{"time_unix": 1793686494.5089095, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793686494.5090096, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793686497.8224819, "phase": "request", "request": {"tool": "robot_capabilities", "arguments": {}}}
{"time_unix": 1793686498.6355348, "phase": "result", "tool": "robot_capabilities", "result": {"mode": "SIMULATION_ONLY", "api_version": 4, "mobile_base": true, "camera_movable": true, "methods": {"move_tcp": 3, "close_gripper": 0, "open_gripper": 0, "wait": 1}, "limits": {"tcp_min": [-0.88, -0.68, 0.018], "tcp_max": [0.88, 0.68, 0.78], "speed_m_s": 0.18, "max_calls": 6, "max_sequence_s": 18, "force_stop_N": 3.0, "grasp_radius_m": 0.021}, "arm_coordinate_frame": "arm_carriage: base-aligned xy, z relative to lift height", "base_command": "robot_move_base", "base_command_frame": "relative to base pose at command start", "base_limits": {"max_translation_m": 0.6, "max_rotation_rad": 1.5707963267948966, "speed_m_s": 0.18, "yaw_speed_rad_s": 0.6, "acceleration_m_s2": 0.3, "yaw_acceleration_rad_s2": 0.8, "footprint_radius_m": 0.22, "clearance_m": 0.04, "robot_height_m": 1.25, "observation_max_age_s": 30}, "camera_mount_height_m": 1.2, "camera_pitch_rad": "variable; see observation.camera_head", "assumptions": ["ideal holonomic mocap base; no wheel dynamics, slip or calibrated arm IK", "ideal drift-free odometry, not SLAM", "virtual pan/tilt RGB-D at 1.2 m", "privileged semantics and visible-vertex association; noisy depth/candidates", "MuJoCo FEM cloth/contact; force-limited spring pinch, not frictional fingers", "static axis-aligned geometry guard; swept full-height circular envelope enlarged by held cloth", "short synchronous commands; stop latched between calls, not hardware emergency control", "PDF manually traced; furniture approximate; source layout is not an observed robot map", "force-limited ideal lever/door coupling; no frictional finger/lock/key/door-closer mechanics", "floor-local scenes; no autonomous stairs or floor teleportation", "oriented live-door box collision guard and supported-floor check", "fixed camera mast; lift changes arm carriage only"], "robot_model": "HomeBot Cartesian + optional lift + ideal handle contact", "camera_command": "robot_look", "camera_head_limits": {"pan_min_rad": -3.141592653589793, "pan_max_rad": 3.141592653589793, "tilt_min_rad": -1.2, "tilt_max_rad": 0.6, "speed_rad_s": 0.8}, "world_frame": "house_ground_v4", "manipulation": "force-limited spring pinch of visible deformable cloth", "collection_bin": {"frame_id": "robot_world_v3", "xy_m": [-0.48, -0.95], "inner_half_size_m": [0.22, 0.17], "rim_z_m": 0.26, "source": "configured fixed collection fixture"}, "drive_interlock": "TCP xy norm <= .10 m, z 0.35..0.65 m; open empty or closed holding cloth", "lift": {"enabled": true, "min_m": 0.0, "max_m": 0.45, "speed_m_s": 0.06, "command": "robot_move_lift", "drive_requires_zero": true}, "door_command": "robot_door_action", "door_actions": ["grasp", "press", "open", "close", "release"], "door_contact": "two-sided visible handle; ideal bounded force coupling", "floor_id": "ground", "building_from_floor_translation_m": [0, 0, 0], "stairs_traversable": false}}
{"time_unix": 1793686498.641492, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793686498.6415775, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793686498.6424875, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686499.0836792, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-1-350", "session_id": "6ab04f36", "time_s": 0.7, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-1-350.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-1-350-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 159163, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_s", "class": "wall", "mask_ids": [33], "visible_pixels": 9, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_e", "class": "wall", "mask_ids": [37], "visible_pixels": 22726, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_s", "class": "wall", "mask_ids": [40], "visible_pixels": 21, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 66073, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 521, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [49], "visible_pixels": 23, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 124], "visible_pixels": 14037, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 126227, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8124113282552189, 0.4966451702691731, 0.7751798121533457], [0.8358502437071511, 0.03223793758455883, 0.7540581177617636], [0.8122464610897554, -0.06526947764520842, 0.757896399656768], [0.8192483079114442, -0.04539479820095761, 0.7344522132790361], [0.832192057248938, -0.08942690676040134, 0.7160592512330799], [0.8044316028217182, -0.03241915025283583, 0.7228907164303109], [0.7910275301464468, 0.0064027414616837225, 0.7262042397272472], [0.8126789328394107, -0.040773330743926986, 0.6970630349485102], [0.8139867732990841, -0.0839806559662958, 0.674489859463402], [0.7989816896157832, -0.0866650842892377, 0.6671858752302811], [0.7987242789684936, 0.4751694882357268, 0.6604218208098149], [0.812533943530043, 0.4048623413641571, 0.6275710271697031], [0.8141849635151989, 0.3093752960962367, 0.6018908754844144], [0.8225362119114777, -0.09109742411138456, 0.5820021292448754], [0.8147543855254236, 0.15181649375192852, 0.5759318584745348], [0.814438222201445, -0.014237347201844565, 0.549573842112392], [0.8030442549099374, 0.49253518081323666, 0.5291707483710387], [0.8123285568225374, 0.310024290726422, 0.4924428955486543], [0.8108704325683086, 0.0935817348999831, 0.46349803828794356], [0.8109105832965897, 0.5781293364619825, 0.429370527628406], [0.806219898373198, 0.25371291869001944, 0.400820738073843], [0.8190222156395297, -0.07444411258516305, 0.35298631651473145], [0.8066221710284965, 0.31181509191195655, 0.326625225689099], [0.8234296140889854, 0.7197699124619908, 0.2815692907202302], [0.8122322643624602, 0.5591662053080687, 0.2789386598000124], [0.814311759014276, 0.5325621710988059, 0.23251961306073266], [0.8074115026455218, 0.12439559918265096, 0.19450665638798537], [0.8068267353982006, 0.7052983441305748, 0.178089692809001], [0.8131012862482753, 0.1911465589344613, 0.13448191007734844], [0.8138762436955718, 0.6743728839149786, 0.07308248002073081], [0.8128321001515953, -0.08869284819422764, 0.013996145532292115]], "coordinate_frame": "arm_carriage"}], "calibration": {"id": "house-rgbd-v4", "frame_id": "house_ground_v4", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.7, 7.36, 1.2], "rotation_camera_to_world": [[-1.1102230246251565e-16, -0.7833269096274834, 0.6216099682706644], [0.9999999999999999, -2.220446049250313e-16, -5.551115123125783e-17], [1.6653345369377348e-16, 0.6216099682706644, 0.7833269096274833]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.626, 2.645, 2.67, 2.724, 2.8, 2.901, 3.047, 3.211, 3.43, 3.729, 4.098, 1.368, 4.765, 4.558, 4.399, 4.268, 1.532, 4.146, 4.128, 4.141, 4.03, 2.977, 2.254, 1.824, 1.538, 1.338, 1.205, 1.097, 1.008, 0.939, 0.884, 0.845, 0.822, 0.797, 0.772, 0.811, 0.821, 0.815, 0.816, 0.839, 0.855, 0.887, 0.942, 0.999, 1.056, 1.071, 1.187, 1.219, 1.163, 1.105, 1.052, 1.04, 1.017, 1.013, 0.997, 1.01, 1.007, 1.039, 1.061, 1.102, 1.159, 1.14, 1.007, 0.914, 0.851, 0.798, 0.873, 1.017, 1.272, 1.677, 2.666, 2.65], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793686502.8837147, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": 0, "tilt_rad": -0.2, "observation_id": "obs-6ab04f36-1-350", "command_id": "look-6ab04f36-1"}}}
