[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.35,
      -0.45
    ],
    "result": {
      "status": "ok",
      "command_id": "look-survey-001",
      "camera_head": {
        "pan_rad": 0.35,
        "tilt_rad": -0.45
      },
      "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": 2.4279999999998143,
      "base_pose": [
        0.7,
        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "base-hinge-clear-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift-reach-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 4,
    "tool": "robot_look",
    "arguments": [
      0.35,
      -0.3
    ],
    "result": {
      "status": "ok",
      "command_id": "look-handle-002",
      "camera_head": {
        "pan_rad": 0.35,
        "tilt_rad": -0.3
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 5,
    "tool": "robot_look",
    "arguments": [
      0.0,
      -0.15
    ],
    "result": {
      "status": "ok",
      "command_id": "look-handle-003",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": -0.15
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 6,
    "tool": "robot_look",
    "arguments": [
      0.7,
      0.15
    ],
    "result": {
      "status": "ok",
      "command_id": "look-handle-004",
      "camera_head": {
        "pan_rad": 0.7,
        "tilt_rad": 0.15
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 7,
    "tool": "robot_look",
    "arguments": [
      -0.7,
      -0.1
    ],
    "result": {
      "status": "ok",
      "command_id": "look-handle-005",
      "camera_head": {
        "pan_rad": -0.7,
        "tilt_rad": -0.1
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 8,
    "observation_id": "obs-023062a8-8-6806",
    "script": "robot.move_tcp(0.5643,-0.4768,0.6526)",
    "result": {
      "status": "ok",
      "command_id": "reach-handle-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.256,
      "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-001",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -6.092756707128682e-09,
      "handle_rotation_rad": 2.842043697987968e-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": [
          -0.70682542048388,
          -0.7073880299791526,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880299791526,
          0.70682542048388,
          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-001",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.9242308610268098e-07,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.2223222750732563,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7068255518037247,
          -0.7073878987637262,
          0.0
        ],
        "normal_arm_m": [
          -0.7073878987637262,
          0.7068255518037247,
          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-001",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998140618008,
      "handle_rotation_rad": -0.5188697498430133,
      "peak_force_N": 1.0069833905036665,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7845062820661084,
          0.6201208699913365,
          0.0
        ],
        "normal_arm_m": [
          0.6201208699913365,
          0.7845062820661084,
          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-001",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4340476738239563,
      "handle_rotation_rad": -0.0001649887016545234,
      "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": [
          -0.7970972687109912,
          0.6038509288007079,
          0.0
        ],
        "normal_arm_m": [
          0.6038509288007079,
          0.7970972687109911,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.6772782629567585,
            0.45131485860444853,
            0.6177665666604465
          ],
          [
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            0.6254241777858516,
            0.6177665666604465
          ],
          [
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            0.4261498606081038,
            0.6177665666604465
          ],
          [
            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": 13,
    "observation_id": "obs-023062a8-13-14028",
    "script": "robot.move_tcp(0.6773,0.4513,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.444,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 14,
    "observation_id": "obs-023062a8-14-14250",
    "script": "robot.move_tcp(0.4474,0.6254,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-002",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.602,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 15,
    "observation_id": "obs-023062a8-15-15051",
    "script": "robot.move_tcp(0.2965,0.4261,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-003",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.388,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 16,
    "observation_id": "obs-023062a8-16-15745",
    "script": "robot.move_tcp(0,0,0.55)",
    "result": {
      "status": "ok",
      "command_id": "retreat-office-004",
      "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-lift-office-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 18,
    "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": [
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      ],
      "needs_observation": true,
      "command_id": "cross-office-001"
    }
  },
  {
    "sequence": 19,
    "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": [
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        7.077269927557855,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cross-office-002"
    }
  },
  {
    "sequence": 20,
    "tool": "robot_move_base",
    "arguments": [
      0.2,
      -0.2,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.28284271247461906,
      "rotated_rad": 0.0,
      "duration_s": 2.3800000000029087,
      "base_pose": [
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        7.077382545170222,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "approach-wc-001"
    }
  },
  {
    "sequence": 21,
    "tool": "robot_move_base",
    "arguments": [
      0.18,
      -0.15,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.2343074902771996,
      "rotated_rad": 0.0,
      "duration_s": 2.166000000002647,
      "base_pose": [
