{"time_unix": 1793621887.2503374, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793621887.2504168, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793621890.7131026, "phase": "request", "request": {"tool": "robot_capabilities", "arguments": {}}}
{"time_unix": 1793621891.307439, "phase": "result", "tool": "robot_capabilities", "result": {"mode": "SIMULATION_ONLY", "api_version": 3, "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": "base_link (x forward, y left, z up)", "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"], "robot_model": "unified mobile Cartesian cloth robot", "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": "robot_world_v3", "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"}}
{"time_unix": 1793621895.443642, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793621895.4437113, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793621897.6690576, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793621897.8088908, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-1-350", "session_id": "e46a2d2e", "time_s": 0.7, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-1-350.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-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": 296340, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 14, 15, 16], "visible_pixels": 3237, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 1283, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 11213, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 1.0, "visible_centroid_m": [0.5752048982180085, -0.11229227029718986, 0.003941532579017988], "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": "base_link", "visible_fraction": 0.98, "visible_centroid_m": [0.8703076102684372, -0.655169137837453, 0.003954086701539706], "grasp_candidates_m": [[0.7277, -0.6945, 0.0057], [0.9597, -0.5113, 0.0024], [0.9234, -0.7956, 0.0041], [0.7349, -0.6154, 0.0032], [0.9597, -0.6153, 0.0034]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.11, "visible_centroid_m": [1.2059923356059206, -0.9560342984623581, 0.003949336886716082], "grasp_candidates_m": [[1.2562, -0.9864, 0.0015], [1.0593, -0.9391, 0.0047], [1.1499, -0.9314, 0.0035], [1.2101, -0.9378, 0.0042], [1.3077, -0.936, 0.0043]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 22, 23, 24, 25], "visible_pixels": 62375, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "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": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.694, 0.705, 0.707, 0.724, 0.744, 0.769, 0.816, 0.852, 0.908, 0.997, 1.091, 1.221, 1.399, 1.66, 1.922, 1.858, 1.829, 1.81, 1.8, 1.805, 1.839, 1.865, 1.918, 1.988, 2.076, 2.193, 2.357, 2.554, 2.653, 2.477, 2.375, 2.811, 1.646, 3.416, 3.356, 3.314, 3.314, 3.318, 2.221, 3.414, 0.664, 0.535, 0.464, 0.435, 0.453, 0.498, 0.534, 0.609, 0.708, 1.988, 1.904, 1.868, 1.829, 1.816, 1.797, 1.813, 1.819, 1.867, 1.912, 1.655, 1.405, 1.228, 1.085, 0.985, 0.916, 0.859, 0.811, 0.76, 0.745, 0.721, 0.704, 0.71], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0}}
{"time_unix": 1793621902.645091, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 0}}}
{"time_unix": 1793621902.712912, "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": 0.0007430291297449987, "points": 6025}}, "visible_objects": ["desk01", "cabinet01", "chair01", "collection_bin"]}}
{"time_unix": 1793621911.181776, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e; SIMULATION v3, calibration unified-rgbd-v3, world robot_world_v3, TCP base_link. Bin world (-.48,-.95), half (.22,.17), rim .26. Fresh obs obs-e46a2d2e-1-350: sock_blue isolated; shirt_red exposed farther right; towel_green only .11 visible. No deliveries. Attempts sock 0 shirt 0 towel 0. Pending s01 sock attempt1 approach1: robot.move_tcp(0.5837,-0.098,0.15); robot.move_tcp(0.5837,-0.098,0.018); robot.close_gripper(); robot.move_tcp(0.5837,-0.098,0.10); robot.wait(0.3). Hypothesis isolated sock lifts; require contact and same cloth rising before transport. Abort on force/snags/guard; preserve grip. No tool after latched stop except robot_stop, so terminal pending attempt will remain in notes if stopped."}}}
