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{"time_unix": 1793698909.439988, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Phase 1 evidence: floor house_ground_v4, door g_office. Fresh survey found handle; lift raised to 0.40 m. Successful grasp, press, open; opening_progress_rad=-1.4546 at open and -1.4340 after release. Release suggested 4 retreat waypoints; all four executed sequentially with observations, no rejects or stop latch. Final obs obs-023062a8-18-20533: TCP [0,-0,0.55] stowed, gripper open/empty, door_grip=null, lift_m=0, stop_latched=false. No base crossing or travel performed. Door remains open. Memory is evidence for phase 1 only; do not merge floors."}}}
{"time_unix": 1793698909.440701, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Phase 1 evidence: floor house_ground_v4, door g_office. Fresh survey found handle; lift raised to 0.40 m. Successful grasp, press, open; opening_progress_rad=-1.4546 at open and -1.4340 after release. Release suggested 4 retreat waypoints; all four executed sequentially with observations, no rejects or stop latch. Final obs obs-023062a8-18-20533: TCP [0,-0,0.55] stowed, gripper open/empty, door_grip=null, lift_m=0, stop_latched=false. No base crossing or travel performed. Door remains open. Memory is evidence for phase 1 only; do not merge floors.", "verified_by_host": false, "observation_id": "obs-023062a8-18-20533"}}
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{"time_unix": 1793698966.8930192, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.07999999999999986, "rotated_rad": 0.0, "duration_s": 1.2660000000015472, "base_pose": [-0.15569767782572336, 7.112853314479712, -2.3565926535897934], "needs_observation": true, "command_id": "approach-wc-003"}}
{"time_unix": 1793698969.2374935, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793698969.8246021, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-023062a8-24-25439", "session_id": "023062a8", "time_s": 50.878, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-003/simulation/obs-023062a8-24-25439.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-door-chain-phased-luna56-003/simulation/obs-023062a8-24-25439-rgbd.npz", "tcp_m": [0.0, -5.551115123125783e-17, 0.55], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "wall_main_w", "class": "wall", "mask_ids": [10], "visible_pixels": 4150, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_wc_e", "class": "wall", "mask_ids": [47], "visible_pixels": 145539, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_wc_frame", "class": "door_frame", "mask_ids": [68, 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{"time_unix": 1793698974.5667977, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Phase 2 evidence: from final phase1 pose, crossed the open g_office threshold using two short 0.20 m base moves; no rejects, no stop latch. Fresh observations showed g_office behind and new-room geometry. Approached different visible door g_wc using short base moves (0.2, -0.2), (0.18, -0.15), then dy=-0.08; no door_action. Final obs obs-023062a8-24-25439: candidate g_wc handle_candidate_m [0.8593,-0.6544,1.0518] in arm_carriage, lift_m=0, TCP [0,0,0.55] stowed, gripper open/empty, door_grip=null, stop_latched=false. Robot is positioned hinge-clear/near g_wc and ready for later manipulation. No second door opened."}}}
{"time_unix": 1793698974.572954, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 2, "kind": "agent_mission_notes", "notes": "Phase 2 evidence: from final phase1 pose, crossed the open g_office threshold using two short 0.20 m base moves; no rejects, no stop latch. Fresh observations showed g_office behind and new-room geometry. Approached different visible door g_wc using short base moves (0.2, -0.2), (0.18, -0.15), then dy=-0.08; no door_action. Final obs obs-023062a8-24-25439: candidate g_wc handle_candidate_m [0.8593,-0.6544,1.0518] in arm_carriage, lift_m=0, TCP [0,0,0.55] stowed, gripper open/empty, door_grip=null, stop_latched=false. Robot is positioned hinge-clear/near g_wc and ready for later manipulation. No second door opened.", "verified_by_host": false, "observation_id": "obs-023062a8-24-25439"}}
{"time_unix": 1793698981.6918886, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
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{"time_unix": 1793699194.635217, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
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