{"time_unix": 1793686503.7783427, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "look-6ab04f36-1", "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793686505.7906253, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686506.4134803, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-2-788", "session_id": "6ab04f36", "time_s": 1.576, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-2-788.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-2-788-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 504, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_e", "class": "wall", "mask_ids": [37], "visible_pixels": 1001, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_s", "class": "wall", "mask_ids": [40], "visible_pixels": 12, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 128562, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 5594, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [66], "visible_pixels": 23155, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 227629, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8138518591422286, 0.45159342473806785, 1.3804475807789436], [0.8083223300293908, -0.07850687634069677, 1.3533552692579027], [0.8157095587959268, -0.044044587862611354, 1.32708576685919], [0.8241427496093007, -0.09116142507676352, 1.3185814704935874], [0.8153088011711523, -0.03405829635942749, 1.2989674808606921], [0.8095993034314228, -0.028923250884829065, 1.2700107932251388], [0.7862373558931369, 0.13341581863166949, 1.2547219369345715], [0.815359348437379, -0.03716642443244646, 1.241628122879176], [0.8211906157960445, -0.08798488960110608, 1.212410226874894], [0.813346182327714, 0.4351335118434446, 1.181324512776731], [0.8100903974125557, 0.3902514659936501, 1.151389726466786], [0.8395464639282448, 0.2895535246140347, 1.1427995352873193], [0.8148549177267297, 0.29880950614826685, 1.1204631313563358], [0.7940638125040667, -0.08765988020673622, 1.0935079674564405], [0.8223279156043137, 0.21234522775176246, 1.088342736483471], [0.8091444347241131, 0.0900373606923167, 1.0587727716884499], [0.8161314659176516, 0.2626862445530077, 1.0169747581947206], [0.8099852872000253, 0.07240767601315677, 0.9858506548122954], [0.8119959158722173, 0.4983315618320098, 0.950774294482335], [0.8102628925361227, 0.30071968814947436, 0.9177377421066772], [0.820412689303168, 0.09515024050582453, 0.8796712751447968], [0.8191160801958718, 0.4660174379084784, 0.8436116878118975], [0.7986501349066539, 0.225841518986294, 0.817783857465592], [0.8040465923025077, -0.022275735086672813, 0.7796630405688335], [0.8324557050765612, -0.09069562685689715, 0.7306881921396176], [0.8096385447489712, 0.2984837591041912, 0.7387698899493134], [0.8239475057971173, -0.033698501695010104, 0.6929591011403143], [0.807663229950295, 0.24213471051558255, 0.66380054798419], [0.8294676010573063, 0.541535944121999, 0.6289411988133584], [0.8038217608898018, 0.5331697582713631, 0.6383155645750931], [0.8201612522827408, 0.5452067223470173, 0.6167168122685418], [0.8142024698788545, -0.08958028521708696, 0.6209545857379215]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2332, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.7355757167245988, 0.06216758234362905, 1.0523709827741787], "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": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "depth_convention": "negative_camera_z_optical_depth", "systematic_sigma_m": 0.01, "pose_source": "ideal_simulated_odometry", "mount_height_m": 1.2}, "base_pose": {"x_m": 0.7, "y_m": 7.36, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.638, 2.64, 2.663, 2.724, 2.808, 2.901, 3.041, 3.216, 3.444, 3.73, 4.1, 1.375, 4.765, 4.559, 4.391, 4.267, 1.533, 4.136, 4.122, 4.141, 4.016, 2.976, 2.247, 1.818, 1.537, 1.339, 1.195, 1.098, 1.007, 0.94, 0.893, 0.848, 0.818, 0.796, 0.766, 0.813, 0.821, 0.822, 0.829, 0.849, 0.858, 0.898, 0.942, 0.993, 1.049, 1.075, 1.209, 1.228, 1.152, 1.105, 1.067, 1.031, 1.012, 1.004, 0.995, 0.997, 1.015, 1.039, 1.066, 1.103, 1.155, 1.131, 1.018, 0.918, 0.849, 0.79, 0.862, 1.028, 1.278, 1.677, 2.668, 2.628], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793686512.3113122, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0, "dy_m": 0.28, "dyaw_rad": 0, "observation_id": "obs-6ab04f36-2-788", "command_id": "base-hinge-6ab04f36-2"}}}
{"time_unix": 1793686515.054857, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.28000000000000025, "rotated_rad": 0.0, "duration_s": 2.3679999999997863, "base_pose": [0.7, 7.08, 3.141592653589793], "needs_observation": true, "command_id": "base-hinge-6ab04f36-2"}}
{"time_unix": 1793686516.8051858, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686517.6382508, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-3-1972", "session_id": "6ab04f36", "time_s": 3.944, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-3-1972.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-3-1972-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 61297, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 313827, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8047896393248993, 0.4254478250781616, 1.378438301541998], [0.7890433755386157, 0.416672386010312, 1.3680946878610387], [0.783897617157608, 0.03220156796481809, 1.3578824437105617], [0.8380717386361886, 0.2008394661649754, 1.3663494792516468], [0.8179128408539169, 0.07179009380993771, 1.3563721867214598], [0.802516968823574, 0.39225831593228755, 1.327413097296834], [0.8120655918840383, -0.1885794422239354, 1.3034625493938585], [0.8311060021321476, -0.3783184368599145, 1.283274079460845], [0.8111860409290564, -0.12409600474472694, 1.2763392183235878], [0.7862106034766185, -0.3543518895705623, 1.2631741169478994], [0.8067875902273164, -0.15519435678265292, 1.2486855955733476], [0.7996343965017455, -0.33357945308428316, 1.2208763655687491], [0.8120907722187073, 0.18083382912932244, 1.191712850069988], [0.8167102715293506, -0.24843011165901607, 1.1628850254525933], [0.832755247651755, 0.43988360157448636, 1.1446174923615344], [0.8306455978665865, 0.01569711336304379, 1.1311998690152336], [0.8185203148714936, 0.15110673049707934, 1.1011425900389882], [0.8153980599746883, 0.12175038369888745, 1.0701048143289285], [0.8068204693476307, -0.07940063739518867, 1.03714183464743], [0.8211845637600158, 0.3644131028914269, 0.9972793934874399], [0.8096873925819126, -0.11147449839084524, 0.9673405951157783], [0.812221068268162, 0.044116708626306886, 0.9317510071288173], [0.8183385753114719, 0.12022462196947013, 0.8940241357406875], [0.8148773476114604, 0.027857733428315535, 0.8591684162563284], [0.810227213109107, -0.20125545155378244, 0.8245638299843687], [0.8041009784816168, 0.10684683742833832, 0.7889619186432064], [0.8156273785092981, 0.30455735571362486, 0.7433812258324518], [0.8066064923869328, 0.2643608859604899, 0.708473816456978], [0.8022558609661722, 0.04336382662548309, 0.6706595228661055], [0.8090146339174319, -0.3672577198831365, 0.6246440766625224]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2366, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.7360530857035265, -0.21537036870935192, 1.0524047638488523], "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.633, 2.649, 2.669, 2.722, 2.8, 2.902, 3.031, 3.21, 1.555, 3.719, 1.844, 2.966, 1.612, 4.857, 4.69, 4.568, 4.481, 4.426, 4.412, 4.425, 4.305, 2.982, 2.252, 1.819, 1.546, 1.336, 1.194, 1.09, 1.007, 0.949, 0.893, 0.941, 0.865, 0.844, 0.819, 0.814, 0.808, 0.809, 0.822, 0.829, 0.865, 0.904, 0.919, 0.946, 1.005, 1.026, 0.938, 0.873, 0.826, 0.785, 0.769, 0.752, 0.733, 0.723, 0.721, 0.722, 0.737, 0.742, 0.775, 0.801, 0.822, 0.881, 0.94, 0.91, 0.851, 0.798, 0.752, 0.719, 0.691, 0.677, 0.889, 1.768], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793686521.6958528, "phase": "request", "request": {"tool": "robot_move_lift", "arguments": {"height_m": 0.4, "observation_id": "obs-6ab04f36-3-1972", "command_id": "lift-6ab04f36-3"}}}
{"time_unix": 1793686528.4602084, "phase": "result", "tool": "robot_move_lift", "result": {"status": "ok", "lift_m": 0.4, "command_id": "lift-6ab04f36-3", "needs_observation": true, "stop_latched": false}}
