{"time_unix": 1793624205.4163277, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793624205.4164138, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793624208.1166382, "phase": "request", "request": {"tool": "robot_capabilities", "arguments": {}}}
{"time_unix": 1793624208.6829548, "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": 1793624211.4266741, "phase": "request", "request": {"tool": "mission_memory_read", "arguments": {}}}
{"time_unix": 1793624211.4267766, "phase": "result", "tool": "mission_memory_read", "result": {"revision": 0, "agent_notes": null}}
{"time_unix": 1793624213.7119293, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624213.8621666, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-1-350", "session_id": "54027867", "time_s": 0.7, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-1-350.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-1-350-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": 1793624218.3272135, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 0}}}
{"time_unix": 1793624218.395015, "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": 1793624224.2942948, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea; SIM v3 unified-rgbd-v3. Bin world [-.48,-.95], rim .26. Fresh obs-54027867-1-350: sock_blue isolated, shirt_red, towel_green partly visible; no prior deliveries. Plan sock first; attempt1 approach1 pending s1. Script: 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). Test lift then observe contact and same cloth rising; cease on snag/force/collision, preserve load. Notes are not verified deliveries."}}}
{"time_unix": 1793624224.2948236, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 1, "kind": "agent_mission_notes", "notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea; SIM v3 unified-rgbd-v3. Bin world [-.48,-.95], rim .26. Fresh obs-54027867-1-350: sock_blue isolated, shirt_red, towel_green partly visible; no prior deliveries. Plan sock first; attempt1 approach1 pending s1. Script: 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). Test lift then observe contact and same cloth rising; cease on snag/force/collision, preserve load. Notes are not verified deliveries.", "verified_by_host": false, "observation_id": "obs-54027867-1-350"}}
{"time_unix": 1793624228.2061422, "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-54027867-1-350", "command_id": "s1"}}}
{"time_unix": 1793624231.511634, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s1", "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": 1793624235.004525, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624235.139764, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-2-3013", "session_id": "54027867", "time_s": 6.026, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-2-3013.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-2-3013-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": 1793624238.1255662, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 1}}}
{"time_unix": 1793624238.1576385, "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": 1793624243.9913213, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue attempt1 approach1 test lift verified obs2: contact true, candidate z .098, force .183N peak .785. No deliveries yet. Bin base_link [.55,.48] from world [-.48,-.95] and base [0,-1.5,pi/2]. Pending s2 script: robot.move_tcp(0.5837,-0.098,0.48); robot.move_tcp(0.55,0.48,0.48); robot.move_tcp(0.55,0.48,0.32); robot.open_gripper(); robot.wait(0.7); robot.move_tcp(0,0,0.45). Verify visible sock inside bin after release; abort on guards. shirt and towel pending."}}}
{"time_unix": 1793624243.9920158, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 2, "kind": "agent_mission_notes", "notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue attempt1 approach1 test lift verified obs2: contact true, candidate z .098, force .183N peak .785. No deliveries yet. Bin base_link [.55,.48] from world [-.48,-.95] and base [0,-1.5,pi/2]. Pending s2 script: robot.move_tcp(0.5837,-0.098,0.48); robot.move_tcp(0.55,0.48,0.48); robot.move_tcp(0.55,0.48,0.32); robot.open_gripper(); robot.wait(0.7); robot.move_tcp(0,0,0.45). Verify visible sock inside bin after release; abort on guards. shirt and towel pending.", "verified_by_host": false, "observation_id": "obs-54027867-2-3013"}}
{"time_unix": 1793624247.8400812, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5837,-0.098,0.48)\nrobot.move_tcp(0.55,0.48,0.48)\nrobot.move_tcp(0.55,0.48,0.32)\nrobot.open_gripper()\nrobot.wait(0.7)\nrobot.move_tcp(0,0,0.45)", "observation_id": "obs-54027867-2-3013", "command_id": "s2"}}}
