[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.0,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "look1",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": -0.20000000000000007
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.55
    },
    "result": {
      "status": "ok",
      "lift_m": 0.55,
      "command_id": "lift1",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 3,
    "observation_id": "obs-0fe61617-3-5372",
    "script": "robot.move_tcp(0.73584,0.06166,0.50235)",
    "result": {
      "status": "ok",
      "command_id": "tcp1",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.112,
      "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": "grasp1",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -5.489875091159985e-09,
      "handle_rotation_rad": 4.687064573315529e-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": [
          -3.3789991487031395e-07,
          -0.9999999999999428,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999428,
          3.3789991487031395e-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": "press1",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -7.017780055296852e-09,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.222322275073334,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -3.386302733662179e-07,
          -0.9999999999999426,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999426,
          3.386302733662179e-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": "open1",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.3960589265220462,
      "handle_rotation_rad": -0.5188990722020864,
      "peak_force_N": 1.0069833905036327,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "reason": "door_reach_clipped_leaf_mostly_open",
      "contact_frame": {
        "tangent_arm_m": [
          -0.9847722833517822,
          -0.17384921611016035,
          0.0
        ],
        "normal_arm_m": [
          -0.17384921611016035,
          0.9847722833517822,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "rel1",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.490793825394703,
      "handle_rotation_rad": -0.00014605433948438375,
      "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": [
          -0.9967730024180548,
          -0.08027192317676793,
          0.0
        ],
        "normal_arm_m": [
          -0.08027192317676793,
          0.9967730024180548,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  }
]