{
  "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 4 fazy. Soft rejects (base_path*/path_blocked*/door_reach_clipped*) + stop_latched=false = replan. Przy door_reach_clipped_reposition_base: release, lift=0, korekta bazy, ponów open.\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": "<system-reminder>\nToday: 2026-11-03; current working directory: '/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom'. Do not repeat this information in your reply.\n</system-reminder>"
        },
        {
          "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: d0f99d6c-f40f-4c84-b536-ed6ca27c349b\nPhase: phase1_open_door"
        }
      ]
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_GPpra3eMOx1Jkg2vdlHf5HhF",
          "type": "function",
          "function": {
            "name": "robot_capabilities",
            "arguments": "{\"i\":\"DISCOVER: sprawdź wariant v4, podnośnik, ramy, limity i stan robota dla fazy otwarcia drzwi gabinetu.\"}"
          }
        },
        {
          "id": "call_aR7Thvv0vz6tyPReXhuutbos",
          "type": "function",
          "function": {
            "name": "mission_memory_read",
            "arguments": "{\"i\":\"Odczytaj pamięć misji jako niezweryfikowane notatki; nie używaj jej geometrii do planowania.\"}"
          }
        }
      ]
    },
    {
      "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_GPpra3eMOx1Jkg2vdlHf5HhF"
    },
    {
      "role": "tool",
      "content": "{\"revision\":0,\"agent_notes\":null}",
      "tool_call_id": "call_aR7Thvv0vz6tyPReXhuutbos"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_jyxJHGqI8rEVTlpFas4fzaLs",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"SURVEY: świeża obserwacja startu przy g_office; zidentyfikuj widoczne zamknięte drzwi gabinetu, handle candidate, leaf, lidar i odometrię.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-1-350\",\"session_id\":\"80125e5e\",\"time_s\":0.7,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-1-350.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-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_jyxJHGqI8rEVTlpFas4fzaLs"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_JN9FTQF2iMTfzT8TXGtmEQYq",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"SWEEP_CHECK/hinge-clear: na podstawie świeżej obserwacji drzwi g_office i zachowując ramię schowane oraz lift=0, obróć bazę krótko w stronę zawiasu zgodnie z fazą.\",\"dx_m\":0,\"dy_m\":0,\"dyaw_rad\":0.785,\"observation_id\":\"obs-80125e5e-1-350\",\"command_id\":\"phase1-hinge-clear-001\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0,\"rotated_rad\":0.7850000000000001,\"duration_s\":2.4279999999998765,\"base_pose\":[0.7,7.36,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"phase1-hinge-clear-001\"}",
      "tool_call_id": "call_JN9FTQF2iMTfzT8TXGtmEQYq"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_Vc2tJKT7CiVgRScsgY3z5t4d",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po hinge-clear: świeże lidar/RGB-D, brak stop latch, drzwi g_office, geometria uchwytu oraz bezpieczeństwo podniesienia kolumny.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-2-1564\",\"session_id\":\"80125e5e\",\"time_s\":3.128,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-2-1564.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-2-1564-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\":166670,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":88,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":42,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[32,33],\"visible_pixels\":31,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":84940,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":13203,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":25,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124],\"visible_pixels\":10971,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":112817,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0771887952809531,-0.07235362157342595,0.6367243163135621],[1.0898338042189613,-0.07961104801785401,0.6146585978541793],[0.9409504770395383,-0.19837167686233254,0.6827101044895498],[1.0896635241057724,-0.07488732407913667,0.596964864809648],[0.7400177361786899,-0.43793850530053263,0.7766910362575448],[0.8309539559086989,-0.3157088109267275,0.7199499687581838],[0.7218373279187857,-0.39739297661027007,0.7690608399326578],[0.7541952842333974,-0.38540619468196713,0.7423128253981791],[0.6881857392230282,-0.4470721765521356,0.7614424258669535],[1.0364266072270893,-0.10294914704711694,0.5043552526607041],[1.0651572816579489,-0.07100087197056726,0.4520132372941147],[1.0373862809834766,-0.11743160664621555,0.46916288484918345],[1.0195346706754056,-0.12011462979806758,0.4462056973501316],[1.0196501009837737,-0.12505668959712873,0.4088897241111963],[1.0141731374534746,-0.1442689874204795,0.3743012997491584],[1.038269490473511,-0.10055886811798315,0.31293353490182807],[0.6737402615609872,-0.4853120811264143,0.5978391008073691],[0.7019115820408308,-0.4419617157480555,0.5415338941101951],[0.7540254759052334,-0.39925244713534713,0.4574026778947524],[0.8102671244482325,-0.3452863184740324,0.3620406277380226],[0.9551254596235748,-0.20061717353391428,0.1624236601003466],[0.9193133266344968,-0.23553221370998395,0.15057096831407724],[0.8600712082223974,-0.28740221170566327,0.16437298928322508],[0.7155284655124446,-0.43690265232130177,0.2875550686824714],[0.6820246889855284,-0.46216374644020364,0.271840236908212],[0.631607781698215,-0.5240554515777216,0.2751703036893479],[0.6666598396657163,-0.4752945210895576,0.1326737468168151],[0.5552648646350218,-0.5917413412972387,0.20679787790327953],[0.5157656576913149,-0.6436880828743972,0.2231239008869942],[0.517544132977551,-0.6437420603548045,0.18882265671445175],[0.5046870857090524,-0.6267764393934221,0.13231678741512387],[0.5124702526019995,-0.6393293890946887,0.012626109260802432]],\"coordinate_frame\":\"arm_carriage\"}],\"calibration\":{\"id\":\"house-rgbd-v4\",\"frame_id\":\"house_ground_v4\",\"width\":720,\"height\":540,\"fx\":606.4299289541383,\"fy\":606.4299289541383,\"cx\":359.5,\"cy\":269.5,\"position_m\":[0.7,7.36,1.2],\"rotation_camera_to_world\":[[-0.7068251811053659,-0.554116266793477,0.4397195995520633],[0.7073882691671999,-0.5536751847621526,0.43936957839981305],[2.7755575615628914e-17,0.6216099682706644,0.7833269096274834]],\"depth_convention\":\"negative_camera_z_optical_depth\",\"systematic_sigma_m\":0.01,\"pose_source\":\"ideal_simulated_odometry\",\"mount_height_m\":1.2},\"base_pose\":{\"x_m\":0.7,\"y_m\":7.36,\"yaw_rad\":-2.3565926535897934,\"frame_id\":\"house_ground_v4\",\"source\":\"ideal drift-free simulator odometry\"},\"arm_coordinate_frame\":\"arm_carriage\",\"lidar_2d\":{\"frame_id\":\"base_link\",\"height_m\":0.15,\"angle_min_rad\":-3.141592653589793,\"angle_increment_rad\":0.08726646259971647,\"range_max_m\":6,\"ranges_m\":[3.727,4.091,1.357,4.766,4.561,4.39,4.275,1.533,4.151,4.134,4.148,4.026,2.978,2.259,1.822,1.535,1.345,1.191,1.083,1.003,0.938,0.89,0.845,0.815,0.795,0.763,0.812,0.821,0.817,0.825,0.845,0.862,0.894,0.937,0.99,1.057,1.076,1.204,1.226,1.164,1.097,1.066,1.04,1.018,0.993,1.008,1.015,1.022,1.032,1.066,1.106,1.15,1.13,1.012,0.914,0.842,0.794,0.873,1.03,1.27,1.678,2.671,2.65,2.631,2.643,2.669,2.717,2.799,2.91,3.035,3.208,3.421],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":0,\"tilt_rad\":-0.9},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_Vc2tJKT7CiVgRScsgY3z5t4d"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_RV1Av7YUBkbW5fRSs0Q70h3E",
          "type": "function",
          "function": {
            "name": "robot_look",
            "arguments": "{\"i\":\"SURVEY uzupełniające: skieruj kamerę na widoczną klamkę g_office, aby uzyskać aktualny noisy handle candidate i potwierdzić sweep geometry.\",\"pan_rad\":0.35,\"tilt_rad\":-0.55,\"observation_id\":\"obs-80125e5e-2-1564\",\"command_id\":\"phase1-survey-look-002\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-survey-look-002\",\"camera_head\":{\"pan_rad\":0.35,\"tilt_rad\":-0.55},\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_RV1Av7YUBkbW5fRSs0Q70h3E"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_J9TmxIFunajNouuZv3NSEnjF",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po zmianie widoku potwierdź handle_candidate_m drzwi g_office i przygotowanie do liftu; nie wykonuj jeszcze manipulacji.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-3-1783\",\"session_id\":\"80125e5e\",\"time_s\":3.566,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-3-1783.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-3-1783-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\":33829,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":97,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":37,\"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\":233126,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42],\"visible_pixels\":30181,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,124,125],\"visible_pixels\":22945,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":68559,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0756462617525084,-0.07228826422577717,1.0693251547675504],[1.0934271847244421,-0.07706564733233967,1.0517673067242175],[1.0590309548907353,-0.07099734639656152,1.0238162568555431],[1.015837823808718,-0.13522450165461725,1.0270780485101456],[1.0437245584885857,-0.1343750656936082,1.0036809878096777],[0.9954888699479045,-0.1438530665405104,0.9821655069946672],[1.0295560782609763,-0.08895023087884246,0.940960253654064],[1.0069648851476316,-0.14588047448933772,0.9314158801977377],[1.0357038225471693,-0.09819687234335012,0.8681627276633506],[0.9646392852730534,-0.16573334953038277,0.8566605077609717],[0.9699218465606729,-0.16945507010583222,0.811098455788074],[1.05448423372143,-0.09061847671191581,0.7123827468808752],[1.0133773192497837,-0.13352543076752288,0.6935852873899488],[0.9695250479390873,-0.17947848223674345,0.6822351536451785],[1.0914283375898244,-0.07281054663553754,0.5439299165156645],[0.9114727960692188,-0.23552186689008808,0.6877351426383601],[0.9665551188889154,-0.1827734510051458,0.596585903398476],[1.013608918598639,-0.14523907781897621,0.5078391950239127],[0.9665924881646792,-0.1870763840594209,0.5080307040997911],[0.8763023365597828,-0.2778851384543494,0.564882639627687],[0.9007235893942731,-0.2630066174947378,0.4989691620531611],[1.0064898737531283,-0.14527479041820085,0.31808818677823014],[1.006508526955876,-0.14538551326094368,0.26734005007488937],[0.8867599628764153,-0.26297087638469213,0.3849875503217275],[0.8641230030000389,-0.29288099390704214,0.3781582707460365],[0.8787978176034372,-0.26992804589297587,0.30860242116796155],[0.9169503071560949,-0.23439549922859415,0.19764506386373726],[0.9118477440188757,-0.22993984250349414,0.1407082258526846],[0.7897818385713818,-0.34001132725571875,0.29908516913331584],[0.8075429398630376,-0.35166989812538296,0.28080697864251836],[0.7912584249046777,-0.3465359317289443,0.2923132557846446]],\"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\":[[-0.906534174400927,-0.22064323143153156,0.3598782503384745],[0.4221324325886725,-0.4738338355485635,0.7728426137617589],[0,0.8525245220595058,0.5226872289306594]],\"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\":0.35,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_J9TmxIFunajNouuZv3NSEnjF"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_aykwABavhm53KePpMAFdidkK",
          "type": "function",
          "function": {
            "name": "robot_move_lift",
            "arguments": "{\"i\":\"SWEEP_CHECK zakończony na podstawie trzech świeżych widoków; podnieś pustą, schowaną kolumnę do 0.40 m dla klamki ~1.05 m.\",\"height_m\":0.4,\"observation_id\":\"obs-80125e5e-3-1783\",\"command_id\":\"phase1-lift-003\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"lift_m\":0.4,\"command_id\":\"phase1-lift-003\",\"needs_observation\":true,\"stop_latched\":false}",
      "tool_call_id": "call_aykwABavhm53KePpMAFdidkK"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_dpBi089bFTiRXCDxNAA1lUtq",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"REACH: po podniesieniu pobierz świeży handle_candidate_m w arm_carriage i potwierdź aktualny lift oraz brak blokady.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-4-5117\",\"session_id\":\"80125e5e\",\"time_s\":10.234,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-4-5117.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-4-5117-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\":33829,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":97,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":37,\"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\":233126,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42],\"visible_pixels\":30181,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,124,125],\"visible_pixels\":22945,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":68559,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0825643402749652,-0.07275319020186077,0.6684847122611498],[1.0377611280103054,-0.11451358729621769,0.6218028861091304],[1.0998233127201447,-0.07340856388758599,0.5989294530117387],[1.0237541683394595,-0.15411117813733982,0.5879630928651335],[0.9944923254771874,-0.14115881156564397,0.5821685250145959],[0.993749476734382,-0.15049478468209376,0.5356119371625073],[1.061059558788072,-0.08559656416494466,0.4582210731021925],[0.9680182114710574,-0.17549469573627308,0.45673047245006215],[0.9378480159233686,-0.17860376386697258,0.42947597549370475],[0.995865107734812,-0.15162523084607182,0.39720023467510346],[0.939195319822759,-0.22223947926254312,0.3920184835473689],[1.0558338645597285,-0.07037975799526863,0.30421367445289715],[1.0441133054156189,-0.11212720203597348,0.2733489210502741],[0.986091687002963,-0.16784917715028452,0.2703154336959549],[0.912904603021462,-0.22803384028133233,0.28515045647427506],[0.9941740191913682,-0.15845799648359332,0.17211322415126806],[1.0590324232011725,-0.09508992245711595,0.06191860440362229],[1.0132290611718773,-0.132583003215976,0.0567836159428865],[0.9075618071307692,-0.24369175919147051,0.12903040947530475],[0.8824553190083734,-0.25355277849853575,0.11187729925120404],[1.014389827724667,-0.1263422680050057,-0.09561125533055559],[1.035619045297419,-0.1073841820935198,-0.17470530884180413],[0.9054209727852931,-0.25194773230996526,-0.038392719163679256],[0.8440854787934362,-0.28746225190505165,-0.0022408076332636195],[0.8846509815729948,-0.25957604486105423,-0.10240136870594663],[0.908372112498314,-0.24044903067569623,-0.18934862087687676],[0.8949432011730001,-0.2522283610365964,-0.22725316943419915],[0.8101829406360419,-0.3508152159745522,-0.12046811794233014],[0.7917325463993324,-0.34478476646954004,-0.10119669866135539],[0.7982930756359914,-0.3496167952860774,-0.11575649616746564]],\"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\":[[-0.906534174400927,-0.22064323143153156,0.3598782503384745],[0.4221324325886725,-0.4738338355485635,0.7728426137617589],[0,0.8525245220595058,0.5226872289306594]],\"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\":0.35,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_dpBi089bFTiRXCDxNAA1lUtq"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_5iCmcjuL0tuotgGsRKLYCr2H",
          "type": "function",
          "function": {
            "name": "robot_look",
            "arguments": "{\"i\":\"Klamka nie pojawiła się jawnie w ostatnim detektorze; wykonaj dodatkowy świeży look na stronę klamki przed REACH, bez ruchu ramienia.\",\"pan_rad\":0.7,\"tilt_rad\":-0.25,\"observation_id\":\"obs-80125e5e-4-5117\",\"command_id\":\"phase1-handle-look-004\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-handle-look-004\",\"camera_head\":{\"pan_rad\":0.7,\"tilt_rad\":-0.25000000000000006},\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_5iCmcjuL0tuotgGsRKLYCr2H"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_nGfzVF6DthU6wndQVisLC3kW",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"REACH: odczytaj po dodatkowym look aktualny punkt klamki g_office i stan kolumny.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-5-5336\",\"session_id\":\"80125e5e\",\"time_s\":10.672,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-5-5336.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-5-5336-rgbd.npz\",\"tcp_m\":[0,0,0.45],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":386694,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42],\"visible_pixels\":2106,\"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\":[[-0.9963217522863494,-0.021200319292197484,0.0830271785800714],[0.08569110759616885,-0.24649394620704718,0.9653485218107599],[4.163336342344337e-17,0.9689124217106447,0.24740395925452324]],\"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\":0.7,\"tilt_rad\":-0.25000000000000006},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_nGfzVF6DthU6wndQVisLC3kW"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_r7dmgjBaIgUkdOpWNVgzMRyc",
          "type": "function",
          "function": {
            "name": "robot_look",
            "arguments": "{\"i\":\"Odzyskaj widoczność uchwytu: zmień kamerę na przeciwny kąt obserwacji g_office; bez żadnego ruchu arm/base.\",\"pan_rad\":-0.25,\"tilt_rad\":-0.55,\"observation_id\":\"obs-80125e5e-5-5336\",\"command_id\":\"phase1-handle-look-005\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-handle-look-005\",\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_r7dmgjBaIgUkdOpWNVgzMRyc"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_4R55kXCSXBPV7iKYYPbFLc5C",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Sprawdź ponownie widoczny handle candidate po zmianie kąta; jeśli nadal brak jawnej klamki, nie wykonuj ślepego chwytu.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-6-5930\",\"session_id\":\"80125e5e\",\"time_s\":11.86,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-6-5930.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-6-5930-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\":27029,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":36,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":43,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":73839,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":31578,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":25141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":227986,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.077752210347582,-0.07271647573927731,0.6591706650597057],[1.058873766966749,-0.07058049841897424,0.6379712890215429],[0.7069589667238257,-0.43376057447949656,0.672396617336542],[0.8420541419434094,-0.299440529486078,0.6291603796145296],[1.0955362277873468,-0.07531741615917364,0.5547476338341736],[1.0361528138876699,-0.11653979002346398,0.5606651889513999],[0.7347051173755594,-0.41519821113378963,0.5826861387665949],[0.5896985970014481,-0.5171506367699577,0.6134390331775409],[0.7494846039353191,-0.4036751729426784,0.5509641737410039],[0.7345329056640744,-0.42885879410294536,0.5240205969215935],[0.6594866159251458,-0.49062384948048454,0.5149977586542561],[0.5770305890322202,-0.5889687124849075,0.5084761883519332],[0.8741885518503844,-0.26986830199175704,0.3833941631536254],[0.77369182466711,-0.41348769137859487,0.3981138888341743],[0.6606699992680053,-0.49430386635560275,0.4203506251155954],[0.8761296546665763,-0.277860753273931,0.30095034794891096],[0.537445044806672,-0.5990610823196809,0.40563382377240964],[0.6180626808945048,-0.5351872436048155,0.3323588994727855],[0.7042842444687344,-0.4477993291765626,0.2512990177065164],[0.7120390437282833,-0.44123002937003764,0.2034880640124228],[0.6596592522530533,-0.4813048506655431,0.1904678077664096],[0.5251586086716343,-0.6552649950726929,0.2369975258399133],[0.9967088268443196,-0.15521090230206497,-0.07048759799529092],[0.500338564288525,-0.6237421924233763,0.23327966821072643],[0.9834544794009482,-0.17053604502970393,-0.1286869058468375],[0.6255508635142968,-0.5146439755401111,0.06416418012067104],[1.0461621204532667,-0.0979397250565125,-0.3248757641337817],[0.6249954897739073,-0.5293062185964035,-0.06132981341107946],[0.6803089973984483,-0.45700714127899,-0.19111296018314383],[0.51353821664703,-0.6394643722675617,-0.15321121069233445]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[128],\"visible_pixels\":3125,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5688576632994251,-0.47154651554150373,0.6523003868360452],\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_4R55kXCSXBPV7iKYYPbFLc5C"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_kPF9ZNl9jFdrbaktITj8FF0p",