{"time_unix": 1793624254.9380352, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s2", "executed": ["move_tcp", "move_tcp", "move_tcp", "open_gripper", "wait", "move_tcp"], "duration_s": 11.186, "grip_contact": false, "peak_force_N": 0.294, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624257.6455781, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624257.781754, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-3-8606", "session_id": "54027867", "time_s": 17.212, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-3-8606.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-3-8606-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": 298260, "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": 0.81, "visible_centroid_m": [0.5547415097644876, 0.463200172678423, 0.061920030199255474], "grasp_candidates_m": [[0.5507, 0.4664, 0.0741], [0.5595, 0.5127, 0.0555], [0.5994, 0.4592, 0.0534], [0.5124, 0.4393, 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": 1.0, "visible_centroid_m": [0.8705437054115227, -0.654429647652513, 0.003954409769368845], "grasp_candidates_m": [[0.7423, -0.6967, 0.0069], [0.9574, -0.5187, 0.0045], [0.92, -0.7905, 0.0044], [0.7322, -0.6075, 0.0043], [0.9593, -0.6069, 0.0062]], "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": [1.2061080870088103, -0.9553893020429737, 0.00394934020066994], "grasp_candidates_m": [[1.2541, -0.994, 0.0014], [1.2581, -0.9412, 0.0042], [1.0527, -0.9385, 0.005], [1.1559, -0.938, 0.0031]], "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": 61299, "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": 0.294}}
{"time_unix": 1793624262.0146897, "phase": "request", "request": {"tool": "room_measure", "arguments": {"expected_revision": 2}}}
{"time_unix": 1793624262.0444767, "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": 0.0006358015955285623, "points": 6055}}, "visible_objects": ["desk01", "cabinet01", "chair01", "collection_bin"]}}
{"time_unix": 1793624271.9316106, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue 1 grasp/1 approach: released; obs3 shows centroid base [.555,.463,.062] inside bin [.55,.48], points below .26 rim, no grip and source clear. Observational delivery supported (not evaluator). shirt_red and towel_green unattempted. Map measured 3 distinct obs rev3; dimensions unknown. Next base move [.30,-.15,0] with empty stowed TCP, clear local floor/lidar; observe then shirt centered grasp. Stop on snag/guard; terminal record is latest precommand if stop forbids tools."}}}
{"time_unix": 1793624271.9380424, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 3, "kind": "agent_mission_notes", "notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue 1 grasp/1 approach: released; obs3 shows centroid base [.555,.463,.062] inside bin [.55,.48], points below .26 rim, no grip and source clear. Observational delivery supported (not evaluator). shirt_red and towel_green unattempted. Map measured 3 distinct obs rev3; dimensions unknown. Next base move [.30,-.15,0] with empty stowed TCP, clear local floor/lidar; observe then shirt centered grasp. Stop on snag/guard; terminal record is latest precommand if stop forbids tools.", "verified_by_host": false, "observation_id": "obs-54027867-3-8606"}}
{"time_unix": 1793624275.494198, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0.3, "dy_m": -0.15, "dyaw_rad": 0, "observation_id": "obs-54027867-3-8606", "command_id": "b1"}}}
{"time_unix": 1793624277.4314084, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.3354101966249685, "rotated_rad": 0.0, "duration_s": 2.7959999999984504, "base_pose": [0.15000000000000002, -1.2, 1.5707963267948966], "needs_observation": true, "command_id": "b1"}}
{"time_unix": 1793624281.6851149, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624281.8205507, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-4-10004", "session_id": "54027867", "time_s": 20.008, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-4-10004.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-4-10004-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": 305771, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [13, 14, 15, 16], "visible_pixels": 7695, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 6068, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 28186, "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": [0.5685594533756303, -0.5044235808845148, 0.003953321194612657], "grasp_candidates_m": [[0.4353, -0.5484, 0.0019], [0.621, -0.6336, 0.0037], [0.433, -0.4634, 0.0021], [0.6235, -0.3734, 0.003], [0.6591, -0.4633, 0.0041]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.19, "visible_centroid_m": [0.8760462923343453, -0.8192435586943733, 0.003953932996989948], "grasp_candidates_m": [[0.9557, -0.8394, 0.008], [0.8039, -0.8304, 