{"time_unix": 1793621911.181929, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e; SIMULATION v3, calibration unified-rgbd-v3, world robot_world_v3, TCP base_link. Bin world (-.48,-.95), half (.22,.17), rim .26. Fresh obs obs-e46a2d2e-1-350: sock_blue isolated; shirt_red exposed farther right; towel_green only .11 visible. No deliveries. Attempts sock 0 shirt 0 towel 0. Pending s01 sock attempt1 approach1: robot.move_tcp(0.5837,-0.098,0.15); robot.move_tcp(0.5837,-0.098,0.018); robot.close_gripper(); robot.move_tcp(0.5837,-0.098,0.10); robot.wait(0.3). Hypothesis isolated sock lifts; require contact and same cloth rising before transport. Abort on force/snags/guard; preserve grip. No tool after latched stop except robot_stop, so terminal pending attempt will remain in notes if stopped.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-1-350"}}
{"time_unix": 1793621914.6300223, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5837,-0.098,0.15)\nrobot.move_tcp(0.5837,-0.098,0.018)\nrobot.close_gripper()\nrobot.move_tcp(0.5837,-0.098,0.10)\nrobot.wait(0.3)", "observation_id": "obs-e46a2d2e-1-350", "command_id": "s01"}}}
{"time_unix": 1793621917.9033754, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s01", "executed": ["move_tcp", "move_tcp", "close_gripper", "move_tcp", "wait"], "duration_s": 5.326, "grip_contact": true, "peak_force_N": 0.785, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793621920.8130774, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793621920.9490545, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-2-3013", "session_id": "e46a2d2e", "time_s": 6.026, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-2-3013.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-2-3013-rgbd.npz", "tcp_m": [0.5837, -0.098, 0.1], "gripper_closed": true, "grip_contact": true, "force_N": 0.183, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 297577, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 14, 15, 16], "visible_pixels": 3237, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 1283, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 11213, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.7, "visible_centroid_m": [0.5758122677509633, -0.10186789312892586, 0.039662155168636026], "grasp_candidates_m": [[0.5836, -0.0958, 0.0981], [0.5644, -0.0895, 0.0385], [0.5748, -0.1276, 0.0055]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.97, "visible_centroid_m": [0.8707299426324994, -0.6559540865834117, 0.0039541989959046755], "grasp_candidates_m": [[0.7264, -0.701, 0.005], [0.9572, -0.5218, 0.0043], [0.9216, -0.786, 0.0049], [0.9617, -0.6119, 0.0027], [0.9612, -0.696, 0.0034]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.11, "visible_centroid_m": [1.2060423302839536, -0.9557058639531284, 0.003949339904238034], "grasp_candidates_m": [[1.2561, -0.9969, 0.0028], [1.2478, -0.9378, 0.0014], [1.3072, -0.9907, 0.0052], [1.0561, -0.9348, 0.0055], [1.1568, -0.9324, 0.0016]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 22, 23, 24, 25], "visible_pixels": 62375, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "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": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.71, 0.703, 0.712, 0.724, 0.749, 0.768, 0.809, 0.847, 0.912, 0.981, 1.096, 1.23, 1.398, 1.647, 1.922, 1.867, 1.829, 1.805, 1.808, 1.804, 1.813, 1.857, 1.907, 1.989, 2.073, 2.195, 2.345, 2.544, 2.65, 2.481, 2.376, 2.808, 1.644, 3.418, 3.346, 3.326, 3.298, 3.315, 2.233, 3.421, 0.676, 0.543, 0.459, 0.434, 0.458, 0.494, 0.537, 0.616, 0.714, 1.982, 1.913, 1.851, 1.824, 1.81, 1.803, 1.81, 1.83, 1.866, 1.914, 1.651, 1.4, 1.214, 1.096, 0.985, 0.913, 0.85, 0.807, 0.779, 0.739, 0.731, 0.717, 0.706], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.785}}
{"time_unix": 1793621925.0038526, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 1}}}
{"time_unix": 1793621925.0420606, "phase": "result", "tool": "room_measure", "result": {"memory_revision": 2, "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": 0.0006635268937187355, "points": 6047}}, "visible_objects": ["desk01", "cabinet01", "chair01", "collection_bin"]}}
{"time_unix": 1793621933.8214798, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e v3. Bin world(-.48,-.95), current base(0,-1.5,pi/2) => bin base(.55,.48). s01 sock_blue attempt1 approach1 confirmed contact, candidate z .0981 vs .004, force .183N peak .785. Deliveries0. Pending s02 script: robot.move_tcp(.5837,-.098,.55); robot.move_tcp(.55,.48,.55); robot.move_tcp(.55,.48,.40); robot.open_gripper(); robot.wait(.6). Verified test permits transfer; lift clears .26 rim. Verify same sock inside bin after release; abort on snag/guard. Shirt0 towel0. Calibration unified-rgbd-v3."}}}
