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{"time_unix": 1793637641.508365, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-a6b0cf03-10-23019", "session_id": "a6b0cf03", "time_s": 46.038, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/simulation/obs-a6b0cf03-10-23019.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/simulation/obs-a6b0cf03-10-23019-rgbd.npz", "tcp_m": [0.5495, -0.6374, 0.1], "gripper_closed": true, "grip_contact": true, "force_N": 0.326, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 314754, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 31, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_frame01", "class": "door_frame", "mask_ids": [10], "visible_pixels": 52, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [14, 16], "visible_pixels": 10586, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 12797, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 19, 20], "visible_pixels": 34335, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.51, "visible_centroid_m": [0.7349206596954916, -0.6927248470356048, 0.011869216545795319], "grasp_candidates_m": [[0.5524, -0.6389, 0.0936], [0.6026, -0.633, 0.054], [0.5572, -0.6838, 0.0561], [0.5507, -0.6052, 0.0461], [0.6002, -0.691, 0.0262]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [23], "visible_pixels": 2410, "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, -1.1, 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": -1.1, "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": [1.099, 1.102, 1.115, 1.138, 1.172, 1.215, 1.277, 1.344, 1.439, 1.557, 1.714, 1.776, 1.68, 1.594, 1.535, 1.499, 1.473, 1.452, 1.449, 1.455, 1.465, 1.502, 1.54, 1.607, 1.679, 1.771, 1.902, 2.044, 2.131, 1.997, 1.885, 1.985, 2.461, 2.997, 1.167, 2.906, 2.902, 2.924, 2.958, 3.006, 3.081, 3.209, 1.425, 3.542, 3.351, 2.601, 2.805, 2.243, 0.67, 0.644, 0.618, 0.602, 0.593, 0.586, 0.57, 2.157, 2.175, 2.225, 2.284, 2.376, 2.204, 1.923, 1.716, 1.548, 1.434, 1.342, 1.27, 1.213, 1.161, 1.131, 1.117, 1.101], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 0.851}}
{"time_unix": 1793637647.370397, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5495,-0.6374,0.3)\nrobot.wait(0.3)", "observation_id": "obs-a6b0cf03-10-23019", "command_id": "towel-lift2"}}}
{"time_unix": 1793637649.3633177, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "towel-lift2", "executed": ["move_tcp", "wait"], "duration_s": 1.412, "grip_contact": true, "peak_force_N": 1.082, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793637651.9426465, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793637652.0826068, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-a6b0cf03-11-23725", "session_id": "a6b0cf03", "time_s": 47.45, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/simulation/obs-a6b0cf03-11-23725.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/simulation/obs-a6b0cf03-11-23725-rgbd.npz", "tcp_m": [0.5495, -0.6374, 0.3], "gripper_closed": true, "grip_contact": true, "force_N": 1.082, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 320593, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 31, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_frame01", "class": "door_frame", "mask_ids": [10], "visible_pixels": 52, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [14, 16], "visible_pixels": 10586, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 12797, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 19, 20], "visible_pixels": 34335, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.32, "visible_centroid_m": [0.7639502063159909, -0.7012060060374036, 0.05467804958611245], "grasp_candidates_m": [[0.5773, -0.6175, 0.2311], [0.5788, -0.6381, 0.1815], [0.6431, -0.6529, 0.1533], [0.6794, -0.6468, 0.0974], [0.7273, -0.645, 0.0529]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [23], "visible_pixels": 2410, "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, -1.1, 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": -1.1, "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": [1.105, 1.108, 1.11, 1.141, 1.169, 1.216, 1.268, 1.343, 1.437, 1.554, 1.712, 1.765, 1.673, 1.594, 1.538, 1.505, 1.47, 1.457, 1.446, 1.461, 1.465, 1.495, 1.545, 1.594, 1.683, 1.766, 1.896, 2.05, 2.128, 1.986, 1.882, 1.991, 2.456, 2.995, 1.16, 2.913, 2.891, 2.912, 2.947, 3.008, 3.092, 3.207, 1.422, 3.545, 3.35, 2.594, 2.812, 2.241, 0.666, 0.642, 0.612, 0.593, 0.59, 0.586, 0.585, 2.157, 2.187, 2.231, 2.286, 2.37, 2.201, 1.923, 1.707, 1.553, 1.438, 1.34, 1.264, 1.215, 1.183, 1.137, 1.108, 1.11], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.082}}
{"time_unix": 1793637663.3912961, "phase": "request", "request": {"tool": "robot_execute_sequence", "arguments": {"script": "robot.move_tcp(0.5495,-0.6374,0.5)\nrobot.wait(0.3)", "observation_id": "obs-a6b0cf03-11-23725", "command_id": "towel-lift3"}}}
{"time_unix": 1793637664.9117877, "phase": "result", "tool": "robot_execute_sequence", "result": {"status": "ok", "command_id": "towel-lift3", "executed": ["move_tcp", "wait"], "duration_s": 1.412, "grip_contact": true, "peak_force_N": 1.456, "stop_latched": false, "needs_observation": true}}
