[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.45,
      -0.55
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-survey-001",
      "camera_head": {
        "pan_rad": 0.45,
        "tilt_rad": -0.55
      },
      "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": 2.4279999999998143,
      "base_pose": [
        0.7,
        7.36,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-hinge-clear-001"
    }
  },
  {
    "sequence": 3,
    "tool": "robot_look",
    "arguments": [
      -0.45,
      -0.55
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-handle-002",
      "camera_head": {
        "pan_rad": -0.45,
        "tilt_rad": -0.55
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "cmd-lift-040-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 5,
    "observation_id": "obs-36eca40a-5-5743",
    "script": "robot.move_tcp(0.5625,-0.4788,0.6526)",
    "result": {
      "status": "ok",
      "command_id": "cmd-reach-handle-001",
      "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": "cmd-grasp-office-001",
      "action": "grasp",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -5.70489235727271e-09,
      "handle_rotation_rad": -1.0275554612490773e-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": [
          -0.706825419807968,
          -0.7073880306545268,
          0.0
        ],
        "normal_arm_m": [
          -0.7073880306545268,
          0.706825419807968,
          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-press-office-001",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -2.0373626607671803e-07,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.222322275073129,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7068255598066632,
          -0.70738789076715,
          0.0
        ],
        "normal_arm_m": [
          -0.70738789076715,
          0.7068255598066632,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "open"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-open-office-001",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.4545998135273246,
      "handle_rotation_rad": -0.5188697498429452,
      "peak_force_N": 1.0069833905036685,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.7845062823987877,
          0.6201208695704681,
          0.0
        ],
        "normal_arm_m": [
          0.6201208695704681,
          0.7845062823987877,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_office",
      "action": "release"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-release-office-001",
      "action": "release",
      "door_id": "g_office",
      "grip_contact": false,
      "opening_progress_rad": -1.434047673768683,
      "handle_rotation_rad": -0.00016498870170141608,
      "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": [
          -0.7970972687454773,
          0.6038509287551855,
          0.0
        ],
        "normal_arm_m": [
          0.6038509287551854,
          0.7970972687454773,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      },
      "suggested_retreat": {
        "waypoints_arm_m": [
          [
            0.6772782626999201,
            0.4513148583604227,
            0.61776656666045
          ],
          [
            0.4474499124553437,
            0.6254241775002105,
            0.61776656666045
          ],
          [
            0.2964871802665473,
            0.42614986031384117,
            0.61776656666045
          ],
          [
            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": 10,
    "observation_id": "obs-36eca40a-10-12965",
    "script": "robot.move_tcp(0.6773,0.4513,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "cmd-retreat-office-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 0.444,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 11,
    "observation_id": "obs-36eca40a-11-13187",
    "script": "robot.move_tcp(0.4474,0.6254,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "cmd-retreat-office-002",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.602,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 12,
    "observation_id": "obs-36eca40a-12-13988",
    "script": "robot.move_tcp(0.2965,0.4261,0.6178)",
    "result": {
      "status": "ok",
      "command_id": "cmd-retreat-office-003",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 1.388,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 13,
    "observation_id": "obs-36eca40a-13-14682",
    "script": "robot.move_tcp(0,0,0.55)",
    "result": {
      "status": "ok",
      "command_id": "cmd-retreat-office-004",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 2.908,
      "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": "cmd-lower-office-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 15,
    "tool": "robot_move_base",
    "arguments": [
      0.18,
      0.0,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.17999999999999974,
      "rotated_rad": 0.0,
      "duration_s": 1.8980000000023196,
      "base_pose": [
        0.572670111549904,
        7.232771467401035,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-cross-001"
    }
  },
  {
    "sequence": 16,
    "tool": "robot_move_base",
    "arguments": [
      0.18,
      0.0,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.17999999999999974,
      "rotated_rad": 0.0,
      "duration_s": 1.8980000000023196,
      "base_pose": [
        0.44534022309980803,
        7.105542934802069,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-cross-002"
    }
  },
  {
    "sequence": 17,
    "tool": "robot_look",
    "arguments": [
      0.45,
      -0.55
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-newroom-001",
      "camera_head": {
        "pan_rad": 0.45,
        "tilt_rad": -0.55
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 18,
    "tool": "robot_look",
    "arguments": [
      -1.0,
      -0.5
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-newroom-002",
      "camera_head": {
        "pan_rad": -1.0,