{"time_unix": 1793686530.6625006, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686531.4551432, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-4-5306", "session_id": "6ab04f36", "time_s": 10.612, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-4-5306.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-4-5306-rgbd.npz", "tcp_m": [0.0, 0.0, 0.45], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 61297, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 313827, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8109818473570044, 0.42872130340213765, 0.9798112405437606], [0.8163158700087595, 0.08686760697443328, 0.9560668707871519], [0.8035854888345517, 0.4216892441776158, 0.9275827428612412], [0.8131491143027726, -0.1593862166575314, 0.903600597345758], [0.8358377025470481, 0.43164250902465817, 0.9001994764362554], [0.8395775044810441, 0.1940714072982762, 0.8981142737658242], [0.8159454464916761, -0.11447599091806095, 0.8767871171803275], [0.8021385556584067, -0.11844610759050757, 0.8484050495912699], [0.820545121410823, -0.26975297498462136, 0.8214222899804792], [0.793209568195699, -0.35975663619187415, 0.8119873638486513], [0.8173429442781728, 0.25215739119777336, 0.7916592531830341], [0.8321154713809049, -0.37773290398840664, 0.7648679870653984], [0.812648867286965, -0.12392870913310174, 0.7630695938611681], [0.818457148569926, 0.09885291306274101, 0.732209405344885], [0.7845588789832642, 0.2140670708774329, 0.7221275299524464], [0.829033742773158, 0.4382651452398464, 0.7026274077934743], [0.8189742680786294, 0.22170091849271512, 0.701087763497135], [0.8137705482176505, 0.2178986974295799, 0.6703640814920965], [0.8110370942358442, 0.04297763235774897, 0.636290701316827], [0.8353730172750564, -0.3775777012615843, 0.6285092311695394], [0.7920715012051508, 0.41870713630821055, 0.6305812614924388], [0.8147962185475659, -0.2881974832063604, 0.6002789239239793], [0.8129905079610054, 0.10358670461763807, 0.566391462320326], [0.8064532113071293, 0.2927180986156356, 0.5336559341016192], [0.8149530887381763, 0.3379283914097667, 0.4952899653269418], [0.8188770891031488, 0.19309006397857786, 0.4574954795485241], [0.8096365728634223, -0.14528496174757322, 0.42483751581978535], [0.8100817673763172, 0.16688052232595496, 0.38590467576194565], [0.8075402807745479, 0.2971780327289314, 0.3479086862285997], [0.8070208064321494, 0.2351895643148475, 0.3082213436547433], [0.8101601502685419, 0.014102209677346976, 0.26544415396162435], [0.8254875545626011, -0.3747357147454372, 0.21292884671424228]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2366, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.735858865173454, -0.21568405107721392, 0.6524590857469691], "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.634, 2.643, 2.678, 2.724, 2.803, 2.903, 3.04, 3.223, 1.556, 3.715, 1.835, 2.968, 1.618, 4.858, 4.694, 4.557, 4.477, 4.425, 4.407, 4.423, 4.303, 2.969, 2.252, 1.827, 1.536, 1.341, 1.2, 1.089, 1.0, 0.942, 0.891, 0.943, 0.865, 0.839, 0.827, 0.819, 0.813, 0.816, 0.816, 0.849, 0.856, 0.898, 0.916, 0.942, 1.01, 1.015, 0.941, 0.881, 0.82, 0.786, 0.769, 0.747, 0.72, 0.73, 0.721, 0.728, 0.732, 0.739, 0.766, 0.794, 0.83, 0.88, 0.932, 0.919, 0.848, 0.794, 0.745, 0.717, 0.697, 0.669, 0.894, 1.784], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793686535.0825882, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.73586, -0.21568, 0.65246)", "observation_id": "obs-6ab04f36-4-5306", "command_id": "tcp-handle-6ab04f36-4"}}}
{"time_unix": 1793686539.5656676, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "tcp-handle-6ab04f36-4", "executed": ["move_tcp"], "duration_s": 4.406, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793686542.0912018, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686542.8781366, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-5-7509", "session_id": "6ab04f36", "time_s": 15.018, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-5-7509.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-5-7509-rgbd.npz", "tcp_m": [0.73586, -0.21568, 0.65246], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 61297, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 313827, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8122046111976939, 0.42936771109824357, 0.9800823522632188], [0.8173138107060641, 0.10855854123690199, 0.9562576614940114], [0.8143071675690156, -0.3698855587282094, 0.9304927198935761], [0.8179003563631663, -0.18864671165078473, 0.9042059371376031], [0.7910305599662057, 0.41802033907175595, 0.8876579543697528], [0.8120295465980389, -0.11521390187334103, 0.8764185990823442], [0.8168418632451925, -0.14930458439666328, 0.8492923206591839], [0.8187438610228638, -0.29285222967337965, 0.8213752637763688], [0.814100931693413, 0.24324673912041928, 0.7916923369777084], [0.8330656319228755, 0.43926795696720167, 0.7648278711757189], [0.810702049590744, -0.18974509275317508, 0.7631580659812852], [0.8106929238794546, 0.08992207950863228, 0.7328524951019025], [0.7994652624319337, 0.19788836916785624, 0.7034439784060463], [0.8063480341454086, 0.21053024836477896, 0.6715465086904023], [0.803095735341139, 0.05741792114726084, 0.6378936789173378], [0.807779101750585, -0.26790109871316037, 0.6019989443238559], [0.8087757543458045, 0.07953499122216111, 0.5676025495582283], [0.8288390514406896, -0.37711516265729006, 0.5366989219877839], [0.7927051575927291, -0.36116824640807976, 0.5424800008491837], [0.8153090312187492, 0.20876947851562566, 0.5307311579967517], [0.8099107568172177, 0.2006576487320545, 0.49717528750769124], [0.7841603248190888, -0.24891029557161728, 0.4822223493246648], [0.8058891840118222, 0.061458719257313374, 0.4629278164207721], [0.8120099748521764, -0.22753862745431153, 0.42373774906528927], [0.8446829547075774, 0.4331381009302274, 0.3682173379350917], [0.8090362273214098, 0.13636238426777336, 0.3864391319927568], [0.8153051289794631, 0.29269969575435006, 0.34356163319636146], [0.8109370863978368, 0.27019761425587163, 0.3058348588404147], [0.8067472709164825, 0.03178107986588073, 0.26769602306289075], [0.8220383346509958, -0.37316991780307773, 0.21538186675100734]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2366, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.736062482883541, -0.21537468432871335, 0.6524552716725497], "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.629, 2.637, 2.673, 2.726, 2.804, 2.907, 3.06, 3.211, 1.565, 3.722, 1.839, 2.957, 1.608, 4.87, 4.691, 4.565, 4.473, 4.419, 4.397, 4.425, 4.305, 2.976, 2.247, 1.828, 1.551, 1.345, 1.194, 1.09, 1.005, 0.946, 0.895, 0.949, 0.872, 0.835, 0.819, 0.805, 0.819, 0.819, 0.823, 0.833, 0.862, 0.891, 0.919, 0.937, 1.006, 1.012, 0.941, 0.884, 0.832, 0.796, 0.761, 0.753, 0.737, 0.718, 0.721, 0.723, 0.732, 0.743, 0.77, 0.798, 0.834, 0.883, 0.941, 0.918, 0.845, 0.79, 0.751, 0.71, 0.684, 0.677, 0.893, 1.782], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793686545.8999214, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "grasp", "observation_id": "obs-6ab04f36-5-7509", "command_id": "grasp-g-office-5"}}}
{"time_unix": 1793686546.1663034, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "grasp-g-office-5", "action": "grasp", "door_id": "g_office", "grip_contact": true, "opening_progress_rad": -7.512609622033199e-09, "handle_rotation_rad": -5.450945433101418e-18, "peak_force_N": 0.0, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-3.405953852727502e-07, -0.999999999999942, 0.0], "normal_arm_m": [-0.999999999999942, 3.405953852727502e-07, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793686548.0204258, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686548.8212395, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-6-7559", "session_id": "6ab04f36", "time_s": 15.118, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-6-7559.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-6-7559-rgbd.npz", "tcp_m": [0.7449997803159814, -0.21499997104935523, 0.65], "gripper_closed": true, "grip_contact": true, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 61297, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 313827, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8016678408390144, 0.42379750266935645, 0.9777461350523239], [0.8282664834970681, 0.023804050479761075, 0.9583516418171297], [0.8140825479826221, 0.33679220760281947, 0.9292493279560391], [0.8065304254740222, -0.2291971319267353, 0.9027573324337718], [0.8267058012421542, -0.14612881762964747, 0.8777997542686028], [0.7966624827455713, 0.42172339057716546, 0.8701096770219267], [0.785650571245681, -0.25808734234599207, 0.8607192110771026], [0.8178724850289635, -0.16907719538372923, 0.849354513528734], [0.819285504747684, -0.29568008845304206, 0.8213894046793325], [0.8100791561506804, 0.24073316791555677, 0.7917333780263788], [0.8144283982276387, -0.13748351884125742, 0.7629887240008616], [0.8131348365142733, 0.13695964434444108, 0.7326502380748859], [0.8425106848925535, -0.18790156130987767, 0.7233075953849076], [0.8320698879516039, 0.43799847145470505, 0.720152946558655], [0.8144541478941203, 0.25823487651364385, 0.7016336844303536], [0.8109491939902194, 0.23878991758419332, 0.6708135310912621], [0.8044325871364447, 0.03315484137885348, 0.6376238329739053], [0.8191145200340115, -0.2966727270031545, 0.5992204312603401], [0.8323242760583524, -0.37898117138304943, 0.5814074500234673], [0.8077933137200548, 0.05180763784631735, 0.5678848486941851], [0.8084742897273859, 0.2153837811565983, 0.5329884406421064], [0.8133902564181222, 0.22273230493171525, 0.4958743065571458], [0.8183812631110754, 0.07101985777661134, 0.4577028643269021], [0.7893898601731295, -0.3574795545000028, 0.45654523610593667], [0.8099530190492691, -0.19975540504994604, 0.4246908836873313], [0.8162694269486185, 0.10846374907240107, 0.38274168530832087], [0.8041690045068294, 0.2554178448688963, 0.34979605303028705], [0.8089830332598342, 0.22547898553319368, 0.30702561082471924], [0.8054383469570715, 0.012544227251494277, 0.26855967076796594], [0.8029142491057458, -0.3644884085228445, 0.22898255508910637]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2366, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.7361882955541666, -0.21571536185005594, 0.6523979542290966], "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.628, 2.637, 2.667, 2.721, 2.799, 2.898, 3.038, 3.219, 1.547, 3.72, 1.837, 2.968, 1.617, 4.861, 4.686, 4.566, 4.469, 4.415, 4.415, 4.429, 4.308, 2.977, 2.258, 1.816, 1.544, 1.344, 1.2, 1.088, 1.009, 0.929, 0.898, 0.938, 0.868, 0.841, 0.832, 0.817, 0.804, 0.816, 0.827, 0.838, 0.868, 0.897, 0.914, 0.942, 1.006, 1.021, 0.945, 0.882, 0.834, 0.793, 0.769, 0.74, 0.725, 0.722, 0.726, 0.718, 0.73, 0.746, 0.766, 0.783, 0.828, 0.877, 0.934, 0.922, 0.853, 0.793, 0.75, 0.72, 0.693, 0.669, 0.89, 1.788], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": "g_office"}}