{"time_unix": 1793621933.8217475, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 2, "kind": "agent_mission_notes", "notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e v3. Bin world(-.48,-.95), current base(0,-1.5,pi/2) => bin base(.55,.48). s01 sock_blue attempt1 approach1 confirmed contact, candidate z .0981 vs .004, force .183N peak .785. Deliveries0. Pending s02 script: robot.move_tcp(.5837,-.098,.55); robot.move_tcp(.55,.48,.55); robot.move_tcp(.55,.48,.40); robot.open_gripper(); robot.wait(.6). Verified test permits transfer; lift clears .26 rim. Verify same sock inside bin after release; abort on snag/guard. Shirt0 towel0. Calibration unified-rgbd-v3.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-2-3013"}}
{"time_unix": 1793621937.1023674, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5837,-0.098,0.55)\nrobot.move_tcp(0.55,0.48,0.55)\nrobot.move_tcp(0.55,0.48,0.40)\nrobot.open_gripper()\nrobot.wait(0.6)", "observation_id": "obs-e46a2d2e-2-3013", "command_id": "s02"}}}
{"time_unix": 1793621941.6892488, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s02", "executed": ["move_tcp", "move_tcp", "move_tcp", "open_gripper", "wait"], "duration_s": 7.3, "grip_contact": false, "peak_force_N": 0.29, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793621944.883875, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793621945.0212417, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-3-6663", "session_id": "e46a2d2e", "time_s": 13.326, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-3-6663.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-3-6663-rgbd.npz", "tcp_m": [0.55, 0.48, 0.4], "gripper_closed": false, "grip_contact": false, "force_N": 0.0, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 298272, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 14, 15, 16], "visible_pixels": 3237, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 1283, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 11213, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.93, "visible_centroid_m": [0.5556090698274173, 0.46688925262607006, 0.06001416252749265], "grasp_candidates_m": [[0.5499, 0.4907, 0.0795], [0.5534, 0.4288, 0.0592], [0.6052, 0.4768, 0.0555]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 1.0, "visible_centroid_m": [0.8705408437693383, -0.6544280926990358, 0.003954409350586727], "grasp_candidates_m": [[0.7322, -0.6982, 0.0043], [0.9595, -0.5138, 0.0037], [0.9286, -0.7933, 0.0032], [0.7309, -0.6066, 0.0062], [0.9615, -0.6124, 0.0042]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.11, "visible_centroid_m": [1.2060928249293208, -0.9554736542788934, 0.003949340295999404], "grasp_candidates_m": [[1.2522, -0.9861, 0.0034], [1.3083, -0.9963, 0.0066], [1.0519, -0.9383, 0.0055], [1.1563, -0.9347, 0.002], [1.207, -0.9326, 0.0011]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 22, 23, 24, 25], "visible_pixels": 61361, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "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": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.703, 0.702, 0.709, 0.729, 0.753, 0.766, 0.812, 0.863, 0.91, 0.992, 1.09, 1.215, 1.401, 1.653, 1.922, 1.868, 1.828, 1.804, 1.802, 1.807, 1.83, 1.861, 1.912, 1.986, 2.075, 2.19, 2.351, 2.55, 2.643, 2.484, 2.382, 2.819, 1.644, 3.413, 3.348, 3.308, 3.29, 3.318, 2.224, 3.418, 0.662, 0.551, 0.465, 0.423, 0.462, 0.488, 0.555, 0.615, 0.703, 1.983, 1.914, 1.867, 1.827, 1.8, 1.792, 1.812, 1.832, 1.862, 1.915, 1.656, 1.406, 1.222, 1.087, 1.006, 0.906, 0.858, 0.819, 0.77, 0.743, 0.724, 0.703, 0.706], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.29}}
{"time_unix": 1793621948.1567802, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 2}}}
{"time_unix": 1793621948.1900363, "phase": "result", "tool": "room_measure", "result": {"memory_revision": 3, "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": 0.0006381683861491627, "points": 6056}}, "visible_objects": ["desk01", "cabinet01", "chair01", "collection_bin"]}}
{"time_unix": 1793621954.8981972, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e. Observed delivery sock_blue s02: obs3 visible .93 centroid base(.556,.467,.060), points within bin (.55,.48), below .26 rim; grip false, source empty. Sensor-supported delivery1, not evaluator verified. Sock attempts1 approach1; shirt0 towel0. Map revision3, three unique views measured; dimensions unknown. Pending s03 robot.move_tcp(.55,.48,.55); robot.move_tcp(0,0,.45). Stow empty before planned base shift dx .15 dy -.35 to reach shirt center. Guards terminal. Bin world(-.48,-.95); calibration unified-rgbd-v3."}}}
