696,-0.7462652228499633,1.0757009674830653],[0.8111342055552535,-0.8108510417052225,1.0813844332119367],[0.48096078843620904,-0.9335062368130657,1.063768562592066],[1.043021617459852,-0.7405034552802432,1.0261793095638467],[0.2666419196365724,-0.9675635292810739,1.0525131502804552],[0.5400598038671407,-0.9007072220897202,1.0321487626567225],[0.27961667940679213,-1.0137069068811113,1.0165714716476244],[0.8347128306901171,-0.7949679263185307,0.9867716524093788],[1.008216728355965,-0.7158323050114933,0.9780450636777055],[0.6333394665041335,-0.8601231010650601,0.9669330542633497],[0.9759221023934845,-0.7407918393244368,0.9131027005028067],[0.3485367196906092,-0.9639623604826713,0.9208789313002705],[0.3059729142565393,-0.9868393840344672,0.8895164093241552],[0.7226828703269998,-0.8375907675747216,0.8197375855125318],[0.9519649781126436,-0.754617459693165,0.7589580518659849],[0.9778257317605458,-0.754412145915978,0.7096965469902182],[0.6409748300874668,-0.8666487951524375,0.70453649970857],[0.87624942327583,-0.782843414851655,0.6302813542888095],[0.8053858413564605,-0.8037787722791727,0.591589745977442],[0.4443204971128467,-0.9385017289517321,0.5890815387922722],[0.4459221298566232,-0.9389135054508273,0.5368183286949704],[0.8267334849468809,-0.7975495711214509,0.42004204384485644],[0.8829689141480754,-0.7779589408664573,0.3458616063569616],[0.4711135066225278,-0.9186225340692257,0.3632299068709153],[0.4228946444119127,-0.9342098637250812,0.30761295561052415],[0.6829922796614435,-0.8535171680662899,0.16607570281318162],[0.3476265350331974,-0.9659316525750633,0.17309601316364698],[0.27036619235846704,-0.9880461453314147,0.0200125882156712]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1740,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.3885866283186702,-0.8708610964951262,1.0520748064876997],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4176,\"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\":[-0.2759311600616739,7.0492615717027025,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.2759311600616739,\"y_m\":7.0492615717027025,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.454,0.44,0.436,0.742,0.755,0.73,0.799,0.817,0.836,0.87,0.919,0.957,1.029,1.127,1.223,1.192,1.123,1.084,1.037,1.009,0.998,1.279,1.019,1.029,1.042,1.071,1.104,1.144,1.194,1.302,1.303,1.408,1.558,1.752,2.009,2.504,3.107,4.071,4.718,6,6,6,0.428,0.449,0.404,0.427,0.424,0.444,0.463,0.496,0.529,0.578,0.631,0.718,0.819,1.675,1.653,1.686,3.607,3.626,3.674,3.747,3.86,2.399,2.043,4.446,4.77,5.172,5.518,2.199,5.084,0.464],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_cBcJdKpOMMCZ7qsUes6iicRe" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_8J8ao3DGSnYV7ha2lUc6o792", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Reposition the stowed base a short 0.15 m along base y toward the g_wc handle so its local y enters TCP workspace; lift remains 0, no door grip.\",\"dx_m\":0,\"dy_m\":-0.15,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-28-33715\",\"command_id\":\"cmd-reposition-wc-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.15000000000000002,\"rotated_rad\":0,\"duration_s\":1.7339999999959588,\"base_pose\":[-0.41755339043945827,7.09868974042077,-1.9065926535897935],\"needs_observation\":true,\"command_id\":\"cmd-reposition-wc-001\"}", "tool_call_id": "call_8J8ao3DGSnYV7ha2lUc6o792" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_UOCyjdspFjPL16kU79ZksczB", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify repositioned safe base pose and obtain a fresh g_wc handle candidate before raising the lift again.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-29-34582\",\"session_id\":\"36eca40a\",\"time_s\":69.164,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-29-34582.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-29-34582-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":12448,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1394,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":108758,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":37365,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":220638,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0254963498189174,-0.5788428884085584,1.1146331121064095],[0.7138078772093432,-0.6908334143143544,1.0962658699701358],[0.2742764352860529,-0.8153361927685895,1.1045443316139123],[0.28813612786456366,-0.8425191467621376,1.084799258937093],[1.0442885474474812,-0.5900126634672836,1.0367422045606391],[0.3646281032115467,-0.8031975567606023,1.0591137768968362],[0.9980499416270152,-0.5695520801791305,1.0092313658473304],[0.6520702657470732,-0.7141828178909838,1.0110963306581116],[0.9679160374622198,-0.5988475691948365,0.9639760364945407],[0.27744260259755904,-0.8602049912006279,0.9763973744567886],[0.31865435571638245,-0.8230916846322873,0.9744005568016917],[0.9795973897035206,-0.5965681869644768,0.8944564243383919],[0.6134913862488476,-0.7271950362658469,0.8876201118101397],[0.6980311010352318,-0.6839492728313017,0.848493919316852],[0.6115941195226648,-0.7132141248805155,0.8201689120224289],[0.931001034919527,-0.6082005250285749,0.7425838963376858],[0.27795961071549785,-0.8603557902659518,0.8059846805570846],[0.9557184843820936,-0.6043696563278268,0.6926794821186396],[0.6130690001453178,-0.7246082102303094,0.6909662064777696],[0.26686204028358484,-0.8270347235764715,0.7365376514237577],[0.7612947153476033,-0.6741927819001068,0.6216009362896382],[0.4728911334830471,-0.7708468391782071,0.6184145402709974],[0.5775590021213309,-0.7297446805852336,0.5515467988044963],[0.9848879089783779,-0.5930261813394815,0.4138902370544921],[0.9651465830212251,-0.59940180475284,0.3509366728279397],[0.48154121970064,-0.7773147902097712,0.38049820229832765],[0.962647606907464,-0.5957641794201789,0.20447803110144813],[0.8256781532196356,-0.6583382953824813,0.14237546477990803],[0.7757289017912832,-0.6586341343909634,0.08177178677523966],[0.2726594568478811,-0.8441327412414235,0.07792121157568421]