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{"time_unix": 1793700455.6500533, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Phase 1 verified for g_office on ground / house_ground_v4. Capabilities v4 with lift enabled 0..0.55m. Surveyed visible closed door and handle; hinge-clear yaw +0.785 rad from base yaw pi to -2.3566. Lift raised to 0.40m. Fresh handle candidate reached at [0.561124,-0.480176,0.652719] arm_carriage; grasp ok, press ok, open status ok with opening_progress_rad=-1.454599827961243, stop_latched=false. Release ok, post-release opening_progress_rad=-1.4340476753286666, door_grip null. Executed all suggested retreat waypoints individually with observations between: [0.677278,0.451315,0.617767], [0.447450,0.625424,0.617767], [0.296487,0.426150,0.617767], [0,0,0.55]; all ok, no leaf-block reject or stop. Lowered lift to 0. Final observation obs-6658f778-16-19719: TCP [0,0,0.55], gripper open/empty, grip_contact false, door_grip null, force 0, stop_latched false, lift_m=0. Door remains open. No base driving or threshold crossing performed. Final verified observation_id obs-6658f778-16-19719."}}}
{"time_unix": 1793700455.6503916, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Phase 1 verified for g_office on ground / house_ground_v4. Capabilities v4 with lift enabled 0..0.55m. Surveyed visible closed door and handle; hinge-clear yaw +0.785 rad from base yaw pi to -2.3566. Lift raised to 0.40m. Fresh handle candidate reached at [0.561124,-0.480176,0.652719] arm_carriage; grasp ok, press ok, open status ok with opening_progress_rad=-1.454599827961243, stop_latched=false. Release ok, post-release opening_progress_rad=-1.4340476753286666, door_grip null. Executed all suggested retreat waypoints individually with observations between: [0.677278,0.451315,0.617767], [0.447450,0.625424,0.617767], [0.296487,0.426150,0.617767], [0,0,0.55]; all ok, no leaf-block reject or stop. Lowered lift to 0. Final observation obs-6658f778-16-19719: TCP [0,0,0.55], gripper open/empty, grip_contact false, door_grip null, force 0, stop_latched false, lift_m=0. Door remains open. No base driving or threshold crossing performed. Final verified observation_id obs-6658f778-16-19719.", "verified_by_host": false, "observation_id": "obs-6658f778-16-19719"}}
{"time_unix": 1793700462.1878045, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793700462.7745254, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6658f778-17-19719", "session_id": "6658f778", "time_s": 39.438, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-006/simulation/obs-6658f778-17-19719.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-006/simulation/obs-6658f778-17-19719-rgbd.npz", "tcp_m": [0.0, 0.0, 0.55], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 28336, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1311, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [35], "visible_pixels": 50, 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{"time_unix": 1793700514.4765434, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793700514.4883244, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
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