          "type": "function",
          "function": {
            "name": "robot_execute_sequence",
            "arguments": "{\"i\":\"REACH: przesuń TCP dokładnie do świeżego handle_candidate_m g_office, jednym krótkim ruchem; nie chwytaj w tym samym skrypcie.\",\"script\":\"robot.move_tcp(0.5689,-0.4715,0.6523)\",\"observation_id\":\"obs-80125e5e-6-5930\",\"command_id\":\"phase1-reach-006\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-reach-006\",\"executed\":[\"move_tcp\"],\"duration_s\":4.256,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_kPF9ZNl9jFdrbaktITj8FF0p"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_CLU9aodGiYcAmxkpiirCWwla",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź pozycję TCP przy klamce g_office i brak kontaktu/stopu przed grasp.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-7-8058\",\"session_id\":\"80125e5e\",\"time_s\":16.116,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-7-8058.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-7-8058-rgbd.npz\",\"tcp_m\":[0.5689,-0.4715,0.6523],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":27029,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":36,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":43,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":73839,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":31578,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":25141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":227986,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0733452598149507,-0.0724191366028657,0.6597465190516222],[1.089572859169477,-0.07884553515308201,0.6299384726666134],[0.7321020415690694,-0.4085038945743652,0.6694794490889989],[0.6800132384273054,-0.4304770056903553,0.6767322937320689],[0.879129056189049,-0.2729309992617966,0.6235236091099096],[1.089042487351442,-0.07317628354987993,0.5562965569522728],[0.6741636400917203,-0.47381660780485274,0.6226641279607933],[0.770806723644994,-0.38519886084166466,0.5753344449396002],[0.759372242228775,-0.3876256032766066,0.5492730366567388],[0.7142623580711179,-0.4290864691026437,0.5306295482249986],[0.6457156314847541,-0.4952926570156634,0.5195660119251103],[1.0630424903087945,-0.0710969646428824,0.3939655745519627],[1.0604230373888048,-0.0865052299104338,0.36419042329009355],[0.6034043531935231,-0.5833485536376817,0.46908086388042947],[0.7863099669731677,-0.3545584807381058,0.41266118730316437],[0.5914443177856751,-0.5553451092582541,0.44622999170452593],[0.8022776720176623,-0.34245069111399107,0.33117508720954214],[1.0066545822966908,-0.14020573878025966,0.2022980849530026],[0.626867925213666,-0.5206521683714813,0.3292026436598531],[0.7128810028205919,-0.4406428976709276,0.2467616742551213],[0.7231000059734003,-0.4184951091834518,0.19968653090247057],[0.7127242820330745,-0.44093358131662597,0.15716478984786875],[0.5142479078357483,-0.6264673165048449,0.2355218951271677],[0.5015538761175153,-0.622096500787655,0.23624306613715285],[0.5227408717331546,-0.6516698105567613,0.2079051637970616],[0.5120768713666369,-0.6289937010515769,0.19363808215693512],[0.6423731803783556,-0.49477664219790757,0.052742726608510204],[0.5163235754727429,-0.641232348634754,0.08803198498821985],[0.6069431880499375,-0.5365719413401719,-0.04297683414827602],[0.6705479464634923,-0.4745105627184306,-0.18453246770596254],[0.5151512181709832,-0.6414729024480725,-0.15620520624252876]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[128],\"visible_pixels\":3125,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5691033242782304,-0.47172743881679785,0.6522309054562895],\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_CLU9aodGiYcAmxkpiirCWwla"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_Tycsc5KmNbc9gC95ZYiYBzRO",
          "type": "function",
          "function": {
            "name": "robot_door_action",
            "arguments": "{\"i\":\"GRASP: uchwyt g_office jest świeżo widoczny i TCP jest przy nim; chwyć drzwi.\",\"door_id\":\"g_office\",\"action\":\"grasp\",\"observation_id\":\"obs-80125e5e-7-8058\",\"command_id\":\"phase1-grasp-007\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-grasp-007\",\"action\":\"grasp\",\"door_id\":\"g_office\",\"grip_contact\":true,\"opening_progress_rad\":-8.301605599632969e-9,\"handle_rotation_rad\":-1.4954841246872146e-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\":[-0.7068254201368701,-0.7073880303258863,0],\"normal_arm_m\":[-0.7073880303258863,0.7068254201368701,0],\"source\":\"ideal grasp orientation/controller feedback\"}}",
      "tool_call_id": "call_Tycsc5KmNbc9gC95ZYiYBzRO"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_288RIuCQxjqkBYDmxyE9v0M2",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po grasp kontakt, force, door_grip i stop przed press.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-8-8108\",\"session_id\":\"80125e5e\",\"time_s\":16.216,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-8-8108.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-8-8108-rgbd.npz\",\"tcp_m\":[0.5729477634276046,-0.4806043480573039,0.6499999999999998],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":27029,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":36,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":43,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":73839,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":31578,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":25141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":227986,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0771769286323511,-0.07267766119685526,0.6592458368297857],[0.6320051521075893,-0.5593805508675939,0.690930977225758],[0.7359251659116763,-0.41063715072544665,0.6687978551757668],[0.8474984787351966,-0.288038657145655,0.6286892598199357],[1.0618078652799332,-0.07081564037320892,0.5737466350098763],[1.0383056807365243,-0.12009694278466537,0.5599778502106519],[0.7277254377608564,-0.39813714499213926,0.5856163422965369],[0.7451277927351734,-0.3923070927774407,0.5530847172919277],[0.6306688238738307,-0.48100069964128545,0.5662611185190464],[0.7337895845024159,-0.4299687923143337,0.5241709700837152],[0.6572491583739983,-0.485941228441122,0.5162445660687357],[0.5621747874699076,-0.5961551628993662,0.5136944644028055],[0.8117232312065359,-0.3272419772938448,0.40451624957965604],[0.6207939982761049,-0.5343858923665097,0.43465171073636466],[0.7849471837231428,-0.35556246001678093,0.3385429653306492],[1.090731210412568,-0.07409754436970606,0.19681154428052405],[1.0913258852445602,-0.07604443142555217,0.17030940742696843],[1.0669310174129993,-0.08373594905887316,0.1760053292332795],[0.6292475572252656,-0.5277325344300221,0.326607942508906],[0.6942505274957321,-0.4502590150462763,0.25760335149063585],[0.7232729946307834,-0.41859522660353327,0.19954291671332625],[0.6550647063496537,-0.490720155066661,0.19217392590311733],[1.0125149402585822,-0.12257352319032794,-0.07676415464228781],[0.4986726308675022,-0.6212226539113196,0.22243017692932898],[1.045406458766376,-0.10461741076127928,-0.16948783045314042],[0.518101328346472,-0.6464250579404617,0.18223684632454806],[0.5273031567816722,-0.649472461085489,0.16521708440854932],[0.652043063819428,-0.5042163327306444,0.04099962887194375],[1.06605428498637,-0.08025062229083718,-0.34102203915149387],[0.6240044582632741,-0.513896827783231,-0.05574848025208312],[0.673351015152903,-0.46766467821778246,-0.18584444837185732],[0.5119776153807827,-0.6375210915598548,-0.15031447862024072]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[128],\"visible_pixels\":3125,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5690845587446673,-0.471793952870238,0.6524291339242713],\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":\"g_office\"}",
      "tool_call_id": "call_288RIuCQxjqkBYDmxyE9v0M2"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_5KAwPzM35DVY0WgGjBvdY2TR",
          "type": "function",
          "function": {
            "name": "robot_door_action",
            "arguments": "{\"i\":\"PRESS: po potwierdzonym chwycie naciśnij sprężynową klamkę g_office.\",\"door_id\":\"g_office\",\"action\":\"press\",\"observation_id\":\"obs-80125e5e-8-8108\",\"command_id\":\"phase1-press-008\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-press-008\",\"action\":\"press\",\"door_id\":\"g_office\",\"grip_contact\":true,\"opening_progress_rad\":-3.3891204539646686e-7,\"handle_rotation_rad\":-0.5188679585628116,\"peak_force_N\":1.2223222750732405,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.7068256534282522,-0.7073877972199721,0],\"normal_arm_m\":[-0.707387797219972,0.7068256534282522,0],\"source\":\"ideal grasp orientation/controller feedback\"}}",
      "tool_call_id": "call_5KAwPzM35DVY0WgGjBvdY2TR"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_prC0BWcadN2XNpBtCZTRcFHf",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po press zwolnienie zatrzasku, kontakt i brak stopu przed open.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-9-8558\",\"session_id\":\"80125e5e\",\"time_s\":17.116,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-9-8558.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-9-8558-rgbd.npz\",\"tcp_m\":[0.5669005783035534,-0.4866560416075168,0.6177666680450468],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0.958,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":27029,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[20],\"visible_pixels\":36,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_n\",\"class\":\"wall\",\"mask_ids\":[31],\"visible_pixels\":43,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_s\",\"class\":\"wall\",\"mask_ids\":[41],\"visible_pixels\":73839,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[42,44],\"visible_pixels\":31578,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[49],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66,124,125],\"visible_pixels\":25141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":228189,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.0692526837810516,-0.0721430084696798,0.6602812938871668],[0.7337175575441459,-0.41915527475713005,0.6688029383323942],[0.7426092402498555,-0.44576062659546434,0.6419489594634517],[0.8553628193906084,-0.28030968166757414,0.6275935946912788],[0.9491774418381071,-0.19998531104377176,0.5829534604664827],[1.0919511848753847,-0.07353582039404849,0.5573089586710945],[0.6477351625687331,-0.4894821303576781,0.6063120049984155],[0.585846571854299,-0.5248354994326819,0.592069452477109],[0.9505860371085715,-0.20021471416404646,0.5090286174778512],[1.0675244519725902,-0.07117759972155918,0.4668086202097562],[0.8654265981363987,-0.27414808030621635,0.4941385054845041],[0.7626664417550302,-0.390817692746504,0.48678124814547175],[0.6239739687600723,-0.5185674505869962,0.496867244478681],[0.974107761279875,-0.18896359035216997,0.34838130431098946],[0.7073057314993398,-0.4433372254770088,0.40412909885260573],[0.9527487502398926,-0.20465602492578383,0.2704266277021554],[0.6049399999855801,-0.5570211733125046,0.37321197467743694],[0.6945191427678539,-0.4419972284686058,0.2997288286289549],[0.7884948526356548,-0.3627464208095189,0.2094117798260675],[0.7871238406061236,-0.3566529659816137,0.16479941832131262],[0.7504753070543655,-0.39247811114096276,0.13739765850710095],[0.5000501088324893,-0.6236239561646687,0.2692304709132006],[0.5198804647997644,-0.6489473407700431,0.22786125970017712],[0.5546112623013696,-0.5915839948376762,0.20918545496829977],[0.5227363541231915,-0.650213365486727,0.21203170247614977],[0.5383188053343377,-0.6102021613706367,0.1743086544017236],[0.6691706544327952,-0.48107271233550136,0.030094647560246046],[0.5219005543025002,-0.6206321969603688,0.08770021843922915],[0.6443218677731494,-0.496789489918209,-0.07382059758826365],[0.6775738625587882,-0.4728140681047318,-0.19273086545351803],[0.5127122033029017,-0.6384358098598095,-0.1516779943624087]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[128],\"visible_pixels\":2922,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5615070180089984,-0.479299182551463,0.6189589089980915],\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.721,4.097,1.372,4.771,4.554,4.396,4.287,1.532,4.141,4.127,4.143,4.024,2.982,2.251,1.814,1.541,1.349,1.193,1.093,1.007,0.935,0.889,0.858,0.824,0.805,0.769,0.815,0.817,0.823,0.835,0.848,0.86,0.896,0.941,0.984,1.066,1.071,1.208,1.226,1.16,1.107,1.059,1.039,1.011,1.002,1.003,1.009,1.01,1.03,1.059,1.11,1.148,1.123,1.013,0.918,0.847,0.793,0.872,1.029,1.271,1.684,2.678,2.655,2.632,2.644,2.672,2.722,2.801,2.908,3.039,3.218,3.442],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":1.222,\"lift_m\":0.4,\"door_grip\":\"g_office\"}",
      "tool_call_id": "call_prC0BWcadN2XNpBtCZTRcFHf"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_4XHYk0YX3u3EPYuOQUcr1tZi",
          "type": "function",
          "function": {
            "name": "robot_door_action",
            "arguments": "{\"i\":\"OPEN: po świeżym potwierdzeniu press otwórz drzwi g_office; zatrzymaj się tylko przy hard stopie, nie jedź przez próg.\",\"door_id\":\"g_office\",\"action\":\"open\",\"observation_id\":\"obs-80125e5e-9-8558\",\"command_id\":\"phase1-open-009\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-open-009\",\"action\":\"open\",\"door_id\":\"g_office\",\"grip_contact\":true,\"opening_progress_rad\":-1.4545998071856725,\"handle_rotation_rad\":-0.518869749842141,\"peak_force_N\":1.006983390479781,\"feedback_source\":\"ideal contact/controller joint feedback, not learned visual inference\",\"needs_observation\":true,\"stop_latched\":false,\"contact_frame\":{\"tangent_arm_m\":[-0.784506286346012,0.6201208645768895,0],\"normal_arm_m\":[0.6201208645768895,0.784506286346012,0],\"source\":\"ideal grasp orientation/controller feedback\"}}",
      "tool_call_id": "call_4XHYk0YX3u3EPYuOQUcr1tZi"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_7Ao6SH7axCyLGL8i7RyPKXbA",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po OPEN postęp skrzydła, kontakt, stop oraz aktualny TCP; przygotuj RELEASE bez dalszego otwierania.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-10-12902\",\"session_id\":\"80125e5e\",\"time_s\":25.804,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-10-12902.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-10-12902-rgbd.npz\",\"tcp_m\":[0.628970185395342,0.3875470739327031,0.6177665666604953],\"gripper_closed\":true,\"grip_contact\":true,\"force_N\":0.958,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":116084,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7256,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146440,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.7182880836675172,0.18350679628298883,0.7137503507282174],[1.0995302497607655,-0.09865047804959126,0.6370219875353501],[1.0225938077710328,-0.047074922753690185,0.632729633841303],[1.0949064778261768,-0.10000800272411808,0.6013068991511453],[0.9177501687411483,0.02175323519973521,0.6196792957793121],[0.7644067771745637,0.1553708775381985,0.6295419793106968],[0.8585314335520672,0.08242789893173713,0.5715813960188849],[0.8861185083281491,0.043968337626468346,0.527145572529306],[0.8958553292862901,0.042864296952349445,0.48790201694327184],[0.7813311087289813,0.14281465850044534,0.5055512338416753],[0.9930263342543666,-0.02988807767846302,0.36176478811532276],[0.7471957454047613,0.158981618209521,0.45768660793409777],[0.8156741101040704,0.10374227760319371,0.38088544769137667],[0.8774940024014141,0.06006939682679846,0.3000794175604753],[0.837242562734831,0.09414428853219325,0.2869231751817388],[0.7275180779502439,0.1704586962354191,0.33181329771694834],[1.0441485722862849,-0.06845641053513785,0.016300508258516477],[0.7540545878352396,0.15701790158386797,0.23086241833609422],[0.9152609850588445,0.030842187282747735,0.022900403243583112],[0.6065988387411615,0.2704262324330406,0.30458835329988765],[0.6163886949929372,0.2676030332874534,0.25888635894265755],[1.0247182976909917,-0.05133251868079641,-0.2932024078673391],[0.6048167822602358,0.2699486816840002,0.1946149848655071],[0.6685171374764438,0.22065759877084465,0.05891988442645124],[0.6154920747816616,0.2604990668178803,0.08405398274900877],[0.543355386763499,0.30147383233896774,0.1527888254226194],[0.5693945927667194,0.3185139664262072,0.1206893097039563],[0.550162542189486,0.30875488736467677,0.14010642564330167],[0.8572260886201515,0.07418730633750237,-0.3806098908143277]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1449858041906538,-0.6798710218670813,0.5021627775814155],[2.0874681864768174,-0.7441434395696589,0.47627460997749693],[2.166038838390561,-0.6882881581561567,0.44765691256173235],[2.0429400395643325,-0.7867887324794994,0.4498521258430094],[1.5747982248639216,-1.2324406822157836,0.5051476259808706],[1.897043569129361,-0.9456078529470655,0.43606763752602984],[1.6414053604514083,-1.1524570786514052,0.4595162041310057],[1.7204763024799719,-1.1248796430354155,0.42948557024832645],[2.1411154489224677,-0.6765297139708293,0.3459995461633626],[1.5752682102462479,-1.2376275027683472,0.4289126410012015],[2.072251415015777,-0.7607365662442694,0.3452896002361977],[1.8008676573347615,-1.0355666407756594,0.35494368151402045],[2.020700067532115,-0.819789191499529,0.28231995799260834],[1.6050992169046772,-1.2149040307450074,0.3258734176231891],[1.6849537688227243,-1.1495378146806576,0.2761089741816878],[1.625116818754051,-1.2815498929930544,0.27062309982638677],[1.7360700681695396,-1.0963666468611608,0.2307299793216454],[1.7636094333217132,-1.0723731618117136,0.18817943768535794],[1.742611119304348,-1.0957492502251034,0.15575394261861442],[2.165240585555919,-0.6860203302867985,0.03078237435653952],[1.609911516261894,-1.2078554433822488,0.1531822441013031],[2.0110379071153015,-0.8257254230409937,0.00475560255100016],[1.771398181167277,-1.054681856547427,0.02999786854779385],[2.0061570509144486,-0.8224640092108053,-0.08412071701456947],[1.6118748495210369,-1.201641609439234,-0.00428822892948888],[1.7438931293118316,-1.07521606836793,-0.091630478950399],[1.7807183861414806,-1.0612460222123032,-0.1536629708403664],[1.7023589494860156,-1.1248599505737824,-0.17175789583192103],[1.5814052454423169,-1.2394625711880396,-0.1728233523315459],[1.5926244720521892,-1.2379039472870568,-0.2375454613160285],[1.5828838898738418,-1.239520621935575,-0.3811820858343805]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.714,4.089,1.369,4.77,4.555,4.393,4.276,1.525,4.143,4.126,4.141,4.014,2.989,2.263,1.819,1.546,1.343,1.198,1.088,1.01,0.94,0.885,0.848,0.822,0.804,0.766,1.973,1.955,1.965,2.028,2.084,2.141,2.206,2.262,2.388,1.071,0.945,0.87,0.79,0.74,0.696,0.659,0.627,0.622,0.598,0.998,1.004,1.016,1.034,1.064,1.096,1.152,1.133,1.014,0.916,0.85,0.803,0.864,1.034,1.27,1.676,2.677,2.643,2.628,2.643,2.679,2.726,2.796,2.904,3.044,3.21,3.437],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":1.007,\"lift_m\":0.4,\"door_grip\":\"g_office\"}",