0.0032], [0.8609, -0.8437, 0.0042], [0.9544, -0.8952, 0.0024], [0.6526, -0.7883, 0.0066]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 23, 25], "visible_pixels": 20881, "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": [0.15000000000000002, -1.2, 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": 0.15000000000000002, "y_m": -1.2, "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": [0.996, 1.009, 1.017, 1.032, 1.063, 1.106, 1.156, 1.216, 1.301, 1.403, 1.558, 1.743, 1.909, 1.817, 1.759, 1.708, 1.672, 1.666, 1.65, 1.655, 1.682, 1.705, 1.755, 1.825, 1.919, 2.01, 2.147, 2.331, 2.25, 2.118, 2.081, 2.461, 1.322, 1.337, 3.038, 2.953, 2.996, 3.023, 3.052, 1.97, 1.444, 3.301, 3.47, 3.4, 2.548, 0.543, 0.492, 0.461, 0.44, 0.424, 0.41, 0.397, 0.382, 0.579, 1.946, 1.958, 1.98, 2.016, 2.081, 2.142, 2.005, 1.746, 1.556, 1.413, 1.301, 1.209, 1.149, 1.109, 1.065, 1.034, 1.011, 1.009], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.294}}
{"time_unix": 1793624289.0654204, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue delivery supported obs3 (1 attempt). shirt_red attempt1 approach1 pending s3, fresh obs4 candidate [.6591,-.4633,.0041] near visible center, isolated. Script: robot.move_tcp(0.6591,-0.4633,0.15); robot.move_tcp(0.6591,-0.4633,0.018); robot.close_gripper(); robot.move_tcp(0.6591,-0.4633,0.10); robot.wait(0.3). Verify cloth rises/contact before transport; stop on snag. Bin now base [.25,.63]. towel pending 0 attempts."}}}
{"time_unix": 1793624289.0664186, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 4, "kind": "agent_mission_notes", "notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue delivery supported obs3 (1 attempt). shirt_red attempt1 approach1 pending s3, fresh obs4 candidate [.6591,-.4633,.0041] near visible center, isolated. Script: robot.move_tcp(0.6591,-0.4633,0.15); robot.move_tcp(0.6591,-0.4633,0.018); robot.close_gripper(); robot.move_tcp(0.6591,-0.4633,0.10); robot.wait(0.3). Verify cloth rises/contact before transport; stop on snag. Bin now base [.25,.63]. towel pending 0 attempts.", "verified_by_host": false, "observation_id": "obs-54027867-4-10004"}}
{"time_unix": 1793624293.2068648, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.6591,-0.4633,0.15)\nrobot.move_tcp(0.6591,-0.4633,0.018)\nrobot.close_gripper()\nrobot.move_tcp(0.6591,-0.4633,0.10)\nrobot.wait(0.3)", "observation_id": "obs-54027867-4-10004", "command_id": "s3"}}}
{"time_unix": 1793624297.9204578, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s3", "executed": ["move_tcp", "move_tcp", "close_gripper", "move_tcp", "wait"], "duration_s": 6.416, "grip_contact": true, "peak_force_N": 0.806, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624301.8462963, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624301.9825456, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-5-13212", "session_id": "54027867", "time_s": 26.424, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-5-13212.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-5-13212-rgbd.npz", "tcp_m": [0.6591, -0.4633, 0.1], "gripper_closed": true, "grip_contact": true, "force_N": 0.403, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 306340, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [13, 14, 15, 16], "visible_pixels": 7695, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 6068, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 28186, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.04, "visible_centroid_m": [0.29986159880335655, 0.6044226717442316, 0.053860825483583286], "grasp_candidates_m": [[0.2943, 0.605, 0.0533]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.95, "visible_centroid_m": [0.5644092539501182, -0.5060994440910391, 0.010764443636186453], "grasp_candidates_m": [[0.6585, -0.4544, 0.0926], [0.6221, -0.4608, 0.0542], [0.665, -0.4266, 0.0503], [0.6545, -0.5041, 0.0498], [0.6569, -0.3762, 0.0217]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.19, "visible_centroid_m": [0.8760435855746496, -0.819158010478734, 0.003953933502334436], "grasp_candidates_m": [[0.9559, -0.8391, 0.0043], [0.8082, -0.8364, 0.0035], [0.9508, -0.905, 0.0039], [0.9006, -0.8355, 0.0053], [0.6434, -0.7952, 0.0054]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 23, 25], "visible_pixels": 20877, "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": [0.15000000000000002, -1.2, 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": 0.15000000000000002, "y_m": -1.2, "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": [1.002, 1.007, 1.024, 1.034, 1.064, 1.109, 1.15, 1.228, 1.307, 1.419, 1.558, 1.746, 1.915, 1.82, 1.759, 1.707, 1.67, 1.649, 1.651, 1.659, 1.675, 1.707, 1.748, 1.812, 1.907, 2.019, 2.155, 2.329, 2.262, 2.114, 2.084, 2.47, 1.326, 1.334, 3.042, 2.944, 3.009, 3.018, 3.041, 1.955, 1.446, 3.305, 3.465, 3.398, 2.547, 0.53, 0.501, 0.455, 0.434, 0.421, 0.408, 0.399, 0.382, 0.573, 1.942, 1.956, 1.977, 2.016, 2.075, 2.152, 1.995, 1.747, 1.557, 1.41, 1.309, 1.227, 1.157, 1.107, 1.064, 1.029, 1.013, 1.001], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.806}}
