{"contract_id": "guard-001", "plan": {"action": "move", "costs": {"time": 2.0}, "speed": 0.8}, "state": {"speed": 0.8, "distance_to_obstacle": 5}, "decision": "modify", "new_plan": {"action": "move", "costs": {"time": 2.0}, "speed": 0.5}}
{"contract_id": "guard-001", "plan": {"action": "move", "costs": {"time": 2.0}, "speed": 0.8}, "state": {"speed": 0.8, "distance_to_obstacle": 5}, "decision": "allow"}
{"contract_id": "guard-001", "plan": {"action": "move", "costs": {"time": 2.0}, "speed": 0.8}, "state": {"speed": 0.8, "distance_to_obstacle": 5}, "decision": "allow"}
{"contract_id": "guard-001", "plan": {"action": "move", "costs": {"time": 2.0}, "speed": 0.8}, "state": {"speed": 0.8, "distance_to_obstacle": 5}, "decision": "allow"}
{"contract_id": "guard-001", "plan": {"action": "move", "costs": {"time": 2.0}, "speed": 0.8}, "state": {"speed": 0.8, "distance_to_obstacle": 5}, "decision": "allow"}