      "tool_call_id": "call_7Ao6SH7axCyLGL8i7RyPKXbA"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_KGCbc5t7b6sjMpALU0q7SSyd",
          "type": "function",
          "function": {
            "name": "robot_door_action",
            "arguments": "{\"i\":\"RELEASE: drzwi g_office są otwarte na 1.4546 rad bez hard stopu; zwolnij chwyt przez door_action, bez jazdy.\",\"door_id\":\"g_office\",\"action\":\"release\",\"observation_id\":\"obs-80125e5e-10-12902\",\"command_id\":\"phase1-release-010\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-release-010\",\"action\":\"release\",\"door_id\":\"g_office\",\"grip_contact\":false,\"opening_progress_rad\":-1.434047673083845,\"handle_rotation_rad\":-0.00016498870225508308,\"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\":[-0.7970972691721124,0.6038509281920176,0],\"normal_arm_m\":[0.6038509281920176,0.7970972691721124,0],\"source\":\"ideal grasp orientation/controller feedback\"},\"suggested_retreat\":{\"waypoints_arm_m\":[[0.6772782596507034,0.4513148554664721,0.6177665666604953],[0.44744990972705373,0.6254241741075692,0.6177665666604953],[0.2964871776790493,0.4261498568145411,0.6177665666604953],[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_KGCbc5t7b6sjMpALU0q7SSyd"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_F8AOx9pvrFZXI06tR5VE0x2F",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po release potwierdź door_grip=null, otwarte skrzydło i aktualny TCP; przygotuj pierwszy waypoint retreat, bez skoku przez liść.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-11-13152\",\"session_id\":\"80125e5e\",\"time_s\":26.304,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-11-13152.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-11-13152-rgbd.npz\",\"tcp_m\":[0.628970185395342,0.3875470739327031,0.6177665666604953],\"gripper_closed\":false,\"grip_contact\":false,\"force_N\":0,\"stop_latched\":false,\"detections\":[{\"track_id\":\"floor\",\"class\":\"floor\",\"mask_ids\":[0],\"visible_pixels\":115966,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7208,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146608,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.7055377899292573,0.18024937685925518,0.7152813636853333],[1.0880852797752898,-0.09221432470425983,0.6511475739247418],[1.007526712611734,-0.046381311727144714,0.635194227803335],[0.874766613365923,0.06005478890219024,0.6301094705057478],[0.7150362708195637,0.1818580423645884,0.6427446904865973],[0.8157855655982456,0.10571128292165982,0.5848615893734679],[0.8405024719591818,0.08387653258525923,0.5445500020229759],[0.8399854800950239,0.07293414625401251,0.5103146672666912],[0.7890606161074859,0.1203723908724178,0.5002304430898875],[1.0926137592219585,-0.09680453488507562,0.32747153030529363],[0.6535381688988158,0.21085874716696007,0.5362275350327989],[1.0888482141155427,-0.09963754893333437,0.29498851253133784],[0.7774060084991998,0.12776055906980022,0.43918916154462406],[0.8631881232164808,0.07085853869575442,0.35119282881317493],[0.8876566881518821,0.051464783144016424,0.2929125913101672],[0.834704282618173,0.08510979160941706,0.2870691694487596],[0.7664259002317546,0.13532597946646252,0.29904078998220385],[0.6641503190901195,0.2255388731694853,0.35071600226340005],[0.8779491381303464,0.05111659905662114,0.11054341255805811],[0.6137073194724436,0.26065667108417995,0.3298990501368695],[0.644897764473043,0.22327804418232058,0.2581962837649847],[0.655238988700966,0.22403916003738805,0.20954563276930482],[0.6282892936456529,0.2438624776895188,0.20194927949625574],[0.6666552259158722,0.20516711446319166,0.10607026782707318],[0.8042803583235542,0.1114781747927499,-0.13917953921217496],[0.6791852465162431,0.19692425656013637,-0.020182042331056693],[0.5375948383961399,0.2953699444268656,0.1661509533772514],[0.5515152792499264,0.3085060182984115,0.13812351025468395],[0.5432954694089778,0.3058921263268899,0.14484412007035963],[0.8577316562322035,0.06807781046386607,-0.3835189823339148]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1410165666341117,-0.678612939138362,0.5027139172144379],[2.101117839981884,-0.7238961735224946,0.4750692918494298],[2.0185171222350924,-0.8235297116371131,0.45219931440882644],[1.5742741984366595,-1.2350609917930837,0.49449449005857626],[1.6163243317643985,-1.274587792391797,0.47506946107938963],[1.8340926762688277,-1.0037959207694498,0.44425217763214475],[2.168628108842511,-0.6878575751127299,0.37415351605341896],[1.6473295938092076,-1.184365211480852,0.44018141742964845],[2.1375604675561197,-0.6751895932347799,0.3535326622787537],[1.730740307871155,-1.0631825148533256,0.41008315919281235],[2.005787598845746,-0.8301366539649393,0.3550685478026394],[1.7181350846577164,-1.122465174101545,0.36799044752569177],[1.9149089028435489,-0.9241789658079216,0.3006906664471575],[2.096979120551773,-0.7267494490999191,0.23141761971901575],[1.6940353344989818,-1.1485422307290545,0.2737715370673838],[1.5819822486215454,-1.24482181499038,0.28183112012503087],[1.7544912125712169,-1.0896402800057357,0.22601332073774105],[1.7278486176540584,-1.097996256323329,0.19695336533534424],[1.7069784868055153,-1.1321202999964144,0.16414645637873782],[1.5818466752648843,-1.2411454125406174,0.15977896732847696],[1.9479658401362117,-0.8814379975815899,0.022238433030831062],[1.7113279576519085,-1.1204904166926761,0.04632328819581255],[1.9559671064864737,-0.8775198915873564,-0.06970621648597108],[2.148750026252475,-0.691492047356346,-0.17906001161735186],[1.673747241207792,-1.1550979639748822,-0.06965438329323803],[1.7112292073963333,-1.0942608690013371,-0.12528170863597143],[1.6898054521513735,-1.1566479313872338,-0.16959091309556806],[2.114425944507674,-0.7176007527691418,-0.3824207264558265],[1.6115963550415233,-1.228095615623778,-0.24649687457708624],[1.5819333068287784,-1.2387762418235808,-0.3804727402714435]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.72,4.09,1.37,4.771,4.554,4.398,4.277,1.526,4.139,4.127,4.145,4.012,2.981,2.26,1.831,1.538,1.343,1.199,1.079,0.997,0.941,0.89,0.861,0.82,0.799,0.765,1.967,1.96,1.967,2.03,2.076,2.128,2.215,2.26,2.385,1.073,0.953,0.845,0.776,0.727,0.679,0.653,0.623,0.603,0.577,1.006,1.005,1.014,1.033,1.064,1.104,1.155,1.14,1.005,0.919,0.845,0.781,0.874,1.029,1.28,1.678,2.678,2.643,2.626,2.636,2.677,2.724,2.801,2.912,3.032,3.212,3.441],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_F8AOx9pvrFZXI06tR5VE0x2F"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_fotnvFFyrqz0gIR6eFKtzFBo",
          "type": "function",
          "function": {
            "name": "robot_execute_sequence",
            "arguments": "{\"i\":\"RETREAT 1/4: wykonaj wyłącznie pierwszy waypoint z suggested_retreat, aby odejść od skrzydła po zwolnieniu.\",\"script\":\"robot.move_tcp(0.6773,0.4513,0.6178)\",\"observation_id\":\"obs-80125e5e-11-13152\",\"command_id\":\"phase1-retreat-011\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-retreat-011\",\"executed\":[\"move_tcp\"],\"duration_s\":0.444,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_fotnvFFyrqz0gIR6eFKtzFBo"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_mXMDv8hKwOPDoqdCG5adKyKp",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po retreat waypoint 1 aktualny TCP, otwarte skrzydło, brak kontaktu i brak stopu przed waypointem 2.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-12-13374\",\"session_id\":\"80125e5e\",\"time_s\":26.748,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-12-13374.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-12-13374-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\":115863,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7180,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146739,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.7043059309481229,0.17993466400205982,0.7154292812235622],[1.086968407494543,-0.09971087111263405,0.6449414919521598],[1.0609966085770712,-0.08549998060443625,0.6249346220018649],[1.0918636719488017,-0.09958937363037401,0.6002591894207397],[0.9003878027297718,0.022662002877915866,0.6231573180996898],[0.7347565572507269,0.15633602520863954,0.6365736976724902],[1.0939421072493636,-0.09553925249407774,0.531811251983458],[0.8165638637729126,0.09633180050685358,0.5839960987789891],[0.8551135730469523,0.06076891670282997,0.538153051050088],[0.890395554137446,0.04120003479723916,0.48967774152694443],[0.7731445092332797,0.11322408292369895,0.505800625943107],[0.6614998787043329,0.20966279082417785,0.5325913158399653],[0.8026545454663683,0.10757883295948995,0.4244609987471595],[1.001953923729409,-0.040064161801460385,0.2624563536855956],[0.6431194812040052,0.21630939409373198,0.45783741656697885],[1.043831368970599,-0.0692135113632098,0.13026198850164583],[0.9071332766305449,0.021760431226659993,0.18287901371880932],[0.7382621508887703,0.15548578068079133,0.282571433203893],[1.0274874315812885,-0.0605342751545348,-0.03138792975655136],[0.675429443229737,0.19717850402499662,0.2629425027875747],[0.7474830667615513,0.13947651608584616,0.14393145655386042],[0.7819695552939222,0.12498242396280251,0.059448116139089735],[0.7108617679017267,0.1727363094382552,0.09551502442745496],[0.7468252531770878,0.14242916653322324,-0.002593898988241472],[0.8789724633487012,0.053746001087349005,-0.24744520340698817],[0.7039867481580558,0.1746999181347007,-0.05992767927366438],[0.5287392340870395,0.2928884112257234,0.17188693648220565],[0.5320828697671702,0.2986084546393101,0.16179212531031217],[0.5426409969664014,0.30502813982960547,0.14738270056991953],[0.8689344698948245,0.06479823827282666,-0.4004760368214625]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1464904744097795,-0.6803479395592407,0.5019538499522233],[2.106716180893906,-0.7079253081844292,0.4748531920595035],[2.018523979414694,-0.8164010641286386,0.45248229045880783],[1.856008277437234,-0.9911913404950091,0.4410702752803829],[1.587809269100975,-1.2505899559664164,0.45080479025885756],[1.650852935283575,-1.1665017495217331,0.44037296704460605],[1.5727439131201382,-1.2325496350937544,0.4407050931138051],[1.9880214902202975,-0.8408955663498143,0.35808167609811126],[1.6880947045054742,-1.140941417340668,0.3734473013419185],[1.895157889922354,-0.9218912221410182,0.30541128793161454],[1.6371634895318556,-1.1581925525301604,0.33647109553767984],[2.121686418751526,-0.7046916788868465,0.22666603527725715],[1.6994067490486766,-1.1342067284151875,0.2733184837237418],[1.7480344568238875,-1.0746953159566395,0.2289140953274228],[1.7639714411945524,-1.0615163622219366,0.18890319348840212],[1.7267247393728171,-1.1079511187338198,0.15982212194347],[1.5849605237250939,-1.214447643294398,0.16102760844756048],[1.9768807689371695,-0.8667370822547716,0.013232871730091023],[1.75395021931846,-1.0863780302498491,0.03352756545302171],[2.0082232322398204,-0.8192621816011627,-0.0846188434942512],[1.6193866662830405,-1.2765063485060795,0.016826366945291604],[1.6449680399888784,-1.2030307430685356,-0.01830901757768666],[2.1401728863488696,-0.676182031014846,-0.17380267958023565],[1.7416389906745278,-1.0935754471605805,-0.09270558242983828],[1.8046055109276515,-1.038823514168811,-0.16210483222258787],[1.7470914433970508,-1.0930501003870496,-0.1896391110960125],[2.1686560840935014,-0.6859397917479205,-0.3682010296572934],[1.5992151083630874,-1.2293435267636261,-0.18062793434850577],[1.6195081104852254,-1.2096091370181492,-0.24823165816355053],[1.5930256287933353,-1.2474623886143685,-0.38875007007349616]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.722,4.09,1.368,4.761,4.552,4.386,4.263,1.524,4.136,4.128,4.15,4.011,2.983,2.26,1.823,1.545,1.346,1.202,1.096,1.016,0.933,0.883,0.844,0.817,0.789,0.762,1.963,1.957,1.968,2.024,2.068,2.13,2.21,2.268,2.395,1.071,0.936,0.847,0.773,0.712,0.677,0.627,0.61,0.589,0.581,0.999,1.004,1.014,1.029,1.062,1.098,1.15,1.128,1.008,0.918,0.841,0.802,0.861,1.026,1.276,1.672,2.668,2.633,2.642,2.64,2.671,2.722,2.804,2.903,3.046,3.216,3.43],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_mXMDv8hKwOPDoqdCG5adKyKp"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_PYEhCnjU7bCiyh6WjyBF0Kag",
          "type": "function",
          "function": {
            "name": "robot_execute_sequence",
            "arguments": "{\"i\":\"RETREAT 2/4: wykonaj drugi waypoint z wyniku release, po świeżej obserwacji i bez łączenia punktów.\",\"script\":\"robot.move_tcp(0.4474,0.6254,0.6178)\",\"observation_id\":\"obs-80125e5e-12-13374\",\"command_id\":\"phase1-retreat-012\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-retreat-012\",\"executed\":[\"move_tcp\"],\"duration_s\":1.602,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_PYEhCnjU7bCiyh6WjyBF0Kag"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_CXjsYA3ncwYnhF0jXKaDjFJg",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po retreat waypoint 2 stan TCP i skrzydła przed waypointem 3.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-13-14175\",\"session_id\":\"80125e5e\",\"time_s\":28.35,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-13-14175.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-13-14175-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\":115729,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146899,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.6944362096833372,0.1774131674456096,0.7166144045979491],[1.0047538093150061,-0.043263392506860565,0.635771249203091],[0.8695960944515702,0.04969928203861973,0.6306088683061978],[1.0913557441061967,-0.09335268817419895,0.5495995601280089],[0.7234809620174656,0.1480380867745798,0.6387273803397723],[0.824399094422271,0.07428734728030262,0.580323848000612],[1.0917780726546895,-0.10025836246204212,0.46446230854049475],[0.9156606915424266,0.009816870412862888,0.5152125640210762],[0.893949660400951,0.022947358823386943,0.48678048039840405],[0.8515016563155279,0.06503032345366849,0.4699610643217731],[0.7316200698239446,0.14908287005677595,0.494945702775336],[0.9666424831937063,-0.017612616675508286,0.32953067149563975],[0.6489447566487481,0.19723297526492548,0.4808667625666099],[0.6788595187465802,0.1717259641747081,0.4304102084544512],[0.6716509352657646,0.19094086770682953,0.4055770108827562],[1.0934135643350167,-0.09944558645262452,0.05797733331999755],[0.6117677819501322,0.23306568647614453,0.420667170782404],[0.8789899969633286,0.04511437026138454,0.15745834736538233],[0.6425671013054133,0.20947399313550605,0.32886253871201],[0.7829966964061947,0.10749651266318566,0.1508480223037466],[0.8984771583375628,0.021962895796677984,-0.022880962148126294],[0.9757292462250403,-0.02801206051031424,-0.1704272057859748],[0.9084904929935219,0.021170133754651654,-0.15418823048677477],[0.9839890659535655,-0.030116086970280842,-0.3202864597078968],[0.5807806274014127,0.24089654201583202,0.16950414313803353],[0.5172251844267529,0.276968854778645,0.2194181606795803],[0.8299080432250973,0.0799251693246757,-0.25570813175393303],[0.5155164367263303,0.28884262679841516,0.18331728370263556],[0.51530106980406,0.28683883399922316,0.18290368149083436],[0.5363910368318293,0.2990553531623015,0.15210948693755966],[0.8564805127211774,0.057686738370680835,-0.38549369962299773]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":13,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5628149640972218,0.16719874979373892,0.6472196135984375],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1517157028959906,-0.6820041190190159,0.5012283124984112],[1.8978554211145706,-0.8951216705356243,0.5123554322023668],[2.095478889947419,-0.7290950003154699,0.47568213293631223],[2.020181117398035,-0.795729205393074,0.45304738170159997],[1.8589291959326781,-0.9717493987982798,0.4414180280484362],[1.6706237225992036,-1.1599407613150445,0.4370335122347344],[2.019189267626201,-0.8027648095812423,0.3537820591748473],[1.570708378591451,-1.229645124709258,0.42188942072825075],[1.7151320634806955,-1.1100114221047237,0.3693228392988558],[1.9362470073683862,-0.8903360257814003,0.29774327215133745],[1.579005570887337,-1.241108362703014,0.3394899249769524],[2.1627909806518746,-0.6831413219882523,0.22868111082180054],[2.133242177957443,-0.7046960132857678,0.22378722252942762],[1.6217704594560076,-1.2783343654128985,0.2872125130715113],[1.7019861184472378,-1.1251652386265887,0.2732468042827234],[1.7629292767071625,-1.0728549278472106,0.22484088933512725],[1.768432343883763,-1.0642008281289759,0.1873577923986376],[1.7321742141821506,-1.0965929960226033,0.1590100394612447],[1.6145925433225061,-1.2187166775834282,0.15066879991128146],[1.9424510404397866,-0.8828571001313056,0.02408257010216186],[2.1392009034391553,-0.6761262908358419,-0.03959160211971069],[1.7389324376387825,-1.0885326562331605,0.038986515842565406],[1.9749718787915955,-0.853725807131597,-0.07486418838761488],[1.598085477582185,-1.2331879824611776,-0.0018845244543085338],[1.719666540839317,-1.1072434747828805,-0.08454111367639483],[1.7183194090566891,-1.1147126923751933,-0.131004716320414],[1.7026734667555372,-1.141172947393395,-0.17394598624227875],[2.1672803200239343,-0.6893677951965459,-0.34919132720752655],[1.589594862843365,-1.2418818465782895,-0.17733783751501275],[1.9321906787961953,-0.8916367154850838,-0.3786010508006593],[1.588442220114278,-1.2438732248021689,-0.38532983169821555]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.731,4.096,1.366,4.758,4.563,4.389,4.271,1.534,4.143,4.126,4.145,4.016,2.972,2.261,1.82,1.543,1.344,1.2,1.081,1.003,0.941,0.886,0.849,0.817,0.795,0.765,1.964,1.961,1.971,2.037,2.069,2.133,2.217,2.262,2.395,1.078,0.936,0.832,0.755,0.696,0.662,0.621,0.593,0.574,0.561,1.005,1.011,1.014,1.036,1.06,1.102,1.15,1.13,1.01,0.921,0.852,0.794,0.862,1.035,1.267,1.678,2.67,2.642,2.632,2.64,2.679,2.725,2.794,2.912,3.042,3.209,3.432],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_CXjsYA3ncwYnhF0jXKaDjFJg"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_sUebeJ6NTsfQUJaAQ0leNiof",
          "type": "function",
          "function": {
            "name": "robot_execute_sequence",