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        7.056262252946336,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "approach-wc-002"
    }
  },
  {
    "sequence": 22,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.08,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.07999999999999986,
      "rotated_rad": 0.0,
      "duration_s": 1.2660000000015472,
      "base_pose": [
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        7.112853314479712,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "approach-wc-003"
    }
  },
  {
    "sequence": 23,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      0.0,
      0.25
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.0,
      "rotated_rad": 0.25,
      "duration_s": 1.3700000000016743,
      "base_pose": [
        -0.15569767782572336,
        7.112853314479712,
        -2.1065926535897934
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      "needs_observation": true,
      "command_id": "hinge-clear-wc-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift-wc-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.0
    },
    "result": {
      "status": "ok",
      "lift_m": 0.0,
      "command_id": "lower-wc-correction-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 26,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.15,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.14999999999999986,
      "rotated_rad": 0.0,
      "duration_s": 1.7339999999959588,
      "base_pose": [
        -0.28467703129667854,
        7.189432204379046,
        -2.1065926535897934
      ],
      "needs_observation": true,
      "command_id": "reposition-wc-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift-wc-002",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.0
    },
    "result": {
      "status": "ok",
      "lift_m": 0.0,
      "command_id": "lower-wc-correction-002",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 29,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.18,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.1800000000000001,
      "rotated_rad": 0.0,
      "duration_s": 1.8979999999955766,
      "base_pose": [
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        7.281326872258248,
        -2.1065926535897934
      ],
      "needs_observation": true,
      "command_id": "reposition-wc-003"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift-wc-003",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 31,
    "observation_id": "obs-023062a8-33-44610",
    "script": "robot.move_tcp(0.6625,-0.5221,0.6524)",
    "result": {
      "status": "ok",
      "command_id": "reach-wc-002",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.72,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "grasp"
    },
    "result": {
      "status": "ok",
      "command_id": "grasp-wc-001",
      "action": "grasp",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": -6.5197936865077506e-09,
      "handle_rotation_rad": -1.9786555113150995e-17,
      "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": [
          -0.8598625297499414,
          -0.5105256408174141,
          0.0
        ],
        "normal_arm_m": [
          -0.510525640817414,
          0.8598625297499414,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "press-wc-001",
      "action": "press",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": 5.181943964919249e-08,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.2223222750733318,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.8598624993141643,
          -0.5105256920794475,
          0.0
        ],
        "normal_arm_m": [
          -0.5105256920794475,
          0.8598624993141643,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "open"
    },
    "result": {
      "status": "incomplete_motion",
      "command_id": "open-wc-001",
      "action": "open",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": 0.25602322960739243,
      "handle_rotation_rad": -0.5188679245283017,
      "peak_force_N": 2.4,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7025518583484032,
          -0.711632550078483,
          0.0
        ],
        "normal_arm_m": [
          -0.7116325500784831,
          0.7025518583484032,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "open"
    },
    "result": {
      "status": "incomplete_motion",
      "command_id": "open-wc-002",
      "action": "open",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": 0.25602315589027386,
      "handle_rotation_rad": -0.5188679245283017,
      "peak_force_N": 2.4,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7025519128444596,
          -0.7116324962778127,
          0.0
        ],
        "normal_arm_m": [
          -0.7116324962778127,
          0.7025519128444596,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "release-wc-blocked-001",
      "action": "release",
      "door_id": "g_wc",
      "grip_contact": false,
      "opening_progress_rad": 0.2560214128403126,
      "handle_rotation_rad": -0.00016602218667830114,
      "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": [
          -0.7025531522352109,
          -0.711631272699822,
          0.0
        ],
        "normal_arm_m": [
          -0.711631272699822,
          0.7025531522352109,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.6995755096600218,
            -0.615537533140708,
            0.6177666701149503
          ],
          [
            0.4983329351679333,
            -0.68,
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          ],
          [
            0.6762407533428888,
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          ],
          [
            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": 37,
    "observation_id": "obs-023062a8-39-55773",
    "script": "robot.move_tcp(0.6996,-0.6155,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "retreat-wc-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.444,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 38,
    "observation_id": "obs-023062a8-40-55995",
    "script": "robot.move_tcp(0.4983,-0.68,0.6178)",
    "result": {
      "status": "collision_guard",
      "command_id": "retreat-wc-002",
      "executed": [],
      "duration_s": 0.0,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": true,
      "needs_observation": true
    }
  }
]