[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.0,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "look-6ab04f36-1",
      "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,
      0.28,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.28000000000000025,
      "rotated_rad": 0.0,
      "duration_s": 2.3679999999997863,
      "base_pose": [
        0.7,
        7.08,
        3.141592653589793
      ],
      "needs_observation": true,
      "command_id": "base-hinge-6ab04f36-2"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift-6ab04f36-3",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 4,
    "observation_id": "obs-6ab04f36-4-5306",
    "script": "robot.move_tcp(0.73586, -0.21568, 0.65246)",
    "result": {
      "status": "ok",
      "command_id": "tcp-handle-6ab04f36-4",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.406,
      "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-g-office-5",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -7.512609622033199e-09,
      "handle_rotation_rad": -5.450945433101418e-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": [
          -3.405953852727502e-07,
          -0.999999999999942,
          0.0
        ],
        "normal_arm_m": [
          -0.999999999999942,
          3.405953852727502e-07,
          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-g-office-6",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.914249236772199e-07,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.2223222750732552,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -5.230399764851664e-07,
          -0.9999999999998633,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999998633,
          5.230399764851664e-07,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "incomplete_motion",
      "command_id": "open-g-office-7",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -0.9409083051570883,
      "handle_rotation_rad": -0.5188679393395528,
      "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": [
          -0.8080884897389957,
          -0.5890611112196668,
          0.0
        ],
        "normal_arm_m": [
          -0.5890611112196668,
          0.8080884897389957,
          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-g-office-8",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -0.9429177473856137,
      "handle_rotation_rad": -0.000166010020279591,
      "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": [
          -0.8092729038640775,
          -0.5874328617564767,
          0.0
        ],
        "normal_arm_m": [
          -0.5874328617564767,
          0.8092729038640775,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "sequence": 9,
    "observation_id": "obs-6ab04f36-9-12603",
    "script": "robot.move_tcp(0.10,0.05,0.45); robot.move_tcp(0.05,0.05,0.50)",
    "result": {
      "status": "ok",
      "command_id": "retreat-stow-g-office-9",
      "executed": [
        "move_tcp",
        "move_tcp"
      ],
      "duration_s": 1.698,
      "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": "lift-down-g-office-10",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 11,
    "tool": "robot_move_base",
    "arguments": [
      0.35,
      0.0,
      0.0
    ],
    "result": {
      "status": "collision_guard",
      "stop_latched": true,
      "moved_m": 0.0,
      "needs_observation": true,
      "command_id": "cross-g-office-11"
    }
  }
]