[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0,
      -0.2
    ],
    "result": {
      "status": "ok",
      "command_id": "l1",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": -0.20000000000000007
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "lift",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 3,
    "observation_id": "obs-76a5e569-3-4122",
    "script": "robot.move_tcp(0.73584,0.06166,0.65235)",
    "result": {
      "status": "ok",
      "command_id": "tcp",
      "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": "grasp",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -5.329418716099975e-09,
      "handle_rotation_rad": -1.1897811777716956e-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": [
          -3.377161499226107e-07,
          -0.999999999999943,
          0.0
        ],
        "normal_arm_m": [
          -0.999999999999943,
          3.377161499226107e-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",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -7.016325744848663e-09,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.2223222750733338,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -3.386288214165463e-07,
          -0.9999999999999426,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999426,
          3.386288214165463e-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",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.3960589265217522,
      "handle_rotation_rad": -0.5188990722020865,
      "peak_force_N": 1.0069833905036325,
      "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": [
          -0.9847722833517311,
          -0.17384921611044998,
          0.0
        ],
        "normal_arm_m": [
          -0.17384921611044998,
          0.9847722833517311,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "rel",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4907938253945112,
      "handle_rotation_rad": -0.0001460543394843628,
      "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": [
          -0.9967730024180391,
          -0.08027192317695986,
          0.0
        ],
        "normal_arm_m": [
          -0.08027192317695986,
          0.9967730024180391,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.1652090923316969,
            0.68,
            0.6177649118947711
          ],
          [
            -0.11521588031843744,
            0.68,
            0.6177649118947711
          ],
          [
            -0.09514789952419747,
            0.4877859330565617,
            0.6177649118947711
          ],
          [
            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": 8,
    "observation_id": "obs-76a5e569-8-10604",
    "script": "robot.move_tcp(0.2,0.0,0.55)",
    "result": {
      "status": "rejected",
      "command_id": "bad",
      "executed": [],
      "duration_s": 0.0,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true,
      "reason": "path_blocked_by_open_leaf_replan_retreat"
    }
  }
]