[
  {
    "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": [
        0.7,
        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "phase1-hinge-clear-001"
    }
  },
  {
    "sequence": 2,
    "tool": "robot_look",
    "arguments": [
      0.35,
      -0.55
    ],
    "result": {
      "status": "ok",
      "command_id": "phase1-survey-look-002",
      "camera_head": {
        "pan_rad": 0.35,
        "tilt_rad": -0.55
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "phase1-lift-003",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 4,
    "tool": "robot_look",
    "arguments": [
      0.7,
      -0.25
    ],
    "result": {
      "status": "ok",
      "command_id": "phase1-handle-look-004",
      "camera_head": {
        "pan_rad": 0.7,
        "tilt_rad": -0.25000000000000006
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 5,
    "tool": "robot_look",
    "arguments": [
      -0.25,
      -0.55
    ],
    "result": {
      "status": "ok",
      "command_id": "phase1-handle-look-005",
      "camera_head": {
        "pan_rad": -0.25,
        "tilt_rad": -0.55
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 6,
    "observation_id": "obs-80125e5e-6-5930",
    "script": "robot.move_tcp(0.5689,-0.4715,0.6523)",
    "result": {
      "status": "ok",
      "command_id": "phase1-reach-006",
      "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": "phase1-grasp-007",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -8.301605599632969e-09,
      "handle_rotation_rad": -1.4954841246872146e-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": [
          -0.7068254201368701,
          -0.7073880303258863,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880303258863,
          0.7068254201368701,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "phase1-press-008",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -3.3891204539646686e-07,
      "handle_rotation_rad": -0.5188679585628116,
      "peak_force_N": 1.2223222750732405,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7068256534282522,
          -0.7073877972199721,
          0.0
        ],
        "normal_arm_m": [
          -0.707387797219972,
          0.7068256534282522,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "ok",
      "command_id": "phase1-open-009",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998071856725,
      "handle_rotation_rad": -0.518869749842141,
      "peak_force_N": 1.006983390479781,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.784506286346012,
          0.6201208645768895,
          0.0
        ],
        "normal_arm_m": [
          0.6201208645768895,
          0.784506286346012,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "phase1-release-010",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.434047673083845,
      "handle_rotation_rad": -0.00016498870225508308,
      "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": [
          -0.7970972691721124,
          0.6038509281920176,
          0.0
        ],
        "normal_arm_m": [
          0.6038509281920176,
          0.7970972691721124,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.6772782596507034,
            0.4513148554664721,
            0.6177665666604953
          ],
          [
            0.44744990972705373,
            0.6254241741075692,
            0.6177665666604953
          ],
          [
            0.2964871776790493,
            0.4261498568145411,
            0.6177665666604953
          ],
          [
            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": 11,
    "observation_id": "obs-80125e5e-11-13152",
    "script": "robot.move_tcp(0.6773,0.4513,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "phase1-retreat-011",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.444,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 12,
    "observation_id": "obs-80125e5e-12-13374",
    "script": "robot.move_tcp(0.4474,0.6254,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "phase1-retreat-012",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.602,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 13,
    "observation_id": "obs-80125e5e-13-14175",
    "script": "robot.move_tcp(0.2965,0.4261,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "phase1-retreat-013",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.388,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 14,
    "observation_id": "obs-80125e5e-14-14869",
    "script": "robot.move_tcp(0,0,0.55)",
    "result": {
      "status": "ok",
      "command_id": "phase1-retreat-014",
      "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": "phase1-lower-015",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 16,
    "tool": "robot_move_base",
    "arguments": [
      0.18,
      0.0,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.17999999999999974,
      "rotated_rad": 0.0,
      "duration_s": 1.8980000000023196,
      "base_pose": [
        0.572670111549904,
        7.232771467401035,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "phase2-cross-001"
    }
  },
  {
    "sequence": 17,
    "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": [
        0.431192457716464,
        7.091406431179962,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "phase2-cross-002"
    }
  },
  {
    "sequence": 18,
    "tool": "robot_look",
    "arguments": [
      0.35,
      -0.45
    ],
    "result": {
      "status": "ok",
      "command_id": "phase2-survey-003",
      "camera_head": {
        "pan_rad": 0.35,
        "tilt_rad": -0.45
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 19,
    "tool": "robot_look",
    "arguments": [
      -0.9,
      -0.45
    ],
    "result": {
      "status": "ok",
      "command_id": "phase2-survey-004",
      "camera_head": {
        "pan_rad": -0.9,
        "tilt_rad": -0.45
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "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": [
        0.1483497676619508,
        7.091519048792329,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "phase2-approach-005"
    }
  },
  {
    "sequence": 21,
    "tool": "robot_move_base",
    "arguments": [
      0.15,
      -0.15,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.21213203435596423,
      "rotated_rad": 0.0,
      "duration_s": 2.0600000000025176,
      "base_pose": [
        -0.06378224987893405,
        7.091603512001604,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "phase2-approach-006"
    }
  },
  {
    "sequence": 22,
    "tool": "robot_move_base",
    "arguments": [
      0.12,
      -0.08,
      0.15
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.14422205101855956,
      "rotated_rad": 0.1499999999999999,
      "duration_s": 1.7000000000020776,
      "base_pose": [
        -0.2052148566674273,
        7.063375551802336,
        -2.2065926535897935
      ],
      "needs_observation": true,
      "command_id": "phase3-hinge-clear-001"
    }
  },
  {
    "sequence": 23,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      0.1,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.09999999999999987,
      "rotated_rad": 0.0,
      "duration_s": 1.4160000000017305,
      "base_pose": [
        -0.12475494885623042,
        7.00399370916493,
        -2.2065926535897935
      ],
      "needs_observation": true,
      "command_id": "phase3-reposition-002"
    }
  },
  {
    "sequence": 24,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.18,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.1800000000000002,
      "rotated_rad": 0.0,
      "duration_s": 1.8980000000023196,
      "base_pose": [
        -0.2695827829163848,
        7.110881025912262,
        -2.2065926535897935
      ],
      "needs_observation": true,
      "command_id": "phase3-reposition-003"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "phase3-lift-004",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.0
    },
    "result": {
      "status": "ok",
      "lift_m": 0.0,
      "command_id": "phase3-lower-replan-006",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 27,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.03,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.030000000000000124,
      "rotated_rad": 0.0,
      "duration_s": 0.7759999999981915,
      "base_pose": [
        -0.2937207552597439,
        7.128695578703484,
        -2.2065926535897935
      ],
      "needs_observation": true,
      "command_id": "phase3-reposition-007"
    }
  }
]