{"time_unix": 1793621954.8984733, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 3, "kind": "agent_mission_notes", "notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e. Observed delivery sock_blue s02: obs3 visible .93 centroid base(.556,.467,.060), points within bin (.55,.48), below .26 rim; grip false, source empty. Sensor-supported delivery1, not evaluator verified. Sock attempts1 approach1; shirt0 towel0. Map revision3, three unique views measured; dimensions unknown. Pending s03 robot.move_tcp(.55,.48,.55); robot.move_tcp(0,0,.45). Stow empty before planned base shift dx .15 dy -.35 to reach shirt center. Guards terminal. Bin world(-.48,-.95); calibration unified-rgbd-v3.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-3-6663"}}
{"time_unix": 1793621958.5692618, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.55,0.48,0.55)\nrobot.move_tcp(0,0,0.45)", "observation_id": "obs-e46a2d2e-3-6663", "command_id": "s03"}}}
{"time_unix": 1793621961.902477, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s03", "executed": ["move_tcp", "move_tcp"], "duration_s": 4.928, "grip_contact": false, "peak_force_N": 0.0, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793621965.1210024, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793621965.260413, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-4-9127", "session_id": "e46a2d2e", "time_s": 18.254, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-4-9127.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-4-9127-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": 298258, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 14, 15, 16], "visible_pixels": 3237, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 1283, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 11213, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.93, "visible_centroid_m": [0.5553806348967938, 0.4677329808119803, 0.05861601083609381], "grasp_candidates_m": [[0.5538, 0.4961, 0.0763], [0.5511, 0.4198, 0.0574], [0.5875, 0.4567, 0.052]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.98, "visible_centroid_m": [0.8684117087229801, -0.6514194346255313, 0.003956288078620928], "grasp_candidates_m": [[0.7313, -0.6987, 0.0056], [0.9647, -0.5121, 0.0041], [0.9246, -0.7969, 0.001], [0.7231, -0.5999, 0.0035], [0.9513, -0.6128, 0.0064]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.1, "visible_centroid_m": [1.1935739460461174, -0.9509683831692881, 0.003949732967160517], "grasp_candidates_m": [[1.2616, -0.9908, 0.0046], [1.2009, -0.9845, 0.0039], [1.2618, -0.9359, 0.0012], [1.0566, -0.9346, 0.0064], [1.1609, -0.9416, 0.005]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 22, 23, 24, 25], "visible_pixels": 61230, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "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": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.703, 0.704, 0.706, 0.72, 0.733, 0.775, 0.808, 0.858, 0.91, 0.993, 1.088, 1.217, 1.41, 1.656, 1.915, 1.87, 1.825, 1.806, 1.805, 1.821, 1.823, 1.857, 1.913, 1.978, 2.085, 2.199, 2.35, 2.543, 2.654, 2.47, 2.387, 2.807, 1.651, 3.417, 3.359, 3.315, 3.296, 3.324, 2.229, 3.421, 0.678, 0.54, 0.457, 0.428, 0.461, 0.501, 0.548, 0.607, 0.705, 1.982, 1.916, 1.863, 1.825, 1.812, 1.791, 1.812, 1.83, 1.864, 1.914, 1.652, 1.389, 1.215, 1.094, 0.99, 0.912, 0.85, 0.814, 0.777, 0.746, 0.718, 0.71, 0.711], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0}}
{"time_unix": 1793621968.793503, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0.15, "dy_m": -0.35, "dyaw_rad": 0, "observation_id": "obs-e46a2d2e-4-9127", "command_id": "b01"}}}
{"time_unix": 1793621970.8369849, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.3807886552931954, "rotated_rad": 0.0, "duration_s": 3.173999999998241, "base_pose": [0.35, -1.35, 1.5707963267948966], "needs_observation": true, "command_id": "b01"}}
{"time_unix": 1793621979.5682542, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793621979.706554, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-5-10714", "session_id": "e46a2d2e", "time_s": 21.428, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-5-10714.