{"time_unix": 1793642947.487783, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793642947.4878526, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793642949.2913415, "phase": "request", "request": {"tool": "robot_capabilities", "arguments": {}}}
{"time_unix": 1793642950.108741, "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": 1793642950.1112285, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793642950.1112764, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793642951.6222405, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793642951.8281698, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-332a92a6-1-350", "session_id": "332a92a6", "time_s": 0.7, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-002/simulation/obs-332a92a6-1-350.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-002/simulation/obs-332a92a6-1-350-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": 1793642956.0408356, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": 0.785, "tilt_rad": 0, "observation_id": "obs-332a92a6-1-350", "command_id": "look-001"}}}
{"time_unix": 1793642957.1939971, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "look-001", "camera_head": {"pan_rad": 0.785, "tilt_rad": 0.0}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793642959.2742572, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793642959.4699929, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-332a92a6-2-913", "session_id": "332a92a6", "time_s": 1.826, "rgb_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-002/simulation/obs-332a92a6-2-913.png", "rgbd_path": "/home/pawel/Documents/HomeBot_Projekt_Domu/homebot-dom/runs/omp-map-gpt4o-ground-002/simulation/obs-332a92a6-2-913-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": 17025, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_main_w", "class": "wall", "mask_ids": [6, 8, 9, 10], "visible_pixels": 140044, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_garage_w", "class": "wall", "mask_ids": [30], "visible_pixels": 181, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_e", "class": "wall", "mask_ids": [50], "visible_pixels": 233, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall_vest_s", "class": "wall", "mask_ids": [52], "visible_pixels": 46155, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "ceiling", "class": "ceiling", "mask_ids": [77], "visible_pixels": 1351, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_utility_hall_handle", "class": "door_handle", "mask_ids": [122], "visible_pixels": 29, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_utility_hall", "handle_candidate_m": [2.1506869442489935, 2.6102179924364473, 0.0015372627069820677], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_office_frame", "class": "door_frame", "mask_ids": [125], "visible_pixels": 84, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_office_handle", "class": "door_handle", "mask_ids": [128], "visible_pixels": 26, "source": "privileged_mask_plus_rendered_noisy_depth", "door_id": "g_office", "handle_candidate_m": [2.3069466036871678, 1.533529063618809, 0.0021363900546849113], "coordinate_frame": "arm_carriage", "sigma_floor_m": 0.02}, {"track_id": "g_tv", "class": "furniture", "mask_ids": [161, 162], "visible_pixels": 18585, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_kitchen_w", "class": "furniture", "mask_ids": [163, 164, 165], "visible_pixels": 73465, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_kitchen_n", "class": "furniture", "mask_ids": [166, 167], "visible_pixels": 2403, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "g_island", "class": "furniture", "mask_ids": [171, 172, 173], "visible_pixels": 60110, "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": [[0.7073882691671999, 0.0, 0.7068251811053657], [0.7068251811053657, 0.0, -0.7073882691671998], [0.0, 1.0, 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": 0.785, "tilt_rad": 0.0}, "peak_force_N": 0.0, "lift_m": 0.0, "door_grip": null}}
{"time_unix": 1793642961.7390163, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 0}}}
{"time_unix": 1793642961.7952354, "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": ["wall_main_w", "wall_vest_s"], "walls_in_memory": ["wall_main_w", "wall_vest_s"], "horizontal_planes": {"floor": {"offset_m": 0.0019422559848549792, "points": 8306}}, "visible_objects": ["g_tv", "g_kitchen_w", "g_kitchen_n", "g_island"]}}
{"time_unix": 1793642964.2220628, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Observed walls: wall_main_w, wall_vest_s. Visible furniture: TV, kitchen cabinets, kitchen island."}}}
{"time_unix": 1793642964.2225063, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Observed walls: wall_main_w, wall_vest_s. Visible furniture: TV, kitchen cabinets, kitchen island.", "verified_by_host": false, "observation_id": "obs-332a92a6-2-913"}}
{"time_unix": 1793642966.3407354, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0.5, "dy_m": 0, "dyaw_rad": 0.3, "observation_id": "obs-332a92a6-2-913", "command_id": "move-001"}}}
{"time_unix": 1793642966.3915496, "phase": "result", "tool": "robot_move_base", "result": {"status": "collision_guard", "stop_latched": true, "moved_m": 0.0, "needs_observation": true, "command_id": "move-001"}}
{"time_unix": 1793642966.3976934, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793642966.3995254, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793642966.4141564, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793642966.4914668, "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-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-map-gpt4o-ground-002/simulation/evaluation.json", "floor_id": "ground"}}