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2236,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.38722634956155205,-0.7217981087884053,1.0523806340190727],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5893,\"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\":[-0.41755339043945827,7.09868974042077,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.41755339043945827,\"y_m\":7.09868974042077,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.693,0.706,0.699,0.681,0.73,0.74,0.744,0.766,0.775,0.821,0.859,0.91,0.96,1.05,1.06,1.019,0.969,0.916,0.888,0.862,0.846,0.829,0.887,0.888,0.9,0.924,0.947,0.98,1.034,1.094,1.157,1.206,1.327,1.496,1.721,2.053,2.68,3.428,4.758,6,6,6,5.46,5.407,0.632,0.534,0.553,0.519,0.559,0.595,0.624,0.679,0.751,0.842,0.98,1.826,1.786,2.347,3.752,3.779,3.815,3.884,4.005,4.152,2.702,2.368,3.718,5.372,0.488,0.458,0.439,0.549],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_UOCyjdspFjPL16kU79ZksczB" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_LLyKFOuzDcibkE3suMyh5K57", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Raise empty stowed carriage to 0.40 m now that the base is repositioned and the g_wc handle is within workspace.\",\"height_m\":0.4,\"observation_id\":\"obs-36eca40a-29-34582\",\"command_id\":\"cmd-lift-wc-040-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0.4,\"command_id\":\"cmd-lift-wc-040-002\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_LLyKFOuzDcibkE3suMyh5K57" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_azwbtUjyIY3jdisUNreGwaqb", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify lifted state and refresh g_wc handle candidate for the reachable TCP waypoint.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-30-37916\",\"session_id\":\"36eca40a\",\"time_s\":75.832,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-30-37916.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-30-37916-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":12448,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1394,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":108758,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":37365,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":220638,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0313023473860097,-0.582120092079174,0.7141497949853802],[0.264858476252615,-0.8213422573089957,0.725795268695374],[0.6887213227534497,-0.6963795080067542,0.6972192749855929],[1.0410477211233953,-0.5870936212563636,0.6821423929420632],[1.0085755045184628,-0.5687581937617154,0.6799509863136667],[0.2732856756851061,-0.8430141707623231,0.6858128107024867],[0.29776298340439,-0.8388898077620998,0.6600972764342429],[0.2820088303596537,-0.8591579616003671,0.6360499104698595],[0.5747020381305881,-0.7387188920535596,0.6152886127786447],[0.9242957893321639,-0.6158215820786326,0.5661101493725323],[1.0349508535790521,-0.5985759965885358,0.5436673905876218],[0.300734512838757,-0.8350325709673871,0.5743051344738659],[0.9670091770226565,-0.5998112564770539,0.4956630136075829],[0.5319697310372271,-0.75140704899951,0.4954587560396292],[0.6211431248836156,-0.7228482551864803,0.45174467773463933],[0.4920486383878283,-0.7678139339357888,0.4277796764749314],[0.842970522265951,-0.6343104236184424,0.35411947173056024],[0.902455780036527,-0.6267185276790602,0.29761541561143334],[0.2761173736339845,-0.856776154062429,0.36034375965435717],[0.5983904558963862,-0.731575109691524,0.2920851357205321],[0.7344586449493551,-0.6741531141616887,0.230190234547349],[0.5013738255727481,-0.7692117624716374,0.2094005583164188],[0.5769838342089962,-0.7349863719484526,0.14867605894544467],[0.28742133797505126,-0.8369441551340527,0.14689406831587204],[0.2837263112394576,-0.842055375466514,0.08896927675148336],[0.4429356711143847,-0.7849752218287166,-0.00658303520129877],[0.9001008772553187,-0.6186579337587739,-0.18136091978166768],[0.7428681007264761,-0.6696950189864647,-0.22041413193012638],[0.6824932769909375,-0.6950209994062536,-0.2955305534587328],[0.27051350111404526,-0.8374890270745748,-0.3132475106183964]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2236,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.38729309334030615,-0.7212823064843155,0.6524433339653223],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5893,\"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\":[-0.41755339043945827,7.09868974042077,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.41755339043945827,\"y_m\":7.09868974042077,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.693,0.711,0.698,0.684,0.73,0.732,0.744,0.768,0.789,0.809,0.849,0.904,0.971,1.045,1.075,1.025,0.974,0.931,0.891,0.868,0.854,0.833,0.885,0.894,0.907,0.923,0.947,0.977,1.025,1.092,1.163,1.205,1.324,1.488,1.73,2.054,2.686,3.426,4.758,6,6,6,5.46,5.408,0.638,0.525,0.558,0.523,0.548,0.583,0.621,0.682,0.751,0.843,0.979,1.814,1.782,2.35,3.752,3.769,3.827,3.892,4.014,4.169,2.697,2.358,3.723,5.386,0.489,0.46,0.436,0.557],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_azwbtUjyIY3jdisUNreGwaqb" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_glIdA5J5IeCG5YkCDrDQNlvz", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Reach the current fresh g_wc handle candidate with one bounded TCP waypoint, now within workspace after base reposition.\",\"script\":\"robot.move_tcp(0.3873,-0.7213,0.6524)\",\"observation_id\":\"obs-36eca40a-30-37916\",\"command_id\":\"cmd-reach-wc-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"rejected\",\"reason\":\"workspace_limit\"}", "tool_call_id": "call_glIdA5J5IeCG5YkCDrDQNlvz" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_jRsFmOqbvVSMcHqw9E1HgmPd", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Recover second workspace rejection safely: lower empty stowed carriage to 0 before a small base correction; do not manipulate door.