{"time_unix": 1793686551.142243, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "press", "observation_id": "obs-6ab04f36-6-7559", "command_id": "press-g-office-6"}}}
{"time_unix": 1793686553.4759052, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "press-g-office-6", "action": "press", "door_id": "g_office", "grip_contact": true, "opening_progress_rad": -1.914249236772199e-07, "handle_rotation_rad": -0.5188679585628101, "peak_force_N": 1.2223222750732552, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-5.230399764851664e-07, -0.9999999999998633, 0.0], "normal_arm_m": [-0.9999999999998633, 5.230399764851664e-07, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793686556.602444, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686557.3851976, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-7-8009", "session_id": "6ab04f36", "time_s": 16.018, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-7-8009.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-7-8009-rgbd.npz", "tcp_m": [0.7449996581645005, -0.22355518332050198, 0.617766668045047], "gripper_closed": true, "grip_contact": true, "force_N": 0.958, "stop_latched": false, "detections": [{"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125], "visible_pixels": 61299, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 313706, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8222338600580765, 0.4346696209468802, 0.982306041591389], [0.7958500415369729, -0.36220373090646507, 0.9718514014035989], [0.8109678746203255, 0.09637716171365095, 0.955044417425749], [0.830253552071107, 0.43937615214332404, 0.945319985639726], [0.8133739020845016, -0.3402099423447823, 0.9303431641039338], [0.8096903454294645, -0.10006906335625655, 0.9031599272213578], [0.791028395500477, 0.4176871847665443, 0.8792584354988423], [0.8312307636678516, -0.37849428473604074, 0.8820225269836784], [0.8147579665888447, 0.010978867886282651, 0.8766753656424765], [0.8050732941328343, -0.022490708571582987, 0.8485821463788384], [0.8147420927559105, -0.13817932818153966, 0.8212707880589313], [0.8140629995756723, 0.39616389862478496, 0.7916927240639277], [0.7849597545009268, 0.11304831143792536, 0.773172076640093], [0.8146076770812961, 0.023251122708153205, 0.7629805767663743], [0.8135046583391173, 0.2666914734006217, 0.7326196067321621], [0.8373303824761043, 0.2640149242675386, 0.7002623231984119], [0.808803151732635, 0.3849994975856187, 0.7023161877648149], [0.8172049662403299, 0.4001443897678253, 0.6698169691200829], [0.81424996596592, -0.16768524768485704, 0.6384351109337955], [0.8030996732883501, -0.17222748286495448, 0.6059472430664067], [0.8132702693512451, 0.34285784344354575, 0.5663110743592943], [0.8109866582992116, 0.2482163394963629, 0.5321586907557233], [0.8110578514312968, 0.2911894099256013, 0.4967463901337694], [0.8146780417089478, 0.16924789769857285, 0.4592517781838651], [0.807341003738369, -0.1577189189189977, 0.4259012170462708], [0.8017786154112557, 0.16373999172412745, 0.39014905767947217], [0.8154337010800108, 0.2927458539512938, 0.34348965371591333], [0.8219397929268216, 0.2768485158710946, 0.29913007974443706], [0.8105403127250128, 0.07796983369088394, 0.2651933170579782], [0.8087436545349387, -0.36713470694124684, 0.22483679207987495]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128], "visible_pixels": 2486, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.7366845993165105, -0.22698136848473097, 0.6235524590406284], "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.628, 2.636, 2.679, 2.733, 2.804, 2.905, 3.04, 3.221, 1.565, 3.725, 1.839, 2.972, 1.614, 4.86, 4.685, 4.561, 4.472, 4.423, 4.404, 4.422, 4.295, 2.974, 2.249, 1.823, 1.545, 1.342, 1.195, 1.087, 1.008, 0.941, 0.898, 0.943, 0.86, 0.842, 0.824, 0.806, 0.806, 0.817, 0.821, 0.83, 0.869, 0.892, 0.911, 0.935, 1.008, 1.013, 0.938, 0.886, 0.824, 0.789, 0.77, 0.746, 0.726, 0.723, 0.717, 0.719, 0.727, 0.739, 0.767, 0.798, 0.831, 0.881, 0.938, 0.915, 0.856, 0.797, 0.755, 0.721, 0.683, 0.671, 0.897, 1.783], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 1.222, "lift_m": 0.4, "door_grip": "g_office"}}
{"time_unix": 1793686560.0433884, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "open", "observation_id": "obs-6ab04f36-7-8009", "command_id": "open-g-office-7"}}}
{"time_unix": 1793686582.5157561, "phase": "result", "tool": "robot_door_action", "result": {"status": "incomplete_motion", "command_id": "open-g-office-7", "action": "open", "door_id": "g_office", "grip_contact": true, "opening_progress_rad": -0.9409083051570883, "handle_rotation_rad": -0.5188679393395528, "peak_force_N": 2.4, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-0.8080884897389957, -0.5890611112196668, 0.0], "normal_arm_m": [-0.5890611112196668, 0.8080884897389957, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793686585.8131585, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686586.361756, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-8-12353", "session_id": "6ab04f36", "time_s": 24.706, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-8-12353.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-8-12353-rgbd.npz", "tcp_m": [0.2517993491402976, 0.11370355332507479, 0.617766669282228], "gripper_closed": true, "grip_contact": true, "force_N": 2.4, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 12668, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1668, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 84272, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 85, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_fitness_e", "class": "wall", "mask_ids": [54], "visible_pixels": 98, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 140, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [62, 63], "visible_pixels": 12105, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 124, 125], "visible_pixels": 62440, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [69], "visible_pixels": 5355, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall", "class": "door_leaf", "mask_ids": [116], "visible_pixels": 13315, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.901284168965586, -0.7527274550031391, 1.2215535355841554], [1.9152983069461698, -0.7599803435012731, 1.1689773962737497], [1.768592646244324, -0.7539545979481728, 1.140714920132007], [1.8155984335263433, -0.7563365773598034, 1.0936407510040533], [1.8132994006279786, -0.7517782564034314, 1.0364743091451762], [1.6998026657126135, -0.7463655762882684, 0.9754795258076335], [1.8205232999543732, -0.75111050886007, 0.9796419574704177], [1.7023931855340062, -0.7416240317941527, 0.9211062287749526], [1.8235138045523107, -0.7515340815732061, 0.9212978637979315], [1.7509050369214483, -0.7545436761577962, 0.8594096843923796], [1.86056598360512, -0.7533341300651999, 0.7987343013028637], [1.7629478788828445, -0.7530818812879019, 0.7397469356728358], [1.7693910929942434, -0.7525486958924394, 0.6765653817614562], [1.7941188438717495, -0.7537627648933032, 0.6100778467534623], [1.781150958535006, -0.7537530593692645, 0.5462216674887651], [1.9143374251794982, -0.7577537888976777, 0.5047244676519234], [1.9155931856970165, -0.7595082747183193, 0.48836987393922937], [1.7374277412854853, -0.752273385757612, 0.4878920178385565], [1.843315155131227, -0.7513838198216767, 0.39618281162842695], [1.7933766722087436, -0.7547578445184466, 