{"time_unix": 1793643488.201609, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793643488.201686, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793643490.3372064, "phase": "request", "request": {"tool": "robot_capabilities", "arguments": {}}}
{"time_unix": 1793643491.1385045, "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": 1793643491.140928, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793643491.1409736, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793643491.141717, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793643491.3499522, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6a2d6a9a-1-350", "session_id": "6a2d6a9a", "time_s": 0.7, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-004-length/simulation/obs-6a2d6a9a-1-350.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-004-length/simulation/obs-6a2d6a9a-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": "sock_blue", "class": "sock", "coordinate_frame": "arm_carriage", "visible_fraction": 1.0, "visible_centroid_m": [0.5752048842230445, -0.11229228784409113, 0.003941495064948429], "grasp_candidates_m": [[0.6379, -0.0997, 0.0031], [0.5356, -0.1425, 0.0044], [0.5837, -0.098, 0.0047], [0.5084, -0.0921, 0.0035]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "arm_carriage", "visible_fraction": 0.98, "visible_centroid_m": [0.870307639463649, -0.6551692097484523, 0.003954079358411076], "grasp_candidates_m": [[0.7277, -0.6945, 0.0057], [0.9217, -0.781, 0.0024], [0.9613, -0.5259, 0.0041], [0.7349, -0.6154, 0.0032], [0.9545, -0.6028, 0.003]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "arm_carriage", "visible_fraction": 0.11, "visible_centroid_m": [1.20599246055086, -0.9560342659849903, 0.003949352007850656], "grasp_candidates_m": [[1.2561, -0.9968, 0.0034], [1.2062, -0.9864, 0.0015], [1.2605, -0.943, 0.0044], [1.3063, -0.9968, 0.0039], [1.1447, -0.9346, 0.0048]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [97, 98, 99, 100, 101], "visible_pixels": 62375, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 312015, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [49], "visible_pixels": 14, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_fitness_frame", "class": "door_frame", "mask_ids": [74], "visible_pixels": 57, "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": [0.0, -1.5, 1.2], "rotation_camera_to_world": [[0.9999999999999997, -1.8271227498804808e-17, -5.241803274357495e-17], [-1.8271227498804808e-17, 0.7833269096274832, -0.6216099682706642], [5.241803274357495e-17, 0.6216099682706642, 0.7833269096274832]], "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": 0.0, "y_m": -1.5, "yaw_rad": 1.5707963267948966, "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": [0.931, 0.944, 0.948, 0.97, 0.996, 1.031, 1.09, 1.142, 1.218, 1.332, 1.461, 1.635, 1.874, 2.222, 2.747, 3.256, 3.558, 3.519, 2.025, 2.031, 2.068, 2.098, 2.158, 2.236, 2.336, 2.468, 2.651, 2.663, 3.153, 6.0, 6.0, 5.887, 6.0, 4.221, 5.428, 6.0, 6.0, 2.881, 6.0, 3.553, 0.664, 0.535, 0.464, 0.435, 0.453, 0.498, 0.534, 0.609, 0.708, 2.882, 2.766, 2.878, 2.819, 2.795, 2.772, 2.792, 3.258, 2.969, 2.24, 1.814, 1.54, 1.345, 1.19, 1.08, 1.169, 1.149, 1.085, 1.022, 0.998, 0.967, 0.945, 0.948], "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": 1793643494.2869172, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": 0, "tilt_rad": 0, "observation_id": "obs-6a2d6a9a-1-350", "command_id": "look1"}}}
{"time_unix": 1793643495.439111, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "look1", "camera_head": {"pan_rad": 0.0, "tilt_rad": 0.0}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793643495.4403355, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 0}}}
{"time_unix": 1793643495.4844487, "phase": "result", "tool": "room_measure", "result": {"memory_revision": 1, "dimensions": {"width": {"value_m": null, "status": "opposing_planes_not_observed"}, "length": {"value_m": null, "status": "opposing_planes_not_observed"}, "height": {"value_m": null, "status": "floor_or_ceiling_not_observed"}}, "coverage": {"dimensions_complete": false, "full_room_coverage_verified": false, "localization": "ideal drift-free simulated odometry, not learned SLAM"}, "walls_this_view": [], "walls_in_memory": [], "horizontal_planes": {"floor": {"offset_m": 0.0006661419450828543, "points": 6089}}, "visible_objects": ["collection_bin"]}}
{"time_unix": 1793643497.991138, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0, "dy_m": 0, "dyaw_rad": 0.5, "observation_id": "obs-6a2d6a9a-1-350", "command_id": "move1"}}}
{"time_unix": 1793643497.9931355, "phase": "result", "tool": "robot_move_base", "result": {"status": "rejected", "reason": "stale_observation"}}