\",\"height_m\":0,\"observation_id\":\"obs-36eca40a-30-37916\",\"command_id\":\"cmd-lower-wc-recover-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0,\"command_id\":\"cmd-lower-wc-recover-002\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_jRsFmOqbvVSMcHqw9E1HgmPd" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_Qmw0TV2T9bg8RaQF8I7ZmWlY", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify lowered state after second reach rejection and refresh g_wc handle before the final small approach correction.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-31-41250\",\"session_id\":\"36eca40a\",\"time_s\":82.5,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-31-41250.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-31-41250-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":12448,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1394,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":108758,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":14,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":37365,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":220638,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0238551472026,-0.5779165092331867,1.114769733128788],[0.26902961356996885,-0.8168787630852095,1.1294097908511893],[0.7035994411962714,-0.694971547454974,1.0964840170656507],[1.023970043504508,-0.5790093618889884,1.059849564405465],[0.33724249904784487,-0.8219326149377073,1.058957456220767],[0.5927228870914065,-0.7279140138851707,1.0151608548372764],[0.9162276681620181,-0.615897428291829,0.96709742900175],[1.0437780190191694,-0.5884998296848116,0.9341756766491968],[0.2666105233217665,-0.8260675340479662,0.9866298881377504],[0.327433758642115,-0.818577702589251,0.9741539909654975],[1.0443802320073052,-0.5909838259669924,0.9071080617497608],[1.007638976148951,-0.5933239741949159,0.8907763495828769],[0.27893301377625723,-0.862270209396783,0.9113896222025355],[0.6542142652728826,-0.7057598732056211,0.8863069959233029],[0.856334675748241,-0.6375171184700643,0.8313514483872323],[0.7112297097433804,-0.6845827660664021,0.8080298881325594],[0.32504153575635336,-0.8275693605782326,0.808672398042882],[0.38413585028623076,-0.811703197509053,0.7610095468229461],[0.8044568515007027,-0.6579069280597292,0.665389481691264],[0.9989452734963247,-0.567913597753693,0.6298283238331734],[0.8914372821530288,-0.625700017948835,0.604159255305463],[0.6021844898381921,-0.728889256102135,0.5961896766053332],[0.6864626530366202,-0.6929032998501993,0.5320536578592566],[0.31564510811239116,-0.8287682795649567,0.5405347123397536],[0.9740130419429999,-0.591188487689564,0.35269190815521345],[0.4421078684649585,-0.7914337919781474,0.3889464781074574],[0.9051052182667336,-0.6220975207519419,0.21318295321972436],[0.7699081635205294,-0.6736683392638995,0.16059975690381556],[0.6656765161797596,-0.7029376943942016,0.10725478252265974],[0.2730968935338843,-0.8454870116311055,0.07612102304630897]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2236,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.3868136377243101,-0.7215725468685799,1.052415879867822],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5893,\"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\":[-0.41755339043945827,7.09868974042077,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.41755339043945827,\"y_m\":7.09868974042077,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.705,0.707,0.705,0.689,0.733,0.739,0.753,0.761,0.777,0.813,0.854,0.904,0.968,1.05,1.07,1.014,0.963,0.921,0.892,0.87,0.857,0.832,0.889,0.886,0.894,0.92,0.942,0.982,1.035,1.077,1.175,1.204,1.343,1.492,1.725,2.053,2.679,3.428,4.76,6,6,6,5.466,5.417,0.641,0.534,0.555,0.521,0.553,0.586,0.619,0.669,0.754,0.847,0.973,1.818,1.793,2.341,3.751,3.767,3.818,3.889,4.017,4.166,2.696,2.371,3.723,5.374,0.486,0.458,0.44,0.552],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_Qmw0TV2T9bg8RaQF8I7ZmWlY" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_8qpf5vfjz0QPbiYABHr99USM", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Final small stowed-base correction toward g_wc handle to reduce local x/y reach; lift 0, no grip, short safe step.\",\"dx_m\":0.08,\"dy_m\":0.12,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-31-41250\",\"command_id\":\"cmd-reposition-wc-002\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.14422205101855987,\"rotated_rad\":0,\"duration_s\":1.699999999996038,\"base_pose\":[-0.33061729612020024,6.983615349244831,-1.9065926535897935],\"needs_observation\":true,\"command_id\":\"cmd-reposition-wc-002\"}", "tool_call_id": "call_8qpf5vfjz0QPbiYABHr99USM" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_ECKKF1ZG46Rij730JEHUWhc2", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify final corrected pose and fresh g_wc handle candidate before raising lift; ensure no stop latch and door still closed.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-32-42100\",\"session_id\":\"36eca40a\",\"time_s\":84.2,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-32-42100.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-32-42100-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":25422,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":744,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[22],\"visible_pixels\":8,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":104455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":13,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":12,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":43348,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":209511,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9451209249944885,-0.6987453510378476,1.109921227232112],[0.9561135866923554,-0.7196267630041298,1.103316549411685],[0.18922667705205187,-0.9405266983992875,1.1217563737885252],[0.19626084087691878,-0.980083380830405,1.1067521017673032],[0.26425896838882085,-0.9337502228029072,1.101714819906743],[0.89766706152916,-0.7094234688078894,1.0558424133016229],[0.18855872199991858,-0.9441605220640832,1.0660420438835554],[0.927440381479405,-0.6858056225224364,1.0356607723231201],