0.33845071053243514], [1.8313118415493412, -0.7516512297822071, 0.2542520700526403], [1.848461511422879, -0.7582926466768647, 0.17282273569497109], [1.8080882511100493, -0.7539269751535709, 0.11068183034235368], [1.876687251984476, -0.7616611795445409, 0.015054523039202183], [1.7928497481144647, -0.7567142712098354, 0.040085030295341606], [1.7298348071219007, -0.7543818705077967, -0.008118287011033676], [1.7350967345949777, -0.7538264707987989, -0.09029036010746738], [1.8789885337278447, -0.7526076609856849, -0.2556194933318533], [1.810433940291483, -0.747863543317776, -0.3032339729809047], [1.724079997313751, -0.7541064379064097, -0.38696746583093844]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 134005, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8096205180482731, 0.43799876248478953, 0.9795094060297215], [0.8342901557809869, 0.45148330012389704, 0.983773473083687], [0.27831334518985695, 0.05256389175648838, 0.8523940360951442], [0.31398201586609864, 0.07498643021667921, 0.8479843258216812], [0.36314458022369417, 0.11488334723047626, 0.842437614836603], [0.45616392843169384, 0.17948945393924648, 0.8366539871565267], [0.7830650343537401, 0.4170968273907506, 0.8338958494890388], [0.3645055367545143, 0.1132329857522834, 0.8026349230582429], [0.7097793814477769, 0.3641794520766367, 0.778019793510213], [0.416812263302711, 0.14990186341829853, 0.7716015060711433], [0.32631479984908446, 0.08591977764620666, 0.7654569095936762], [0.2699730198224587, 0.04602865599870579, 0.7610814326045187], [0.708949226903027, 0.36313534194193153, 0.6690236446387453], [0.5509064617269394, 0.24712951742875872, 0.6764539874022725], [0.6076163896290526, 0.2871049248679807, 0.6393543018365399], [0.6101270369835518, 0.2905518666068075, 0.6138238678423452], [0.8152974509502631, 0.4420923332637764, 0.5174635784347369], [0.30044781589650643, 0.0657154979087569, 0.683798285986224], [0.39126839638241634, 0.13094749732190542, 0.6319627752610976], [0.8345804457551002, 0.4524831719166499, 0.44001184400494986], [0.6277361562672772, 0.3040621352958253, 0.5031653365598007], [0.32156810272034875, 0.07719655948432895, 0.634380121528089], [0.6055075766013949, 0.28820695347862296, 0.46101416570613585], [0.40501522820392677, 0.14083104763726967, 0.5531936684432428], [0.21912048807491435, 0.017452146941422192, 0.656312593320758], [0.24255585083485237, 0.0193327527523364, 0.6399580033508133], [0.2167300626647387, 0.012614609206267806, 0.6467637993015033], [0.2267836179277699, 0.013209466957857102, 0.6387157754380463]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128, 129], "visible_pixels": 10405, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.26986267573045697, -0.007352527723963187, 0.6531735822954546], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 39061, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.0006288595793684, 0.33504228567644323, 1.243580282691895], [1.9937959775474692, 0.3309220676089615, 1.2391839084702934], [1.9846742318432673, -0.038326777398368185, 1.231432927320165], [2.0147194338398844, 0.33781636998908504, 1.2350472326065267], [2.0263711143989207, 0.08924835562662128, 1.2375632312598794], [1.9868227396331966, 0.3033661731672066, 1.2001599475329612], [2.0123982944293575, 0.22714347548503014, 1.1640782524314073], [1.9972527557672834, 0.039036963044903915, 1.120059745013756], [1.9984770707400508, 0.07691776096914829, 1.0756014223873716], [2.008788808793841, 0.06499612078321462, 1.0317163099281044], [2.0225105873290916, -0.040078442360039296, 0.9903347314890326], [1.9942144649389306, 0.29577886525284236, 0.9815894190646367], [1.998696531504632, 0.046190897382957695, 0.9360307817442018], [2.0125720628997765, -0.0402107720978406, 0.9089919663977836], [2.008075964437839, 0.0016084128972518002, 0.8869218234336255], [2.0084340847543403, 0.14395311697030458, 0.8335131266481132], [1.9933308451514578, 0.17916153512862668, 0.77965863898594], [1.9963327282057008, 0.06664093947010599, 0.7253543340158598], [2.007572141585787, 0.11344384314200287, 0.6664861256897882], [1.9755741674521023, 0.2523359595319141, 0.6071669205963491], [2.0067496907043596, 0.23678409244297985, 0.5908844322542527], [2.005900568175679, 0.23483649867681614, 0.5276349688747305], [2.001080870299211, 0.04514361712369499, 0.4643065009944688], [2.005220542403426, 0.19740329460330155, 0.3918001491458004], [2.006826455177592, 0.18875524749231445, 0.31858753096864334], [1.9965727823633865, -0.03918869301912651, 0.24750125211143637], [2.0038593489712087, -0.008617580654652212, 0.1634248701821308], [2.00632478855008, -0.008699536927960525, 0.07552000938164383], [2.0112562673263352, 0.06159829924153939, -0.022519336856557715], [2.003808923578404, -0.005310153784406001, -0.12091701504105279], [1.998114795026416, 0.14906036577923779, -0.3068604173598791]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [135], "visible_pixels": 372, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.9260645606672335, 0.11497449557251761, 0.6509220833794643], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210, 211], "visible_pixels": 1499, "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.639, 2.647, 2.68, 2.719, 2.81, 2.901, 3.038, 3.211, 1.559, 3.724, 1.834, 2.977, 1.618, 4.864, 4.692, 4.557, 4.48, 4.425, 4.408, 4.427, 4.303, 2.968, 2.254, 1.816, 1.537, 1.349, 1.203, 1.088, 1.004, 0.939, 0.89, 0.942, 2.061, 0.2, 0.182, 0.192, 0.223, 0.247, 0.281, 0.337, 0.44, 0.643, 0.92, 0.944, 1.006, 1.021, 0.938, 0.883, 0.84, 0.808, 0.761, 0.742, 0.73, 0.719, 0.716, 0.72, 0.724, 0.756, 0.767, 0.791, 0.829, 0.881, 0.936, 0.925, 0.85, 0.787, 0.751, 0.724, 0.691, 0.668, 0.894, 1.782], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 2.4, "lift_m": 0.4, "door_grip": "g_office"}}
{"time_unix": 1793686589.4609745, "phase": "request", "request": {"tool": "robot_door_action", "arguments": {"door_id": "g_office", "action": "release", "observation_id": "obs-6ab04f36-8-12353", "command_id": "release-g-office-8"}}}
{"time_unix": 1793686589.9855206, "phase": "result", "tool": "robot_door_action", "result": {"status": "ok", "command_id": "release-g-office-8", "action": "release", "door_id": "g_office", "grip_contact": false, "opening_progress_rad": -0.9429177473856137, "handle_rotation_rad": -0.000166010020279591, "peak_force_N": 0.0, "feedback_source": "ideal contact/controller joint feedback, not learned visual inference", "needs_observation": true, "stop_latched": false, "contact_frame": {"tangent_arm_m": [-0.8092729038640775, -0.5874328617564767, 0.0], "normal_arm_m": [-0.5874328617564767, 0.8092729038640775, 0.0], "source": "ideal grasp orientation/controller feedback"}}}
{"time_unix": 1793686592.76312, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.10,0.05,0.45); robot.move_tcp(0.05,0.05,0.50)", "observation_id": "obs-6ab04f36-8-12353", "command_id": "retreat-stow-g-office-8"}}}
{"time_unix": 1793686592.766997, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "rejected", "reason": "stale_observation"}}
{"time_unix": 1793686596.301119, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686596.8257868, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-9-12603", "session_id": "6ab04f36", "time_s": 25.206, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-9-12603.