[
  {
    "sequence": 1,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      0.0,
      0.785
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.0,
      "rotated_rad": 0.7850000000000001,
      "duration_s": 2.4279999999998765,
      "base_pose": [
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        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-phase1-hinge-clear-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "cmd-phase1-lift-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 3,
    "tool": "robot_look",
    "arguments": [
      0.45,
      -0.55
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-look-handle-001",
      "camera_head": {
        "pan_rad": 0.45,
        "tilt_rad": -0.55
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 4,
    "tool": "robot_look",
    "arguments": [
      -0.45,
      -0.25
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-look-handle-002",
      "camera_head": {
        "pan_rad": -0.45,
        "tilt_rad": -0.25
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 5,
    "observation_id": "obs-8928e9d0-5-5743",
    "script": "robot.move_tcp(0.5616,-0.4789,0.6526)",
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-reach-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.252,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "grasp"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-grasp-001",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -4.427426847783383e-09,
      "handle_rotation_rad": -8.97932933170792e-19,
      "peak_force_N": 0.0,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.706825419583072,
          -0.707388030879244,
          0.0
        ],
        "normal_arm_m": [
          -0.707388030879244,
          0.706825419583072,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-press-001",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": 3.2450469228480755e-08,
      "handle_rotation_rad": -0.5188679585628105,
      "peak_force_N": 1.2223222750731928,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
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          -0.7073880603066247,
          0.0
        ],
        "normal_arm_m": [
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          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-open-001",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998247434442,
      "handle_rotation_rad": -0.5188697498443818,
      "peak_force_N": 1.0069833904726255,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7845062754173265,
          0.6201208784026175,
          0.0
        ],
        "normal_arm_m": [
          0.6201208784026175,
          0.7845062754173264,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-release-001",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4340476748911057,
      "handle_rotation_rad": -0.00016498870071353754,
      "peak_force_N": 0.0,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.797097268044336,
          0.6038509296807089,
          0.0
        ],
        "normal_arm_m": [
          0.6038509296807089,
          0.797097268044336,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "sequence": 10,
    "observation_id": "obs-8928e9d0-10-12963",
    "script": "robot.move_tcp(0.6531,0.4194,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-retreat-normal-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.222,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 11,
    "observation_id": "obs-8928e9d0-11-13074",
    "script": "robot.move_tcp(0.6031,0.3694,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "cmd-phase1-retreat-edge-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.392,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 12,
    "observation_id": "obs-8928e9d0-12-13270",
    "script": "robot.move_tcp(0.5531,0.3194,0.6178)",
    "result": {
      "status": "collision_guard",
      "command_id": "cmd-phase1-retreat-base-001",
      "executed": [],
      "duration_s": 0.0,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": true,
      "needs_observation": true
    }
  }
]