[0.7663488388404516,-0.7615509694156409,1.0297371556682708],[0.9627309961066448,-0.7113364118992996,1.0177475786927033],[0.7303451069655995,-0.7615279067237042,0.9980461320753821],[0.7506697472257207,-0.7735034719929511,0.9622625178916726],[0.21882271068277215,-0.9806340375442685,0.9877052894889579],[0.538870943724215,-0.8531033203888236,0.9417787056958984],[0.8954375748667007,-0.7047875614025955,0.8883093915321993],[0.23544251146436743,-0.95404809606139,0.9002490829946224],[0.7903001901092747,-0.7581191312094434,0.8167941689652255],[0.3723719445267336,-0.9045363847623783,0.8181260111507602],[0.4419021604982452,-0.8779534135564464,0.7727995561858159],[0.28543497175306554,-0.9363579806115169,0.7490025686357649],[0.5158537542077435,-0.8425254460844728,0.6824260081609014],[0.45271760153458507,-0.8717828000871327,0.6412775004988536],[0.7918498039134948,-0.7545168789674093,0.5383993462875297],[0.761173845511133,-0.7596986935513728,0.48969240186240726],[0.29742887972223,-0.927133521680192,0.5111603643640962],[0.2603708196505973,-0.9474105489775219,0.45596303654349113],[0.4280217076263033,-0.8786974534890056,0.36504046367098164],[0.9172826729609318,-0.7016690429411904,0.1861930484539669],[0.9101543104641434,-0.7092214253848149,0.0996110444401439],[0.8374694030487717,-0.7370244243981743,0.024383079672303687],[0.19041144293092258,-0.9526297179431346,0.02671102111078616]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2021,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.308729721906357,-0.8405478483321289,1.0522607946033864],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3188,\"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\":[-0.33061729612020024,6.983615349244831,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.33061729612020024,\"y_m\":6.983615349244831,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.53,0.511,0.816,0.814,0.799,0.857,0.861,0.88,0.903,0.944,0.991,1.052,1.119,1.248,1.197,1.12,1.059,1.016,0.978,0.969,1.025,0.976,0.966,0.974,0.982,1.009,1.031,1.082,1.133,1.187,1.225,1.33,1.47,1.652,1.9,2.245,2.952,3.828,4.651,6,3.853,3.879,6,0.518,0.384,0.393,0.396,0.376,0.392,0.436,0.457,0.496,0.544,0.625,0.702,0.844,1.712,1.682,3.658,3.681,3.723,3.802,3.909,4.071,2.148,4.518,4.836,5.253,5.601,2.285,5.16,0.543],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_ECKKF1ZG46Rij730JEHUWhc2" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_0LAvNnNMEVbu28zzh5GUgvYU", "type": "function", "function": { "name": "robot_move_base", "arguments": "{\"i\":\"Correct the stowed base laterally toward the g_wc handle so its fresh local y coordinate enters TCP workspace; lift 0, short step, no manipulation.\",\"dx_m\":0,\"dy_m\":-0.2,\"dyaw_rad\":0,\"observation_id\":\"obs-36eca40a-32-42100\",\"command_id\":\"cmd-reposition-wc-003\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.2000000000000001,\"rotated_rad\":0,\"duration_s\":1.9999999999953388,\"base_pose\":[-0.5194469366239127,7.049519574202255,-1.9065926535897935],\"needs_observation\":true,\"command_id\":\"cmd-reposition-wc-003\"}", "tool_call_id": "call_0LAvNnNMEVbu28zzh5GUgvYU" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_kerVBYoIMcofMmCtPFLdfwst", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify the latest corrected approach and obtain the current g_wc handle candidate before lifting and reaching.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-33-43100\",\"session_id\":\"36eca40a\",\"time_s\":86.2,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-33-43100.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-33-43100-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":1281,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":78568,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":43255,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":256007,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9227957775879512,-0.5066751837271318,1.124161959368861],[0.18827073337692185,-0.7424500392443332,1.1374068921159495],[0.20560269940398268,-0.7841649773208806,1.126023361041623],[0.196239335848507,-0.7780120502321867,1.121635947338435],[0.7441157487457182,-0.568233872391664,1.1043225393417562],[0.5788253159725916,-0.6289037688731529,1.0853577249163733],[0.32525908892806804,-0.71103943842007,1.0727321012917146],[0.9218312420734,-0.5071468173842808,1.018177921609558],[0.9114941001725214,-0.49117554261409413,1.0162579870873814],[0.9620080970684979,-0.5094713587826621,0.9971379642918418],[0.5107623140149168,-0.649995492433664,1.0068743793722734],[0.31111557786579963,-0.7117523861621887,0.9948020144712374],[0.5702161601528175,-0.6260948592859849,0.9468847637087725],[0.962335464749944,-0.5071785288697584,0.8948619744133113],[0.6152859695490835,-0.6123109702596923,0.9117725142382779],[0.18805611465290314,-0.7442846841211325,0.9380726324426498],[0.3753334836752118,-0.6895660647762774,0.9038725503599592],[0.6015659209930413,-0.6098618364492611,0.8482754167626241],[0.4956663070094569,-0.6502674415694336,0.8229534037554659],[0.8679105638584105,-0.5243510696220348,0.7363514038352406],[0.8663900514243428,-0.5281023843770749,0.6907022464749395],[0.47145139693196947,-0.6686013840000689,0.7022980029046177],[0.42876815159907533,-0.6809852375277468,0.6654482341246288],[0.7169028344158173,-0.5809199200146631,0.5650430406176502],[0.5223048716795247,-0.6525856826468825,0.5448295466745015],[0.6140643955480689,-0.6142339961161539,0.47232732703719216],[0.26070077249302875,-0.7460469440419233,0.4847141209909238],[0.7490097682011028,-0.5689952811279346,0.304198377107053],[0.6126961538126288,-0.611340384039908,0.26789225634152347],[0.6031663470490851,-0.6213438904324475,0.18136520901541608],[0.19191122149818055,-0.762927737648584,0.22440374100492455]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2909,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.3075648920282956,-0.6413606116133155,1.0527458775209662],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5363,\"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\":[-0.5194469366239127,7.049519574202255,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.5194469366239127,\"y_m\":7.049519574202255,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.786,0.768,2.048,0.78,0.782,0.786,0.793,0.808,0.831,0.879,0.904,0.97,1.035,1.037,0.962,0.894,0.845,0.812,0.784,0.768,0.733,0.789,0.79,0.78,0.798,0.81,0.832,0.866,0.921,0.964,1.026,1.043,1.172,1.316,1.513,1.792,2.246,3.104,4.712,5.421,6,5.668,6,4.069,6,0.765,0.642,0.543,0.556,0.544,0.588,0.645,0.711,0.785,0.914,1.089,1.893,1.879,3.852,3.872,3.915,4.003,4.119,4.281,2.79,2.464,5.086,0.597,0.561,0.552,0.676,0.802],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}", "tool_call_id": "call_kerVBYoIMcofMmCtPFLdfwst" }, { "role": "user", "content": [ { "type": "text", "text": "Attached image(s) from tool result:" }, { "type": "image_url", "image_url": { "url": "data:image/png;base64,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" } } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_0kukYaANhFrlhTDtC6dfdLjb", "type": "function", "function": { "name": "robot_move_lift", "arguments": "{\"i\":\"Raise the empty stowed carriage to 0.40 m for the now closer g_wc handle candidate.\",\"height_m\":0.4,\"observation_id\":\"obs-36eca40a-33-43100\",\"command_id\":\"cmd-lift-wc-040-003\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"lift_m\":0.4,\"command_id\":\"cmd-lift-wc-040-003\",\"needs_observation\":true,\"stop_latched\":false}", "tool_call_id": "call_0kukYaANhFrlhTDtC6dfdLjb" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_cvfUi3BHKBgp3lfDV7xcP29f", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify lift and refresh g_wc handle candidate immediately before reach.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-34-46434\",\"session_id\":\"36eca40a\",\"time_s\":92.868,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-34-46434.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-34-46434-rgbd.npz\",\"tcp_m\":[0,-5.551115123125783e-17,0.55],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":1281,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":78568,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":43255,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":256007,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9246519707168948,-0.5076943550513646,0.7240094120194355],[0.19065372466515415,-0.7386932460850437,0.7253551651106577],[0.7934647831520371,-0.5555385824459003,0.7025854441598797],[0.19654702040695354,-0.7796475281749046,0.7073012710912349],[0.5795035181364663,-0.6296406473149708,0.6852234000399594],[0.3320602914231554,-0.7027643124005373,0.6732727974211316],[0.9403078831726919,-0.500872979718862,0.617253154702737],[0.18773901780956206,-0.747563237046992,0.6379540121490858],[0.505030441509207,-0.6470009055174393,0.6081925518121539],[0.33798788404217417,-0.7094703220329308,0.5914314637863344],[0.9597250074498782,-0.5120000051345885,0.5300502578425667],[0.9222696279976137,-0.4899909035968398,0.5333213557992357],[0.6236794735293236,-0.6073025965213894,0.5429215225070471],[0.9610746259786596,-0.5062202377094408,0.5003104438255223],[0.65179411135518,-0.6000152221552119,0.5085835107668074],[0.3757642113124344,-0.6903574014800598,0.5035327184977668],[0.5876352455699728,-0.62500660624931,0.4460862415674133],[0.4821159401982348,-0.6718778491507472,0.41792764618075917],[0.8309535072678313,-0.5479229400985857,0.33641912425667764],[0.7646265658176268,-0.5630953923855369,0.3049556484309671],[0.30717877399291416,-0.7155476442336497,0.3322897429637103],[0.29897978632810146,-0.7345896238743824,0.28206777329948407],[0.6206479494652601,-0.6168258293377029,0.18083628260174023],[0.496412104977059,-0.6553450312517648,0.15402504591941113],[0.5725117001866251,-0.6319526883124348,0.0787936256074957],[0.22004785733087098,-0.7617513608696542,0.09285686311387553],[0.7040662866511064,-0.5882590265151479,-0.08761588854887203],[0.6236932610699333,-0.6114156112581087,-0.13872819243066503],[0.6034410301948185,-0.6187721981222213,-0.2162157171719291],[0.19343379310799785,-0.7689805995115692,-0.1833363752581736]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2909,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.3072899046226159,-0.6413677096980257,0.6529529995639848],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5363,\"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\":[-0.5194469366239127,7.049519574202255,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.5194469366239127,\"y_m\":7.049519574202255,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.779,0.765,2.054,0.788,0.784,0.776,0.789,0.818,0.837,0.861,0.912,0.968,1.022,1.025,0.962,0.897,0.849,0.816,0.792,0.767,0.729,0.791,0.788,0.782,0.801,0.812,0.831,0.871,0.906,0.954,1.028,1.065,1.17,1.315,1.509,1.808,2.243,3.104,4.708,5.421,6,5.665,6,4.075,6,0.753,0.645,0.545,0.567,0.546,0.589,0.63,0.701,0.781,0.908,1.076,1.88,1.868,3.856,3.873,3.92,4.006,4.12,4.277,2.801,2.472,5.089,0.597,0.558,0.562,0.668,0.803],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_cvfUi3BHKBgp3lfDV7xcP29f" }, { "role": "user", "content": [ { "type": "text", "text": "Attached image(s) from tool result:" }, { "type": "image_url", "image_url": { "url": "data:image/png;base64,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" } } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_9UH88R616SXvNcE6vMxTOe09", "type": "function", "function": { "name": "robot_execute_sequence", "arguments": "{\"i\":\"Reach the freshly observed g_wc handle at the now reachable arm-carriage waypoint; keep this as one short TCP move before grasp.\",\"script\":\"robot.move_tcp(0.3073,-0.6414,0.6530)\",\"observation_id\":\"obs-36eca40a-34-46434\",\"command_id\":\"cmd-reach-wc-003\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-reach-wc-003\",\"executed\":[\"move_tcp\"],\"duration_s\":3.992,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}", "tool_call_id": "call_9UH88R616SXvNcE6vMxTOe09" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_8EiS7BGttm9KxmrGkK3b4Jol", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify TCP contact proximity and safe state after reaching g_wc handle.