{"time_unix": 1793624307.880448, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "sock_blue delivered observationally obs3, 1 attempt. shirt_red attempt1 approach1 test verified obs5 contact true, local z .0926 versus .004 baseline, force .403 peak .806N. Pending s4 script robot.move_tcp(0.6591,-0.4633,0.78); robot.wait(0.3). Lift vertically before crossing rim, inspect hanging cloth and load; cease on snag/guards. towel_green 0 attempts. Bin base [.25,.63]; no base travel with extended arm."}}}
{"time_unix": 1793624307.8814182, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 5, "kind": "agent_mission_notes", "notes": "sock_blue delivered observationally obs3, 1 attempt. shirt_red attempt1 approach1 test verified obs5 contact true, local z .0926 versus .004 baseline, force .403 peak .806N. Pending s4 script robot.move_tcp(0.6591,-0.4633,0.78); robot.wait(0.3). Lift vertically before crossing rim, inspect hanging cloth and load; cease on snag/guards. towel_green 0 attempts. Bin base [.25,.63]; no base travel with extended arm.", "verified_by_host": false, "observation_id": "obs-54027867-5-13212"}}
{"time_unix": 1793624311.3063357, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.6591,-0.4633,0.78)\nrobot.wait(0.3)", "observation_id": "obs-54027867-5-13212", "command_id": "s4"}}}
{"time_unix": 1793624314.2060068, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s4", "executed": ["move_tcp", "wait"], "duration_s": 4.078, "grip_contact": true, "peak_force_N": 1.44, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624317.4656467, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624317.6010354, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-6-15251", "session_id": "54027867", "time_s": 30.502, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-6-15251.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-6-15251-rgbd.npz", "tcp_m": [0.6591, -0.4633, 0.7799999999999999], "gripper_closed": true, "grip_contact": true, "force_N": 1.372, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 310364, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [13, 14, 15, 16], "visible_pixels": 7694, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 6068, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 28186, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.04, "visible_centroid_m": [0.30016292908559833, 0.6029764107249831, 0.05387313388448314], "grasp_candidates_m": [[0.2992, 0.6017, 0.0514]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.54, "visible_centroid_m": [0.6391200701423216, -0.4514592293796595, 0.5342977452691775], "grasp_candidates_m": [[0.6749, -0.439, 0.6972], [0.649, -0.4833, 0.6478], [0.6709, -0.4284, 0.6236], [0.6328, -0.477, 0.5972], [0.6927, -0.4224, 0.5776]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.16, "visible_centroid_m": [0.867538728034913, -0.8198823115625697, 0.003955067118726198], "grasp_candidates_m": [[0.9544, -0.8389, 0.0057], [0.8041, -0.8381, 0.0031], [0.961, -0.8883, 0.0019], [0.6572, -0.7817, 0.0032], [0.9535, -0.786, 0.0033]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 23, 25], "visible_pixels": 20877, "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": [0.15000000000000002, -1.2, 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": 0.15000000000000002, "y_m": -1.2, "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": [1.001, 1.0, 1.021, 1.029, 1.067, 1.099, 1.159, 1.22, 1.309, 1.413, 1.555, 1.753, 1.906, 1.813, 1.759, 1.707, 1.672, 1.657, 1.647, 1.652, 1.677, 1.705, 1.757, 1.824, 1.904, 2.015, 2.158, 2.326, 2.259, 2.115, 2.078, 2.454, 1.324, 1.328, 3.045, 2.953, 3.005, 3.024, 3.049, 1.962, 1.445, 3.308, 3.456, 3.399, 2.544, 0.533, 0.498, 0.472, 0.433, 0.412, 0.412, 0.391, 0.382, 0.572, 1.946, 1.959, 1.971, 2.009, 2.072, 2.145, 1.991, 1.742, 1.554, 1.416, 1.307, 1.225, 1.155, 1.112, 1.068, 1.042, 1.015, 0.999], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.44}}
{"time_unix": 1793624324.0832613, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "sock_blue delivery supported obs3. shirt_red attempt1 lifted freely obs6, centroid z .534, force1.372N, contact true; source vacated. Pending s5 robot.move_tcp(0.27,0.62,0.78); robot.wait(0.4). Bin base [.25,.63]; target compensates visible centroid offset [-.02,+.012]. Inspect over-bin placement before lowering/release. towel 0 attempts; stop on snag/guard, preserve load."}}}