{"time_unix": 1793643497.9942224, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793643498.2285898, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-6a2d6a9a-2-913", "session_id": "6a2d6a9a", "time_s": 1.826, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-004-length/simulation/obs-6a2d6a9a-2-913.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-004-length/simulation/obs-6a2d6a9a-2-913-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": 60821, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [8, 9, 10], "visible_pixels": 1475, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_n", "class": "wall", "mask_ids": [19], "visible_pixels": 206, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_utility_s", "class": "wall", "mask_ids": [38, 39, 40], "visible_pixels": 3328, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_s", "class": "wall", "mask_ids": [41], "visible_pixels": 24704, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_office_w", "class": "wall", "mask_ids": [42], "visible_pixels": 795, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [45, 46, 47], "visible_pixels": 3269, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_s", "class": "wall", "mask_ids": [48], "visible_pixels": 233, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [49, 50, 51], "visible_pixels": 6990, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_s", "class": "wall", "mask_ids": [52], "visible_pixels": 42844, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_fitness_e", "class": "wall", "mask_ids": [54], "visible_pixels": 143, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_entrance_frame", "class": "door_frame", "mask_ids": [56, 57], "visible_pixels": 305, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_garage_utility_frame", "class": "door_frame", "mask_ids": [59, 61], "visible_pixels": 232, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_frame", "class": "door_frame", "mask_ids": [62, 63, 64], "visible_pixels": 762, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [65], "visible_pixels": 224, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [68, 69, 70], "visible_pixels": 954, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_vestibule_frame", "class": "door_frame", "mask_ids": [71, 72, 73], "visible_pixels": 2016, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "ceiling", "class": "ceiling", "mask_ids": [77], "visible_pixels": 27813, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall", "class": "door_leaf", "mask_ids": [116], "visible_pixels": 5957, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[9.329643249511717, 1.1923015624973194, 2.0076881552401202], [9.334869384765623, 0.4540980477752955, 1.946567976850911], [9.331773757934569, 0.5001116083698581, 1.869380152741196], [9.331393241882322, 0.4847037936043588, 1.7924157477386617], [9.333467483520506, 0.5617657488244804, 1.715593221523839], [9.325244903564451, 0.5766481289714058, 1.638252578018269], [9.357488632202147, 1.0106946839947146, 1.562615649982837], [9.3400182723999, 0.5775616744692093, 1.5619386493340384], [9.317011833190916, 1.190687303836718, 1.514955996498745], [9.338454246520994, 0.5774649593045074, 1.4848827132568907], [9.322417259216307, 0.5918458956978199, 1.4075303790109241], [9.334128379821776, 0.53102166256739, 1.3308314241108063], [9.342031478881834, 0.5006613436564412, 1.2539173754706938], [9.35078716278076, 0.40861416625832353, 1.2231291037504712], [9.322333335876463, 0.4688607094880608, 1.1769412765825542], [9.326457023620604, 0.5613438010047418, 1.100034665574498], [9.349164009094237, 1.1947962594036123, 1.0535411036860087], [9.332989692687987, 1.1157789555123523, 1.0076243180151114], [9.334180831909178, 1.0851373212804654, 0.9306396720225794], [9.33094787597656, 1.1001481643277837, 0.8537995287080398], [9.317100524902342, 0.407142115059733, 0.8389494451357076], [9.32922840118408, 1.0999454328302232, 0.7769440642960677], [9.330721855163572, 1.1308941455730606, 0.699944765562932], [9.328069686889647, 1.0998088167628157, 0.6231771940055157], [9.311961174011229, 0.7293804851095723, 0.5934625439615128], [9.335261344909666, 1.1160505364126483, 0.5457634786546538], [9.331793785095213, 0.7617100843931893, 0.45367799811980336], [9.32390785217285, 0.7918165503721621, 0.34668313503582415], [9.326714515686033, 1.1304084514515533, 0.22338861677314714], [9.347753524780272, 0.9479856028304011, 0.020798396479255965]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_utility_hall_handle", "class": "door_handle", "mask_ids": [121], "visible_pixels": 18, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_utility_hall", "handle_candidate_m": [9.259081840515135, 0.5576594635396946, 