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-35-48430\",\"session_id\":\"36eca40a\",\"time_s\":96.86,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-35-48430.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-35-48430-rgbd.npz\",\"tcp_m\":[0.3073,-0.6414,0.653],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":1281,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":78568,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":43255,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":256007,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.924014236718401,-0.5073441974122597,0.7240618228540582],[0.8140371376681557,-0.543532499819436,0.7024753834839347],[0.6268898388977573,-0.6080476746664656,0.6842112851220729],[0.3686330665523183,-0.6994241735416084,0.6704859806305395],[0.19780577096638247,-0.7836666610706684,0.6658721250965277],[0.187256567721587,-0.7447566363259344,0.6681486377046145],[0.20946924907434566,-0.7390808878108145,0.6566224700699584],[0.966123288421068,-0.5113632471644383,0.6008369944117636],[0.5344923676250343,-0.6430817745824138,0.6052307221394116],[0.35327449219481283,-0.7084378500943243,0.5894542740139367],[0.963719187209298,-0.5084131295462698,0.5383022300749444],[0.6306343774855742,-0.6004922881253782,0.5435196299408552],[0.6520703743747185,-0.600269538685775,0.5084599938496456],[0.40556369841969897,-0.6815800436633482,0.5002369837986645],[0.9266991646888953,-0.48847085505087895,0.45182871416147896],[0.6368126888177665,-0.6013466028456396,0.4432909869756847],[0.5573070570083216,-0.6409465603845186,0.4111739709067991],[0.8959347062875636,-0.5094109274056626,0.33504230475321617],[0.867701005627688,-0.5252784387458984,0.29163319542995136],[0.4051851089974363,-0.6895120337360854,0.31338552503110473],[0.3976825714365707,-0.6874060593126105,0.2730162994147127],[0.6817939300765341,-0.5843207900362802,0.17671619911649805],[0.5475705246342586,-0.6401568783782663,0.14231346506825493],[0.7051567080264945,-0.5802616309199394,0.05463745305042644],[0.3362558267135182,-0.7072866754105528,0.07707680663104555],[0.829288252708348,-0.534703496000326,-0.11052314577733391],[0.6795461071753762,-0.5921972305960738,-0.1541691767093123],[0.6628461792283868,-0.6039595386683498,-0.239778029806054],[0.19253227902868708,-0.7653967022719135,-0.17875345532081854]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2909,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.3069001928537783,-0.6415748612395065,0.6528438460963221],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5363,\"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\":[-0.5194469366239127,7.049519574202255,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.5194469366239127,\"y_m\":7.049519574202255,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.78,0.766,2.049,0.783,0.784,0.784,0.802,0.814,0.839,0.874,0.903,0.964,1.035,1.033,0.954,0.9,0.847,0.813,0.783,0.756,0.74,0.778,0.781,0.788,0.802,0.81,0.847,0.877,0.904,0.974,1.033,1.05,1.159,1.317,1.517,1.808,2.248,3.106,4.717,5.422,6,5.665,6,4.081,6,0.752,0.642,0.543,0.558,0.543,0.576,0.635,0.696,0.788,0.91,1.085,1.893,1.883,3.848,3.869,3.924,4.003,4.122,4.271,2.796,2.468,5.078,0.597,0.555,0.565,0.676,0.805],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}", "tool_call_id": "call_8EiS7BGttm9KxmrGkK3b4Jol" }, { "role": "user", "content": [ { "type": "text", "text": "Attached image(s) from tool result:" }, { "type": "image_url", "image_url": { "url": "data:image/png;base64,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" } } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_a8AQUFTYpiFRKGB1qdte34de", "type": "function", "function": { "name": "robot_door_action", "arguments": "{\"i\":\"Grasp the verified visible g_wc handle at the current TCP contact pose.\",\"door_id\":\"g_wc\",\"action\":\"grasp\",\"observation_id\":\"obs-36eca40a-35-48430\",\"command_id\":\"cmd-grasp-wc-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-grasp-wc-001\",\"action\":\"grasp\",\"door_id\":\"g_wc\",\"grip_contact\":true,\"opening_progress_rad\":-6.9898326291351355e-9,\"handle_rotation_rad\":-1.838878781822097e-17,\"peak_force_N\":0,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.9441483141455058,-0.32952080495197733,0],\"normal_arm_m\":[-0.3295208049519774,0.9441483141455058,0],\"source\":\"ideal grasp orientation/controller feedback\"}}", "tool_call_id": "call_a8AQUFTYpiFRKGB1qdte34de" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_ck0x7Rd3pOYsxlEXUvxKbedP", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify g_wc grasp contact and unchanged closed-door state before pressing the latch.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-36-48480\",\"session_id\":\"36eca40a\",\"time_s\":96.96,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-36-48480.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-36-48480-rgbd.npz\",\"tcp_m\":[0.3155888095358575,-0.6477369376535728,0.65],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":1281,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":78568,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":43255,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":256007,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9299123231395934,-0.5119969618676999,0.7234795205189765],[0.815872426931165,-0.5432407013145238,0.7023942857769779],[0.6206300225808595,-0.6019760070158601,0.6853674947808223],[0.3607110052181968,-0.6949029791503648,0.6718152500131368],[0.20351039602047075,-0.7557818685009834,0.6545093671433296],[0.19531235612416617,-0.777253057756026,0.6471101662717004],[0.5016357396146078,-0.651308648011188,0.6077723093793369],[0.20005459315622615,-0.7806669624169891,0.609258732711098],[0.1886482350707454,-0.7414490514246229,0.6178326571577156],[0.29513698002978556,-0.7289209196420016,0.5