{"time_unix": 1793624324.0839162, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 6, "kind": "agent_mission_notes", "notes": "sock_blue delivery supported obs3. shirt_red attempt1 lifted freely obs6, centroid z .534, force1.372N, contact true; source vacated. Pending s5 robot.move_tcp(0.27,0.62,0.78); robot.wait(0.4). Bin base [.25,.63]; target compensates visible centroid offset [-.02,+.012]. Inspect over-bin placement before lowering/release. towel 0 attempts; stop on snag/guard, preserve load.", "verified_by_host": false, "observation_id": "obs-54027867-6-15251"}}
{"time_unix": 1793624327.3437135, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.27,0.62,0.78)\nrobot.wait(0.4)", "observation_id": "obs-54027867-6-15251", "command_id": "s5"}}}
{"time_unix": 1793624332.2604692, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s5", "executed": ["move_tcp", "wait"], "duration_s": 6.794, "grip_contact": true, "peak_force_N": 1.552, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624335.4657612, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624335.6029747, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-7-18648", "session_id": "54027867", "time_s": 37.296, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-7-18648.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-7-18648-rgbd.npz", "tcp_m": [0.27, 0.6199999999999999, 0.78], "gripper_closed": true, "grip_contact": true, "force_N": 1.352, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 322086, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 46, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [13, 14, 15, 16], "visible_pixels": 7695, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 6068, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 20], "visible_pixels": 28186, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.19, "visible_centroid_m": [0.8760316732916898, -0.8190695174584112, 0.0039539328139282705], "grasp_candidates_m": [[0.9525, -0.8351, 0.0039], [0.8075, -0.8456, 0.005], [0.9538, -0.8856, 0.0053], [0.6559, -0.7843, 0.004], [0.95, -0.7795, 0.0017]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [21, 23, 25], "visible_pixels": 20873, "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": [0.15000000000000002, -1.2, 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": 0.15000000000000002, "y_m": -1.2, "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": [0.998, 1.014, 1.018, 1.028, 1.059, 1.099, 1.156, 1.222, 1.315, 1.416, 1.552, 1.75, 1.898, 1.826, 1.753, 1.706, 1.681, 1.654, 1.649, 1.652, 1.678, 1.712, 1.76, 1.824, 1.91, 2.006, 2.156, 2.331, 2.253, 2.112, 2.084, 2.452, 1.325, 1.331, 3.037, 2.944, 3.012, 3.017, 3.049, 1.964, 1.447, 3.304, 3.467, 3.401, 2.544, 0.542, 0.488, 0.461, 0.436, 0.414, 0.413, 0.393, 0.388, 0.571, 1.95, 1.957, 1.973, 2.015, 2.083, 2.152, 2.0, 1.737, 1.551, 1.417, 1.303, 1.221, 1.158, 1.105, 1.06, 1.04, 1.011, 1.0], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.552}}
{"time_unix": 1793624340.9810896, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": 1.16, "tilt_rad": -0.75, "observation_id": "obs-54027867-7-18648", "command_id": "h1"}}}
{"time_unix": 1793624342.0311549, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "h1", "camera_head": {"pan_rad": 1.16, "tilt_rad": -0.75}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624345.210675, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624345.326867, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-8-19373", "session_id": "54027867", "time_s": 38.746, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-8-19373.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-8-19373-rgbd.npz", "tcp_m": [0.27, 0.6199999999999999, 0.78], "gripper_closed": true, "grip_contact": true, "force_N": 1.403, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 237985, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall01", "class": "wall", "mask_ids": [1], "visible_pixels": 84622, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 13, 15], "visible_pixels": 7030, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.81, "visible_centroid_m": [0.25317889879957917, 0.6138439449224282, 0.06242377175237637], "grasp_candidates_m": [[0.2727, 0.6297, 0.0781], [0.2162, 0.6214, 0.0663], [0.2876, 0.5858, 0.054]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "shirt_red", "class": "shirt", "coordinate_frame": "base_link", "visible_fraction": 0.52, "visible_centroid_m": [0.2744494773277037, 0.5865885307852872, 0.5216143802966959], "grasp_candidates_m": [[0.2786, 0.6152, 0.7234], [0.3172, 0.6214, 0.6882], [0.2826, 0.5983, 0.6451], [0.2644, 0.5891, 0.5983], [0.2563, 0.6431, 0.5954]], "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": 