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-5-10714-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": 313488, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_frame01", "class": "door_frame", "mask_ids": [10], "visible_pixels": 47, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [14, 16], "visible_pixels": 5703, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 8070, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 17864, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.95, "visible_centroid_m": [0.7218390351656669, -0.30910760351647953, 0.003956168325479238], "grasp_candidates_m": [[0.5783, -0.3509, 0.0017], [0.8061, -0.1698, 0.0032], [0.7631, -0.4399, 0.0029], [0.5807, -0.2596, 0.0058], [0.8154, -0.26, 0.0026]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.72, "visible_centroid_m": [0.9784089588158057, -0.7400783687452905, 0.003962822219875253], "grasp_candidates_m": [[1.1107, -0.6414, 0.0038], [0.8005, -0.6444, 0.0033], [1.1106, -0.9598, 0.0054], [1.117, -0.8475, 0.0056], [0.7994, -0.8029, 0.0056]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [23, 25], "visible_pixels": 14425, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.35, -1.35, 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": 0.35, "y_m": -1.35, "yaw_rad": 1.5707963267948966, "frame_id": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.854, 0.85, 0.86, 0.878, 0.904, 0.946, 0.976, 1.03, 1.107, 1.204, 1.321, 1.486, 1.675, 1.597, 1.54, 1.512, 1.472, 1.449, 1.453, 1.459, 1.47, 1.504, 1.541, 1.6, 1.676, 1.771, 1.896, 2.055, 2.254, 2.288, 2.168, 2.084, 2.449, 3.245, 1.416, 3.155, 3.16, 3.171, 3.189, 3.257, 2.181, 1.642, 3.639, 3.748, 3.339, 0.82, 0.757, 0.716, 0.668, 0.638, 0.622, 0.775, 2.185, 2.146, 2.152, 2.158, 2.185, 2.225, 2.289, 2.011, 1.705, 1.488, 1.314, 1.208, 1.102, 1.038, 0.979, 0.931, 0.906, 0.877, 0.857, 0.853], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.0}}
{"time_unix": 1793621986.649007, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e. Sock_blue delivery sensor-supported obs3/4; attempts1. Base now world(.35,-1.35,pi/2). Shirt_red .95 visible centered(.722,-.309,.004), isolated. Pending s04 shirt attempt1 approach1: robot.move_tcp(.8154,-.26,.15); robot.move_tcp(.8154,-.26,.018); robot.close_gripper(); robot.move_tcp(.8154,-.26,.10); robot.wait(.3). Require contact plus rising cloth; abort snag/force/guard, preserve load. Towel attempts0, .72 visible. Bin world(-.48,-.95), now base(.40,.83) out of y reach; transport will require stow and reposition after test. Calibration unified-rgbd-v3; maprev3 dimensions unknown."}}}
{"time_unix": 1793621986.649522, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 4, "kind": "agent_mission_notes", "notes": "Mission af1c961c-95e3-4637-8897-9400c45dea6e. Sock_blue delivery sensor-supported obs3/4; attempts1. Base now world(.35,-1.35,pi/2). Shirt_red .95 visible centered(.722,-.309,.004), isolated. Pending s04 shirt attempt1 approach1: robot.move_tcp(.8154,-.26,.15); robot.move_tcp(.8154,-.26,.018); robot.close_gripper(); robot.move_tcp(.8154,-.26,.10); robot.wait(.3). Require contact plus rising cloth; abort snag/force/guard, preserve load. Towel attempts0, .72 visible. Bin world(-.48,-.95), now base(.40,.83) out of y reach; transport will require stow and reposition after test. Calibration unified-rgbd-v3; maprev3 dimensions unknown.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-5-10714"}}
{"time_unix": 1793621990.5860887, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.8154,-0.26,0.15)\nrobot.move_tcp(0.8154,-0.26,0.018)\nrobot.close_gripper()\nrobot.move_tcp(0.8154,-0.26,0.10)\nrobot.wait(0.3)", "observation_id": "obs-e46a2d2e-5-10714", "command_id": "s04"}}}
{"time_unix": 1793621995.0510287, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s04", "executed": ["move_tcp", "move_tcp", "close_gripper", "move_tcp", "wait"], "duration_s": 6.678, "grip_contact": true, "peak_force_N": 0.834, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793622002.2802238, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793622002.417621, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-6-14053", "session_id": "e46a2d2e", "time_s": 28.106, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-6-14053.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-6-14053-rgbd.npz", "tcp_m": [0.8154, -0.26, 0.1], "gripper_closed": true, "grip_contact": true, "force_N": 0.42, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 313694, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_frame01", "class": "door_frame", "mask_ids": [10], "visible_pixels": 47, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [14, 16], "visible_pixels": 5703, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 8070, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 17864, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.9, "visible_centroid_m": [0.716950751673012, -0.31278589927586936, 0.010474469290840508], "grasp_candidates_m": [[0.8148, -0.2598, 0.0939], [0.7788, -0.2617, 0.0548], [0.8145, -0.2211, 0.0519], [0.8104, -0.3009, 0.0493], [0.8057, -0.3458, 