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    "sequence": 1,
    "tool": "robot_move_base",
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      "command_id": "house-c01127a0-002",
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        "tilt_rad": -0.20000000000000007
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      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "house-38e24b1c-003",
      "needs_observation": true,
      "stop_latched": false
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      "status": "ok",
      "command_id": "house-8df72d88-005",
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        "move_tcp"
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      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
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    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "grasp"
    },
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      "status": "ok",
      "command_id": "house-08524b02-006",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
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      "needs_observation": true,
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          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
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  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "house-d94e9565-008",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -4.903178749337663e-08,
      "handle_rotation_rad": -0.5188679585628101,
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      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
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      "contact_frame": {
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        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "ok",
      "command_id": "house-8ab2931f-009",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998208361528,
      "handle_rotation_rad": -0.5188697498438772,
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      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
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      "contact_frame": {
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        "source": "ideal grasp orientation/controller feedback"
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  },
  {
    "sequence": 8,
    "tool": "robot_look",
    "arguments": [
      0.5,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "house-5b6a7413-010",
      "camera_head": {
        "pan_rad": 0.5,
        "tilt_rad": -0.2
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "house-1661b1ca-011",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4039509663876084,
      "handle_rotation_rad": -3.7151400900635995e-07,
      "peak_force_N": 0.0,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
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        "source": "ideal grasp orientation/controller feedback"
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    "sequence": 10,
    "observation_id": "obs-1f9cba17-24-13662",
    "script": "robot.move_tcp(0.65140,0.41141,0.65000)\nrobot.move_tcp(0.42383,0.57338,0.65000)\nrobot.move_tcp(0.29046,0.38600,0.65000)\nrobot.move_tcp(0.00000,0.00000,0.60000)",
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      "status": "ok",
      "command_id": "house-17e63b76-012",
      "executed": [
        "move_tcp",
        "move_tcp",
        "move_tcp",
        "move_tcp"
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      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.0
    },
    "result": {
      "status": "ok",
      "lift_m": 0.0,
      "command_id": "house-c428a913-013",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 12,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      0.0,
      -0.7853981633974483
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    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.0,
      "rotated_rad": -0.7853981633974483,
      "duration_s": 2.4280000000029673,
      "base_pose": [
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      "needs_observation": true,
      "command_id": "house-ccded9c4-014"
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    "sequence": 13,
    "tool": "robot_move_base",
    "arguments": [
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      0.22,
      0.0
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    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.21999999999999975,
      "rotated_rad": 0.0,
      "duration_s": 2.098000000002564,
      "base_pose": [
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        3.141592653589793
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      "needs_observation": true,
      "command_id": "house-e882a07c-015"
    }
  },
  {
    "sequence": 14,
    "tool": "robot_move_base",
    "arguments": [
      0.6,
      0.0,
      0.0
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    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.6,
      "rotated_rad": 0.0,
      "duration_s": 5.000000000006111,
      "base_pose": [
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      "needs_observation": true,
      "command_id": "house-03cc5240-016"
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    "sequence": 15,
    "tool": "robot_move_base",
    "arguments": [
      0.6,
      0.0,
      0.0
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    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.6,
      "rotated_rad": 0.0,
      "duration_s": 5.000000000006111,
      "base_pose": [
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      "needs_observation": true,
      "command_id": "house-01754dbf-017"
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]