            "arguments": "{\"i\":\"RETREAT 3/4: wykonaj trzeci waypoint suggested_retreat po świeżej obserwacji.\",\"script\":\"robot.move_tcp(0.2965,0.4261,0.6178)\",\"observation_id\":\"obs-80125e5e-13-14175\",\"command_id\":\"phase1-retreat-013\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-retreat-013\",\"executed\":[\"move_tcp\"],\"duration_s\":1.388,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_sUebeJ6NTsfQUJaAQ0leNiof"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_5CHYWAPD2w53itXkOHxrwncb",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź po retreat waypoint 3 stan i brak kolizji przed ostatnim stow waypointem.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-14-14869\",\"session_id\":\"80125e5e\",\"time_s\":29.738,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-14-14869.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-14-14869-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\":115728,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146899,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.6842245235086908,0.17480430638113414,0.717840589983818],[1.0147585529752126,-0.05732023149739096,0.6335734433675614],[1.098242254143459,-0.10073123207314572,0.5860441750984126],[0.8899154127562805,0.03539402739273251,0.6258701296141785],[0.7425607305752968,0.1356661041024076,0.6334967844407485],[0.8966890778862089,0.032446216420818186,0.5576932645883873],[1.0541432908369246,-0.07150753936601018,0.46554748553211056],[1.0178611734728318,-0.06172661304786253,0.43545285191939065],[0.883516269183146,0.03778834768874356,0.4545557742399182],[0.7057597044816019,0.1597654464541413,0.5075199625152597],[0.9257436288167383,0.005550237451430962,0.35220940893056374],[0.6519688763953453,0.20595853018993426,0.4804423129519172],[0.6709432061184847,0.18237955292554642,0.43660094894245416],[0.6659729648915433,0.19355469532823852,0.40959496707815324],[0.6232831437677632,0.22585175005855984,0.4114922764476753],[0.8527709329698692,0.06456550794406996,0.1805578632734427],[0.650734751036322,0.2077801972761227,0.32198426407074143],[0.7784091924689307,0.11423120404949083,0.15626700168963126],[0.8638929712251961,0.049398671334845434,0.015448692604880687],[0.931082243739749,0.005400423523793718,-0.11792245391982081],[0.8650382951397038,0.05185594287517081,-0.099998421179892],[1.0195884198897194,-0.05952819836079648,-0.3689866839319095],[0.6058118755159442,0.23073846455500455,0.13596190172990585],[0.8258396629741591,0.07763951659792684,-0.2511634899581604],[0.5181805687854273,0.2755312410639652,0.210750040826567],[0.5128154197333242,0.28409483411485215,0.19796747526607605],[0.5389059253742918,0.2965514424084838,0.15911392404672342],[0.5157359608880074,0.29037527198762103,0.17807792206603312],[0.8534051073706792,0.05747959985298823,-0.381236890959343]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":14,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5674040006854252,0.16908180778889956,0.6477614204760892],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1534001531774054,-0.6825380194913974,0.5009944219094206],[1.620694880478957,-1.2769085556614073,0.536660324723962],[2.091292866025402,-0.7205111843911294,0.47658869056400566],[1.6484382850294232,-1.145682120661303,0.5214256649206904],[2.0241305401293905,-0.7937310360294262,0.45251069874544225],[1.581528483440014,-1.2445890517665856,0.47947431277718733],[1.9240571599808582,-0.9128598513066637,0.43289347336070316],[1.741911497221985,-1.093702423288472,0.4269989309552481],[2.0689022373894788,-0.7631895922882834,0.3458358581984958],[1.7578973308819597,-1.0737675206495991,0.3621015139864553],[2.165153880082859,-0.6857962977375226,0.28865814613302376],[1.9798712040159507,-0.8657252528481023,0.28907512866144436],[1.587203580015655,-1.2395025283278236,0.32874855543201564],[1.6916092210114035,-1.136150572772887,0.2752517993502587],[1.7257989944037175,-1.115303905625326,0.23226484764424393],[1.7190425056684075,-1.0997011647664268,0.19946702743403222],[1.6603308890051307,-1.1665433515544847,0.17620629254186648],[2.1298652295306253,-0.6875067710519188,0.018720221992073682],[1.9198208323894308,-0.919278239034711,0.028853708325805805],[1.6939569604051563,-1.1508412574209417,0.049953562296905174],[1.5725430949110046,-1.2346738375021569,0.07418375953107648],[1.9259956414960846,-0.9038073034212517,-0.060427162759806086],[1.6197493854094316,-1.2771315398084537,-0.01566916454556888],[2.109170149272876,-0.7369282271623813,-0.16728000274259713],[2.1347107779407355,-0.6747010371234532,-0.17995286596495852],[1.676646776464219,-1.1492728110657973,-0.07027818047381917],[1.7190577933824478,-1.1072212266838708,-0.13045878924146548],[1.6796420535594432,-1.14969122880218,-0.16375927199844797],[2.074535123586149,-0.7557929416496947,-0.3669107314141221],[1.9439728374890164,-0.8927631802246362,-0.3851873345373852],[1.5885635674686776,-1.2439682491745552,-0.3854203837103355]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_5CHYWAPD2w53itXkOHxrwncb"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_ttgLqHukLz67lvY0jLyat5QL",
          "type": "function",
          "function": {
            "name": "robot_execute_sequence",
            "arguments": "{\"i\":\"RETREAT 4/4 i STOW: po obserwacji wykonaj ostatni waypoint suggested_retreat do pozycji stow, bez przejazdu.\",\"script\":\"robot.move_tcp(0,0,0.55)\",\"observation_id\":\"obs-80125e5e-14-14869\",\"command_id\":\"phase1-retreat-014\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase1-retreat-014\",\"executed\":[\"move_tcp\"],\"duration_s\":2.908,\"grip_contact\":false,\"peak_force_N\":0,\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_ttgLqHukLz67lvY0jLyat5QL"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_6l2SF3YjSpCnwysjw8h7fIXf",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Potwierdź końcowe stow TCP, pusty chwytak, door_grip=null i brak stopu przed obniżeniem liftu.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-15-16323\",\"session_id\":\"80125e5e\",\"time_s\":32.646,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-15-16323.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-15-16323-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\":115728,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146899,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.6859545518303273,0.17524629054041674,0.7176328539244786],[1.0524168966720793,-0.07685023586706324,0.6266788202881285],[0.8792601862584377,0.04390105480977019,0.6284058254324935],[0.7384615718312331,0.14100937236701339,0.6347818084017517],[1.082510367150036,-0.08969098713147355,0.5383105934142755],[0.8534711375568143,0.06805828082262011,0.5719608181260638],[0.9655964674975239,-0.02178689713276788,0.4971222428101685],[0.9250693127543712,0.005972963997358971,0.4742762758789364],[0.8151723425545825,0.08917524969379637,0.4867593678697305],[0.7041715886918751,0.15729497608963283,0.5079410245567828],[1.0919686242219233,-0.10007917443449016,0.26963858120386675],[0.8804310116395935,0.027832509299920205,0.3769174683553025],[1.0412408271046858,-0.07754512578592904,0.2365095234587592],[0.6490078954685928,0.19754042440440908,0.4516208933486522],[0.635677448723883,0.21555417765019877,0.4323353314936168],[1.0723947362200732,-0.09592954293946926,0.04918933311994589],[0.7656395522198759,0.11808518272779156,0.25521908195399046],[0.6216950208842182,0.22630384499953327,0.3489927031797372],[0.732151583487378,0.14694455036337967,0.203187418264131],[0.863132202295763,0.052853814008528455,0.01696291572122044],[0.8998500554397336,0.024352973377576193,-0.08230796989476485],[0.857011032415506,0.056855387608571784,-0.09016810965755007],[0.9759100046541751,-0.029868818254449314,-0.3110883260151346],[0.6079357584043955,0.23731304531730046,0.135421442055087],[0.809422432586302,0.09088353947866912,-0.22534266929992486],[0.5099168498993197,0.28290849841915827,0.18901887550144725],[0.5312127327477167,0.2981201279415961,0.16283581291881755],[0.515180943750768,0.29006278020033865,0.17874721301616725],[0.8554264673860683,0.057615745001218466,-0.38403474745148924]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":14,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5631726096721023,0.1672078729007821,0.6489406915740402],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.149578345149965,-0.6813266657733825,0.501525090543817],[2.1307771738227936,-0.6758988941729055,0.48841974490284856],[2.120186111132619,-0.7088574408754078,0.4729047180086846],[2.0483913591878355,-0.7745784474412472,0.4494879832597868],[1.8927317848896488,-0.9154239772415181,0.4381130464046912],[1.6977507213099936,-1.1339474048312643,0.4332521959624709],[1.571834267791807,-1.2302989249047886,0.44647747981918495],[2.031741855385973,-0.8040903664227207,0.35119582497689894],[1.620370553399969,-1.2778899586481516,0.40082046886104294],[1.7343511143736818,-1.0837903268359157,0.36662406518906276],[1.9760904934226327,-0.8640720864059084,0.2900507775165523],[1.6197013816159727,-1.2224375774016156,0.32178254061305167],[1.7404292094838714,-1.1032352972180024,0.2645500260758804],[1.811883739720192,-1.0354761881404109,0.2137125235289432],[1.8073852087370583,-1.0388222866550239,0.17760657226950782],[1.7798552203002393,-1.0587968396505383,0.14689537577410994],[1.6370312438320325,-1.1948500899628027,0.1451577748493823],[2.0273460194953143,-0.8084526125028524,0.0004972580831916762],[2.169862319688729,-0.6861806863561063,-0.06404857036172984],[1.8037539852016078,-1.0311222330727394,0.020059188754320223],[1.5736183070826637,-1.2366610947797692,0.08372173910445602],[2.020860717851396,-0.8041026268522966,-0.08811620991859492],[1.608652911092044,-1.2298131059698925,-0.005952983020488634],[1.6917640314062685,-1.1399630008797867,-0.07590600689038185],[1.7200154661128249,-1.1078380503761112,-0.1309771400570262],[1.6769676996556186,-1.1598747089004056,-0.16372308741443975],[1.593622236000266,-1.2034301771836615,-0.16664146393054435],[2.094911416572867,-0.7413761312717974,-0.3755023460521666],[1.9340936770598434,-0.9054070198458527,-0.3815581816777608],[1.58677770725727,-1.2425697823798036,-0.38408773631717275]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.721,4.091,1.369,4.766,4.554,4.388,4.272,1.526,4.142,4.127,4.144,4.012,2.981,2.251,1.818,1.554,1.349,1.201,1.088,1.005,0.948,0.893,0.845,0.817,0.797,0.773,1.967,1.96,1.968,2.029,2.07,2.139,2.2,2.256,2.389,1.073,0.937,0.84,0.772,0.691,0.657,0.618,0.591,0.565,0.562,1.002,1.007,1.016,1.022,1.067,1.093,1.159,1.131,1.014,0.912,0.844,0.792,0.866,1.038,1.272,1.678,2.674,2.635,2.637,2.637,2.678,2.724,2.805,2.907,3.037,3.219,3.432],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_6l2SF3YjSpCnwysjw8h7fIXf"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_7qfVFMPIhFNhj1pwfawvIDBZ",
          "type": "function",
          "function": {
            "name": "robot_move_lift",
            "arguments": "{\"i\":\"LOWER: ramię jest stowed, puste i bez door_grip; opuść kolumnę do 0 przed gotowością do jazdy. Nie wykonuj przejazdu.\",\"height_m\":0,\"observation_id\":\"obs-80125e5e-15-16323\",\"command_id\":\"phase1-lower-015\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"lift_m\":0,\"command_id\":\"phase1-lower-015\",\"needs_observation\":true,\"stop_latched\":false}",
      "tool_call_id": "call_7qfVFMPIhFNhj1pwfawvIDBZ"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_mpHgnMKLgcoAuGSYuHxeyNj8",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"VERIFY końca fazy: potwierdź lift=0, arm stowed, TCP drive-safe, door_grip=null, stop_latched=false i opening_progress g_office.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-16-19657\",\"session_id\":\"80125e5e\",\"time_s\":39.314,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-16-19657.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-16-19657-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\":115728,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146899,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.6913004842687687,0.1766120586176408,1.1169909320990574],[1.007840683696308,-0.049399733915122035,1.0350188596957444],[1.090733933635776,-0.09623428689057006,0.98280217782143],[0.9068019287363572,0.020163019230791834,1.0217632514852169],[1.091245641843503,-0.09993567430413375,0.9458581653628495],[0.7582751803941394,0.13225372679025693,1.0295957977404073],[0.8489450800404748,0.057579513272702165,0.972465500216693],[0.9339959385136198,0.010013444040153585,0.9095099625867276],[1.0921507577580527,-0.09968021970513102,0.8345717900193983],[0.9947528136944362,-0.038914493516098825,0.8456572864975946],[0.9037243478078353,0.02547536765110764,0.8453245700989857],[0.7484282880202908,0.13653101496858017,0.8861430257668024],[0.9946954220268767,-0.04602010802687989,0.7124263823307057],[0.6622116020515778,0.19927463376190013,0.8740715126559153],[0.6942782521716708,0.1668198874793867,0.82070706205946],[0.7235963682199038,0.15169920441005574,0.7663399336889756],[0.653479991281965,0.19952408362932134,0.7861331432337102],[0.9480739131980592,-0.00952401380084511,0.4959534316445635],[0.6826643902264542,0.17131847314530468,0.6890012241209856],[0.835756191114724,0.07297479496215059,0.4979445869257856],[0.96790372318617,-0.020796605865216145,0.303072065662914],[1.0723961912340911,-0.09474058329222995,0.11730809191360181],[1.0084100140621746,-0.050274302068574694,0.12096297499891229],[0.5711426641102955,0.25736848456921135,0.6272992455050579],[0.6424369595394661,0.21372540467478626,0.48621716681408944],[0.854205060314132,0.05661474749251583,0.10484248424469889],[0.5120093927148736,0.2822449128533057,0.5966438665428963],[0.511984928639614,0.2868639312619458,0.5875418240749505],[0.5332780618123202,0.29830450340263176,0.560010094207066],[0.851655042707104,0.057361727325966394,0.021185453275915478]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":14,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5686471246046646,0.16948091670910137,1.0466645856902668],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1427753490566643,-0.6791703997987205,0.9024697054016846],[1.5714027693409802,-1.234076652491747,0.9473872989694386],[2.1160682156678114,-0.7146579812985464,0.8732795143173935],[2.1385749578809707,-0.6755266934387018,0.865114100221001],[1.5948242801828496,-1.2000634896380091,0.9218651008835584],[2.0522142925738236,-0.7903604857511166,0.8482625735738394],[1.9073538371260599,-0.9260169923799959,0.8351643317513235],[1.6872734206931774,-1.1235435884547584,0.8356759949622958],[2.1637366168765295,-0.683348355601435,0.7514878749509925],[2.0157523049075534,-0.8159732809991382,0.7537949564327288],[1.7713397829166335,-1.078430264577317,0.7589481913512337],[1.9795560381725699,-0.839745960515119,0.6906882209092519],[1.6210285395158452,-1.219920741070287,0.7216130950893507],[1.6191913624260499,-1.2768197301127158,0.7124172473421171],[1.7213167291604998,-1.1090635011300574,0.6692168486412506],[1.7953061557093317,-1.0370190815899638,0.6182823472755705],[2.166230394905958,-0.6872288254063301,0.531194937439494],[1.795202468665448,-1.0318200705044567,0.581801835855635],[1.7481066763949735,-1.088019296591273,0.5546320635823925],[1.6587392880342096,-1.1697887231242434,0.5399959762806575],[1.988332741845293,-0.8360910687528432,0.41193479936294575],[1.7614651499764742,-1.0756117229895126,0.4317293084912919],[2.0076025098755057,-0.8190089555901332,0.31565458362840915],[1.6147531878255927,-1.2152666545041282,0.3930468640104857],[1.7041527065422075,-1.1285946398516304,0.3199036903555258],[1.7300250472664271,-1.102283603463709,0.2650294852598942],[1.6810447938365347,-1.1546616371060026,0.23493571374853917],[2.099647843744395,-0.7386871792299132,0.0224135344300167],[1.619100195366891,-1.2052349855635047,0.15259720882594463],[1.5705611201140688,-1.2330830671892383,0.13920636466331615],[1.5871125776236075,-1.2428320118000453,0.015662376195611394]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_mpHgnMKLgcoAuGSYuHxeyNj8"
    },
    {
      "role": "assistant",
      "content": "PHASE_COMPLETE  \ng_office otwarte: opening_progress_rad ≈ -1.434; ramię wycofane i schowane, lift=0, TCP drive-safe, door_grip=null, stop_latched=false. Końcowa obserwacja: obs-80125e5e-16-19657. Przejazdu nie wykonano."
    },
    {
      "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: d0f99d6c-f40f-4c84-b536-ed6ca27c349b\nPhase: phase2_cross_and_approach"
        }
      ]
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_Ax7rktQVMoTpKIUpcUjjRqF0",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"FAZA 2 start: świeżo sprawdź lift, TCP/stow, door_grip, próg otwartych g_office, lidar i widoczne inne drzwi.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-17-19657\",\"session_id\":\"80125e5e\",\"time_s\":39.314,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-17-19657.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-17-19657-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\":115728,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":47,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":455,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":48934,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":112,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":24,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":107,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65,66],\"visible_pixels\":7141,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":8862,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":146899,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.692100496540145,0.17681644414518272,1.1168948692805474],[1.077820661444629,-0.09667716567941931,1.0217531884101807],[0.8716236719590915,0.03973120646655204,1.0297049189846876],[0.728241157579813,0.15099422110587157,1.0377853140635698],[0.8330096573954502,0.07506325288984939,0.9780294066877888],[0.9553318360844238,-0.012415131138267532,0.9010698087341311],[0.9986018102090963,-0.04400445008239062,0.8438414059787114],[0.9452597647117202,-0.0027945419113946657,0.8260518998853787],[0.7858216007001554,0.11044951634109923,0.8667666240732258],[1.0656973194966373,-0.08918524618595025,0.6726899102453607],[0.6996605316809437,0.17099565237907322,0.8502559338787757],[0.7511108731468601,0.13553949595252252,0.7829805433006571],[0.7134679348281446,0.15782029183776858,0.7737430320875598],[0.6583678099418316,0.2063034353872403,0.7839648295881043],[1.0961327863013428,-0.10004112369236412,0.4295442181687832],[0.94009269225865,-0.0003086230372429388,0.5036081203952697],[0.6768370846051774,0.1885688794546712,0.6971846776334372],[0.8130907197151596,0.09300727965567007,0.5218131253724275],[0.9375136916260993,-0.004368082717632726,0.3349460254021118],[1.0046154209730371,-0.044201871060966735,0.19697110004027962],[0.8869170565842504,0.03603816802084103,0.2726172570746219],[0.5328186201828894,0.26137134332921835,0.693833051486094],[0.5551243494303627,0.274466633273916,0.6503966865300334],[0.5795931426315017,0.2425642635245822,0.5714630369502484],[0.7816555319962588,0.11068220174126242,0.21746252943158684],[0.537497587344985,0.29575660901018985,0.5569971353147815],[0.5129577361663167,0.2845956216586225,0.5853752930011851],[0.5209325344294928,0.29330110336248655,0.5718114135032163],[0.8544117886060159,0.057547403096825156,0.017369715677591824]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":14,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.5650029422336594,0.1678252447077844,1.047903678124812],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":58904,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[2.1482976591567944,-0.6809207417373512,0.901702917342601],[2.101864335930455,-0.7313167343369149,0.8746938556354034],[2.1367856629368047,-0.6750668493430622,0.8621920813897055],[2.022212343034173,-0.807197987465466,0.8522734301119073],[1.900076547524012,-0.9259944180121038,0.8364037719282035],[1.7143760153926153,-1.1208911610369439,0.8307993020261111],[2.0635265866887513,-0.7685616777332708,0.7466391364154658],[1.5716914321517927,-1.230414718246975,0.8216527740303519],[1.6198770459557332,-1.1764522769413552,0.797673309375192],[1.5960985243966186,-1.2585002765974422,0.7954073710815195],[1.7988355245266945,-1.0593116921237564,0.7540750337810385],[2.037857283175769,-0.8005310633527752,0.6794785997849333],[1.6526735422492151,-1.176207156139789,0.7165426092148861],[1.7640585547736845,-1.0816868618027042,0.6597500564940433],[1.804362391972941,-1.038556049061067,0.6156142887889525],[1.8058906128032146,-1.0156459951772043,0.5798324655065848],[1.7646204453008998,-1.0683423927723343,0.5509720489652108],[1.6337055602691228,-1.1887423660311875,0.5468049705032806],[1.6178901065226232,-1.275761827878865,0.5346502601183871],[2.0105387550226026,-0.8334728307721598,0.40422621543611414],[1.755202314929865,-1.0756233914573496,0.4340912900857885],[2.032401133415296,-0.8046197490149022,0.30722716253075877],[1.5999641967072389,-1.2269890740359584,0.3979914485449433],[2.1674598821078455,-0.6851763884468446,0.2006169997125654],[1.7083231969253938,-1.1195456558210597,0.31908209167279544],[1.725353375200518,-1.09532545027239,0.26802679701579235],[1.6914640684734803,-1.137670261946024,0.23196577786228822],[2.110076137981997,-0.7161245012856913,0.0200117547598877],[1.6089894029062977,-1.23018378747817,0.15463038452862699],[1.5899467201725264,-1.2450513648159953,0.013547477921076245]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":1521,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.723,4.09,1.361,4.764,4.561,4.396,4.275,1.538,4.14,4.135,4.145,4.017,2.977,2.251,1.826,1.546,1.344,1.204,1.083,0.997,0.943,0.879,0.848,0.821,0.798,0.777,1.974,1.962,1.965,2.034,2.059,2.129,2.207,2.268,2.395,1.07,0.933,0.839,0.756,0.706,0.656,0.621,0.595,0.566,0.555,0.998,1.015,1.023,1.033,1.065,1.103,1.16,1.127,1.024,0.921,0.844,0.794,0.872,1.033,1.261,1.672,2.678,2.644,2.634,2.644,2.681,2.726,2.799,2.906,3.039,3.216,3.44],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_Ax7rktQVMoTpKIUpcUjjRqF0"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_AogcxLbPlPJUtKs7iSYfzhGX",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"CROSS 1: lift=0, ramię stowed i puste; wykonaj krótki krok dx=0.18 w stronę obserwowanego otworu g_office, bez forsowania progu.\",\"dx_m\":0.18,\"dy_m\":0,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-17-19657\",\"command_id\":\"phase2-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\":\"phase2-cross-001\"}",