0.0182]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.73, "visible_centroid_m": [0.976323600953956, -0.7374600443986725, 0.003962528380755291], "grasp_candidates_m": [[1.1079, -0.6451, 0.0054], [0.8025, -0.6441, 0.0037], [1.1165, -0.9557, 0.0056], [1.1086, -0.85, 0.0044], [0.8075, -0.8031, 0.0038]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [23, 25], "visible_pixels": 14425, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.35, -1.35, 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": 0.35, "y_m": -1.35, "yaw_rad": 1.5707963267948966, "frame_id": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.846, 0.852, 0.861, 0.872, 0.9, 0.946, 0.974, 1.04, 1.112, 1.211, 1.318, 1.482, 1.672, 1.601, 1.55, 1.498, 1.472, 1.46, 1.455, 1.454, 1.465, 1.507, 1.545, 1.59, 1.675, 1.767, 1.89, 2.047, 2.255, 2.29, 2.172, 2.086, 2.459, 3.255, 1.411, 3.165, 3.162, 3.167, 3.204, 3.26, 2.17, 1.649, 3.636, 3.754, 3.352, 0.811, 0.756, 0.703, 0.667, 0.638, 0.619, 0.778, 2.181, 2.161, 2.147, 2.164, 2.188, 2.219, 2.287, 2.008, 1.706, 1.484, 1.33, 1.199, 1.106, 1.04, 0.979, 0.928, 0.897, 0.879, 0.866, 0.862], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.834}}
{"time_unix": 1793622009.4662006, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Sock delivered sensor-supported1; sock attempts1 shirt attempts1 towel0. s04 shirt contact true, point z .0939, force .42 peak .834; test lift passed obs6. Pending s05 robot.move_tcp(.8154,-.26,.65); robot.move_tcp(0,0,.65). Keep gripper CLOSED; raise before retract, observe clearance/contact before driving. Base(.35,-1.35,pi/2); bin world(-.48,-.95). Abort terminal snag/guard. Planned return toward start via dx-.15 dy+.35 after fresh observation."}}}
{"time_unix": 1793622009.4664254, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 5, "kind": "agent_mission_notes", "notes": "Sock delivered sensor-supported1; sock attempts1 shirt attempts1 towel0. s04 shirt contact true, point z .0939, force .42 peak .834; test lift passed obs6. Pending s05 robot.move_tcp(.8154,-.26,.65); robot.move_tcp(0,0,.65). Keep gripper CLOSED; raise before retract, observe clearance/contact before driving. Base(.35,-1.35,pi/2); bin world(-.48,-.95). Abort terminal snag/guard. Planned return toward start via dx-.15 dy+.35 after fresh observation.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-6-14053"}}
{"time_unix": 1793622013.4209278, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.8154,-0.26,0.65)\nrobot.move_tcp(0,0,0.65)", "observation_id": "obs-e46a2d2e-6-14053", "command_id": "s05"}}}
{"time_unix": 1793622018.481924, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s05", "executed": ["move_tcp", "move_tcp"], "duration_s": 7.81, "grip_contact": true, "peak_force_N": 1.498, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793622021.5606062, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793622021.7022753, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-7-17958", "session_id": "e46a2d2e", "time_s": 35.916, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-7-17958.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-7-17958-rgbd.npz", "tcp_m": [0.0, 0.0, 0.65], "gripper_closed": true, "grip_contact": true, "force_N": 1.404, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 326675, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_frame01", "class": "door_frame", "mask_ids": [10], "visible_pixels": 47, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [14, 16], "visible_pixels": 5703, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 8070, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 17864, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.7, "visible_centroid_m": [0.9726345163968064, -0.7316746074589446, 0.003962119601638002], "grasp_candidates_m": [[1.1063, -0.6398, 0.0051], [0.8081, -0.6413, 0.0008], [1.1075, -0.9491, 0.0069], [1.1068, -0.8573, 0.0024], [0.8067, -0.7913, 0.0042]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [23, 25], "visible_pixels": 14425, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "width": 720, "height": 540, "fx": 606.4299289541383, "fy": 606.4299289541383, "cx": 359.5, "cy": 269.5, "position_m": [0.35, -1.35, 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": 0.35, "y_m": -1.35, "yaw_rad": 1.5707963267948966, "frame_id": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.851, 0.854, 0.868, 0.872, 0.902, 0.935, 0.976, 1.047, 1.11, 1.204, 1.32, 1.482, 1.674, 1.593, 1.539, 1.509, 1.473, 1.456, 1.444, 1.451, 1.475, 1.499, 1.543, 1.603, 1.676, 1.766, 1.898, 2.046, 2.252, 2.291, 2.177, 2.074, 2.458, 3.254, 1.42, 3.159, 3.161, 3.163, 3.201, 3.275, 2.181, 1.647, 3.63, 3.746, 3.346, 0.824, 0.757, 0.7, 0.68, 0.633, 0.622, 0.773, 2.174, 2.146, 2.16, 2.16, 2.19, 2.232, 2.292, 2.012, 1.704, 1.47, 1.321, 1.199, 1.108, 1.045, 0.99, 0.941, 0.903, 0.886, 0.864, 0.855], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.498}}