49515, "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": [0.15000000000000002, -1.2, 1.2], "rotation_camera_to_world": [[0.39933952940627326, -0.6249285342487247, 0.6708146296372166], [0.9168031087717665, 0.2722053016527939, -0.29219228856788004], [-5.551115123125783e-17, 0.7316888688738208, 0.6816387600233338]], "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": 0.15000000000000002, "y_m": -1.2, "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": [0.999, 1.006, 1.019, 1.038, 1.069, 1.108, 1.155, 1.216, 1.304, 1.427, 1.564, 1.746, 1.905, 1.82, 1.763, 1.699, 1.677, 1.652, 1.659, 1.662, 1.676, 1.705, 1.761, 1.821, 1.906, 2.014, 2.157, 2.338, 2.257, 2.12, 2.078, 2.46, 1.333, 1.331, 3.045, 2.951, 2.999, 3.013, 3.056, 1.964, 1.453, 3.318, 3.469, 3.414, 2.547, 0.525, 0.489, 0.469, 0.438, 0.422, 0.399, 0.393, 0.386, 0.576, 1.945, 1.957, 1.982, 2.02, 2.084, 2.151, 2.004, 1.744, 1.547, 1.416, 1.301, 1.218, 1.158, 1.112, 1.068, 1.035, 1.021, 0.997], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 1.16, "tilt_rad": -0.75}, "peak_force_N": 1.552}}
{"time_unix": 1793624350.1171196, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "sock_blue delivery supported obs3 and8. shirt_red attempt1, obs8 contact true force1.403N, visible hanging centered over bin, centroid [.274,.587,.522], bin [.25,.63]. Pending s6: robot.move_tcp(0.27,0.62,0.42); robot.open_gripper(); robot.wait(1.0); robot.move_tcp(0,0,0.45). Verify settled inside with no contact after. towel 0 attempts. Stop on guard/snag, preserve load if stopped."}}}
{"time_unix": 1793624350.1236875, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 7, "kind": "agent_mission_notes", "notes": "sock_blue delivery supported obs3 and8. shirt_red attempt1, obs8 contact true force1.403N, visible hanging centered over bin, centroid [.274,.587,.522], bin [.25,.63]. Pending s6: robot.move_tcp(0.27,0.62,0.42); robot.open_gripper(); robot.wait(1.0); robot.move_tcp(0,0,0.45). Verify settled inside with no contact after. towel 0 attempts. Stop on guard/snag, preserve load if stopped.", "verified_by_host": false, "observation_id": "obs-54027867-8-19373"}}
{"time_unix": 1793624353.4056194, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.27,0.62,0.42)\nrobot.open_gripper()\nrobot.wait(1.0)\nrobot.move_tcp(0,0,0.45)", "observation_id": "obs-54027867-8-19373", "command_id": "s6"}}}
{"time_unix": 1793624362.5918043, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "s6", "executed": ["move_tcp", "open_gripper", "wait", "move_tcp"], "duration_s": 6.91, "grip_contact": false, "peak_force_N": 1.618, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624367.024123, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624367.1371677, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-9-22828", "session_id": "54027867", "time_s": 45.656, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-9-22828.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-9-22828-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": 241359, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall01", "class": "wall", "mask_ids": [1], "visible_pixels": 84622, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [12, 13, 15], "visible_pixels": 7030, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "sock_blue", "class": "sock", "coordinate_frame": "base_link", "visible_fraction": 0.3, "visible_centroid_m": [0.23260202492193435, 0.6173234364690638, 0.06449397965817709], "grasp_candidates_m": [[0.2608, 0.6276, 0.0743], [0.2097, 0.6289, 0.0532], [0.2402, 0.5706, 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": 0.66, "visible_centroid_m": [0.29825098116751886, 0.6167247852108968, 0.07531296034520225], "grasp_candidates_m": [[0.334, 0.6139, 0.1126], [0.2605, 0.646, 0.0963], [0.2214, 0.6138, 0.0903], [0.3088, 0.6936, 0.0874], [0.285, 0.5876, 0.0841]], "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": 51126, "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": [0.15000000000000002, -1.2, 1.2], "rotation_camera_to_world": [[0.39933952940627326, -0.6249285342487247, 0.6708146296372166], [0.9168031087717665, 0.2722053016527939, -0.29219228856788004], [-5.551115123125783e-17, 0.7316888688738208, 0.6816387600233338]], "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": 0.15000000000000002, "y_m": -1.2, "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": [1.005, 1.001, 1.023, 1.028, 1.069, 1.116, 1.153, 1.22, 1.307, 1.422, 1.552, 1.737, 1.904, 1.813, 1.754, 1.72, 1.673, 1.647, 1.646, 1.653, 1.674, 1.709, 1.75, 1.821, 1.905, 2.016, 2.15, 2.331, 2.257, 2.103, 2.076, 2.453, 1.322, 1.335, 3.052, 2.946, 3.01, 3.019, 3.058, 1.96, 1.446, 3.311, 3.468, 3.392, 2.55, 0.536, 0.496, 0.468, 0.44, 0.422, 0.405, 0.398, 0.386, 0.576, 1.943, 1.953, 1.974, 2.011, 2.081, 2.151, 2.009, 1.739, 1.547, 1.418, 1.299, 1.223, 1.154, 1.107, 1.059, 1.046, 1.012, 1.001], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 1.16, "tilt_rad": -0.75}, "peak_force_N": 1.618}}