      "tool_call_id": "call_AogcxLbPlPJUtKs7iSYfzhGX"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_lyYHZ9zy4HyCveyKH5BbjWHP",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"VERIFY/CROSS: po pierwszym kroku sprawdź signed distance do pierwotnej płaszczyzny g_office, lidar, przeszkody i inne drzwi; nie zakładaj jeszcze przekroczenia.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-18-20606\",\"session_id\":\"80125e5e\",\"time_s\":41.212,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-18-20606.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-18-20606-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\":107509,\"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\":[45,47],\"visible_pixels\":39409,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":126,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":10,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":45,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65],\"visible_pixels\":2551,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":10541,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":154711,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.5603022228805863,0.14314488602688136,1.1327207685767204],[0.5520006997278863,0.14462773493436326,1.1159989495737588],[0.914368819616706,-0.10072863657647757,1.0183006581339655],[0.8101206960406848,-0.03642801455778166,1.0380185167678344],[0.6587077774173973,0.06559903659725558,1.0490110732542155],[0.9159136377757218,-0.09933378548921962,0.9786107465886821],[0.5286535399616334,0.14734246098643022,1.0652897100751515],[0.6764251244581034,0.0626069309003327,0.992926941369624],[0.7976380215833685,-0.031056307886562662,0.9144843204778645],[0.8546951438640189,-0.06864481682012535,0.8536213771698842],[0.8419463689027398,-0.06443822916153441,0.8208084418452748],[0.7189809629585949,0.025539814133838712,0.8520184017414134],[0.5891132903170897,0.11385127140321813,0.8990837247812855],[0.8493339695418178,-0.06259557485095157,0.6925967624616742],[0.5674882517855153,0.12720668164346705,0.8575609694262458],[0.6549350331650099,0.07287433099586832,0.758343756474049],[0.7173799911310602,0.028155080515364472,0.6668098910497825],[0.7281813082560714,0.01652691942055684,0.6133244995781643],[0.6431442244164294,0.08468789639543756,0.6573544929956618],[0.5387396139258218,0.15011703092109938,0.7300161827482553],[0.8782963983519935,-0.0805464122484158,0.2958749270564577],[0.5392379150217104,0.15491764828709637,0.6606369488066557],[0.6009731830103144,0.10302402224085719,0.536947745066156],[0.4264267603908946,0.21172058672354174,0.7572539764111014],[0.7775334913681706,-0.015693204485984602,0.23677337429927559],[0.44734369245282124,0.2243751905887416,0.6852467082116768],[0.4136542477582832,0.22804071631888806,0.7154232507461435],[0.4161228923538899,0.23314885419399303,0.6992691175918373],[0.4347290921188644,0.24237553062299616,0.67490387572534],[0.825510291088339,-0.049245391993577914,0.019669325225567524]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":71288,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.975671729866158,-0.68258408162947,0.9238232715286654],[1.4404672740192597,-1.1926769236425152,0.9519611617542791],[1.6670720442364528,-0.9469230534775595,0.9154512602774703],[1.43368340590809,-1.207634249701516,0.9257127036056947],[1.9434251120386583,-0.6999690933993251,0.8297553556595555],[1.95582118377843,-0.6748112822863356,0.8072618560940197],[1.9899637744504646,-0.6871918228880218,0.7877917122089315],[1.8155309715575798,-0.832554893242151,0.8139308738780484],[1.623310761240727,-1.0209231933411558,0.8108776423820943],[1.4219306135205734,-1.2338511630666786,0.8126138454177558],[1.6640793599951234,-0.9986839693511673,0.7368250322840914],[1.8605464486405798,-0.7767527520440747,0.6645705020512112],[1.4264687848920528,-1.1924206208049835,0.7195832564683691],[1.509929741694231,-1.1489784882871703,0.6644037127942164],[1.3943382104811375,-1.2303844899703789,0.6614654303741683],[1.491506205879018,-1.1778785465282384,0.632066408557787],[1.4364644915323739,-1.221169484137739,0.6105184727294388],[1.776441482635022,-0.8764596322746773,0.4805874274831109],[1.5403785566873656,-1.1109312464242496,0.5052347302002042],[1.7959021121551555,-0.8513517810859306,0.3857838534060797],[1.4601201695299113,-1.1972327413419475,0.44661726687477366],[1.5353871012125344,-1.1176254240561556,0.3783024513563069],[1.571706893357213,-1.075268605401214,0.3201575514152367],[1.4019501332264528,-1.2429417856805833,0.3704765959789823],[1.4710033686306117,-1.1931467866420495,0.3078232550156563],[1.83716471412758,-0.8088143142332862,0.11465187265455179],[1.4436513187610966,-1.2816627820648148,0.259515517534579],[1.5295868177835208,-1.1250997237683609,0.18551649642286594],[1.6163564007154185,-1.037065581305885,0.08043546849421501],[1.4090062772820386,-1.246347472877519,0.013588957725694906]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210],\"visible_pixels\":2514,\"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\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":[3.896,4.278,4.816,4.918,4.7,4.53,4.408,2.269,4.265,4.257,4.1,3.705,2.489,1.875,1.521,1.295,1.128,0.996,0.905,0.836,0.792,0.746,0.71,0.712,1.896,1.86,1.838,1.83,1.871,1.91,1.949,2,2.056,2.124,2.244,0.874,0.753,0.674,0.613,0.567,0.534,0.514,0.486,0.468,0.447,0.452,0.434,0.433,0.898,0.933,0.96,1.012,1.066,1.142,1.1,1.009,0.951,0.903,0.852,0.906,1.185,1.768,2.773,2.757,2.779,2.812,2.866,2.938,3.045,3.188,3.376,3.599],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_lyYHZ9zy4HyCveyKH5BbjWHP"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_iw9i10UV3bHah6aKb6ADTVbU",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"CROSS 2: lidar po obserwacji wskazuje przejście; wykonaj kolejny krótki krok dx=0.20 przez otwór, nadal bez manipulacji drzwiami.\",\"dx_m\":0.2,\"dy_m\":0,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-18-20606\",\"command_id\":\"phase2-cross-002\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.19999999999999976,\"rotated_rad\":0,\"duration_s\":2.0000000000024443,\"base_pose\":[0.431192457716464,7.091406431179962,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"phase2-cross-002\"}",
      "tool_call_id": "call_iw9i10UV3bHah6aKb6ADTVbU"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_1XmStJU7vBwYcSGnuet4KQGL",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"VERIFY po drugim kroku: sprawdź przekroczenie pierwotnej płaszczyzny g_office, bieżące otoczenie i widoczne inne klamki.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-19-21606\",\"session_id\":\"80125e5e\",\"time_s\":43.212,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-19-21606.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-19-21606-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\":93358,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":20,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":30834,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":10,\"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_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[63],\"visible_pixels\":17,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65],\"visible_pixels\":2501,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":9843,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":163842,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.39703254019207695,0.10143307556870135,1.1523256502235075],[0.7098246275321901,-0.10072903807651196,1.0964620679425578],[0.5743251447198998,-0.0145278052369473,1.1065467164698337],[0.440250261968941,0.07026870161877485,1.1165191980665599],[0.5648280011005546,-0.0057792216439724875,1.0676721180917705],[0.715473631430361,-0.10021928172987166,1.0177036724672082],[0.39118310692923697,0.10572949669609338,1.1006705451055079],[0.4413121176602136,0.08096235259157011,1.0688143424622756],[0.4555628194437624,0.0807492691369599,1.046600051824496],[0.45285105680292714,0.07390001432408655,1.0284449759847512],[0.4263678923331278,0.08752750964009301,1.0222953821855245],[0.37241454348542313,0.12226479667953827,1.0340307346488025],[0.5780130571052519,-0.012633358486933366,0.8901136944367356],[0.43505974406652637,0.08295982590035497,0.9582142551196118],[0.5833348228529971,-0.019642486156308425,0.826109657937983],[0.3727147334250691,0.137214226575049,0.9664386869124153],[0.4079278538148411,0.10745813819012745,0.9153002966824227],[0.45339752853036663,0.07142362712878997,0.8485150793280858],[0.47018077497404814,0.05992483431707277,0.804118944603559],[0.4375995942376415,0.08432929915959178,0.8104565319059281],[0.4022526671707155,0.10803497009939583,0.8231399512792683],[0.3424862246478644,0.14733705462689228,0.870924290319034],[0.5045017779662146,0.031195813888860002,0.6270951180966043],[0.36349163331944717,0.1350987890062748,0.7933108262442021],[0.30385334328918534,0.1604145647323996,0.8691597698108766],[0.5007787239068249,0.03866506801283809,0.5521482082287865],[0.30278499131388154,0.16771581410915568,0.8381756124571338],[0.3045832410792414,0.17065447484183355,0.8334875156480417],[0.3241281122470565,0.1795205031858476,0.8080670080408316],[0.6910098844199264,-0.09745659156703196,0.19175775823909924]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":86678,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.7808194340179075,-0.6851182033530782,0.9487701837100941],[1.420758041354695,-0.9829596945040185,0.9669793427632347],[1.5774371129874287,-0.8684259210833967,0.9367966986344879],[1.3789199600791284,-1.1153878625915263,0.9450353510029312],[1.4521371606511253,-1.00024957764359,0.9191079971266864],[1.3387361390552714,-1.114716211199935,0.9027623571135901],[1.2527047892435956,-1.204266385503797,0.8846852682472715],[1.787992187447251,-0.6899219923497287,0.7826178905721233],[1.7584957234844243,-0.6755591377290001,0.7867768918450906],[1.7011745361264228,-0.7422368662620438,0.778332166391351],[1.6336619808137607,-0.81914116241405,0.7523851674595528],[1.7875148028416339,-0.6857715276251752,0.6957755917732166],[1.5918728639866917,-0.8658252360447707,0.7228064349484747],[1.5609710963917698,-0.8766193784810254,0.6931355550236112],[1.5646366592936019,-0.8910037219359274,0.6529712026202971],[1.6200184628252716,-0.8285211269418082,0.6011210919941636],[1.6503256559761792,-0.8052692331614326,0.5518663995573914],[1.6171217872728718,-0.830675190820273,0.5195440111562726],[1.2216373720027027,-1.2603747094089661,0.6231077521603489],[1.503303804368164,-0.9432715976133499,0.5105243901011216],[1.2934022001716166,-1.1568624784525465,0.5340030244175641],[1.193982980194714,-1.2329611290116584,0.5647252270977661],[1.552170421014973,-0.9092300819769739,0.4049866367511443],[1.6926776122894807,-0.7577235288185274,0.3085553603528558],[1.226046485524138,-1.2318034232990167,0.4321442866085826],[1.7298169095721476,-0.7162518833118142,0.18817417260916103],[1.5415235752167784,-0.9117864144682151,0.20926449467937314],[1.2635875467849165,-1.1783804384414895,0.27920594124986065],[1.2162523111908934,-1.25585672675572,0.28192121783744806],[1.2881589067341372,-1.1518934335746032,0.21601469258231532],[1.3439935795342695,-1.119830059329086,0.11516532836367155],[1.208311714641565,-1.2442843324080808,0.015322665437201621]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209],\"visible_pixels\":1636,\"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\":[0.431192457716464,7.091406431179962,1.2],\"rotation_camera_to_world\":[[-0.5098410394286955,-0.44965142597159874,0.7334001020152473],[0.8602686292747559,-0.26648740009411187,0.4346519884652702],[0,0.8525245220595057,0.5226872289306592]],\"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\":0.431192457716464,\"y_m\":7.091406431179962,\"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\":[4.096,3.113,5.064,5.076,4.854,4.678,4.548,4.464,4.411,4.393,4.242,2.894,1.934,1.474,1.187,1.005,0.871,0.79,0.709,0.641,0.67,1.485,1.753,1.798,1.748,1.713,1.691,1.731,1.738,1.762,1.803,1.844,1.893,1.951,2.056,0.637,0.553,0.501,0.458,0.417,0.389,0.373,0.35,0.339,0.331,0.325,0.317,0.312,0.326,0.324,0.329,0.343,0.351,0.961,1.034,1.139,1.13,1.054,1.014,0.982,0.949,0.957,1.894,2.896,2.928,2.952,3.004,3.08,3.206,3.353,1.773,3.787],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.25,\"tilt_rad\":-0.55},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_1XmStJU7vBwYcSGnuet4KQGL"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_iLbtkGl26lR4WbWOwijahB95",
          "type": "function",
          "function": {
            "name": "robot_look",
            "arguments": "{\"i\":\"W nowym pomieszczeniu wykonaj mały obrót kamery, aby przesurveyować g_wc i poszukać widocznej klamki innego door_id; bez manipulacji.\",\"pan_rad\":0.35,\"tilt_rad\":-0.45,\"observation_id\":\"obs-80125e5e-19-21606\",\"command_id\":\"phase2-survey-003\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase2-survey-003\",\"camera_head\":{\"pan_rad\":0.35,\"tilt_rad\":-0.45},\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_iLbtkGl26lR4WbWOwijahB95"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_mKatqaH6h1DaFqVz7ICwyqnZ",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Znajdź po nowym widoku handle_candidate_m dla drzwi innego niż g_office; potwierdź przekroczenie i bezpieczny stan bazy.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-20-21981\",\"session_id\":\"80125e5e\",\"time_s\":43.962,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-20-21981.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-20-21981-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\":17843,\"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_wc_e\",\"class\":\"wall\",\"mask_ids\":[45],\"visible_pixels\":15503,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[65],\"visible_pixels\":3360,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office\",\"class\":\"door_leaf\",\"mask_ids\":[123],\"visible_pixels\":347337,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.21977778087540947,0.24851249825801996,1.1907191297633586],[0.2597808361141648,0.21151037850332263,1.1806357725583778],[0.3867789820662806,0.11558071458823688,1.1631878666681663],[0.7143890353857929,-0.10121808153314754,1.1372115178083253],[0.23278899796743835,0.2208539249755681,1.1635218090014423],[0.7155545543864483,-0.09844174748173296,1.109296360244463],[0.5084006504978112,0.030838992133131654,1.1238954777989338],[0.1861909867240806,0.22420115360134119,1.152050247495923],[0.416093901160406,0.09593059616507432,1.1192977986485102],[0.4148466449293763,0.10984557552811258,1.1033862525472529],[0.4882336243680606,0.05528468700073558,1.0744705051495445],[0.21022194255187734,0.23520777580473232,1.115849300106282],[0.3586282047264049,0.14551219325168246,1.0677825582752656],[0.2348194215213363,0.22558631251497044,1.085496907700422],[0.6452648210514911,-0.061647882531656484,0.9505659810262543],[0.6948071633868244,-0.09485367478172951,0.907336326294359],[0.7152106733106398,-0.10091679175332313,0.8928232057608866],[0.22637988757814384,0.220357571336065,1.0497699361235417],[0.36806852178450306,0.13396064770090313,0.9766036135553617],[0.3884907370849845,0.11882519847944514,0.9451764180686453],[0.20177196677731798,0.2425346742863069,1.010942161088358],[0.3452354389031227,0.1499222936182176,0.9166578656258688],[0.553237713371634,0.0019056152657064285,0.7758306679533507],[0.2784962773921423,0.1904434170594207,0.911796023234962],[0.21441253751820138,0.23145509860147434,0.9329385304062321],[0.22275466875456304,0.23504639623881043,0.9031796832782324],[0.29781230350091736,0.18113032287134614,0.8237487895735003],[0.16935407793331947,0.2893294105336235,0.9058844921643978],[0.1550709036229668,0.2658973387610734,0.9257187590341676],[0.7072325067377166,-0.09935621570749276,0.45564317944758437]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_office_handle\",\"class\":\"door_handle\",\"mask_ids\":[129],\"visible_pixels\":4718,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_office\",\"handle_candidate_m\":[0.17196000676959847,0.17945589977956578,1.0556502174644464],\"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\":[0.431192457716464,7.091406431179962,1.2],\"rotation_camera_to_world\":[[-0.906534174400927,-0.18361305900660466,0.38010792573355645],[0.42213243258867206,-0.3943111213583824,0.816286070522991],[0,0.9004471023526769,0.4349655341112303]],\"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\":0.431192457716464,\"y_m\":7.091406431179962,\"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\":[4.104,3.119,5.044,5.083,4.847,4.689,4.559,4.462,4.418,4.397,4.242,2.892,1.933,1.469,1.192,0.994,0.875,0.778,0.713,0.638,0.672,1.471,1.748,1.796,1.751,1.721,1.706,1.739,1.741,1.762,1.799,1.839,1.89,1.955,2.062,0.64,0.572,0.501,0.454,0.414,0.391,0.369,0.359,0.34,0.32,0.323,0.324,0.324,0.324,0.316,0.327,0.346,0.354,0.961,1.041,1.14,1.125,1.061,1.013,0.981,0.946,0.96,1.903,2.906,2.922,2.956,2.996,3.082,3.206,3.345,1.759,3.791],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":0.35,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_mKatqaH6h1DaFqVz7ICwyqnZ"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_HAgAeBufWJZZtzlHkgbnddZI",
          "type": "function",
          "function": {
            "name": "robot_look",
            "arguments": "{\"i\":\"Poszukaj INNYCH drzwi w nowym pomieszczeniu: obróć kamerę w stronę g_wc/ścian bocznych, bez manipulacji i bez jazdy.\",\"pan_rad\":-0.9,\"tilt_rad\":-0.45,\"observation_id\":\"obs-80125e5e-20-21981\",\"command_id\":\"phase2-survey-004\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"command_id\":\"phase2-survey-004\",\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"stop_latched\":false,\"needs_observation\":true}",
