[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.0,
      0.0
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-01-look-office",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": 0.0
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.55
    },
    "result": {
      "status": "ok",
      "lift_m": 0.55,
      "command_id": "cmd-02-lift-office",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 3,
    "observation_id": "obs-c32060df-3-5497",
    "script": "robot.move_tcp(0.36,0.03,0.50)\nrobot.move_tcp(0.73598,0.06204,0.50280)",
    "result": {
      "status": "ok",
      "command_id": "cmd-03-reach-office",
      "executed": [
        "move_tcp",
        "move_tcp"
      ],
      "duration_s": 4.122,
      "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-04-grasp-office",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -5.701990750662173e-09,
      "handle_rotation_rad": -1.916459015298042e-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": [
          -3.381428431033991e-07,
          -0.9999999999999428,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999428,
          3.381428431033991e-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": "cmd-05-press-office",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -7.019189094729841e-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": [
          -3.3863167940816745e-07,
          -0.9999999999999427,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999427,
          3.3863167940816745e-07,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "stopped",
      "command_id": "cmd-06-open-office",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.3960589265223267,
      "handle_rotation_rad": -0.5188990722020863,
      "peak_force_N": 1.0069833905036323,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": true,
      "contact_frame": {
        "tangent_arm_m": [
          -0.9847722833518309,
          -0.1738492161098842,
          0.0
        ],
        "normal_arm_m": [
          -0.1738492161098842,
          0.9847722833518309,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  }
]