[
  {
    "sequence": 1,
    "tool": "robot_look",
    "arguments": [
      0.0,
      -0.25
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-survey-001",
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": -0.25
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 2,
    "tool": "robot_look",
    "arguments": [
      0.35,
      -0.25
    ],
    "result": {
      "status": "ok",
      "command_id": "cmd-look-survey-002",
      "camera_head": {
        "pan_rad": 0.35,
        "tilt_rad": -0.25
      },
      "stop_latched": false,
      "needs_observation": true
    }
  },
  {
    "sequence": 3,
    "observation_id": "obs-b8325fb8-3-976",
    "script": "robot.move_tcp(0,0,0.45)\nrobot.open_gripper()",
    "result": {
      "status": "ok",
      "command_id": "cmd-stow-prelift-001",
      "executed": [
        "move_tcp",
        "open_gripper"
      ],
      "duration_s": 0.25,
      "grip_contact": false,
      "peak_force_N": 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-lift-up-001",
      "needs_observation": true,
      "stop_latched": false
    }
  },
  {
    "sequence": 5,
    "observation_id": "obs-b8325fb8-5-5685",
    "script": "robot.move_tcp(0.735724,0.058157,0.502614)",
    "result": {
      "status": "ok",
      "command_id": "cmd-reach-handle-001",
      "executed": [
        "move_tcp"
      ],
      "duration_s": 4.11,
      "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": -5.612760727543607e-09,
      "handle_rotation_rad": 6.312030091463103e-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": [
          -3.358752817980078e-07,
          -0.9999999999999437,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999437,
          3.358752817980078e-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-press-office-001",
      "action": "press",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": 8.719054662372983e-09,
      "handle_rotation_rad": -0.5188679585628109,
      "peak_force_N": 1.2223222750732423,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": false,
      "contact_frame": {
        "tangent_arm_m": [
          -3.1859067627337106e-07,
          -0.9999999999999494,
          0.0
        ],
        "normal_arm_m": [
          -0.9999999999999494,
          3.1859067627337106e-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-open-office-001",
      "action": "open",
      "door_id": "g_office",
      "grip_contact": true,
      "opening_progress_rad": -1.3960589230022025,
      "handle_rotation_rad": -0.518899072202824,
      "peak_force_N": 1.006983390467298,
      "feedback_source": "ideal contact/controller joint feedback, not learned visual inference",
      "needs_observation": true,
      "stop_latched": true,
      "contact_frame": {
        "tangent_arm_m": [
          -0.9847722827398602,
          -0.17384921957640473,
          0.0
        ],
        "normal_arm_m": [
          -0.17384921957640473,
          0.9847722827398602,
          0.0
        ],
        "source": "ideal grasp orientation/controller feedback"
      }
    }
  }
]