{"time_unix": 1793624378.1186266, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue 1 grasp and shirt_red 1 grasp, no retries. Both deliveries supported obs9: sock centroid [.233,.617,.064], shirt [.298,.617,.075], visible points inside bin [.25,.63], below .26 rim, grip false; image shows shirt settled, source cleared earlier. Not evaluator verification. towel_green 0 attempts, remaining. Stowed open TCP [0,0,.45]. Plan look pan-.65 tilt-.9 toward towel then small base move [.25,-.35] if clear; observe new candidates. Stop at first snag/force/guard preserving load."}}}
{"time_unix": 1793624378.1201606, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 8, "kind": "agent_mission_notes", "notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. sock_blue 1 grasp and shirt_red 1 grasp, no retries. Both deliveries supported obs9: sock centroid [.233,.617,.064], shirt [.298,.617,.075], visible points inside bin [.25,.63], below .26 rim, grip false; image shows shirt settled, source cleared earlier. Not evaluator verification. towel_green 0 attempts, remaining. Stowed open TCP [0,0,.45]. Plan look pan-.65 tilt-.9 toward towel then small base move [.25,-.35] if clear; observe new candidates. Stop at first snag/force/guard preserving load.", "verified_by_host": false, "observation_id": "obs-54027867-9-22828"}}
{"time_unix": 1793624383.5132813, "phase": "request", "request": {"tool": "robot_look", "arguments": {"pan_rad": -0.65, "tilt_rad": -0.9, "observation_id": "obs-54027867-9-22828", "command_id": "h2"}}}
{"time_unix": 1793624386.9859648, "phase": "result", "tool": "robot_look", "result": {"status": "ok", "command_id": "h2", "camera_head": {"pan_rad": -0.6500000000000001, "tilt_rad": -0.9}, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793624389.851195, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624389.994354, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-10-23960", "session_id": "54027867", "time_s": 47.92, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-10-23960.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-10-23960-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": 316056, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall02", "class": "wall", "mask_ids": [2], "visible_pixels": 22948, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 34, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [13], "visible_pixels": 22, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 3125, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 19, 20], "visible_pixels": 31258, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.98, "visible_centroid_m": [0.8047112776462245, -0.9948152012671677, 0.00395964036658214], "grasp_candidates_m": [[0.9537, -0.8383, 0.003], [0.6593, -1.1502, 0.0032], [0.6474, -0.8406, 0.0048], [0.96, -1.1469, 0.0043], [0.9517, -1.0488, 0.0013]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}], "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": [0.15000000000000002, -1.2, 1.2], "rotation_camera_to_world": [[0.7960837985490556, 0.4740587969537762, -0.37618990246741707], [-0.6051864057360397, 0.6235938617219399, -0.49485362475686845], [5.551115123125783e-17, 0.6216099682706644, 0.7833269096274833]], "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": 0.15000000000000002, "y_m": -1.2, "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": [1.001, 0.995, 1.022, 1.031, 1.056, 1.109, 1.146, 1.219, 1.312, 1.413, 1.553, 1.745, 1.904, 1.823, 1.756, 1.699, 1.678, 1.66, 1.647, 1.662, 1.671, 1.709, 1.764, 1.819, 1.906, 2.018, 2.159, 2.327, 2.26, 2.111, 2.085, 2.463, 1.327, 1.325, 3.056, 2.95, 3.009, 3.01, 3.054, 1.959, 1.445, 3.312, 3.46, 3.391, 2.553, 0.536, 0.502, 0.467, 0.444, 0.41, 0.407, 0.394, 0.371, 0.57, 1.949, 1.965, 1.976, 2.015, 2.08, 2.149, 2.003, 1.754, 1.555, 1.422, 1.308, 1.224, 1.156, 1.108, 1.074, 1.039, 1.012, 1.001], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.6500000000000001, "tilt_rad": -0.9}, "peak_force_N": 1.618}}
{"time_unix": 1793624393.8151617, "phase": "request", "request": {"tool": "robot_move_base", "arguments": {"dx_m": 0.25, "dy_m": -0.35, "dyaw_rad": 0, "observation_id": "obs-54027867-10-23960", "command_id": "b2"}}}
{"time_unix": 1793624399.0712276, "phase": "result", "tool": "robot_move_base", "result": {"status": "ok", "stop_latched": false, "moved_m": 0.4301162633521313, "rotated_rad": 0.0, "duration_s": 3.5860000000043826, "base_pose": [0.5, -0.95, 1.5707963267948966], "needs_observation": true, "command_id": "b2"}}