{"time_unix": 1793622027.223959, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": -0.15, "dy_m": 0.35, "dyaw_rad": 0, "observation_id": "obs-e46a2d2e-7-17958", "command_id": "b02"}}}
{"time_unix": 1793622029.3436284, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.3807886552931954, "rotated_rad": 0.0, "duration_s": 3.174000000003879, "base_pose": [0.0, -1.5, 1.5707963267948966], "needs_observation": true, "command_id": "b02"}}
{"time_unix": 1793622032.6028247, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793622032.7376373, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-8-19545", "session_id": "e46a2d2e", "time_s": 39.09, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-8-19545.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-8-19545-rgbd.npz", "tcp_m": [0.0, 0.0, 0.65], "gripper_closed": true, "grip_contact": true, "force_N": 1.391, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 309315, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 14, 15, 16], "visible_pixels": 3237, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 1283, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 11213, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.85, "visible_centroid_m": [0.5549887511971426, 0.4671122334037002, 0.05828613812426626], "grasp_candidates_m": [[0.5546, 0.4965, 0.0749], [0.5506, 0.4301, 0.0622], [0.6077, 0.4774, 0.0528]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.11, "visible_centroid_m": [1.206116470460503, -0.9551569123235216, 0.003949340786515292], "grasp_candidates_m": [[1.2593, -0.9961, 0.0046], [1.2546, -0.9387, 0.0037], [1.0536, -0.942, 0.004], [1.1642, -0.9334, 0.003], [1.1084, -0.9333, 0.0037]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 22, 23, 24, 25], "visible_pixels": 61266, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "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": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.694, 0.699, 0.715, 0.727, 0.751, 0.78, 0.813, 0.869, 0.917, 0.978, 1.082, 1.226, 1.399, 1.659, 1.91, 1.863, 1.827, 1.809, 1.795, 1.807, 1.83, 1.865, 1.924, 1.986, 2.083, 2.198, 2.341, 2.547, 2.646, 2.475, 2.383, 2.824, 1.648, 3.416, 3.356, 3.311, 3.315, 3.309, 2.235, 3.415, 0.677, 0.541, 0.459, 0.418, 0.457, 0.493, 0.543, 0.607, 0.698, 1.983, 1.912, 1.869, 1.821, 1.801, 1.799, 1.804, 1.821, 1.86, 1.92, 1.649, 1.406, 1.216, 1.093, 0.989, 0.907, 0.85, 0.815, 0.78, 0.742, 0.725, 0.71, 0.699], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.498}}
{"time_unix": 1793622040.3220325, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Sock delivery1 confirmed visually in bin obs8. Shirt attempt1 held continuously force1.391N after b02; no slip indicated, currently outside camera FOV at stow. Base(0,-1.5,pi/2); bin recomputed base(.55,.48). Pending s06 robot.move_tcp(0,0,.78); robot.move_tcp(.55,.48,.78); robot.wait(.3). Raise to calibrated max for hanging shirt clearance, inspect cloth alignment before release. Stop on guard/snag. Towel0."}}}
{"time_unix": 1793622040.322426, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 6, "kind": "agent_mission_notes", "notes": "Sock delivery1 confirmed visually in bin obs8. Shirt attempt1 held continuously force1.391N after b02; no slip indicated, currently outside camera FOV at stow. Base(0,-1.5,pi/2); bin recomputed base(.55,.48). Pending s06 robot.move_tcp(0,0,.78); robot.move_tcp(.55,.48,.78); robot.wait(.3). Raise to calibrated max for hanging shirt clearance, inspect cloth alignment before release. Stop on guard/snag. Towel0.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-8-19545"}}
{"time_unix": 1793622045.5432012, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0,0,0.78)\nrobot.move_tcp(0.55,0.48,0.78)\nrobot.wait(0.3)", "observation_id": "obs-e46a2d2e-8-19545", "command_id": "s06"}}}