{"time_unix": 1793637667.011053, "phase": "request", "request": {"tool": "robot_observe", "arguments": {}}}
{"time_unix": 1793637667.1513498, "phase": "result", "tool": "robot_observe", "result": {"observation_id": "obs-a6b0cf03-12-24431", "session_id": "a6b0cf03", "time_s": 48.862, "rgb_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/simulation/obs-a6b0cf03-12-24431.png", "rgbd_path": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/simulation/obs-a6b0cf03-12-24431-rgbd.npz", "tcp_m": [0.5495, -0.6374, 0.5], "gripper_closed": true, "grip_contact": true, "force_N": 1.372, "stop_latched": false, "detections": [{"track_id": "floor", "class": "floor", "mask_ids": [0], "visible_pixels": 321714, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_leaf01", "class": "door_leaf", "mask_ids": [8], "visible_pixels": 31, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "door_frame01", "class": "door_frame", "mask_ids": [10], "visible_pixels": 52, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "desk01", "class": "desk", "mask_ids": [14, 16], "visible_pixels": 10586, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "cabinet01", "class": "cabinet", "mask_ids": [17], "visible_pixels": 12797, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "chair01", "class": "chair", "mask_ids": [18, 19, 20], "visible_pixels": 34335, "source": "privileged_rendered_segmentation_no_metric_object_pose"}, {"track_id": "towel_green", "class": "towel", "coordinate_frame": "base_link", "visible_fraction": 0.3, "visible_centroid_m": [0.6229461691483382, -0.6465090099798406, 0.08572575517520749], "grasp_candidates_m": [[0.576, -0.6163, 0.2414], [0.5674, -0.6114, 0.1739], [0.62, -0.6239, 0.1645], [0.5208, -0.6705, 0.1538], [0.5825, -0.6082, 0.1084]], "pose_sigma_m": 0.004, "source": "privileged_segmentation_plus_noisy_depth_visibility"}, {"track_id": "collection_bin", "class": "container", "mask_ids": [23], "visible_pixels": 2410, "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, -1.1, 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": -1.1, "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": [1.104, 1.106, 1.117, 1.137, 1.172, 1.208, 1.271, 1.346, 1.436, 1.554, 1.715, 1.778, 1.678, 1.597, 1.537, 1.497, 1.471, 1.445, 1.453, 1.455, 1.465, 1.505, 1.547, 1.6, 1.669, 1.765, 1.89, 2.049, 2.128, 1.985, 1.887, 1.985, 2.459, 3.005, 1.17, 2.91, 2.901, 2.91, 2.952, 3.006, 3.082, 3.205, 1.429, 3.548, 3.339, 2.595, 2.796, 2.239, 0.666, 0.643, 0.613, 0.609, 0.594, 0.588, 0.574, 2.157, 2.178, 2.229, 2.287, 2.374, 2.199, 1.91, 1.717, 1.549, 1.435, 1.341, 1.276, 1.208, 1.17, 1.135, 1.108, 1.104], "source": "simulated horizontal ray range sensor; 5 mm noise"}, "camera_head": {"pan_rad": 0.0, "tilt_rad": -0.9}, "peak_force_N": 1.456}}
{"time_unix": 1793637675.0978506, "phase": "request", "request": {"tool": "mission_memory_write", "arguments": {"notes": "Mission 41592555 final. sock_blue: 1 grasp, delivered - visible in bin in RGB (not host verified). shirt_red: 1 grasp, delivered - visible in bin in RGB (not host verified). towel_green: attempt 1 (1 physical grasp, 1 approach, base moved to world (0.35,-1.1)). Test lift ok to 0.1 m, then TCP raised to 0.5 m but towel centroid stayed ~0.09 m, max candidate z 0.24, force rose 0.33->1.46 N = suspected snag (fixed vertex). Attempt ABORTED per instruction; gripper still closed holding towel, not released. Towel NOT delivered. Robot stopped via robot_stop."}}}
{"time_unix": 1793637675.098198, "phase": "result", "tool": "mission_memory_write", "result": {"revision": 3, "kind": "agent_mission_notes", "notes": "Mission 41592555 final. sock_blue: 1 grasp, delivered - visible in bin in RGB (not host verified). shirt_red: 1 grasp, delivered - visible in bin in RGB (not host verified). towel_green: attempt 1 (1 physical grasp, 1 approach, base moved to world (0.35,-1.1)). Test lift ok to 0.1 m, then TCP raised to 0.5 m but towel centroid stayed ~0.09 m, max candidate z 0.24, force rose 0.33->1.46 N = suspected snag (fixed vertex). Attempt ABORTED per instruction; gripper still closed holding towel, not released. Towel NOT delivered. Robot stopped via robot_stop.", "verified_by_host": false, "observation_id": "obs-a6b0cf03-12-24431"}}
{"time_unix": 1793637675.0990741, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793637675.1021996, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": true, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793637683.0572228, "phase": "request", "request": {"tool": "robot_stop", "arguments": {}}}
{"time_unix": 1793637683.059047, "phase": "result", "tool": "robot_stop", "result": {"status": "stopped", "grip_retained": true, "note": "no automatic release of a suspended cloth"}}
{"time_unix": 1793637683.0726266, "phase": "request", "request": {"tool": "host_export", "arguments": {}}}
{"time_unix": 1793637683.1304197, "phase": "result", "tool": "host_export", "result": {"status": "ended", "sequences": 11, "stop_latched": true, "video": "/home/pawel/Documents/homebot-lab/runs/omp-laundry-sonnet55-001/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-sonnet55-001/simulation/evaluation.json"}}