        "tilt_rad": -0.5
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 19,
    "tool": "robot_move_base",
    "arguments": [
      0.2,
      -0.2,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.28284271247461906,
      "rotated_rad": 0.0,
      "duration_s": 2.3800000000029087,
      "base_pose": [
        0.16249753304529485,
        7.1056555524144365,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-approach-wc-001"
    }
  },
  {
    "sequence": 20,
    "tool": "robot_move_base",
    "arguments": [
      0.2,
      -0.15,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.25,
      "rotated_rad": 0.0,
      "duration_s": 2.238000000002735,
      "base_pose": [
        -0.08500389795395003,
        7.070398756568443,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-approach-wc-002"
    }
  },
  {
    "sequence": 21,
    "tool": "robot_move_base",
    "arguments": [
      0.15,
      -0.12,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.19209372712298545,
      "rotated_rad": 0.0,
      "duration_s": 1.9620000000023978,
      "base_pose": [
        -0.2759311600616739,
        7.0492615717027025,
        -2.3565926535897934
      ],
      "needs_observation": true,
      "command_id": "cmd-approach-wc-003"
    }
  },
  {
    "sequence": 22,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      0.0,
      0.45
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.0,
      "rotated_rad": 0.44999999999999996,
      "duration_s": 1.8380000000022463,
      "base_pose": [
        -0.2759311600616739,
        7.0492615717027025,
        -1.9065926535897935
      ],
      "needs_observation": true,
      "command_id": "cmd-hinge-wc-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "cmd-lift-wc-040",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.0
    },
    "result": {
      "status": "ok",
      "lift_m": 0.0,
      "command_id": "cmd-lower-wc-recover-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 25,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.15,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.15000000000000002,
      "rotated_rad": 0.0,
      "duration_s": 1.7339999999959588,
      "base_pose": [
        -0.41755339043945827,
        7.09868974042077,
        -1.9065926535897935
      ],
      "needs_observation": true,
      "command_id": "cmd-reposition-wc-001"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "cmd-lift-wc-040-002",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.0
    },
    "result": {
      "status": "ok",
      "lift_m": 0.0,
      "command_id": "cmd-lower-wc-recover-002",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 28,
    "tool": "robot_move_base",
    "arguments": [
      0.08,
      0.12,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.14422205101855987,
      "rotated_rad": 0.0,
      "duration_s": 1.699999999996038,
      "base_pose": [
        -0.33061729612020024,
        6.983615349244831,
        -1.9065926535897935
      ],
      "needs_observation": true,
      "command_id": "cmd-reposition-wc-002"
    }
  },
  {
    "sequence": 29,
    "tool": "robot_move_base",
    "arguments": [
      0.0,
      -0.2,
      0.0
    ],
    "result": {
      "status": "ok",
      "stop_latched": false,
      "moved_m": 0.2000000000000001,
      "rotated_rad": 0.0,
      "duration_s": 1.9999999999953388,
      "base_pose": [
        -0.5194469366239127,
        7.049519574202255,
        -1.9065926535897935
      ],
      "needs_observation": true,
      "command_id": "cmd-reposition-wc-003"
    }
  },
  {
    "tool": "robot_move_lift",
    "arguments": {
      "height_m": 0.4
    },
    "result": {
      "status": "ok",
      "lift_m": 0.4,
      "command_id": "cmd-lift-wc-040-003",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 31,
    "observation_id": "obs-36eca40a-34-46434",
    "script": "robot.move_tcp(0.3073,-0.6414,0.6530)",
    "result": {
      "status": "ok",
      "command_id": "cmd-reach-wc-003",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 3.992,
      "grip_contact": false,
      "peak_force_N": 0.0,
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "grasp"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-grasp-wc-001",
      "action": "grasp",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": -6.9898326291351355e-09,
      "handle_rotation_rad": -1.838878781822097e-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": [
          -0.9441483141455058,
          -0.32952080495197733,
          0.0
        ],
        "normal_arm_m": [
          -0.3295208049519774,
          0.9441483141455058,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "press"
    },
    "result": {
      "status": "ok",
      "command_id": "cmd-press-wc-001",
      "action": "press",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": 7.226428848379342e-09,
      "handle_rotation_rad": -0.5188679585628101,
      "peak_force_N": 1.2223222750733334,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -0.9441483094105572,
          -0.3295208185186282,
          0.0
        ],
        "normal_arm_m": [
          -0.3295208185186282,
          0.944148309410557,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  },
  {
    "tool": "robot_door_action",
    "arguments": {
      "door_id": "g_wc",
      "action": "open"
    },
    "result": {
      "status": "stopped",
      "command_id": "cmd-open-wc-001",
      "action": "open",
      "door_id": "g_wc",
      "grip_contact": true,
      "opening_progress_rad": 0.046677929633874904,
      "handle_rotation_rad": -0.49389407026459153,
      "peak_force_N": 1.0069833905036338,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": true,
      "contact_frame": {
        "tangent_arm_m": [
          -0.9277441653049253,
          -0.37321677848492785,
          0.0
        ],
        "normal_arm_m": [
          -0.37321677848492785,
          0.9277441653049253,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  }
]