932467281242699],[0.5593722233457654,-0.6520164518404713,0.5420484117792984],[0.9599180914749361,-0.5118361595195072,0.49235078237298147],[0.5834808298005029,-0.6202420189535682,0.5153463249076798],[0.3455456593753023,-0.7028711132624621,0.5057250853015327],[0.9612204068298824,-0.5078930256324379,0.4171748952681681],[0.5581940824793487,-0.6319937981691641,0.4502939734551389],[0.4491796244561225,-0.6658765982895332,0.42849684185093617],[0.8451976559127177,-0.5388775266624827,0.33637598023118975],[0.8227828963682662,-0.5446165648571685,0.29609655620340014],[0.18806038258414193,-0.7489610603300556,0.38358460526924987],[0.4285963743653375,-0.6746313707255167,0.3133078772764549],[0.41521248948114997,-0.6831207297720239,0.26911991040344974],[0.9261629786673808,-0.4892716495696273,0.1389943358761807],[0.7128959730002858,-0.5798285915522635,0.16727744701832137],[0.5233506043702569,-0.6403561576276272,0.15249438346107536],[0.6313719460703362,-0.6016818082235793,0.0733657009066242],[0.2957411023878165,-0.7271345219926465,0.08190548128745012],[0.7953977528641377,-0.5543151536708326,-0.10868945903071792],[0.6557690102821259,-0.5993698127103575,-0.14665987009087245],[0.6039365734650314,-0.62213732905869,-0.21993555888726524],[0.19243979931762512,-0.7650290565647561,-0.17828332720928386]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2909,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.3073363949160434,-0.6410144183371904,0.6528227545522421],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5363,\"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\":[-0.5194469366239127,7.049519574202255,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.5194469366239127,\"y_m\":7.049519574202255,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.787,0.76,2.048,0.787,0.782,0.787,0.792,0.807,0.844,0.871,0.907,0.969,1.034,1.041,0.953,0.89,0.851,0.809,0.786,0.761,0.726,0.785,0.788,0.782,0.797,0.815,0.836,0.871,0.915,0.971,1.031,1.057,1.166,1.315,1.523,1.811,2.239,3.107,4.716,5.423,6,5.663,6,4.073,6,0.745,0.642,0.532,0.564,0.554,0.568,0.639,0.7,0.784,0.917,1.083,1.898,1.873,3.853,3.868,3.915,4.007,4.11,4.28,2.793,2.465,5.09,0.583,0.552,0.553,0.683,0.8],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":\"g_wc\"}", "tool_call_id": "call_ck0x7Rd3pOYsxlEXUvxKbedP" }, { "role": "user", "content": [ { "type": "text", "text": "Attached image(s) from tool result:" }, { "type": "image_url", "image_url": { "url": "data:image/png;base64,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" } } ] }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_n41QCMFVEJCgSaC6KvkW3UNK", "type": "function", "function": { "name": "robot_door_action", "arguments": "{\"i\":\"Press the g_wc spring lever while maintaining verified door grip.\",\"door_id\":\"g_wc\",\"action\":\"press\",\"observation_id\":\"obs-36eca40a-36-48480\",\"command_id\":\"cmd-press-wc-001\"}" } } ] }, { "role": "tool", "content": "{\"status\":\"ok\",\"command_id\":\"cmd-press-wc-001\",\"action\":\"press\",\"door_id\":\"g_wc\",\"grip_contact\":true,\"opening_progress_rad\":7.226428848379342e-9,\"handle_rotation_rad\":-0.5188679585628101,\"peak_force_N\":1.2223222750733334,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.9441483094105572,-0.3295208185186282,0],\"normal_arm_m\":[-0.3295208185186282,0.944148309410557,0],\"source\":\"ideal grasp orientation/controller feedback\"}}", "tool_call_id": "call_n41QCMFVEJCgSaC6KvkW3UNK" }, { "role": "assistant", "content": "", "tool_calls": [ { "id": "call_fVh0uLREYfn8jqUQn8oL1zxK", "type": "function", "function": { "name": "robot_observe", "arguments": "{\"i\":\"Verify g_wc latch press and maintained grip before opening.\"}" } } ] }, { "role": "tool", "content": "{\"observation_id\":\"obs-36eca40a-37-48930\",\"session_id\":\"36eca40a\",\"time_s\":97.86,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-37-48930.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-004/simulation/obs-36eca40a-37-48930-rgbd.npz\",\"tcp_m\":[0.307511407592579,-0.6505560724668792,0.6177666680450468],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0.958,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":1281,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1373,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":78568,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":43256,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":256172,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.9344106693660803,-0.513052518310345,0.7232074137846815],[0.8001470819206199,-0.5432755974126271,0.7033146545029966],[0.5824272379406847,-0.62145145597665,0.6859466024200723],[0.1879336448441979,-0.7450239677725394,0.6922163994265821],[0.32649153652113894,-0.725547827081221,0.6706153550493165],[0.5153173411395822,-0.6476026136819593,0.6394048599676515],[0.18807909014043217,-0.740679933548202,0.6449618396970723],[0.19614814015256898,-0.779497425192067,0.6334139983128763],[0.5128790365999042,-0.6381370214924755,0.6141951980981569],[0.19990880968127211,-0.7795635575007827,0.6182297681148717],[0.43827183544184256,-0.6666743425904371,0.5892276255286816],[0.23491404738688382,-0.7543290241302351,0.5704070076056075],[0.9275303913322415,-0.48924957289349386,0.5073877833413234],[0.8528595947824398,-0.5278308478309994,0.49229830577273737],[0.5792462603727352,-0.6265293442288404,0.48226704362349826],[0.9624985911077519,-0.5073674935365367,0.41886560310416965],[0.7960312580849712,-0.5466721724081591,0.4264983378794569],[0.7022399357969284,-0.5858244090539122,0.39640473803322884],[0.24625478060612355,-0.746935003203574,0.41362128531459197],[0.23069878433414948,-0.7520960292102827,0.37883974984784874],[0.5573313706836086,-0.6389555078385427,0.2892333492220839],[0.5003469005893981,-0.6548179588353021,0.2543843431795799],[0.8189191249405336,-0.543613913882646,0.14784768816587457],[0.5816340942113,-0.6193561523850357,0.14160306227579467],[0.9603432130533617,-0.5096281654958766,0.015608318848449043],[0.6996666630889907,-0.5825