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-9-12603-rgbd.npz", "tcp_m": [0.2517993491402976, 0.11370355332507479, 0.617766669282228], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 12815, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1668, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 82641, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 85, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_fitness_e", "class": "wall", "mask_ids": [54], "visible_pixels": 98, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 140, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [62, 63], "visible_pixels": 12105, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125, 126], "visible_pixels": 62313, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [69], "visible_pixels": 4996, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall", "class": "door_leaf", "mask_ids": [116], "visible_pixels": 13315, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.903596480213535, -0.7536429100357196, 1.2220662222187229], [1.7954650479138863, -0.7542568360813628, 1.1458918206512094], [1.8383472048327698, -0.7543188107460945, 1.0973199601108075], [1.8260220743092446, -0.7513068343539977, 1.0381334865916672], [1.7806928180328874, -0.7544190780307687, 0.9757116448292419], [1.7434032017662984, -0.751872474960513, 0.9159690064230933], [1.8044159894615468, -0.7517787305436288, 0.8584056048691661], [1.757092697260772, -0.7540393947380044, 0.7988046917135604], [1.8289178282214216, -0.7547202541646143, 0.7345541813295554], [1.805332872665702, -0.7503261769846394, 0.6711161564689198], [1.8666263247484975, -0.753658135892304, 0.5993165079928747], [1.8425198090845016, -0.7523981626700917, 0.5343874161406137], [1.7819913098418865, -0.7439627496476804, 0.488973089643697], [1.9255328883742466, -0.7627645212797771, 0.4541011921846405], [1.8247444051529174, -0.7536538210592443, 0.4691010409175811], [1.8163704994270629, -0.7526638300867654, 0.40208560859605724], [1.7760374001007742, -0.7535005487533499, 0.3429132023476441], [1.760696005058042, -0.7528413759332453, 0.2752962448961902], [1.7758690801325139, -0.7530525104453287, 0.19745312274095073], [1.7002790757708968, -0.7468000718194616, 0.19532824544598104], [1.7660593173960688, -0.7548504587242746, 0.12670500158003917], [1.8457803206852699, -0.7469221497498049, 0.014201226041746118], [1.783704827114615, -0.7528938180604123, -0.036671322848778276], [1.7316372580113368, -0.752323473892712, -0.08851527829673944], [1.7008942998450138, -0.7450364968373806, -0.07274084984502927], [1.7386620546324207, -0.7524704563711164, -0.17336817889670209], [1.7287411337187863, -0.7546519320757594, -0.24999720460326869], [1.7243876153732207, -0.7542409889477903, -0.3871792498717378]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 127699, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8120733688127517, 0.4393257367590967, 0.9800532531457414], [0.5982887870916122, 0.2859783701171877, 0.9126311937532648], [0.48405749252856606, 0.20347647191711188, 0.8746958354340534], [0.42240417351665055, 0.15819136055660282, 0.8506374346381859], [0.37444646285275573, 0.12043320357961389, 0.8318079193318896], [0.42061112110059645, 0.15107478456410212, 0.8208215764105863], [0.4923221166215631, 0.20907950917343326, 0.8066649364786301], [0.7509269718362981, 0.3932050645127775, 0.782757739111774], [0.3113216280571368, 0.07458157722002494, 0.7818238489619919], [0.47046037658737505, 0.19416578771074194, 0.7548537023447813], [0.26771924270283326, 0.04731619473832186, 0.7645433916943859], [0.4343549020414849, 0.16160736486867672, 0.7256622126403248], [0.2938523865626476, 0.06261695387609305, 0.7386654506541873], [0.6591823721696187, 0.32731010439176617, 0.6361202592398792], [0.48294286986766555, 0.20029484449614993, 0.6612289116442897], [0.37004932290187637, 0.11573296842736185, 0.6791188453389053], [0.3512090212717528, 0.10457643935390241, 0.6712550085249714], [0.3645746607503279, 0.1100241108731375, 0.6515812048412427], [0.26991133816780005, 0.03925735026927416, 0.6790121221820397], [0.834473555605686, 0.45253871821728187, 0.4243734634159083], [0.3114551694550791, 0.07622030661104788, 0.6443886698967446], [0.21813978603204826, 0.018626109114418227, 0.6791609495053884], [0.3922593587762143, 0.13296380831832716, 0.5819380533625537], [0.2726710108553818, 0.04487174315384305, 0.6316571314017926], [0.833176159454291, 0.4502436995972935, 0.24346274830452297], [0.4760153272516408, 0.19172598253311174, 0.48203571479161467], [0.21503036559864186, 0.01411533552974478, 0.6470744664462661]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128, 129], "visible_pixels": 18408, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.2788788379179282, 0.004326160995034057, 0.6569717570939536], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 39538, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.0032663157169415, 0.3478520493270143, 1.2441650605898498], [2.0034468785035937, 0.347990111698943, 1.2413097630962935], [2.0132712213499206, 0.3468008979056816, 1.2376494049150502], [1.9949656376344738, 0.34683611991743146, 1.2307817084703658], [2.002900578881598, 0.08535523439806195, 1.2063158986124178], [1.998702834600964, 0.1073201662113468, 1.1645374165430766], [2.0033017341386277, 0.06419457370675488, 1.1239984210372223], [1.9968350734788647, 0.27439494546684284, 1.0783624963355654], [2.012187139510183, 0.026978283564429686, 1.0381841373562448], [2.0038816809329045, 0.03969678603860085, 0.9916346640449879], [2.0302859121670993, 0.09841531468496825, 0.9662497845383183], [2.013191725268929, 0.29982189105517976, 0.9432160676628779], [2.015358312252492, -0.04017713310889867, 0.9309514959568707], [2.0036216512339973, 0.11062868790905281, 0.8960744147297158], [2.0033625848086682, 0.06284086108033485, 0.8460192529556682], [1.996607053000232, 0.20828891722713497, 0.7923110532765757], [2.008052511258416, 0.27268059712756654, 0.7378153127669537], [1.9746605786260336, -0.030576803521163078, 0.7166295984442986], [1.999833759573238, 0.2305513440024536, 0.6832420327114578], [1.9985643350658067, 0.08720105117941948, 0.6147893526495517], [1.9798055354318953, -0.03754818690467563, 0.6002273197153919], [2.0041923714866496, 0.06140920713768352, 0.5546092540357782], [2.0068284892231314, 0.10535783173702587, 0.49045825323553693], [2.00516484436113, 0.011770772981746693, 0.4261320148069493], [2.014036728526488, -0.011902171344648525, 0.3553017999583509], [2.0017748623761773, 0.04935647662271616, 0.2848166702950089], [2.004624811777624, 0.18029891637546339, 0.20617233108566102], [2.0213939049435665, -0.0363985959580215, 0.19040051006741454], [2.0010438031502416, 0.07080685653407429, 0.12828797576280937], [1.9938276140527282, 0.16649911703147804, -0.06375389598170678], [2.011226320711913, 0.16241196385408088, -0.17404123441154928], [2.0058886648762844, 0.15690791739460533, -0.31509891915785737]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [135], "visible_pixels": 372, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.924415822196565, 0.1144871547377282, 0.6509640322946281], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210, 211], "visible_pixels": 1294, "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.632, 2.646, 2.677, 2.729, 2.8, 2.908, 3.053, 3.215, 1.554, 3.723, 1.836, 2.974, 1.619, 4.86, 4.681, 4.563, 4.481, 4.419, 4.411, 4.426, 4.298, 2.975, 2.259, 1.827, 1.548, 1.344, 1.198, 1.093, 1.013, 0.95, 0.896, 0.936, 2.052, 0.201, 0.172, 0.192, 0.21, 0.246, 0.282, 0.345, 0.445, 0.634, 0.919, 0.935, 1.003, 1.021, 0.945, 0.874, 0.827, 0.789, 0.773, 0.739, 0.721, 0.724, 0.718, 0.721, 0.731, 0.748, 0.767, 0.795, 0.837, 0.884, 0.952, 0.919, 0.85, 0.793, 0.748, 0.717, 0.696, 0.673, 0.898, 1.785], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793686599.5429628, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.10,0.05,0.45); robot.move_tcp(0.05,0.05,0.50)", "observation_id": "obs-6ab04f36-9-12603", "command_id": "retreat-stow-g-office-9"}}}
{"time_unix": 1793686601.3037636, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "retreat-stow-g-office-9", "executed": ["move_tcp", "move_tcp"], "duration_s": 1.698, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793686603.8021016, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686604.3303523, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-10-13452", "session_id": "6ab04f36", "time_s": 26.904, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-10-13452.