1.0473301230376841], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [128], "visible_pixels": 25, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [3.1783452033996578, 0.9188238216836334, 0.0032126692356031494], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_wc", "class": "door_leaf", "mask_ids": [130], "visible_pixels": 725, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[8.167295455932615, 1.2996456373067644, 2.0013359110855182], [8.3358097076416, 1.2989695589903902, 1.9216497549946618], [8.435638427734373, 1.3006155457291289, 1.8468301911914922], [8.164365768432615, 1.2991794419060236, 1.7317884762206006], [8.265000343322752, 1.3015642782482364, 1.6565696682860307], [8.432004928588865, 1.3000553290348589, 1.5823692144220174], [8.50752258300781, 1.297669856574205, 1.5577360145150514], [8.518656730651854, 1.2993681709348603, 1.5020153045956703], [8.257341384887694, 1.3003581528648644, 1.3974365781836706], [8.548291206359862, 1.3038883782533188, 1.3339128604692598], [8.340757369995115, 1.2997405534121425, 1.3169078804656424], [8.254292488098143, 1.2998780155406657, 1.220416932181267], [8.155362129211424, 1.2977467105328484, 1.1663796188981126], [8.430502891540526, 1.299823743393527, 1.1374416380184933], [8.1761999130249, 1.3010625860231435, 1.0449510907848065], [8.26320457458496, 1.3012814823203458, 0.9615452781088369], [8.33927249908447, 1.2995091659189526, 0.8768416359884084], [8.441866874694822, 1.301575854188519, 0.7893423775554937], [8.525549888610838, 1.3004195984465363, 0.7009200460015992], [8.52898597717285, 1.3009437120774947, 0.6163333616084749], [8.245731353759764, 1.2985298163666485, 0.5405372136776702], [8.347550392150877, 1.300799110325431, 0.44980368769591506], [8.43163204193115, 1.2999978369804077, 0.3588249290126768], [8.529058456420897, 1.3009547674857527, 0.2647190049967286], [8.25715637207031, 1.3003290172249224, 0.199223217109614], [8.431294441223143, 1.2999457853505463, 0.09469850336504271], [8.159899711608885, 1.2984687670812614, 0.02263194694704196]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_vestibule", "class": "door_leaf", "mask_ids": [137], "visible_pixels": 2395, "source": "privileged_mask_plus_rendered_noisy_depth", "visible_surface_points_arm_m": [[5.8226375579833975, 1.30100338297521, 2.0113268329255], [5.990762710571288, 1.299054117923822, 1.9162085441024876], [6.351377010345458, 1.3039370255880132, 1.886007029526224], [5.818262100219726, 1.300025735767065, 1.809237152924049], [6.230238914489745, 1.2996146546430676, 1.770186666661583], [6.1268224716186515, 1.298248404330546, 1.6697941696604701], [5.813194274902343, 1.298893386755713, 1.5594723395080388], [6.275099277496337, 1.2986248232899256, 1.5052544405342854], [6.050713062286376, 1.3020763272521254, 1.404540725736924], [5.805909633636474, 1.297265714959851, 1.3771174592380608], [5.889506340026855, 1.2965209315271864, 1.3602441600763937], [5.897799491882323, 1.298346593025481, 1.3118425904104347], [6.239193439483642, 1.301482549609402, 1.2360093986057936], [5.900780200958251, 1.2990027688549335, 1.1464830319947406], [6.339304447174071, 1.301458529651261, 1.0588779907607067], [6.189881801605224, 1.3014033312401874, 0.9703405886046728], [6.042343139648437, 1.3002751712535505, 0.8861404759043152], [5.865628719329833, 1.3009368850090601, 0.8082680755177178], [6.235402584075927, 1.3006917851926407, 0.7013157977719913], [5.843514442443847, 1.3056680898264523, 0.6941138397351382], [6.002881526947021, 1.3016819967228732, 0.6308234615090096], [5.870838165283202, 1.3020922872200567, 0.5562145940510498], [5.8691930770874015, 1.3017274233639524, 0.46929055417116394], [6.083251953124999, 1.2990472440704086, 0.3623903870279601], [5.913823604583739, 1.3018741548153951, 0.29795236464101804], [6.334150791168212, 1.3004004846206736, 0.15027912687246792], [6.08931541442871, 1.300342065122834, 0.10048296423976555], [5.816471576690673, 1.2996256632663474, 0.02506166974075552]], "coordinate_frame": "arm_carriage"}, {"track_id": "g_vestibule_handle", "class": "door_handle", "mask_ids": [142], "visible_pixels": 11, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_vestibule", "handle_candidate_m": [6.147728443145751, 1.229257597340684, 1.0517086194439407], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_coffee", "class": "furniture", "mask_ids": [156, 158], "visible_pixels": 3557, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_kitchen_w", "class": "furniture", "mask_ids": [165], "visible_pixels": 25, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_kitchen_n", "class": "furniture", "mask_ids": [166, 167], "visible_pixels": 2494, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_island", "class": "furniture", "mask_ids": [171, 