672575691077,0.05551734620859694],[0.3394068935393779,-0.7139146871867106,0.07030226441854648],[0.839080329302571,-0.5410171723015815,-0.1212744284045103],[0.7628437055236106,-0.5675673130431728,-0.1809379111869195],[0.649206749969041,-0.5968743880297135,-0.22377799379252095],[0.19018105984911457,-0.7560496181598767,-0.1668008419313498]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":2742,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.2974568300820213,-0.644775685671876,0.6239722490252108],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":5363,\"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\":[-0.5194469366239127,7.049519574202255,1.2],\"rotation_camera_to_world\":[[-0.2328429855124168,-0.46624821189371407,0.8534616271418293],[0.9725143413326429,-0.11163087373950109,0.20433894374418965],[0,0.8775825618903728,0.479425538604203]],\"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\":-0.5194469366239127,\"y_m\":7.049519574202255,\"yaw_rad\":-1.9065926535897935,\"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,\"ranges_m\":[0.784,0.764,2.059,0.78,0.777,0.783,0.792,0.816,0.825,0.871,0.913,0.968,1.024,1.038,0.953,0.903,0.852,0.813,0.786,0.771,0.735,0.781,0.779,0.784,0.785,0.818,0.843,0.87,0.906,0.967,1.029,1.059,1.166,1.317,1.521,1.795,2.237,3.102,4.716,5.418,6,5.67,6,4.082,6,0.767,0.647,0.54,0.566,0.546,0.587,0.637,0.695,0.795,0.909,1.085,1.895,1.88,3.859,3.873,3.923,3.994,4.124,4.27,2.803,2.462,5.083,0.592,0.549,0.559,0.677,0.8],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-1,\"tilt_rad\":-0.5},\"peak_force_N\":1.222,\"lift_m\":0.4,\"door_grip\":\"g_wc\"}", "tool_call_id": "call_fVh0uLREYfn8jqUQn8oL1zxK" }, { "role": "user", "content": [ { "type": "text", "text": "Attached image(s) from tool result:" }, { "type": "image_url", "image_url": { "url": "data:image/png;base64,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" } } ] } ], "stream": true, "tools": [ { "type": "function", "function": { "name": "robot_capabilities", "description": "Discover complete v4 robot, optional lift, carriage frame, limits and floor identity.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" } }, "required": [ "i" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_observe", "description": "Fresh mounted RGB-D, visible door/handle masks and noisy handle candidate, lidar, force and odometry.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" } }, "required": [ "i" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_execute_sequence", "description": "Same four literal arm calls; v4 arm_carriage z is relative to current lift. No arbitrary Python.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "script": { "type": "string" }, "observation_id": { "type": "string" }, "command_id": { "type": "string" } }, "required": [ "i", "script", "observation_id", "command_id" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_move_base", "description": "Same bounded relative drive; requires lift down, arm stowed, no door grip, clear supported floor.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "dx_m": { "type": "number" }, "dy_m": { "type": "number" }, "dyaw_rad": { "type": "number" }, "observation_id": { "type": "string" }, "command_id": { "type": "string" } }, "required": [ "i", "dx_m", "dy_m", "dyaw_rad", "observation_id", "command_id" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_look", "description": "Same absolute pan/tilt relative to base. Observe again after motion.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "pan_rad": { "type": "number" }, "tilt_rad": { "type": "number" }, "observation_id": { "type": "string" }, "command_id": { "type": "string" } }, "required": [ "i", "pan_rad", "tilt_rad", "observation_id", "command_id" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_move_lift", "description": "Optional arm carriage lift0..0.55m, empty stowed arm only; base interlocked while raised.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "height_m": { "type": "number" }, "observation_id": { "type": "string" }, "command_id": { "type": "string" } }, "required": [ "i", "height_m", "observation_id", "command_id" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_door_action", "description": "Grasp at visible handle using current TCP, press spring lever, physically swing latch-released hinge, or release. Bounded ideal contact controller.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "door_id": { "type": "string" }, "action": { "enum": [ "grasp", "press", "open", "close", "release" ], "type": "string" }, "observation_id": { "type": "string" }, "command_id": { "type": "string" } }, "required": [ "i", "door_id", "action", "observation_id", "command_id" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "robot_stop", "description": "Latch stop without releasing held cloth or door handle.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" } }, "required": [ "i" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "mission_memory_read", "description": "Read configured mission/room memory; may contain unverified prior agent notes.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" } }, "required": [ "i" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "room_measure", "description": "Measure latest RGB-D observation and atomically update configured room memory using expected revision.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "expected_revision": { "type": "integer" } }, "required": [ "i", "expected_revision" ], "type": "object", "additionalProperties": false }, "strict": true } }, { "type": "function", "function": { "name": "mission_memory_write", "description": "Save bounded mission notes: tracks, attempts, blocked reasons and evidence. These notes are not host-verified deliveries.", "parameters": { "properties": { "i": { "description": "concise intent", "type": "string" }, "notes": { "type": "string" } }, "required": [ "i", "notes" ], "type": "object", "additionalProperties": false }, "strict": true } } ] }