      "tool_call_id": "call_HAgAeBufWJZZtzlHkgbnddZI"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_r5bA8tiNujBzQw0PDYjublaG",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Odczytaj po nowym widoku wszystkie wykryte drzwi i klamki; wybierz door_id różny od g_office.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-21-22763\",\"session_id\":\"80125e5e\",\"time_s\":45.526,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-21-22763.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-21-22763-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\":94199,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":596,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":25,\"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_office_w\",\"class\":\"wall\",\"mask_ids\":[44],\"visible_pixels\":7685,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":74652,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":100,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_fitness_e\",\"class\":\"wall\",\"mask_ids\":[54],\"visible_pixels\":57,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":111,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,63],\"visible_pixels\":9672,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_office_frame\",\"class\":\"door_frame\",\"mask_ids\":[66],\"visible_pixels\":51328,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":11390,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":32339,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.6258674924240422,-1.6658673691439798,1.146098024568205],[0.46516056138781947,-1.5119911665114198,1.1223420757988056],[0.584665555860346,-1.626736340457974,1.0764549857678085],[0.37641912453242354,-1.4033193705373934,1.0898162231690054],[0.34229302482378166,-1.3822669161763006,1.0740734118324324],[0.3495893017490924,-1.414831067353617,1.067262564630204],[0.3408779820450756,-1.3856219297809371,1.0431516476386773],[0.5464796609841468,-1.584220728327631,0.9681711567713194],[0.4589908995035539,-1.5113193329619727,0.9480797105107964],[0.3519341503451019,-1.404155573768122,0.940434236081291],[0.4023051405580311,-1.4460758794217585,0.8896568923990322],[0.4147418370650633,-1.4596573715366632,0.8459244863871049],[0.382168030251995,-1.4307374496261298,0.8174107004095317],[0.6359772013021965,-1.6923134919571456,0.6883529947679289],[0.5587972654347924,-1.6077919934356673,0.696844125790816],[0.41138374487349527,-1.459310900905939,0.71928010456048],[0.466959619732889,-1.517638623153924,0.6426465477051193],[0.41487415704731345,-1.4678351490514832,0.6215548357318339],[0.6306748432960518,-1.681020325734357,0.4345274327751223],[0.4205281012685327,-1.467803881480688,0.5168893163825019],[0.3367938329731458,-1.3694153264749835,0.5715457361172768],[0.4657090960784789,-1.5098410420367494,0.42954571611375825],[0.3989093030662947,-1.4432837415919535,0.422740343740014],[0.5977783571107583,-1.6421536200214923,0.192235051871674],[0.3499442653202107,-1.400884218255603,0.34395705472087124],[0.34813546595492173,-1.3931329299551376,0.28717819143414525],[0.4721669444252454,-1.5161419831219267,0.07562105607819736],[0.3380144088482534,-1.377268701341249,0.02472839889267653]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":103778,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.7086793011411467,-0.7291097854603987,1.1480295255395119],[1.5983241318427108,-0.8523877985011643,1.112449892346326],[1.4705226500780335,-0.9959063484433264,1.0746235199356104],[1.226070165526717,-1.2568940289645578,1.0606913986745192],[1.315964126327864,-1.1453799652486834,1.0307647224362437],[1.2374695657984018,-1.2539525294014318,1.0168785147696402],[1.619436754562828,-0.7871711368973702,1.0158536629801764],[1.2200956427723744,-1.2459196994405335,0.9903044097375429],[1.2121397659981425,-1.2517919931875308,0.966827106948431],[1.6892395175936608,-0.777799110378945,0.9591768081660688],[1.6121233240995405,-0.8465510243092579,0.9196735780636289],[1.5612161950739423,-0.8929071388399837,0.8793148308922549],[1.5341497144244243,-0.919684066815649,0.837997519034567],[1.1963029097065692,-1.2331005231701402,0.8078879683592419],[1.4902663133146712,-0.9525040713549935,0.7969789510846341],[1.7835380487427717,-0.6852503933200158,0.786973170194627],[1.3401172813564073,-1.1049239543225482,0.7477782376536104],[1.6322730625203161,-0.8176427034773754,0.7137088871376327],[1.2938535271773184,-1.1564124810962455,0.6523253417862886],[1.7873537963159325,-0.692526120789575,0.6645507775917318],[1.3793358579286237,-1.0508861499468687,0.6132663752857161],[1.3732773541692678,-1.0872574602025646,0.5542027303066922],[1.2744040047191378,-1.1769075121462327,0.4989380434071671],[1.6091125502145287,-0.8480230212073814,0.46422814115037203],[1.2183730698296,-1.2386581507537706,0.3812157255997587],[1.2932580196605938,-1.162818366618081,0.3276405460128189],[1.7668519888447742,-0.6872061702873927,0.3053858008854138],[1.5978415204221668,-0.8517901889810354,0.23118829110755534],[1.267727771594941,-1.1935444129174673,0.12945426024906803],[1.3406897741299018,-1.1075327370075208,0.07287928759455786],[1.7474142718613388,-0.6750429501776998,0.06492913917407028],[1.7685883046633553,-0.6944852708705451,0.009214116637837]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[135],\"visible_pixels\":596,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[1.2615104717721126,-1.081958366403432,1.0511470804546732],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":2187,\"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\":[0.431192457716464,7.091406431179962,1.2],\"rotation_camera_to_world\":[[0.11474668839366375,-0.4320924929425431,0.8944994550279981],[0.9933947843142157,0.04991085460464484,-0.10332332306864023],[0,0.9004471023526769,0.4349655341112302]],\"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\":0.431192457716464,\"y_m\":7.091406431179962,\"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\":[4.097,3.115,5.06,5.08,4.852,4.679,4.544,4.47,4.416,4.39,4.239,2.887,1.94,1.476,1.185,0.999,0.881,0.776,0.705,0.637,0.679,1.48,1.75,1.799,1.753,1.723,1.706,1.729,1.746,1.766,1.797,1.853,1.911,1.959,2.056,0.642,0.568,0.498,0.457,0.418,0.393,0.371,0.354,0.341,0.326,0.319,0.328,0.316,0.326,0.327,0.336,0.349,0.357,0.958,1.036,1.141,1.125,1.062,1.008,0.978,0.951,0.958,1.897,2.909,2.91,2.948,3.006,3.084,3.191,3.349,1.762,3.793],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_r5bA8tiNujBzQw0PDYjublaG"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_IeYww5j581rEAFK86ekOhLDC",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"APPROACH g_wc 1: świeży lidar, lift=0 i ramię stowed; skróć dystans do widocznej klamki g_wc krótkim krokiem w kierunku jej obserwowanego arm_carriage xy.\",\"dx_m\":0.2,\"dy_m\":-0.2,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-21-22763\",\"command_id\":\"phase2-approach-005\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.28284271247461906,\"rotated_rad\":0,\"duration_s\":2.3800000000029087,\"base_pose\":[0.1483497676619508,7.091519048792329,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"phase2-approach-005\"}",
      "tool_call_id": "call_IeYww5j581rEAFK86ekOhLDC"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_vU0iEBYq6iGpoUjrCIXn4Bkj",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"VERIFY podejścia: potwierdź świeży lidar, stow/lift=0, widoczność klamki g_wc i bezpieczną pozycję hinge-clear; nadal bez door_action.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-22-23953\",\"session_id\":\"80125e5e\",\"time_s\":47.906,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-22-23953.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-22-23953-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\":68233,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":815,\"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\":45,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":96059,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":147,\"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\":56,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":135,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62,63],\"visible_pixels\":13661,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":9346,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":68523,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.4336136921695787,-1.487938177105486,1.154335706045772],[0.25554223158179823,-1.2792873427145302,1.115750615781602],[0.3865984666317892,-1.4431111780941044,1.0946238468502223],[0.43435801715445366,-1.4951370368180434,1.0662403183955633],[0.2645263240676343,-1.3187666207600592,1.0552216355884876],[0.2702440285801152,-1.3249759268920736,1.0007677490752096],[0.4119153948785078,-1.4597532993942177,0.906469108422161],[0.30528075464279525,-1.3478487774484647,0.885250106870566],[0.19731118790900126,-1.2454356951499395,0.8754113096175029],[0.39502181020717475,-1.4386745451762233,0.7333128177893267],[0.1878109460452282,-1.2362509738141778,0.7849981615830277],[0.21184142545431983,-1.2636413602546852,0.7218042969823796],[0.14367430994441166,-1.183281799141848,0.7224811891983849],[0.26825454864945175,-1.3134492195464498,0.5842936351581056],[0.25601286478381746,-1.3096171267092533,0.5369806004726326],[0.12133520779376816,-1.1717364334116271,0.6006786313287767],[0.108883399607269,-1.1529533723896042,0.5701937022271906],[0.10321907968041366,-1.173872419676507,0.5320259433102359],[0.2280945985601981,-1.2770483365474856,0.4054682570594015],[0.18705432304750214,-1.2261673925478123,0.401301921197859],[0.3420418408579794,-1.39185053764399,0.17147097912523868],[0.19957010469174807,-1.2449245424672717,0.2809376204465749],[0.18212860469876546,-1.2324321420349666,0.24323507910464792],[0.3053247844343411,-1.351082414937133,0.019940163949669465],[0.08115698193956522,-1.138397731240269,0.2491490679968782],[0.13644001068500877,-1.1865099042244918,0.09642382049877063],[-0.025544837512683827,-1.0013251666434997,0.29243119414658525],[-0.027463688705202827,-1.0216000543190455,0.2750836331869231]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":128046,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.427770125275283,-0.609243155828594,1.1565735414588851],[1.0243515574697901,-0.9875286797721412,1.149280546927606],[1.021131774212204,-1.060626575085077,1.147293274170629],[1.1304975691429637,-0.9198358312997402,1.1189763843554041],[1.331281995800589,-0.76020029267027,1.1169798732087173],[1.2902044095008813,-0.7594984505241267,1.0825310020149697],[0.9956036399874234,-1.0296267446786613,1.0801367853879673],[1.3857499444379902,-0.6558477526082039,1.041955056630202],[1.0125843689836522,-1.0522855823728097,1.0045217527409487],[1.253164512745461,-0.7962771710241492,0.9985634511377979],[1.026263903277255,-1.0298254103574127,0.9522883991455255],[1.255472956757509,-0.7962493893333362,0.9168442220622839],[1.0265549471535573,-1.0273543137758996,0.8666738401848753],[1.3062178648718894,-0.7236683330847067,0.8375901436248263],[1.103237033366667,-0.941778180065862,0.7817599053960378],[1.4259257682645163,-0.6258312720353392,0.7492915539053895],[1.317404492853616,-0.7299992020425016,0.6991554740458729],[1.2027736258700263,-0.8563393611096517,0.6414785725616996],[1.0706926692902456,-0.9795362332010114,0.5862742118889995],[1.5516605076736898,-0.5178987112323685,0.5616400006564983],[1.4966528234616188,-0.5572108654576304,0.513144897889145],[1.5037384051061844,-0.5534582351201753,0.46080660121010064],[1.4999391422101147,-0.5455441358892512,0.4126265025969754],[1.5854675190345282,-0.48471418993714,0.35788968823401224],[1.5218946235344022,-0.5185067993214022,0.36288903168206177],[1.552595221469553,-0.4737769286281396,0.35153725043288064],[1.4349026840945212,-0.633731163747673,0.28323896422429706],[1.139095592881428,-0.9067367387053515,0.2031380811195832],[1.2827631471261318,-0.7802292069795003,0.14474430531887794],[1.1873223048998889,-0.8590273902908074,0.07533857335672689],[1.5468386965800027,-0.5070737846056966,0.013204616722170881]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[135],\"visible_pixels\":849,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[1.06124617383996,-0.8824534179060336,1.0513722424904122],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":2810,\"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\":[0.1483497676619508,7.091519048792329,1.2],\"rotation_camera_to_world\":[[0.11474668839366375,-0.4320924929425431,0.8944994550279981],[0.9933947843142157,0.04991085460464484,-0.10332332306864023],[0,0.9004471023526769,0.4349655341112302]],\"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\":0.1483497676619508,\"y_m\":7.091519048792329,\"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\":[4.497,4.95,5.235,5.076,1.956,4.671,4.553,4.476,4.413,4.231,2.518,1.265,0.845,0.634,0.514,0.444,0.471,0.506,1.046,1.145,1.303,1.488,1.558,1.512,1.456,1.421,1.41,1.454,1.462,1.48,1.502,1.545,1.6,1.603,1.716,1.845,1.997,2.193,0.579,0.483,0.444,0.43,0.407,0.399,0.383,0.376,0.361,0.364,0.37,0.378,0.383,0.395,0.416,0.426,0.443,0.487,0.526,0.57,1.324,1.277,1.247,1.221,1.905,3.18,3.193,3.237,3.299,3.388,3.513,2,3.892,4.151],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_vU0iEBYq6iGpoUjrCIXn4Bkj"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_fZlj2xcf61FSqaVKLfmmGCjk",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"APPROACH g_wc 2: po świeżym lidarze skróć dystans do g_wc małym krokiem 0.15 m w kierunku drzwi; nadal lift=0, ramię stowed, bez door_action.\",\"dx_m\":0.15,\"dy_m\":-0.15,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-22-23953\",\"command_id\":\"phase2-approach-006\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.21213203435596423,\"rotated_rad\":0,\"duration_s\":2.0600000000025176,\"base_pose\":[-0.06378224987893405,7.091603512001604,-2.3565926535897934],\"needs_observation\":true,\"command_id\":\"phase2-approach-006\"}",
      "tool_call_id": "call_fZlj2xcf61FSqaVKLfmmGCjk"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_nUZQ2MPnH3X8HMVyvbHlPXLw",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Koniec fazy: zweryfikuj świeżym observe pozycję hinge-clear, widoczną klamkę g_wc, lift=0, ramię stowed, door_grip=null i stop_latched=false.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-23-24983\",\"session_id\":\"80125e5e\",\"time_s\":49.966,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-23-24983.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-23-24983-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\":38790,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1055,\"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_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\":44,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":123140,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":161,\"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\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":159,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":18541,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":9419,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":45522,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.2756398543311702,-1.310445460494828,1.1618844627883744],[0.2676401290944831,-1.314503023754427,1.0660958210020843],[0.2831657723256118,-1.3443923461615241,1.0403028856855205],[0.2802291029191196,-1.3459377529524998,1.0160484018480966],[0.25004920181075896,-1.291155062261547,0.9925850624772525],[0.217477164126474,-1.2630861600288557,0.934614839951974],[0.2276009353876366,-1.2779623823549844,0.8682875479720698],[0.21308084408500172,-1.2425478553895444,0.8220018077931968],[0.20711928881606978,-1.232140775448447,0.8220783595917682],[0.2763310220718499,-1.3274747185025346,0.7252130830061017],[0.16232696998126595,-1.2008350186779237,0.7436959010557391],[0.13548486631895995,-1.1794056460172273,0.7120168581027426],[0.1147541701063639,-1.185055624426908,0.6893854889940522],[0.17234116644029684,-1.2194729253287826,0.6373129947113118],[0.21711431753274235,-1.2535927893005998,0.5580986101103376],[0.2331548261023657,-1.2752082997269865,0.49187366601669236],[0.20393961746762101,-1.2471016380662971,0.46866762711669563],[0.10530721224793571,-1.1634463808683895,0.5111122580097457],[0.13739775906194163,-1.1797067703857693,0.44370272581863124],[0.08984190143722504,-1.13644631250502,0.45074830354367457],[0.17774299973954022,-1.2188423479263188,0.30936372655904054],[0.14660404726500398,-1.1870276328870655,0.3027050736342468],[0.221507217326672,-1.2720602488497024,0.15327383956413687],[0.12192546054875675,-1.1714004443159567,0.24093936700298413],[0.031183214577805707,-1.082177415037176,0.32494287633064134],[0.10531718406842405,-1.150966623198677,0.17461446275090453],[0.05390406733378128,-1.0975883756208742,0.20279666498295235],[-0.024682860653753358,-1.0119250708883172,0.2947444197368916],[-0.02739173420469132,-1.0189234757130194,0.27750690181275095]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":147191,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.226043871304274,-0.5231646356192698,1.1627091627676986],[1.0927498239507054,-0.6746135166468034,1.1261230045382578],[0.9547392920416969,-0.8023464533805456,1.0883678654154083],[0.8956538829639247,-0.8487750226840566,1.0486364513306952],[1.224421204948699,-0.5225045465045857,1.0102723584143032],[1.1712636127015443,-0.5711116669532518,0.9705130529511312],[1.274070978941185,-0.5150421094553924,0.9550784327719777],[0.8668933390186029,-0.9067552274135223,0.9380051403539332],[1.1464803025890018,-0.5993937052010369,0.9288481600594914],[0.8723688778599753,-0.8378765846356618,0.901147998532041],[1.1494557564092478,-0.6008261634367495,0.8864803944508268],[0.8470980256912265,-0.8837719383746847,0.8545839877012278],[1.1467942708399683,-0.5972382791823421,0.8448422086456999],[1.2045753214709012,-0.5318300216811613,0.8058526657027569],[1.2913680057806978,-0.456279451313117,0.7628279259458134],[0.9404131948412254,-0.8179376567901665,0.691793782783738],[1.0422935393516541,-0.723854186104921,0.6461311559720014],[1.1990997953501994,-0.5632733887144707,0.6085987013290121],[0.9018504760942413,-0.8470389529367462,0.5386924160207012],[1.1182885423607722,-0.6407202525475548,0.4989494317553138],[0.9035019001126428,-0.8498125321134998,0.4262948707223556],[1.1639339970528368,-0.577246203256041,0.40164981720908244],[0.9714498520180408,-0.7823830335531536,0.3153998643863587],[1.2581553770416742,-0.4928224201314968,0.2897371028761413],[1.0950881874169078,-0.6520934238735843,0.2100493091324782],[0.9594187220485842,-0.775925604960666,0.13512584126712412],[0.8676660143528997,-0.8894748788584477,0.038317416396327575],[1.4190614999601738,-0.32923820024884953,0.042753335871802634],[1.4320484979665848,-0.3334419048521291,0.007118433341332109],[1.4113273247960971,-0.3429863108022374,0.012717372562854878]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1175,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.9110289801069361,-0.7321572773928722,1.051759128470471],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3478,\"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\":[-0.06378224987893405,7.091603512001604,1.2],\"rotation_camera_to_world\":[[0.11474668839366375,-0.4320924929425431,0.8944994550279981],[0.9933947843142157,0.04991085460464484,-0.10332332306864023],[0,0.9004471023526769,0.4349655341112302]],\"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\":-0.06378224987893405,\"y_m\":7.091603512001604,\"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\":[4.809,5.277,5.378,2.047,4.852,4.678,4.556,4.471,4.418,0.383,0.39,0.39,0.399,0.416,0.814,0.857,0.906,0.97,1.048,1.147,1.285,1.372,1.33,1.269,1.234,1.214,1.198,1.233,1.241,1.251,1.284,1.324,1.373,1.437,1.437,1.564,1.689,1.852,2.082,2.389,2.929,3.496,0.497,0.483,0.425,0.412,0.405,0.405,0.41,0.411,0.418,0.424,0.447,0.474,0.492,0.53,0.574,0.631,0.716,1.501,1.463,1.44,1.902,3.394,3.405,3.444,3.52,3.611,3.757,3.922,4.146,4.422],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_nUZQ2MPnH3X8HMVyvbHlPXLw"
    },
    {
      "role": "assistant",
      "content": "PHASE_COMPLETE  \nPrzekroczono próg przez g_office. Zidentyfikowano inne drzwi: **g_wc**; klamka widoczna, handle_candidate_m ≈ [0.911, −0.732, 1.052]. Robot zatrzymany w pozycji podejścia, lift=0, ramię schowane, door_grip=null, bez chwytu i manipulacji drzwiami. Końcowa obserwacja: **obs-80125e5e-23-24983**."