{"time_unix": 1793624402.2662494, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793624402.4076612, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-54027867-11-25753", "session_id": "54027867", "time_s": 51.506, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-11-25753.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/simulation/obs-54027867-11-25753-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": 250992, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "wall02", "class": "wall", "mask_ids": [2], "visible_pixels": 50995, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 71, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [13], "visible_pixels": 32, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 18141, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 19, 20], "visible_pixels": 43780, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.99, "visible_centroid_m": [0.5534761223076766, -0.6468028967801474, 0.003960179442221567], "grasp_candidates_m": [[0.7082, -0.4938, 0.0016], [0.4116, -0.8052, 0.0052], [0.4103, -0.4937, 0.0044], [0.7011, -0.8001, 0.0038], [0.7007, -0.6917, 0.0002]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}], "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": [0.5, -0.95, 1.2], "rotation_camera_to_world": [[0.7960837985490556, 0.4740587969537762, -0.37618990246741707], [-0.6051864057360397, 0.6235938617219399, -0.49485362475686845], [5.551115123125783e-17, 0.6216099682706644, 0.7833269096274833]], "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": 0.5, "y_m": -0.95, "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": [1.237, 1.253, 1.272, 1.291, 1.333, 1.377, 1.438, 1.532, 1.642, 1.763, 1.697, 1.583, 1.499, 1.429, 1.381, 1.349, 1.332, 1.307, 1.297, 1.308, 1.316, 1.346, 1.378, 1.43, 1.5, 1.579, 1.707, 1.839, 1.929, 1.816, 1.706, 1.626, 2.019, 2.847, 2.791, 1.0, 0.998, 2.757, 2.795, 2.851, 2.923, 3.036, 3.175, 3.358, 1.412, 3.251, 2.58, 2.811, 2.299, 2.544, 2.449, 0.762, 0.743, 0.732, 0.727, 0.731, 0.739, 0.75, 2.448, 2.541, 2.507, 2.185, 1.946, 1.768, 1.631, 1.53, 1.438, 1.379, 1.331, 1.297, 1.27, 1.259], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": -0.6500000000000001, "tilt_rad": -0.9}, "peak_force_N": 1.618}}
{"time_unix": 1793624411.0353796, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. Collected observationally sock_blue and shirt_red (1 grasp each), obs9 points inside bin below rim and grip false. towel_green attempt1 approach1 pending s7. obs11 visible99%, flat towel centroid [.5535,-.6468,.004], choose central visible patch rather than distant corner. Script robot.move_tcp(0.5535,-0.6468,0.15); robot.move_tcp(0.5535,-0.6468,0.018); robot.close_gripper(); robot.move_tcp(0.5535,-0.6468,0.10); robot.wait(0.3). Abort on tension without motion/snag/force_stop/collision; preserve closed load. Observe test before any transport. On terminal stop no further tools except stop, final report from feedback. Bin world[-.48,-.95], base now [.5,-.95,pi/2], bin base[0,.98] outside current lateral reach; would need stowed travel after verified lift."}}}
{"time_unix": 1793624411.041889, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 9, "kind": "agent_mission_notes", "notes": "Mission bf4778d4-6f32-4fe4-be37-57909e127fea. Collected observationally sock_blue and shirt_red (1 grasp each), obs9 points inside bin below rim and grip false. towel_green attempt1 approach1 pending s7. obs11 visible99%, flat towel centroid [.5535,-.6468,.004], choose central visible patch rather than distant corner. Script robot.move_tcp(0.5535,-0.6468,0.15); robot.move_tcp(0.5535,-0.6468,0.018); robot.close_gripper(); robot.move_tcp(0.5535,-0.6468,0.10); robot.wait(0.3). Abort on tension without motion/snag/force_stop/collision; preserve closed load. Observe test before any transport. On terminal stop no further tools except stop, final report from feedback. Bin world[-.48,-.95], base now [.5,-.95,pi/2], bin base[0,.98] outside current lateral reach; would need stowed travel after verified lift.", "verified_by_host": false, "observation_id": "obs-54027867-11-25753"}}
{"time_unix": 1793624411.758042, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793624411.759665, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": false, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793624411.777321, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793624411.8878148, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 10, "stop_latched": true, "video": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-openrouter-002/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-002/simulation/evaluation.json"}}