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{"time_unix": 1793693192.734157, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-8168b573-6-2157", "session_id": "8168b573", "time_s": 4.314, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna6-002/simulation/obs-8168b573-6-2157.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna6-002/simulation/obs-8168b573-6-2157-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": 73319, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 6517, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65, 66, 125, 126], "visible_pixels": 51543, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office", "class": "door_leaf", "mask_ids": [123], "visible_pixels": 255492, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[0.9350535619022915, 0.7106330088465712, 1.739875382954415], [0.9355946079070026, -0.007218108542703546, 1.6247426214493337], [0.9298731415942575, 0.13130237518690546, 1.5976068805342019], [0.9517539043002412, -0.09133088298357517, 1.5549082022707776], [0.9203520945255858, 0.3804831634145752, 1.5764395296287192], [0.9339241763342566, 0.6291871641769645, 1.5594245887669775], [0.9376430471179373, 0.13921595221762761, 1.4870882687103568], [0.9306646062045892, 0.5050164340058211, 1.4679077152188114], [0.9257874682102747, 0.07439858143959655, 1.4062870421470592], [0.9297342674288464, 0.5537546243278807, 1.3891918213358947], [0.9629179836316711, -0.001222490961053306, 1.3508566694292892], [0.9349628257833555, 0.21968732311088612, 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"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": 0.82, "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": [2.508, 2.517, 2.545, 2.597, 2.672, 2.765, 2.9, 1.3, 3.271, 3.55, 3.91, 4.38, 1.32, 4.552, 4.388, 4.276, 4.185, 1.504, 4.135, 4.148, 4.024, 3.441, 2.609, 2.1, 1.784, 1.553, 1.387, 1.257, 1.166, 1.076, 1.036, 0.98, 0.951, 0.922, 0.911, 0.938, 0.924, 0.936, 0.949, 0.962, 0.996, 1.029, 1.075, 1.14, 1.148, 1.262, 1.31, 1.224, 1.157, 1.102, 1.067, 1.03, 1.009, 1.003, 1.006, 0.999, 1.014, 1.036, 1.064, 1.092, 1.056, 0.922, 0.819, 0.752, 0.696, 0.758, 0.87, 1.032, 1.273, 1.676, 2.549, 2.531], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.21999999999999997, "tilt_rad": 0.05}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793693200.2527885, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit."}}}
{"time_unix": 1793693200.2531471, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Mission 8700aaee-59c3-4470-affd-15fc00904db0, ground frame house_ground_v4. DISCOVER caps: v4 lift enabled 0..0.55m, TCP arm_carriage, workspace [-.88,-.68,.018]..[.88,.68,.78], footprint radius .26m; start base (0.70,7.36,yaw pi), TCP (0,0,.45), lift=0. SURVEY operator-selected g_office shown in fresh RGB; handle_candidate_m observations obs-8168b573-2-694=(.7361,.0608,1.0527), obs-8168b573-3-882=(.7359,.0647,1.0525), obs-8168b573-4-1007=(.7359,.0492,1.0527), after safe base retreat -0.12m obs-8168b573-5-1782=(.8556,.0595,1.0523), obs-8168b573-6-2157=(.8560,.0605,1.0522), sigma floor .02m. Latest image shows closed panel and both frame sides, but not metrically calibrated portal endpoints/plane+uncertainty or hinge/opening direction. No sweep samples feasible to certify; STOPPED safely before SWEEP_CHECK, no lift/door action. Latest base (.82,7.36,pi), empty stowed TCP=(0,0,.45), lift=0, stop=false. Status blocked; no exit evidence. Do not reuse as geometry on future visit.", "verified_by_host": false, "observation_id": "obs-8168b573-6-2157"}}
{"time_unix": 1793693209.2668598, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793693209.2686932, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793693209.2772443, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793693209.3849797, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 5, "stop_latched": true, "video": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-exit-luna6-002/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-luna6-002/simulation/evaluation.json", "floor_id": "ground"}}