    },
    {
      "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 + stop_latched=false NIE kończy misji:\n- reason door_reach_clipped_leaf_mostly_open → ACCEPT, RELEASE, retreat;\n- reason door_reach_clipped_reposition_base lub małe |opening| → RELEASE (jeśli grip), lift=0, korekta bazy (hinge-clear/standoff), ponów PRESS/OPEN;\n- rejected path_blocked* → krótszy TCP / inny pas, nie robot_stop.\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: d0f99d6c-f40f-4c84-b536-ed6ca27c349b\nPhase: phase3_open_second_door"
        }
      ]
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_P5NxAiFmLlRx9TVAQEjfk8Ik",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"FAZA 3 start/SURVEY: świeżo sprawdź stan robota i drzwi g_wc, handle candidate, lift, TCP, lidar oraz stop latch.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-24-24983\",\"session_id\":\"80125e5e\",\"time_s\":49.966,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-24-24983.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-24-24983-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\":38790,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1055,\"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_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\":44,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[47],\"visible_pixels\":123140,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":161,\"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\":49,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":159,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":18541,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[69],\"visible_pixels\":9419,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":45522,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[0.2774547481354567,-1.3190738185124962,1.16163349889021],[0.2490981335499115,-1.2971444157887027,1.0689085066173187],[0.19463601448381185,-1.2647199362011374,1.0437537266760777],[0.24108843554959392,-1.288492077058009,0.993946004445053],[0.28258603580403086,-1.3507574309851607,0.923115322132916],[0.21058608882195684,-1.2613470896410643,0.9359471567738038],[0.2060376703723381,-1.2510619759512225,0.8782968457755561],[0.2839324338439314,-1.3439089853449717,0.8128970534993852],[0.19582031706011738,-1.2506666975718526,0.8234955157679298],[0.12805117097837782,-1.1499834507141102,0.819516363776432],[0.12747568629792183,-1.1755204757549609,0.8100051375398307],[0.17359255011692787,-1.2226668972546975,0.7331357898359494],[0.12537671279824913,-1.172933566787906,0.7175125716743282],[0.13121001392823517,-1.1835017169013515,0.6657789073698576],[0.1451726513665541,-1.2002260822397077,0.6078234952529982],[0.14526741445817803,-1.1917401526258313,0.5661722793859163],[0.12327818276734992,-1.1778446923727006,0.5378414804577817],[0.05967439784205564,-1.112098263011978,0.5594831016389737],[0.11735771546830576,-1.1692545802298697,0.45916916871455626],[0.08235544385886617,-1.1221833081172163,0.4632822878273881],[0.16849855289842575,-1.2079687951590015,0.32128971318528343],[0.10820955411695199,-1.1462884222967131,0.35172729057757335],[0.19188419881236285,-1.2331594201685165,0.19839237152162226],[0.0813175164284976,-1.1297702595836787,0.2967930506656764],[0.23998330736290108,-1.2906753517013412,0.025697254654288182],[0.07821436282341243,-1.1226360561686937,0.21600895618288318],[0.032002904429559664,-1.0767127776954686,0.23624940754227608],[-0.022171168996507284,-1.011641394185817,0.3058305960311076],[-0.026264067800323865,-1.0146527795039277,0.28575373095976797],[-0.02748820366649163,-1.0225119669923035,0.2742580234455818]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":147191,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.2215092103922067,-0.5212296524761337,1.1628470871160304],[1.199128212246796,-0.589931380446061,1.1532277006392522],[1.078538565468801,-0.6658401388339443,1.127083778043192],[0.8449446021018808,-0.8790785879825274,1.096169951078636],[0.9712542898673248,-0.7683784171311464,1.0898607875000412],[0.8811687401768493,-0.8639595678772856,1.0482783238150242],[1.1845025544555337,-0.5668909273047495,1.0086585745712506],[1.136634129698743,-0.6223750980335334,0.9668758159864742],[1.1463783484200993,-0.5679835837693366,0.9628444270447507],[1.0956751232090103,-0.6433723339774698,0.9281901949814166],[1.1043832889122578,-0.6560235477380818,0.8824540904582503],[0.8671445564064303,-0.9067436233764135,0.8285793028492598],[1.1182273388979342,-0.6388782982940494,0.840372170489819],[0.8617738783567441,-0.9014810272086351,0.782235242741969],[1.152828344783514,-0.5960078892218624,0.7997289957497516],[1.242544159446727,-0.4995802192189516,0.7614829334305593],[0.9026047023508751,-0.8535890571227185,0.6899586214054116],[1.0475161032933653,-0.7121614810567427,0.6488267552861728],[1.184371561447606,-0.5671153202788743,0.6116617328079604],[0.9097870692329427,-0.8451342717706656,0.5368332044547319],[1.093213216825614,-0.6481411426804127,0.5046736954220609],[1.3356003598044857,-0.4275842106296304,0.4628189964824606],[1.0972128752757193,-0.6509943339398756,0.39058510438813376],[0.8755148032911844,-0.8785450638118933,0.3039911573289513],[1.23930571669532,-0.5121145283696347,0.28709162536312693],[1.1386948248696347,-0.6265022806798446,0.20418357457580183],[1.0238200795341352,-0.731507135608087,0.13049352620333732],[0.9112909094788706,-0.8543826188636865,0.03866612046755158],[1.4297843918686646,-0.3324322908259102,0.03685666522039366],[1.4124186627070259,-0.32754235445011626,0.027960239778087592],[1.4069626711752372,-0.3419255955329672,0.01638914829324878]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1175,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.9111246406433635,-0.7329525695988428,1.0517014361512276],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3478,\"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\":[-0.06378224987893405,7.091603512001604,1.2],\"rotation_camera_to_world\":[[0.11474668839366375,-0.4320924929425431,0.8944994550279981],[0.9933947843142157,0.04991085460464484,-0.10332332306864023],[0,0.9004471023526769,0.4349655341112302]],\"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\":-0.06378224987893405,\"y_m\":7.091603512001604,\"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\":[4.797,5.284,5.362,2.051,4.85,4.682,4.553,4.457,4.411,0.389,0.392,0.389,0.394,0.415,0.821,0.857,0.906,0.966,1.044,1.148,1.292,1.373,1.316,1.271,1.236,1.218,1.211,1.238,1.248,1.266,1.283,1.313,1.363,1.427,1.444,1.557,1.688,1.859,2.082,2.392,2.926,3.495,0.481,0.475,0.417,0.409,0.409,0.411,0.412,0.404,0.413,0.426,0.443,0.473,0.489,0.527,0.569,0.639,0.712,1.5,1.465,1.44,1.897,3.404,3.411,3.454,3.512,3.622,3.741,3.916,4.145,4.433],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_P5NxAiFmLlRx9TVAQEjfk8Ik"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_B3t0Tc41HMSFlU7fp0o6XXg3",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"SWEEP_CHECK/hinge-clear: g_wc uchwyt jest poza bezpiecznym TCP xy; przy opuszczonym lift i schowanym ramieniu wykonaj małą korektę bazy w stronę klamki, bez manipulacji drzwiami.\",\"dx_m\":0.12,\"dy_m\":-0.08,\"dyaw_rad\":0.15,\"observation_id\":\"obs-80125e5e-24-24983\",\"command_id\":\"phase3-hinge-clear-001\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.14422205101855956,\"rotated_rad\":0.1499999999999999,\"duration_s\":1.7000000000020776,\"base_pose\":[-0.2052148566674273,7.063375551802336,-2.2065926535897935],\"needs_observation\":true,\"command_id\":\"phase3-hinge-clear-001\"}",
      "tool_call_id": "call_B3t0Tc41HMSFlU7fp0o6XXg3"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_MUuvGCqGvGs2unkg97AtY2AM",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po hinge-clear odśwież obserwację g_wc: handle_candidate_m, lidar i potwierdź lift=0, arm stowed, stop=false przed liftem.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-25-25833\",\"session_id\":\"80125e5e\",\"time_s\":51.666,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-25-25833.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-25-25833-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\":16525,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1149,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":28,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":65,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":147145,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":72,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":19,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":61,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":3616,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":22588,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":24,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[-0.028421148792026396,-1.2682336582247071,0.07632446971122575],[-0.028634279202528368,-1.250153299921489,0.08966994341593115],[-0.02937539879361084,-1.2553694918261584,0.08234872537596916],[-0.028299545487137645,-1.2563449049052184,0.07754376265350249],[-0.029940404684508315,-1.2529676530330687,0.08180053075582538],[-0.028982180884439823,-1.2589229815791996,0.072534086045829],[-0.030882072713971587,-1.2660746280035244,0.06738538751331768],[-0.027745731506429894,-1.2529560185579833,0.07393151160261002],[-0.02971380473602281,-1.2634429246676095,0.06576675008485999],[-0.031189548268168554,-1.2531469274310847,0.07625688708330114],[-0.028552688544841165,-1.2610914456393478,0.06389856659155435],[-0.030160376449323234,-1.2558744339163086,0.0698548600480311],[-0.03168922758584414,-1.248266954253194,0.0779467050370497],[-0.028792146194687507,-1.2443183403505031,0.07632077079894506],[-0.03084819264302585,-1.2584235345770851,0.06484579392153078],[-0.032586455793051194,-1.2589039213565418,0.06567283268760615],[-0.028088126155351167,-1.261859243981076,0.05647801628571192],[-0.02967601925604335,-1.2554827958047419,0.06352282399131148],[-0.03134164591610078,-1.2530697275357965,0.06696825957586094],[-0.032906632887406695,-1.2472383965712597,0.07349341967051126],[-0.030174785791023506,-1.250198690014269,0.06559827769480386],[-0.031741518500436716,-1.244227186263594,0.07227264502616859],[-0.033677570703021686,-1.2527453405420714,0.06581381430278688]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":192393,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.1599345879744603,-0.49495517270054057,1.1647199150595993],[1.1654318408364743,-0.5010276346039215,1.1332588605465341],[1.1348946018805028,-0.5282823250164952,1.1010080646326832],[1.0566252206601805,-0.575224683919699,1.069422976280745],[0.6131869862492606,-0.9272083185212416,1.0358727904493985],[0.6175751843215094,-0.9307638744573011,1.0333458344340498],[1.1030146547334234,-0.5460637428272517,1.0298564785078048],[0.6059512810874244,-0.8925362702885794,1.0239323878244866],[0.6097783423502804,-0.9120515103176736,0.9987090522028115],[1.0772410688757608,-0.5676320959151102,0.9572296323002872],[0.9163856846356594,-0.6873677341235063,0.9218605151648684],[0.7077234858516539,-0.8425221318184252,0.8863913709514397],[1.075791452415853,-0.5518390812048559,0.84543741462591],[0.8654894837772761,-0.7213070502521047,0.8048037998265714],[1.1517762585181766,-0.5079059321064762,0.7572055455134374],[0.5981072676743184,-0.903092376854909,0.7647979295462027],[0.6209396262818876,-0.9078043897186162,0.7215157069605493],[1.110836803423426,-0.5521893552239869,0.6609260014425296],[1.2663562969476987,-0.451043281743273,0.6126767558327387],[0.7067239655974022,-0.8365363850617972,0.6271588936298976],[0.7207392018655174,-0.8328112113409092,0.5724056553055414],[1.2329577281103679,-0.4356051937274822,0.5610201653689797],[1.2614491993132835,-0.44548722608970204,0.5087175161290711],[1.1113510691463562,-0.5362515959613712,0.5097632738627801],[1.2206246583858362,-0.45745026859390764,0.44670128734477543],[1.0264293229316317,-0.6029773234248492,0.39001259746263195],[1.241527077311107,-0.4478073803208485,0.3138552044584185],[1.093660925788632,-0.5562944166204417,0.24953028107079822],[1.2002543791301794,-0.48041440686286924,0.1672233486467325],[0.9345265282603723,-0.6741925396139307,0.10034845901367162],[0.6098268306803766,-0.9182865150394236,0.011678314637373566]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1388,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.6834063077805679,-0.7640502669459287,1.0519563439474529],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":3682,\"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\":[-0.2052148566674273,7.063375551802336,1.1999999999999997],\"rotation_camera_to_world\":[[-0.03499285460433593,-0.43469914491714967,0.8998956348015799],[0.9993875625234884,-0.015220685693051572,0.03150921453152283],[5.551115123125783e-17,0.9004471023526768,0.4349655341112302]],\"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\":-0.2052148566674273,\"y_m\":7.063375551802336,\"yaw_rad\":-2.2065926535897935,\"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\":[5.5,5.187,2.703,4.755,0.425,0.417,0.42,0.411,0.724,0.736,4.384,0.805,0.84,0.871,0.918,0.982,1.064,1.162,1.273,1.234,1.178,1.133,1.096,1.078,1.042,1.093,1.097,1.112,1.129,1.156,1.202,1.25,1.316,1.343,1.457,1.599,1.782,2.026,2.382,3.001,3.777,4.757,6,6,0.446,0.447,0.403,0.402,0.404,0.43,0.445,0.461,0.484,0.512,0.558,0.611,0.677,0.765,1.625,1.586,1.567,3.547,3.549,3.573,3.636,3.729,3.86,4.017,4.256,4.52,4.881,5.344],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_MUuvGCqGvGs2unkg97AtY2AM"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_1HDV50wCAqVsFdGIcrklLHNv",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"REACH przygotowanie: świeży candidate g_wc ma y=-0.764 poza limitem; wykonaj krótką korektę stowed/lift=0 w stronę większego standoffu, aby cały uchwyt wejść w workspace.\",\"dx_m\":0,\"dy_m\":0.1,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-25-25833\",\"command_id\":\"phase3-reposition-002\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.09999999999999987,\"rotated_rad\":0,\"duration_s\":1.4160000000017305,\"base_pose\":[-0.12475494885623042,7.00399370916493,-2.2065926535897935],\"needs_observation\":true,\"command_id\":\"phase3-reposition-002\"}",
      "tool_call_id": "call_1HDV50wCAqVsFdGIcrklLHNv"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_uv3hAwWQktwXV6yanxnVQWnq",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po korekcie potwierdź aktualny candidate g_wc, lidar i że lift=0/stow/stop=false przed podniesieniem.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-26-26541\",\"session_id\":\"80125e5e\",\"time_s\":53.082,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-26-26541.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-26-26541-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\":34096,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":834,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_n\",\"class\":\"wall\",\"mask_ids\":[22],\"visible_pixels\":13,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_s\",\"class\":\"wall\",\"mask_ids\":[23],\"visible_pixels\":26,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_garage_s\",\"class\":\"wall\",\"mask_ids\":[35],\"visible_pixels\":69,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,46,47],\"visible_pixels\":137917,\"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_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":11,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":46,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":2401,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131,132],\"visible_pixels\":30700,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":178663,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.257119535767467,-0.5451325175455466,1.1615469372970322],[0.615242537694338,-1.0312993804855994,1.1571932098708868],[0.8566450572231294,-0.8287924634055495,1.134394117081896],[1.0125221595126286,-0.7268934874940354,1.1026601673025342],[1.2566354459892053,-0.5597251864777238,1.0956778431700915],[0.6082121206995893,-0.9869834453331896,1.0847243276018723],[0.975149307887256,-0.7412610724962,1.0724087854001596],[1.0035748217246816,-0.7166801434050114,1.0370255651258613],[1.2657480788383224,-0.5490590638010828,1.0252494107995547],[1.1905753580200236,-0.5854307741372312,0.9982178789692662],[0.7261798722128963,-0.9258742922764289,0.9683882955545594],[0.6996850665896791,-0.952156305186328,0.9311167086000918],[1.1201223111251069,-0.6399750160845932,0.8872587456842854],[0.7884423898521608,-0.8764159299758644,0.8542956714955363],[0.8491456029649935,-0.8246951101293171,0.8135688626048883],[0.7429606479406936,-0.9212793605042476,0.7672330479620315],[1.1663592962907892,-0.6050874485417551,0.7141986628969031],[0.5978290322144227,-0.9993955502076198,0.7278211563138774],[0.6870215678686347,-0.9561668466533959,0.6778299289672708],[0.6147727285392071,-0.999857491923667,0.6335055650373101],[1.2277660849190886,-0.5326967652195718,0.6067877095455855],[0.9979847164889906,-0.7297602669122262,0.5661424878284219],[1.0545327882575015,-0.6803875717928308,0.5117882273435208],[0.88423538152828,-0.8039818475042508,0.4591580471388379],[1.1055032257119768,-0.6478040165424566,0.38596332887069507],[1.0111000804765422,-0.7256043513494423,0.3180888591562173],[0.6249112304239802,-1.01198513297405,0.26152533380331566],[1.17395642433185,-0.6033294805600322,0.16597949480717533],[0.7335331416896533,-0.9223309338228715,0.10906526146646867],[0.6078089125767253,-1.0186907136750527,0.01339824407761303]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1206,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.683907137194484,-0.863353895261385,1.051606652523212],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":2707,\"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\":[-0.12475494885623042,7.00399370916493,1.1999999999999997],\"rotation_camera_to_world\":[[-0.03499285460433593,-0.43469914491714967,0.8998956348015799],[0.9993875625234884,-0.015220685693051572,0.03150921453152283],[5.551115123125783e-17,0.9004471023526768,0.4349655341112302]],\"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\":-0.12475494885623042,\"y_m\":7.00399370916493,\"yaw_rad\":-2.2065926535897935,\"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\":[5.521,5.255,5.006,4.808,4.662,4.573,0.471,0.469,0.472,0.484,0.813,0.869,0.906,0.932,0.993,1.059,1.143,1.25,1.374,1.324,1.27,1.229,1.188,1.162,1.434,1.168,1.18,1.18,1.209,1.248,1.288,1.348,1.335,1.46,1.569,1.71,1.905,2.172,2.648,3.178,4.067,0.392,0.385,0.382,0.336,0.326,0.343,0.338,0.35,0.35,0.362,0.378,0.397,0.43,0.456,0.498,0.56,0.634,0.748,1.5,1.488,3.45,3.462,3.494,3.55,3.645,3.772,2.284,1.947,4.421,4.772,5.228],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_uv3hAwWQktwXV6yanxnVQWnq"
    },
    {
      "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_gMhVoQWrDXqMauZqq3h2bIZt",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"REACH korekta: świeży candidate g_wc ma y=-0.863 poza workspace; przy lift=0 i stowed przesuń bazę krótkim krokiem w przeciwną stronę, aby uchwyt wejść z marginesem.\",\"dx_m\":0,\"dy_m\":-0.18,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-26-26541\",\"command_id\":\"phase3-reposition-003\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.1800000000000002,\"rotated_rad\":0,\"duration_s\":1.8980000000023196,\"base_pose\":[-0.2695827829163848,7.110881025912262,-2.2065926535897935],\"needs_observation\":true,\"command_id\":\"phase3-reposition-003\"}",