172, 173], "visible_pixels": 46551, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_dining", "class": "furniture", "mask_ids": [174, 176, 177, 178], "visible_pixels": 3822, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_chair0", "class": "furniture", "mask_ids": [179, 180, 181, 182, 183], "visible_pixels": 10635, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_chair1", "class": "furniture", "mask_ids": [185, 186, 187, 188, 189, 190], "visible_pixels": 12116, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_chair2", "class": "furniture", "mask_ids": [192], "visible_pixels": 1063, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_chair3", "class": "furniture", "mask_ids": [197, 198, 199, 200], "visible_pixels": 2370, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_water", "class": "furniture", "mask_ids": [216], "visible_pixels": 138, "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": [0.0, -1.5, 1.2], "rotation_camera_to_world": [[0.9999999999999998, 0.0, -1.570092458683775e-16], [-1.570092458683775e-16, 0.0, -0.9999999999999998], [0.0, 0.9999999999999998, 0.0]], "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": 0.0, "y_m": -1.5, "yaw_rad": 1.5707963267948966, "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": [0.932, 0.936, 0.944, 0.968, 0.989, 1.027, 1.08, 1.152, 1.218, 1.331, 1.457, 1.638, 1.877, 2.222, 2.735, 3.271, 3.557, 3.517, 2.024, 2.037, 2.052, 2.097, 2.148, 2.232, 2.329, 2.479, 2.653, 2.653, 3.141, 6.0, 6.0, 5.893, 6.0, 4.229, 5.42, 6.0, 6.0, 2.873, 6.0, 3.549, 0.67, 0.54, 0.458, 0.427, 0.46, 0.49, 0.537, 0.61, 0.702, 2.875, 2.786, 2.866, 2.816, 2.789, 2.78, 2.789, 3.265, 2.964, 2.251, 1.817, 1.534, 1.331, 1.2, 1.099, 1.162, 1.142, 1.07, 1.031, 1.001, 0.974, 0.955, 0.943], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": 0.0}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793643500.6756122, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 1}}}
{"time_unix": 1793643500.746224, "phase": "result", "tool": "room_measure", "result": {"memory_revision": 2, "dimensions": {"width": {"value_m": 1.9579, "sigma_floor_m": 0.02, "source_walls": ["wall_main_w", "wall_wc_e"], "status": "measured_across_calibrated_views"}, "length": {"value_m": 2.6905, "sigma_floor_m": 0.02, "source_walls": ["wall_vest_s", "wall_office_w"], "status": "measured_across_calibrated_views"}, "height": {"value_m": 2.7015, "sigma_floor_m": 0.02, "status": "observed_floor_and_ceiling"}}, "coverage": {"dimensions_complete": true, "full_room_coverage_verified": false, "localization": "ideal drift-free simulated odometry, not learned SLAM"}, "walls_this_view": ["wall_main_w", "wall_office_s", "wall_office_w", "wall_wc_e", "wall_vest_e", "wall_vest_s"], "walls_in_memory": ["wall_main_w", "wall_office_s", "wall_office_w", "wall_wc_e", "wall_vest_e", "wall_vest_s"], "horizontal_planes": {"floor": {"offset_m": 0.0025001919114452376, "points": 6550}, "ceiling": {"offset_m": 2.704038975619676, "points": 5670}}, "visible_objects": ["g_entrance_frame", "g_garage_utility_frame", "g_office_frame", "g_wc_frame", "g_vestibule_frame", "g_vestibule", "g_coffee", "g_kitchen_n", "g_island", "g_dining", "g_chair0", "g_chair1", "g_chair2", "g_chair3"]}}
{"time_unix": 1793643500.7496336, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0, "dy_m": 0, "dyaw_rad": -0.5, "observation_id": "obs-6a2d6a9a-2-913", "command_id": "move2"}}}
{"time_unix": 1793643502.9502535, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.0, "rotated_rad": -0.5, "duration_s": 1.9379999999998057, "base_pose": [0.0, -1.5, 1.0707963267948966], "needs_observation": true, "command_id": "move2"}}
{"time_unix": 1793643505.8449743, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Walls: [wall_main_w, wall_office_s, wall_office_w, wall_wc_e, wall_vest_e, wall_vest_s]; Width: 1.96 m; Length: 2.69 m; Height: 2.70 m."}}}
{"time_unix": 1793643505.8453367, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Walls: [wall_main_w, wall_office_s, wall_office_w, wall_wc_e, wall_vest_e, wall_vest_s]; Width: 1.96 m; Length: 2.69 m; Height: 2.70 m.", "verified_by_host": false, "observation_id": "obs-6a2d6a9a-2-913"}}
{"time_unix": 1793643509.0083482, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793643509.0102975, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793643509.0206017, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793643509.158525, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 2, "stop_latched": true, "video": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-004-length/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-map-gpt4o-ground-004-length/simulation/evaluation.json", "floor_id": "ground"}}