[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.0,
      -0.35
    ],
    "result": {
      "status": "ok",
      "command_id": "look-office-01",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": -0.35
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 2,
    "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": 2.4279999999998,
      "base_pose": [
        0.7,
        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "hinge-clear-office-01"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift-office-04",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 4,
    "tool": "robot_look",
    "arguments": [
      -0.35,
      -0.35
    ],
    "result": {
      "status": "ok",
      "command_id": "look-handle-correction-06",
      "camera_head": {
        "pan_rad": -0.35,
        "tilt_rad": -0.35
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 5,
    "observation_id": "obs-0ce43362-6-5461",
    "script": "robot.move_tcp(0.5613,-0.4797,0.6527)",
    "result": {
      "status": "ok",
      "command_id": "reach-office-07",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.254,
      "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": "grasp-office-08",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -7.299394316709328e-09,
      "handle_rotation_rad": -7.000151730414356e-18,
      "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": [
          -0.7068254206419435,
          -0.7073880298212146,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880298212146,
          0.7068254206419435,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "press-office-09",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": 1.5477744912814102e-07,
      "handle_rotation_rad": -0.5188679585628128,
      "peak_force_N": 1.2223222750732448,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7068253080453548,
          -0.7073881423282337,
          0.0
        ],
        "normal_arm_m": [
          -0.7073881423282338,
          0.7068253080453547,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "ok",
      "command_id": "open-office-10",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998304284289,
      "handle_rotation_rad": -0.5188697498450968,
      "peak_force_N": 1.0069833905231593,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7845062718789219,
          0.6201208828790039,
          0.0
        ],
        "normal_arm_m": [
          0.6201208828790038,
          0.7845062718789219,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "release-office-11",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4340476755403164,
      "handle_rotation_rad": -0.0001649887002206647,
      "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": [
          -0.797097267640652,
          0.6038509302135806,
          0.0
        ],
        "normal_arm_m": [
          0.6038509302135806,
          0.797097267640652,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.6772782708230767,
            0.4513148660757549,
            0.617766566660329
          ],
          [
            0.4474499197097163,
            0.6254241865355283,
            0.617766566660329
          ],
          [
            0.29648718715632116,
            0.4261498696253653,
            0.617766566660329
          ],
          [
            0.0,
            0.0,
            0.55
          ]
        ],
        "note": "one move_tcp per script along these points; reobserve between",
        "source": "contact_frame_plus_open_leaf_extent"
      }
    }
  },
  {
    "sequence": 10,
    "observation_id": "obs-0ce43362-11-12682",
    "script": "robot.move_tcp(0.6773,0.4513,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-12-1",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.444,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 11,
    "observation_id": "obs-0ce43362-12-12904",
    "script": "robot.move_tcp(0.4474,0.6254,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-12-2",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.602,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 12,
    "observation_id": "obs-0ce43362-13-13705",
    "script": "robot.move_tcp(0.2965,0.4261,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-12-3",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.388,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 13,
    "observation_id": "obs-0ce43362-14-14399",
    "script": "robot.move_tcp(0,0,0.55)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-12-4",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 2.908,
      "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": "lower-office-13",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 15,
    "tool": "robot_move_base",
    "arguments": [
      0.2,
      0.0,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.19999999999999976,
      "rotated_rad": 0.0,
      "duration_s": 2.0000000000024443,
      "base_pose": [
        0.5585223461665599,
        7.2186349637789275,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cross-office-14-1"
    }
  },
  {
    "sequence": 16,
    "tool": "robot_move_base",
    "arguments": [
      0.2,
      0.0,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.19999999999999976,
      "rotated_rad": 0.0,
      "duration_s": 2.0000000000024443,
      "base_pose": [
        0.4170446923331199,
        7.077269927557855,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cross-office-14-2"
    }
  },
  {
    "sequence": 17,
    "tool": "robot_look",
    "arguments": [
      -0.8,
      -0.25
    ],
    "result": {
      "status": "ok",
      "command_id": "look-next-door-15",
      "camera_head": {
        "pan_rad": -0.8,
        "tilt_rad": -0.25
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 18,
    "tool": "robot_move_base",
    "arguments": [
      0.3,
      -0.2,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.360555127546399,
      "rotated_rad": 0.0,
      "duration_s": 3.0060000000036737,
      "base_pose": [
        0.06346317536188678,
        7.006700027059685,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "approach-wc-16-1"
    }
  },
  {
    "sequence": 19,
    "tool": "robot_move_base",
    "arguments": [
      0.1,
      0.0,
      0.0
    ],
    "result": {
      "status": "collision_guard",
      "stop_latched": true,
      "moved_m": 0.0,
      "needs_observation": true,
      "command_id": "approach-wc-16-2"
    }
  }
]