      "tool_call_id": "call_gMhVoQWrDXqMauZqq3h2bIZt"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_Pc3axqujMzn3oNtJlMjPNcQB",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po korekcie odśwież g_wc handle_candidate_m, lidar oraz stan robota przed liftem; nie zgaduj punktu.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-27-27490\",\"session_id\":\"80125e5e\",\"time_s\":54.98,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-27-27490.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-27-27490-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\":6163,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1480,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":158385,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":73,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":20,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":64,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":3948,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":16400,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":13,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[-0.02815250722113305,-1.1781464302689115,0.14857404352812353],[-0.029006221051057324,-1.1891701980997709,0.13618313382887415],[-0.029229106602300603,-1.1743794688944307,0.14689057505312952],[-0.02816642089350041,-1.172846365313422,0.14457074379967372],[-0.029565177830522593,-1.164598738877012,0.1531551341528239],[-0.02878033947791936,-1.1740673741001282,0.1409388164556562],[-0.0302692552177265,-1.169384124868933,0.1463340614323314],[-0.02778340427000181,-1.1754132442400076,0.13600268444869346],[-0.029541018267587038,-1.1810788690162282,0.13206274388956296],[-0.031187083185134412,-1.182063438658505,0.13235948662551533],[-0.028701018064502315,-1.1891376937957003,0.12100363032337258],[-0.03001178664702875,-1.1764238958530773,0.1337273586004588],[-0.03154946336225395,-1.1735835572047346,0.13748376843529453]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":195935,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.103088526736094,-0.4706984151650018,1.166448921065463],[0.5958480092229578,-0.8135981277471207,1.153952895555718],[0.657156070441895,-0.7988697494060374,1.1367323178259756],[0.6146712364669298,-0.8484356990228823,1.121039814404936],[0.6846982630390891,-0.7788205887978404,1.1038753964382761],[0.6793185872318188,-0.7739693167590931,1.071013330657827],[0.8434975631640538,-0.6528655249420002,1.0288782621924362],[0.6038589097357305,-0.8266034520191016,0.995376759936978],[0.6196928262621516,-0.849246266042345,0.9573305731816875],[0.6309750792674095,-0.796480376290663,0.9602119982754185],[1.1416644077588136,-0.439300957214339,0.910433584920617],[1.1002113133784923,-0.46529869300444193,0.8717036590483136],[1.0705415081485388,-0.49960691654782696,0.8271770720633294],[0.9788613383373597,-0.5614643275382196,0.7872346612303787],[0.9152525506895269,-0.5993167167884824,0.7471165966791412],[0.7886693202666555,-0.6966378784056731,0.7027405119037318],[0.6351904003154509,-0.8143591862122794,0.6573522038259128],[1.1471437567322786,-0.4381819646237944,0.5929355733025183],[0.9938847717181275,-0.558636820312381,0.5418498927976111],[0.8242239640139007,-0.677075958152593,0.4968507594486935],[1.2635321012901854,-0.370250044821403,0.4722478714545326],[1.2254349414611125,-0.38127212415178036,0.4264600278530375],[0.709014234804032,-0.7619012912673246,0.38622229982737166],[1.2638191733764728,-0.3663064937716552,0.31732640423023584],[1.234008476121006,-0.35736183680308653,0.31908253398588937],[1.1305275098302923,-0.4416576475433491,0.31208976946064537],[0.6185495153834146,-0.8200648966052015,0.26654618392668405],[1.0222225040935085,-0.5242451208601886,0.1749522300556925],[1.0700778624358684,-0.49115573859906103,0.09316639550588635],[0.60624841593114,-0.8347860967296098,0.016338819026331608]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1608,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.683230085455233,-0.6847112419007045,1.0518841824406677],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4685,\"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\":[-0.2695827829163848,7.110881025912262,1.1999999999999997],\"rotation_camera_to_world\":[[-0.03499285460433593,-0.43469914491714967,0.8998956348015799],[0.9993875625234884,-0.015220685693051572,0.03150921453152283],[5.551115123125783e-17,0.9004471023526768,0.4349655341112302]],\"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\":-0.2695827829163848,\"y_m\":7.110881025912262,\"yaw_rad\":-2.2065926535897935,\"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\":[5.438,5.122,0.411,0.396,0.384,0.369,0.679,0.681,0.679,0.669,0.742,0.758,0.796,0.816,0.863,0.913,0.998,1.095,1.194,1.163,1.108,1.058,1.038,1.006,0.991,1.284,1.032,1.044,1.065,1.088,1.118,1.173,1.242,1.314,1.365,1.495,1.66,1.896,2.227,2.83,3.492,4.806,5.804,6,5.399,0.496,0.501,0.464,0.481,0.484,0.503,0.531,0.554,0.599,0.638,0.7,0.779,0.878,1.681,1.645,1.657,3.611,3.612,3.648,3.709,3.811,3.931,2.033,3.197,2.246,4.976,5.452],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_Pc3axqujMzn3oNtJlMjPNcQB"
    },
    {
      "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_T1usD9wLetnIKq3BaKVo5AVG",
          "type": "function",
          "function": {
            "name": "robot_move_lift",
            "arguments": "{\"i\":\"Po świeżym candidate g_wc [0.6832,-0.6847,1.0519] podnieś pustą schowaną kolumnę do 0.40 m; nie wykonuj jeszcze chwytu.\",\"height_m\":0.4,\"observation_id\":\"obs-80125e5e-27-27490\",\"command_id\":\"phase3-lift-004\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"lift_m\":0.4,\"command_id\":\"phase3-lift-004\",\"needs_observation\":true,\"stop_latched\":false}",
      "tool_call_id": "call_T1usD9wLetnIKq3BaKVo5AVG"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_PdNm5xW48W7sJf3fPyNSySRz",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"REACH po lifcie: odśwież handle_candidate_m g_wc w arm_carriage i sprawdź stop/contact przed ruchem TCP.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-28-30824\",\"session_id\":\"80125e5e\",\"time_s\":61.648,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-28-30824.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-28-30824-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\":6163,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1480,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":158385,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":73,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":20,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":64,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":3948,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":16400,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":13,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[-0.02813234316231339,-1.1773025901898875,-0.250672879146849],[-0.028707102169067023,-1.1769071990857005,-0.25284653980249205],[-0.029177816806753354,-1.1723187256881902,-0.25126148043628527],[-0.028149602939431917,-1.172146067736557,-0.2547990674795114],[-0.029835561063628724,-1.175249375720587,-0.25641860496048696],[-0.028932410696748567,-1.180270979054252,-0.26465711215107424],[-0.03022093395581049,-1.1675173423474705,-0.2519838863525342],[-0.027816884794794716,-1.176829681616917,-0.26527949062808365],[-0.02946663113657455,-1.1781047985976003,-0.26524808717712556],[-0.031091178326455138,-1.1784284200721002,-0.2643573620792218],[-0.02821968737342062,-1.1691952490134256,-0.2609010509975377],[-0.030050638040606592,-1.1779468211067519,-0.2676529716857704],[-0.031482212021444855,-1.1710819277200342,-0.2602513549681159]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":195935,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.104918541499549,-0.4714792999516795,0.7663932601023654],[0.6191278099826506,-0.8533433132179893,0.7562736750202909],[0.6705477902289364,-0.7926782812363696,0.7365197792433035],[0.7009085258318377,-0.7704340126239222,0.7035499003370328],[0.7432710073973052,-0.7286319777745061,0.6704816660052789],[0.9331244539780348,-0.5945848562309539,0.6272161448708987],[0.6911857639043123,-0.7695807499066555,0.5934531232689194],[0.678150858393797,-0.7895420457318449,0.5545743801459914],[0.6190426368404917,-0.8146646049864537,0.5206600868298102],[1.13654671511506,-0.44626110758030785,0.46930064596017484],[1.075664015609599,-0.4983638282708747,0.4263972673950863],[1.00756227225435,-0.5421239217135441,0.3861750960214446],[0.9573438617995113,-0.5695411706928709,0.345877789335453],[0.8671147955092928,-0.6385894438766346,0.30116052292507745],[0.8139966224830876,-0.681610742497677,0.2535888469745421],[0.5958376571759333,-0.8223112977225777,0.2647984194218942],[0.6570885893734822,-0.791958173668976,0.21098368037536996],[1.0790086871872937,-0.4817601010543026,0.14640574658044092],[0.8805789164112767,-0.630049781200426,0.09806866971639294],[1.2497153258327955,-0.368461423039897,0.02277036010273037],[0.6292550604495184,-0.8150029419810431,-0.007516297830861496],[1.26456058120914,-0.3665213840893205,-0.08319140807343695],[1.0578941421266619,-0.5074749953724883,-0.09333473491933375],[1.189377826535979,-0.411803360458702,-0.16824034913003072],[1.2352145269616424,-0.3577693963588823,-0.16437379341417613],[1.2662001180152356,-0.368389716934735,-0.21089472833754364],[0.9588892020334997,-0.5687116940920792,-0.22060223200100315],[0.9509726792701854,-0.5866471574442402,-0.3076390598304469],[0.6049799494101171,-0.8330394559333769,-0.38118458138042477]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1608,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.6836174714521712,-0.6842867650739032,0.6520250503830792],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4685,\"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\":[-0.2695827829163848,7.110881025912262,1.1999999999999997],\"rotation_camera_to_world\":[[-0.03499285460433593,-0.43469914491714967,0.8998956348015799],[0.9993875625234884,-0.015220685693051572,0.03150921453152283],[5.551115123125783e-17,0.9004471023526768,0.4349655341112302]],\"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\":-0.2695827829163848,\"y_m\":7.110881025912262,\"yaw_rad\":-2.2065926535897935,\"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\":[5.44,5.127,0.403,0.393,0.396,0.375,0.686,0.683,0.68,0.673,0.75,0.753,0.782,0.826,0.86,0.924,0.99,1.094,1.185,1.155,1.107,1.065,1.026,1.008,0.994,1.286,1.041,1.048,1.062,1.096,1.13,1.173,1.241,1.315,1.361,1.502,1.661,1.909,2.233,2.831,3.503,4.808,5.803,6,5.388,0.505,0.498,0.465,0.47,0.488,0.502,0.527,0.55,0.594,0.633,0.695,0.782,0.891,1.686,1.651,1.661,3.601,3.61,3.648,3.705,3.799,3.936,2.026,3.214,2.238,4.969,5.438],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_PdNm5xW48W7sJf3fPyNSySRz"
    },
    {
      "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_ythpyK4lZ2NnWqSeXTTEJ1OU",
          "type": "function",
          "function": {
            "name": "robot_execute_sequence",
            "arguments": "{\"i\":\"REACH: przesuń TCP do świeżego handle_candidate_m g_wc jednym ruchem, bez chwytu w tym skrypcie.\",\"script\":\"robot.move_tcp(0.6836,-0.6843,0.6520)\",\"observation_id\":\"obs-80125e5e-28-30824\",\"command_id\":\"phase3-reach-005\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"rejected\",\"reason\":\"workspace_limit\"}",
      "tool_call_id": "call_ythpyK4lZ2NnWqSeXTTEJ1OU"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_IufaKSadMhHzX3e5tQEjMUPi",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po odrzuceniu workspace_limit nie kontynuuj ślepo: odśwież stan, potwierdź brak chwytu i lift przed korektą pozycji.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-29-30824\",\"session_id\":\"80125e5e\",\"time_s\":61.648,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-29-30824.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-29-30824-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\":6163,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1480,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":158385,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":73,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":20,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":64,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":3948,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":16400,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":13,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[-0.027925230376620203,-1.168635184931428,-0.24293773296308896],[-0.028590174025581505,-1.172113487305471,-0.24855814487675276],[-0.029090781905765306,-1.1688218004421465,-0.24812565847031542],[-0.0282578493593848,-1.1766534355941873,-0.2588551894457748],[-0.02985644367346474,-1.176071960357806,-0.2571580171506701],[-0.028569205533805597,-1.1654543598047544,-0.2512918601522055],[-0.030219229773537304,-1.1674515051247862,-0.2519245641524487],[-0.027889090313501952,-1.1798844304940288,-0.2680446837385565],[-0.029398965237465435,-1.1753994496192357,-0.2628018974767018],[-0.03123355075400769,-1.1838246682650848,-0.26923125717032803],[-0.02833310973249281,-1.1738945527868743,-0.2651650918550551],[-0.03006565179948173,-1.1785353413742738,-0.26818638745739787],[-0.031512781081458274,-1.1722190420277834,-0.261280853380658]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":195935,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.1047228679621173,-0.471395804183456,0.7663992116267812],[0.5958076843377813,-0.8135430663043155,0.7539560118608338],[0.6681227387256699,-0.7873698045185238,0.7368663579339706],[0.7081922030442771,-0.7570505969401802,0.7041026898083454],[0.7473036629379612,-0.739436942135401,0.6691058782464286],[0.9018293758183891,-0.6158768066264259,0.627674587350498],[0.6196426521299181,-0.8226513929451933,0.5940333151952168],[0.6251313859540825,-0.8249372455923063,0.555808905300115],[1.1577072635016359,-0.43559248112192317,0.5084915438615728],[1.0898315455941232,-0.4763102808362155,0.4710230358034099],[1.0829722711110072,-0.47844020783891616,0.4303003609479562],[1.003484717255036,-0.5380032412285767,0.3884441037601202],[0.947361466449987,-0.581986948678151,0.3443321297704255],[0.823809447392283,-0.6824134832627309,0.29760389695755385],[0.763745683021481,-0.718501041899141,0.25481801861981446],[1.224010563299077,-0.38233909661943044,0.19061496313225312],[1.0751926176295972,-0.49994950865927135,0.13899977980539202],[1.2534770964929494,-0.3789070346493283,0.11678679044044638],[0.6155838864541525,-0.8496618375123446,0.1224011814559195],[0.8693047550854769,-0.6438621385521058,0.09549843864829854],[1.2347416452478144,-0.3574663772693373,0.07127142227067718],[0.6361300688639249,-0.823452641366296,0.04355210315986735],[0.7503437707728421,-0.7315687069656738,-0.015291862041197368],[1.2632234525873272,-0.36716021776056523,-0.06897433304941647],[1.1833997924794568,-0.40313964396300256,-0.09019094557403307],[0.6562466865494889,-0.796817321358642,-0.13820117817822408],[1.045399439710767,-0.5056906062879604,-0.224923091663341],[1.0913328774400395,-0.4709756948414197,-0.30409764564442876],[0.6057766788062724,-0.8341365286931384,-0.38274014446840654]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1608,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.6842060080774286,-0.6840214032607338,0.6518047702748994],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4685,\"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\":[-0.2695827829163848,7.110881025912262,1.1999999999999997],\"rotation_camera_to_world\":[[-0.03499285460433593,-0.43469914491714967,0.8998956348015799],[0.9993875625234884,-0.015220685693051572,0.03150921453152283],[5.551115123125783e-17,0.9004471023526768,0.4349655341112302]],\"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\":-0.2695827829163848,\"y_m\":7.110881025912262,\"yaw_rad\":-2.2065926535897935,\"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\":[5.442,5.122,0.408,0.397,0.379,0.377,0.681,0.683,0.672,0.678,0.747,0.767,0.779,0.82,0.856,0.922,0.999,1.082,1.186,1.154,1.098,1.063,1.035,1.01,0.996,1.285,1.036,1.042,1.067,1.093,1.116,1.174,1.234,1.311,1.363,1.498,1.664,1.903,2.223,2.819,3.501,4.812,5.805,6,5.381,0.499,0.502,0.458,0.481,0.496,0.5,0.523,0.554,0.588,0.643,0.699,0.772,0.882,1.69,1.663,1.658,3.59,3.604,3.631,3.706,3.805,3.925,2.023,3.206,2.238,4.976,5.439],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0.4,\"door_grip\":null}",
      "tool_call_id": "call_IufaKSadMhHzX3e5tQEjMUPi"
    },
    {
      "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_liI8y6XVdT7GgW1MYuk2IKN9",
          "type": "function",
          "function": {
            "name": "robot_move_lift",
            "arguments": "{\"i\":\"Po workspace_limit: zgodnie z procedurą opuść lift do 0 przy pustym, schowanym ramieniu; następnie będzie możliwa kolejna krótka korekta bazy.\",\"height_m\":0,\"observation_id\":\"obs-80125e5e-29-30824\",\"command_id\":\"phase3-lower-replan-006\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"lift_m\":0,\"command_id\":\"phase3-lower-replan-006\",\"needs_observation\":true,\"stop_latched\":false}",
      "tool_call_id": "call_liI8y6XVdT7GgW1MYuk2IKN9"
    },
    {
      "role": "assistant",
      "content": "",
      "tool_calls": [
        {
          "id": "call_dva929e9R00ABQ5ej7zk9NwB",
          "type": "function",
          "function": {
            "name": "robot_observe",
            "arguments": "{\"i\":\"Po lower odśwież candidate g_wc i lidar do bezpiecznej korekty bazy; nie wykonuj chwytu ani TCP do czasu osiągnięcia zasięgu.\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"observation_id\":\"obs-80125e5e-30-34158\",\"session_id\":\"80125e5e\",\"time_s\":68.316,\"rgb_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-30-34158.png\",\"rgbd_path\":\"/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-005/simulation/obs-80125e5e-30-34158-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\":6163,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_main_w\",\"class\":\"wall\",\"mask_ids\":[10],\"visible_pixels\":1480,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_wc_e\",\"class\":\"wall\",\"mask_ids\":[45,47],\"visible_pixels\":158385,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_e\",\"class\":\"wall\",\"mask_ids\":[51],\"visible_pixels\":73,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"wall_vest_s\",\"class\":\"wall\",\"mask_ids\":[52],\"visible_pixels\":20,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_entrance_frame\",\"class\":\"door_frame\",\"mask_ids\":[58],\"visible_pixels\":64,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall_frame\",\"class\":\"door_frame\",\"mask_ids\":[62],\"visible_pixels\":3948,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_wc_frame\",\"class\":\"door_frame\",\"mask_ids\":[68,69,131],\"visible_pixels\":16400,\"source\":\"privileged_rendered_segmentation_no_metric_object_pose\"},{\"track_id\":\"g_utility_hall\",\"class\":\"door_leaf\",\"mask_ids\":[116],\"visible_pixels\":13,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[-0.028290844373820456,-1.1839356632253994,0.14340749576960432],[-0.028621314867256054,-1.173390170703754,0.15029975003683993],[-0.029584143373729166,-1.1886442872051892,0.13409878585201507],[-0.028070978211363062,-1.168872143552572,0.14814709449749763],[-0.029911196550842623,-1.17822872505949,0.14090329102404486],[-0.02892475187149246,-1.1799585443498615,0.13562471789983377],[-0.03009728669749434,-1.162740510545087,0.1523202467867819],[-0.027907447252921158,-1.1806610448177197,0.1312523162232231],[-0.02922706938789632,-1.168526885046167,0.14341230882665745],[-0.031097254207110736,-1.1786587101680943,0.13543463974718528],[-0.028451020683908257,-1.1787798274668162,0.13040212153660447],[-0.02985306896689499,-1.1702023644994075,0.1393663537733829],[-0.03150113699216406,-1.1717859027512894,0.1391112938243515]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc\",\"class\":\"door_leaf\",\"mask_ids\":[130],\"visible_pixels\":195935,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"visible_surface_points_arm_m\":[[1.1030466502801917,-0.47068054608110893,1.1664501947622183],[0.5958521585318606,-0.8210668729886089,1.1635491782391338],[0.6166427481226227,-0.8497662067972245,1.1608233318547405],[0.6543948131853505,-0.8080207507278205,1.1363988241809146],[0.6140578807594683,-0.847224953388027,1.1316007534059074],[0.6823517789939327,-0.7665338835228066,1.1049040466741205],[0.6999207039950075,-0.7653725514889952,1.0702518071021876],[0.8613032483003997,-0.648164392616239,1.0276580176284975],[0.6180422882517757,-0.8261071864242365,0.9936907884681658],[0.6302943659062263,-0.8346132359456861,0.9532629285380342],[1.0914483808977977,-0.4737483197677001,0.9115962724096294],[1.0418201413016468,-0.5178059113560887,0.8701899826238109],[0.9698968544671074,-0.5656931253759327,0.8309851940109174],[0.9168196889033214,-0.6048920398629025,0.7890253054103582],[0.8334542584065768,-0.6620420175656941,0.7478633626228359],[0.768778938474309,-0.7113999350360803,0.7031247791723094],[0.6798008371192334,-0.7778498310123515,0.657808531371946],[1.1521404824646475,-0.4363942151989405,0.5919553525212987],[0.9723224527028809,-0.5615147388616206,0.5488024123184106],[0.8151344536516463,-0.6825761011303179,0.49775553896637625],[1.212541807906804,-0.39387294410451107,0.4251060737509661],[0.6451508846198333,-0.8112851733169307,0.3870178993768535],[1.0576030912567473,-0.5095400002003097,0.30544889433595146],[1.2380349423954393,-0.35777218468236954,0.2858571099709165],[1.1444925756377091,-0.44065153715708955,0.23659541599379452],[1.2654977144318968,-0.36789303053724254,0.20800710366406983],[0.9475223119546068,-0.5894341406489639,0.1704153846424994],[0.98865104289089,-0.5528276275606282,0.09559792737885386],[0.6075507389439785,-0.8365793569114096,0.013796116802494929]],\"coordinate_frame\":\"arm_carriage\"},{\"track_id\":\"g_wc_handle\",\"class\":\"door_handle\",\"mask_ids\":[134,135],\"visible_pixels\":1608,\"source\":\"privileged_mask_plus_rendered_noisy_depth\",\"door_id\":\"g_wc\",\"handle_candidate_m\":[0.6834295283105207,-0.6844768599130295,1.0518673373325416],\"coordinate_frame\":\"arm_carriage\",\"sigma_floor_m\":0.02},{\"track_id\":\"g_wc_sink\",\"class\":\"furniture\",\"mask_ids\":[209,210,211],\"visible_pixels\":4685,\"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\":[-0.2695827829163848,7.110881025912262,1.1999999999999997],\"rotation_camera_to_world\":[[-0.03499285460433593,-0.43469914491714967,0.8998956348015799],[0.9993875625234884,-0.015220685693051572,0.03150921453152283],[5.551115123125783e-17,0.9004471023526768,0.4349655341112302]],\"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\":-0.2695827829163848,\"y_m\":7.110881025912262,\"yaw_rad\":-2.2065926535897935,\"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\":[5.442,5.127,0.407,0.399,0.379,0.369,0.681,0.685,0.685,0.666,0.737,0.761,0.789,0.815,0.871,0.928,1.004,1.097,1.189,1.159,1.107,1.068,1.033,1.016,1.003,1.285,1.035,1.039,1.057,1.092,1.121,1.173,1.232,1.303,1.372,1.499,1.669,1.9,2.223,2.828,3.495,4.817,5.805,6,5.387,0.49,0.506,0.462,0.47,0.484,0.497,0.527,0.554,0.588,0.642,0.687,0.768,0.886,1.69,1.652,1.67,3.599,3.613,3.648,3.701,3.794,3.93,2.037,3.206,2.239,4.973,5.446],\"source\":\"simulated horizontal ray range sensor; 5 mm noise\"},\"camera_head\":{\"pan_rad\":-0.9,\"tilt_rad\":-0.45},\"peak_force_N\":0,\"lift_m\":0,\"door_grip\":null}",
      "tool_call_id": "call_dva929e9R00ABQ5ej7zk9NwB"
    },
    {
      "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_xpV6OYliaa6kCPuEtIParyyH",
          "type": "function",
          "function": {
            "name": "robot_move_base",
            "arguments": "{\"i\":\"REACH korekta końcowa: candidate g_wc ma y=-0.6845, minimalnie poza limitem; przy lift=0 i stowed wykonaj bardzo krótki krok dy=-0.03, potem ponownie zmierz.\",\"dx_m\":0,\"dy_m\":-0.03,\"dyaw_rad\":0,\"observation_id\":\"obs-80125e5e-30-34158\",\"command_id\":\"phase3-reposition-007\"}"
          }
        }
      ]
    },
    {
      "role": "tool",
      "content": "{\"status\":\"ok\",\"stop_latched\":false,\"moved_m\":0.030000000000000124,\"rotated_rad\":0,\"duration_s\":0.7759999999981915,\"base_pose\":[-0.2937207552597439,7.128695578703484,-2.2065926535897935],\"needs_observation\":true,\"command_id\":\"phase3-reposition-007\"}",
      "tool_call_id": "call_xpV6OYliaa6kCPuEtIParyyH"
    }
  ],
  "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
      }
    }
  ]
}