[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.0,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-office-handle-001",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": -0.20000000000000007
      },
      "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": 2.4279999999997797,
      "base_pose": [
        0.7,
        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-hinge-clear-yaw-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "cmd-lift-040-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 4,
    "tool": "robot_look",
    "arguments": [
      0.35,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-handle-lifted-001",
      "camera_head": {
        "pan_rad": 0.35,
        "tilt_rad": -0.2
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 5,
    "tool": "robot_look",
    "arguments": [
      -0.35,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-handle-lifted-002",
      "camera_head": {
        "pan_rad": -0.35,
        "tilt_rad": -0.2
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 6,
    "observation_id": "obs-6658f778-6-5993",
    "script": "robot.move_tcp(0.561124,-0.480176,0.652719)",
    "result": {
      "status": "ok",
      "command_id": "cmd-reach-handle-001",
      "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": "cmd-grasp-office-001",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -4.947075514036718e-09,
      "handle_rotation_rad": -8.700572339749409e-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": [
          -0.7068254200406886,
          -0.7073880304219914,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880304219914,
          0.7068254200406886,
          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-press-office-001",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": 1.039709251766168e-07,
      "handle_rotation_rad": -0.5188679585628116,
      "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": [
          -0.7068253468322878,
          -0.7073881035721593,
          0.0
        ],
        "normal_arm_m": [
          -0.7073881035721593,
          0.7068253468322878,
          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-open-office-001",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.454599827961243,
      "handle_rotation_rad": -0.5188697498447749,
      "peak_force_N": 1.0069833905590322,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.78450627341471,
          0.6201208809360996,
          0.0
        ],
        "normal_arm_m": [
          0.6201208809360996,
          0.78450627341471,
          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-release-office-001",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4340476753286666,
      "handle_rotation_rad": -0.00016498870044135547,
      "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": [
          -0.7970972677736782,
          0.603850930037983,
          0.0
        ],
        "normal_arm_m": [
          0.603850930037983,
          0.7970972677736782,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.6772782696401679,
            0.4513148649471372,
            0.6177665666603468
          ],
          [
            0.44744991866546313,
            0.6254241852221832,
            0.6177665666603468
          ],
          [
            0.29648718615596736,
            0.42614986827876367,
            0.6177665666603468
          ],
          [
            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-6658f778-11-13214",
    "script": "robot.move_tcp(0.677278,0.451315,0.617767)",
    "result": {
      "status": "ok",
      "command_id": "cmd-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": 12,
    "observation_id": "obs-6658f778-12-13436",
    "script": "robot.move_tcp(0.447450,0.625424,0.617767)",
    "result": {
      "status": "ok",
      "command_id": "cmd-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": 13,
    "observation_id": "obs-6658f778-13-14237",
    "script": "robot.move_tcp(0.296487,0.426150,0.617767)",
    "result": {
      "status": "ok",
      "command_id": "cmd-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": 14,
    "observation_id": "obs-6658f778-14-14931",
    "script": "robot.move_tcp(0,0,0.55)",
    "result": {
      "status": "ok",
      "command_id": "cmd-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": "cmd-lower-office-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "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": [
        0.5585223461665599,
        7.2186349637789275,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-cross-office-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": [
        0.4170446923331199,
        7.077269927557855,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-cross-office-002"
    }
  },
  {
    "sequence": 18,
    "tool": "robot_move_base",
    "arguments": [
      0.2,
      0.0,
      0.0
    ],
    "result": {
      "status": "rejected",
      "reason": "base_path_blocked",
      "stop_latched": false,
      "moved_m": 0.0,
      "needs_observation": true,
      "hint": "shorten step, change lateral offset, or yaw; reobserve lidar before retry",
      "command_id": "cmd-cross-office-003"
    }
  },
  {
    "sequence": 19,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      0.2,
      0.0
    ],
    "result": {
      "status": "rejected",
      "reason": "base_path_blocked",
      "stop_latched": false,
      "moved_m": 0.0,
      "needs_observation": true,
      "hint": "shorten step, change lateral offset, or yaw; reobserve lidar before retry",
      "command_id": "cmd-cross-lane-shift-001"
    }
  },
  {
    "sequence": 20,
    "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": [
        0.4170446923331199,
        7.077269927557855,
        -2.1065926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-cross-yaw-replan-001"
    }
  }
]