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-10-13452-rgbd.npz", "tcp_m": [0.05, 0.05, 0.5], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 12810, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1668, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 82637, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 85, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_fitness_e", "class": "wall", "mask_ids": [54], "visible_pixels": 98, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 140, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [62, 63], "visible_pixels": 12105, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125, 126], "visible_pixels": 62318, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [69], "visible_pixels": 4995, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall", "class": "door_leaf", "mask_ids": [116], "visible_pixels": 13315, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.8889128707719716, -0.7478295991453112, 1.2188105660804847], [1.7996268962654964, -0.750415499631371, 1.1466935902569642], [1.8611949467189148, -0.7520565591059618, 1.1010151759483557], [1.7231648484703, -0.752131371725931, 1.0273058997028084], [1.8744009177025904, -0.7495899232594325, 0.9849583852889329], [1.8170237286612618, -0.751756234537347, 0.9208661520447737], [1.6951206702740442, -0.7437447751914632, 0.8918002085691764], [1.7734051535168511, -0.7557009934076848, 0.8601731323221856], [1.7677742106519163, -0.7419540193165906, 0.8267154526559101], [1.8480037887061684, -0.7512347753641657, 0.7987428470646677], [1.8819940738908338, -0.7521138671657093, 0.7326549060881048], [1.7545196458376264, -0.7519748872774572, 0.6776028298472409], [1.7840873038163432, -0.7524933957535251, 0.6111397673136355], [1.765742473060957, -0.7501685284158304, 0.5484170680141333], [1.918825808298273, -0.7603606569169237, 0.4520403291368522], [1.8871500202788485, -0.7509706796672064, 0.4577844132146792], [1.7518035995465493, -0.7495635994359862, 0.41623035421865906], [1.8591194696942894, -0.754229194120646, 0.31826988622313535], [1.7264993452004032, -0.7500546927995086, 0.2854871670018603], [1.7732706525941055, -0.7550135896865509, 0.19833476115482251], [1.7736031632405935, -0.7488112113803458, 0.12382897492230571], [1.7408175654228875, -0.7618507607283351, 0.1042177127456616], [1.7303127003452534, -0.7485390616887304, 0.0665919022799788], [1.8306025855937151, -0.7564902178516808, -0.05866936256301947], [1.8674978960210473, -0.7549723127550789, -0.16183288071495427], [1.887501178880245, -0.7526194743892176, -0.26040191430004433], [1.833763707599553, -0.7541710523840413, -0.31745056012236017], [1.7145927233380722, -0.7499567381277517, -0.38043581673919025]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 127721, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8137693311796448, 0.44024323996135106, 0.9804292826439359], [0.5690230956658925, 0.2631443605517046, 0.907121764473607], [0.4247718389070382, 0.15594502546577887, 0.8655473530846088], [0.3618000269912769, 0.11153374977179013, 0.8433722637405298], [0.3726856266570234, 0.1186829956112581, 0.8316583424464684], [0.39525165705771015, 0.134377798130565, 0.8195662029983978], [0.47778916394894705, 0.19212697820169927, 0.8064681929175758], [0.650453111001817, 0.32158439960134727, 0.7850647497611839], [0.3187298217776933, 0.07687752018733733, 0.7813913301908934], [0.47140775115642486, 0.1930034353013071, 0.7547627904286801], [0.2739003080699592, 0.05022678889386526, 0.7637247743569805], [0.4715029199878094, 0.19198608762378916, 0.7193045050469534], [0.31435106372955174, 0.07863458097552382, 0.7343868496160116], [0.8005370237703714, 0.4301135196723386, 0.6009779911247245], [0.5311529181022108, 0.23391553987317876, 0.6473760083701979], [0.43485758196014834, 0.16672391934243264, 0.6579484318245518], [0.35983804353761534, 0.10902009890468993, 0.6680918113097248], [0.83919734984555, 0.4552339293964983, 0.46458366279669716], [0.33495841189465425, 0.0928821892484493, 0.6636380163685015], [0.2525017418064161, 0.031383357302860154, 0.6868159815224043], [0.339872170434776, 0.09769235553539972, 0.6301907764158533], [0.47674238165357663, 0.19332102313367022, 0.5349728707243908], [0.2161120739490035, 0.017436973631936886, 0.6700324881807388], [0.3048858773262372, 0.06680511999832466, 0.6117681706494217], [0.4616071684317046, 0.18338168369774094, 0.4916599425382311], [0.21706296822961357, 0.015334583251726234, 0.6550082999704466], [0.2263248248592677, 0.014851287032347421, 0.639511175514487], [0.22814781680020757, 0.014976410310925586, 0.6377455829730886]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128, 129], "visible_pixels": 18416, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.2789707681133971, 0.004372146918091103, 0.656844026726907], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 39513, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[2.00539574092435, 0.3482218079140156, 1.2446371976536286], [2.012207398142426, 0.3496190176943206, 1.2403297117863041], [1.9896140091609051, 0.34314705087918473, 1.2209735668638482], [2.0262244393582, 0.33116497344580087, 1.213997386843447], [2.0025041717845586, 0.06982227915362518, 1.2062354819868752], [1.9905004312996324, 0.10378177546819448, 1.163041404801287], [2.0132615447397924, 0.023602584044075028, 1.1256092432381997], [1.9933017473592325, 0.21130154772433432, 1.0778699441503141], [1.9950838362077972, -0.02360203412400772, 1.0361596062065166], [1.9979729869078227, -0.026914219891453792, 0.9910696054363809], [2.004108487226365, 0.24739420432664908, 0.9425698968994211], [2.006380670277345, -0.04007434376007233, 0.9117642171155779], [1.9894483106518532, 0.020695645038658193, 0.895394797697051], [2.007353242740874, 0.0016145138156498334, 0.8461109223809803], [1.9958443958323802, 0.2178935118160317, 0.7923139902742803], [2.00520674922943, 0.2625111372260769, 0.7379034393576279], [2.014377748501199, 0.19269987249471068, 0.6823928988395213], [1.9946799473610837, 0.03119999613766857, 0.6151493260308082], [1.9955530460749489, 0.25953636383571443, 0.55234632743671], [1.9930512092444828, 0.04816510069511206, 0.4925833193949798], [2.0102161044648246, -0.03877282508420319, 0.42519019476508835], [1.9777795718478641, 0.1712896841229903, 0.40417472359098616], [1.9921766844128657, -0.02859153988636163, 0.36012848565502675], [2.021120160317369, -0.03937676293018441, 0.3186776486637274], [2.0048707068128158, 0.04261449040507006, 0.2840199136391566], [2.008286053009635, 0.18750928863164631, 0.20508776586758892], [1.9804184089758112, -0.03575822657100478, 0.17442405304391095], [1.9923564658053379, 0.060182461963252075, 0.13120414828436533], [1.9973419488723612, 0.14221262899886103, -0.06527635477947225], [2.0020520519833136, 0.12613900325391317, -0.16959811632722277], [2.0042692689728643, 0.15678124234873028, -0.3141986764608363]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [135], "visible_pixels": 372, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.9251640052232515, 0.11531029666906024, 0.652588082931426], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210, 211], "visible_pixels": 1294, "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.625, 2.638, 2.675, 2.728, 2.801, 2.905, 3.042, 3.207, 1.556, 3.721, 1.833, 2.964, 1.626, 4.872, 4.686, 4.568, 4.475, 4.424, 4.406, 4.429, 4.302, 2.971, 2.249, 1.824, 1.546, 1.342, 1.203, 1.084, 1.003, 0.935, 0.901, 0.951, 2.048, 0.196, 0.174, 0.181, 0.199, 0.245, 0.276, 0.343, 0.443, 0.636, 0.906, 0.945, 0.999, 1.016, 0.94, 0.88, 0.831, 0.795, 0.759, 0.743, 0.73, 0.725, 0.716, 0.724, 0.741, 0.74, 0.772, 0.794, 0.83, 0.883, 0.94, 0.914, 0.849, 0.8, 0.751, 0.712, 0.692, 0.678, 0.89, 1.78], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.4, "door_grip": null}}
{"time_unix": 1793686606.9674535, "phase": "request", "request": {"tool": "robot_move_lift", "arguments": {"height_m": 0, "observation_id": "obs-6ab04f36-10-13452", "command_id": "lift-down-g-office-10"}}}
{"time_unix": 1793686613.8577912, "phase": "result", "tool": "robot_move_lift", "result": {"status": "ok", "lift_m": 0.0, "command_id": "lift-down-g-office-10", "needs_observation": true, "stop_latched": false}}
{"time_unix": 1793686616.1422787, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793686616.66601, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6ab04f36-11-16786", "session_id": "6ab04f36", "time_s": 33.572, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-11-16786.