{"time_unix": 1793622048.9252355, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s06", "executed": ["move_tcp", "move_tcp", "wait"], "duration_s": 5.078, "grip_contact": true, "peak_force_N": 1.562, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793622052.4078715, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793622052.5409007, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-e46a2d2e-9-22084", "session_id": "e46a2d2e", "time_s": 44.168, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-9-22084.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/obs-e46a2d2e-9-22084-rgbd.npz", "tcp_m": [0.55, 0.48, 0.78], "gripper_closed": true, "grip_contact": true, "force_N": 1.346, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 307120, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 14, 15, 16], "visible_pixels": 3237, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 1283, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 11213, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.89, "visible_centroid_m": [0.555963303813158, 0.4676328109426834, 0.05850860804932669], "grasp_candidates_m": [[0.5565, 0.4987, 0.0763], [0.5366, 0.4211, 0.0595], [0.5893, 0.4416, 0.0537]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.31, "visible_centroid_m": [0.5708327153742451, 0.4911211833301048, 0.4663565561438392], "grasp_candidates_m": [[0.574, 0.4706, 0.6248], [0.5706, 0.4664, 0.5644], [0.5712, 0.5074, 0.5101], [0.5666, 0.4758, 0.4601], [0.5301, 0.5312, 0.4292]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.11, "visible_centroid_m": [1.206111473001375, -0.9551336035637567, 0.003949340826202376], "grasp_candidates_m": [[1.2617, -0.9904, 0.0054], [1.2069, -0.9888, 0.0005], [1.0597, -0.9326, 0.0046], [1.1566, -0.9345, 0.0039], [1.2096, -0.9356, 0.0026]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 22, 23, 24, 25], "visible_pixels": 58456, "source": "privileged_rendered_segmentation_no_metric_object_pose"}], "calibration": {"id": "unified-rgbd-v3", "frame_id": "robot_world_v3", "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": "robot_world_v3", "source": "ideal drift-free simulator odometry"}, "arm_coordinate_frame": "base_link", "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": [0.697, 0.701, 0.701, 0.721, 0.737, 0.77, 0.81, 0.861, 0.914, 0.995, 1.091, 1.227, 1.398, 1.655, 1.916, 1.868, 1.82, 1.814, 1.799, 1.806, 1.832, 1.864, 1.918, 1.987, 2.083, 2.197, 2.352, 2.539, 2.645, 2.472, 2.372, 2.821, 1.644, 3.425, 3.346, 3.309, 3.309, 3.311, 2.231, 3.415, 0.676, 0.539, 0.47, 0.424, 0.454, 0.493, 0.534, 0.604, 0.7, 1.977, 1.913, 1.866, 1.819, 1.804, 1.802, 1.811, 1.824, 1.863, 1.919, 1.655, 1.396, 1.218, 1.087, 0.992, 0.913, 0.845, 0.806, 0.77, 0.739, 0.734, 0.707, 0.705], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.562}}
{"time_unix": 1793622059.7479112, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Sock delivered1. Shirt held above bin obs9 centroid(.571,.491,.466), visible candidate xy near center(.55,.48), lowest candidate .429 > rim .26. Force1.346. Pending s07 robot.move_tcp(.55,.48,.55); robot.open_gripper(); robot.wait(1); robot.move_tcp(.55,.48,.70). Lower vertically then release, inspect settling. Attempts sock1 shirt1 towel0. Abort on snag/guard; no resets."}}}
{"time_unix": 1793622059.7485783, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 7, "kind": "agent_mission_notes", "notes": "Sock delivered1. Shirt held above bin obs9 centroid(.571,.491,.466), visible candidate xy near center(.55,.48), lowest candidate .429 > rim .26. Force1.346. Pending s07 robot.move_tcp(.55,.48,.55); robot.open_gripper(); robot.wait(1); robot.move_tcp(.55,.48,.70). Lower vertically then release, inspect settling. Attempts sock1 shirt1 towel0. Abort on snag/guard; no resets.", "verified_by_host": false, "observation_id": "obs-e46a2d2e-9-22084"}}
{"time_unix": 1793622064.224237, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.55,0.48,0.55)\nrobot.open_gripper()\nrobot.wait(1)\nrobot.move_tcp(0.55,0.48,0.70)", "observation_id": "obs-e46a2d2e-9-22084", "command_id": "s07"}}}
{"time_unix": 1793622068.287549, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s07", "executed": ["move_tcp", "open_gripper", "wait", "move_tcp"], "duration_s": 3.262, "grip_contact": false, "peak_force_N": 1.589, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793622068.3043075, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793622068.30647, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793622068.3216248, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793622068.3886192, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 9, "stop_latched": true, "video": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/mobile.mp4", "note": "Kinematic mobile simulation; no room truth in planner tools.", "api_version": 3, "evaluation_file": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-001/simulation/evaluation.json"}}