[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.65,
      -0.45
    ],
    "result": {
      "status": "ok",
      "command_id": "look-door1-survey-01",
      "camera_head": {
        "pan_rad": 0.65,
        "tilt_rad": -0.45
      },
      "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": 2.4279999999997863,
      "base_pose": [
        0.7,
        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "door1-hinge-clear-yaw-01"
    }
  },
  {
    "sequence": 3,
    "tool": "robot_look",
    "arguments": [
      -0.65,
      -0.35
    ],
    "result": {
      "status": "ok",
      "command_id": "door1-look-reacquire-01",
      "camera_head": {
        "pan_rad": -0.65,
        "tilt_rad": -0.35
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "door1-lift-040-01",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 5,
    "observation_id": "obs-2923688a-5-6118",
    "script": "robot.move_tcp(0.564,-0.477,0.653)",
    "result": {
      "status": "ok",
      "command_id": "door1-tcp-handle-01",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.256,
      "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": "door1-grasp-01",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -7.632534043959339e-09,
      "handle_rotation_rad": 1.727986624529875e-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": [
          -0.7068254189396361,
          -0.7073880315221683,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880315221683,
          0.7068254189396361,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "door1-press-01",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -3.651834701832615e-08,
      "handle_rotation_rad": -0.5188679585628102,
      "peak_force_N": 1.2223222750733143,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7068254417869638,
          -0.7073880086930111,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880086930111,
          0.7068254417869638,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "ok",
      "command_id": "door1-open-01",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998214213545,
      "handle_rotation_rad": -0.5188697498439514,
      "peak_force_N": 1.0069833905068473,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.784506277485236,
          0.6201208757865341,
          0.0
        ],
        "normal_arm_m": [
          0.6201208757865342,
          0.784506277485236,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "door1-release-01",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.4340476745889796,
      "handle_rotation_rad": -0.0001649887010091136,
      "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": [
          -0.7970972682337659,
          0.6038509294306569,
          0.0
        ],
        "normal_arm_m": [
          0.6038509294306569,
          0.7970972682337659,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "sequence": 10,
    "observation_id": "obs-2923688a-10-13340",
    "script": "robot.move_tcp(0.659,0.427,0.618)",
    "result": {
      "status": "ok",
      "command_id": "door1-retreat-waypoint-01",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.276,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 11,
    "observation_id": "obs-2923688a-11-13478",
    "script": "robot.move_tcp(0,0,0.45)",
    "result": {
      "status": "collision_guard",
      "command_id": "door1-stow-01",
      "executed": [],
      "duration_s": 0.0,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": true,
      "needs_observation": true
    }
  }
]