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/obs-6ab04f36-11-16786-rgbd.npz", "tcp_m": [0.05, 0.05, 0.5], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 12786, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 1668, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42, 44], "visible_pixels": 11302, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 82607, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [51], "visible_pixels": 85, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_fitness_e", "class": "wall", "mask_ids": [54], "visible_pixels": 98, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [58], "visible_pixels": 140, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [62, 63], "visible_pixels": 12105, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 124, 125], "visible_pixels": 62328, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [69], "visible_pixels": 4995, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall", "class": "door_leaf", "mask_ids": [116], "visible_pixels": 13315, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.8977521504681545, -0.7513291120631453, 1.6207704149388331], [1.916256297914037, -0.7598199625324848, 1.611009520987228], [1.7873948847340317, -0.7536424886760533, 1.5443371240346], [1.804326728277628, -0.7516410440241292, 1.4918177531796388], [1.8572294998800196, -0.7583026233768579, 1.4422032802503937], [1.8582178606158661, -0.7548903410505916, 1.3833615059449622], [1.794308319567796, -0.7431005648167222, 1.3441774546409255], [1.697419025458521, -0.7443933541626737, 1.3259722238355007], [1.8398934846688437, -0.7494845134603965, 1.3223874196887995], [1.768503897918817, -0.7536124217595004, 1.2600068285866515], [1.8529071468614735, -0.7532280467983703, 1.198739511426973], [1.7635023369926395, -0.7533187302392645, 1.1397279857080884], [1.7771126883096484, -0.7470948552185239, 1.0760267149999225], [1.7994836928694848, -0.7500755056277464, 1.0095099336093734], [1.8183041368512747, -0.7483112981638713, 0.940928083811641], [1.7700044857620305, -0.751554931947372, 0.8820399977847954], [1.8875382343525309, -0.7534804918563436, 0.7864948103864424], [1.7620679511940003, -0.7505701669355715, 0.7465084254355157], [1.6973106503819901, -0.7454558664706503, 0.7363069836215403], [1.7758569739037178, -0.7501937811974579, 0.6707781354318164], [1.7905174422449506, -0.7530786580388049, 0.5924829788567237], [1.7407609635159278, -0.7630047575225232, 0.5999068784037492], [1.9151417411961895, -0.7584777100633564, 0.5154287107868961], [1.7812222059200997, -0.7520279538268217, 0.5209242801148722], [1.747902515642981, -0.7530809351698371, 0.45913630597407473], [1.8567146536351233, -0.7475649416354642, 0.32908241218220946], [1.7729492476639228, -0.7544551245786131, 0.2902872487259731], [1.7432223770466662, -0.7513071232217514, 0.22407878170630346], [1.7567893854229115, -0.7573296403165031, 0.13296693889461442], [1.7119730598982508, -0.7488109066882618, 0.021367727921927093]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 128085, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.8129472355029809, 0.4397984922295485, 1.3802470072404256], [0.5710093355053988, 0.26406289587382054, 1.3074956851771713], [0.46758589489731867, 0.1921603015394711, 1.272154071769633], [0.4446896035752258, 0.16864093588194612, 1.2533089920676024], [0.8416752695108422, 0.4561781135508075, 1.2983594217019367], [0.4113190083248828, 0.14862492894608087, 1.2349401132989617], [0.4916266941346653, 0.20804439472849895, 1.22433707114216], [0.585021255938089, 0.2757903224259755, 1.2079198747686424], [0.26098712814916825, 0.0400315595856631, 1.1944244984716799], [0.32768137666803543, 0.08761009723058781, 1.1808687040735648], [0.48299596076338636, 0.20252246856895978, 1.1536507631757118], [0.3074588807200961, 0.06964666225375642, 1.159280293064793], [0.6184648198389985, 0.2993987446160978, 1.0941526708906806], [0.36774889345872247, 0.11429307939484006, 1.1232413494524973], [0.2858768240610603, 0.05312202008138648, 1.129427408016307], [0.6426227751110837, 0.315977553128823, 1.0153457324491237], [0.46647019754901536, 0.1892934832327829, 1.047621782813893], [0.3924673680977152, 0.13253397455144628, 1.0561306660717285], [0.38130580859540303, 0.12507974323906895, 1.0447699338667915], [0.2997345618149456, 0.06578881758665837, 1.0656438488695812], [0.3997185253696963, 0.14050566224304012, 1.0002899373655718], [0.8145036134494411, 0.43867069128813185, 0.7472071232509514], [0.21614486350905593, 0.018655644281855316, 1.0674216902808047], [0.3011250812711684, 0.06981399791764713, 1.01409002801936], [0.4693554325091912, 0.19162729753408675, 0.8864843292586582], [0.21663173895557775, 0.014194382841383328, 1.0481774257136882], [0.23121026121618488, 0.015604973248269288, 1.03556763036166]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [127, 128, 129], "visible_pixels": 18424, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [0.27899681374711494, 0.004262889914628898, 1.0568397563203942], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 39184, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[1.999682717242895, 0.34414329757329765, 1.6433705036101478], [2.0061359867608095, 0.3456778984200686, 1.6331937711094793], [2.0228342696615407, 0.3423030736608592, 1.6367995048127564], [2.0141383712444214, 0.06710669287075025, 1.6085956391799048], [1.9840591224166286, 0.3348342480153852, 1.5676919806263419], [1.9966965031599606, 0.09167440216291059, 1.5641714877678874], [1.9972268017441472, 0.04839017300256756, 1.5230159087824888], [1.9930984697051912, 0.2957919987594002, 1.477841606869995], [2.0021876659853577, 0.04263493160725342, 1.4370004919940609], [1.9824344501324884, -0.03918555449408665, 1.4106732072746644], [2.0066311164808086, 0.06837215379396902, 1.391897597312231], [2.0091570947102353, -0.020794880793195, 1.346019275226115], [2.0097847676209706, -0.040129596229418786, 1.3150646860241042], [2.0046514391520565, 0.1620179745799624, 1.2961237934492271], [2.00710504864912, 0.14367396319398232, 1.2461052211131336], [2.0265635001035665, 0.18828835464156438, 1.2018311262016024], [1.9934505148893091, 0.001611572259299332, 1.1954845712969242], [1.9789992686897981, 0.1139214931959185, 1.1671985101671472], [1.9990390444758777, 0.09262293496127175, 1.1412995787137117], [2.0021686409869215, 0.063823239468529, 1.086351421818156], [2.003975614866909, 0.18312309884855818, 1.0142878793582637], [1.999088071782278, 0.16389265238523557, 0.9552342179513685], [2.0009281193214803, 0.2084286989470068, 0.8913683513409414], [2.010246343109466, 0.10283382207623173, 0.8251845566943936], [1.9981759604890834, 0.126519004212746, 0.7588038488026498], [1.9951279294628894, 0.23239256838609215, 0.6865273467027087], [2.000749302274759, 0.10108055384447148, 0.6108801796996125], [2.0174979641013797, -0.039829004219784386, 0.5807698491395542], [1.999360623585052, -0.02932418930079159, 0.5324641954360179], [2.00385774377305, 0.019369064062858567, 0.33565545691093335], [2.0031849864927396, -0.01954682928763749, 0.23367827587200452], [2.0031979796618398, 0.15669744219687612, 0.08639686683812453]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_wc_handle", "class": "door_handle", "mask_ids": [135], "visible_pixels": 372, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_wc", "handle_candidate_m": [1.925060337103625, 0.11387486277538829, 1.051029563479159], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc_sink", "class": "furniture", "mask_ids": [209, 210, 211], "visible_pixels": 1296, "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, 7.08, 1.2], "rotation_camera_to_world": [[0.0, -0.19866933079506127, 0.9800665778412416], [1.0, 0.0, 0.0], [0.0, 0.9800665778412416, 0.19866933079506127]], "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": 7.08, "yaw_rad": 3.141592653589793, "frame_id": "house_ground_v4", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "arm_carriage", "lidar_2d": {"frame_id": "base_link", "height_m": 0.15, "angle_min_rad": -3.141592653589793, "angle_increment_rad": 0.08726646259971647, "range_max_m": 6.0, "ranges_m": [2.631, 2.639, 2.676, 2.729, 2.801, 2.91, 3.043, 3.209, 1.551, 3.723, 1.838, 2.962, 1.618, 4.869, 4.698, 4.56, 4.475, 4.425, 4.397, 4.416, 4.304, 2.975, 2.263, 1.823, 1.541, 1.34, 1.198, 1.089, 1.005, 0.937, 0.892, 0.939, 2.058, 0.195, 0.172, 0.184, 0.213, 0.229, 0.273, 0.342, 0.44, 0.645, 0.917, 0.942, 0.996, 1.025, 0.941, 0.878, 0.829, 0.795, 0.768, 0.746, 0.737, 0.716, 0.72, 0.718, 0.718, 0.75, 0.767, 0.804, 0.831, 0.884, 0.94, 0.913, 0.843, 0.797, 0.749, 0.717, 0.7, 0.666, 0.891, 1.784], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.20000000000000007}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793686622.0880077, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0.35, "dy_m": 0, "dyaw_rad": 0, "observation_id": "obs-6ab04f36-11-16786", "command_id": "cross-g-office-11"}}}
{"time_unix": 1793686622.093676, "phase": "result", "tool": "robot_move_base", "result": {"status": "collision_guard", "stop_latched": true, "moved_m": 0.0, "needs_observation": true, "command_id": "cross-g-office-11"}}
{"time_unix": 1793686622.1029174, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793686622.1043084, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793686622.1150124, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793686622.1714442, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 11, "stop_latched": true, "video": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/mobile.mp4", "note": "Kinematic mobile simulation; no room truth in planner tools.", "api_version": 4, "evaluation_file": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna-001/simulation/evaluation.json", "floor_id": "ground"}}