{"observation_id": 0, "observation_file": "observation_000.json", "source": "codex", "decision": {"observation_id": 0, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "第一视角可见灰色舞台及远端成对支架；初始速度为零，先完成站立接触稳定，再开始上台。"}, "decision_wait_wall_s": 11.712007669731975}
{"observation_id": 1, "observation_file": "observation_001.json", "source": "codex", "decision": {"observation_id": 1, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双脚各约170N且姿态竖直，前方台面与支架清晰、路径无障碍，允许上台行走。"}, "decision_wait_wall_s": 39.538289688527584}
{"observation_id": 2, "observation_file": "observation_002.json", "source": "codex", "decision": {"observation_id": 2, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "已进入台面，支架在前方且逐渐接近；当前为单脚支撑的正常步态，继续走向支架后停稳。"}, "decision_wait_wall_s": 14.119963208213449}
{"observation_id": 3, "observation_file": "observation_003.json", "source": "codex", "decision": {"observation_id": 3, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "支架已到视野下缘，身体倾斜很小；接近段需要停稳再弯腰，缩短观察窗口检查停止。"}, "decision_wait_wall_s": 23.223206713795662}
{"observation_id": 4, "observation_file": "observation_004.json", "source": "codex", "decision": {"observation_id": 4, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "已到支架前，两脚恢复负重但还有轻微横向晃动，先完成站立恢复再下蹲抓取。"}, "decision_wait_wall_s": 19.321925399824977}
{"observation_id": 5, "observation_file": "observation_005.json", "source": "codex", "decision": {"observation_id": 5, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双脚稳定承重、前后速度很小，支架仍在正前下方，开始弯腰并对齐双手。"}, "decision_wait_wall_s": 23.120285838842392}
{"observation_id": 6, "observation_file": "observation_006.json", "source": "codex", "decision": {"observation_id": 6, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "身体几乎竖直且双足负重均衡，支架在两手前方；执行下蹲对准握杆，保持原有接触保护。"}, "decision_wait_wall_s": 12.012938207015395}
{"observation_id": 7, "observation_file": "observation_007.json", "source": "codex", "decision": {"observation_id": 7, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手已分别贴近两根杆，手指处于张开状态且双脚仍承重，允许闭合夹爪建立真实接触后抬起。"}, "decision_wait_wall_s": 12.413336962461472}
{"observation_id": 8, "observation_file": "observation_008.json", "source": "codex", "decision": {"observation_id": 8, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两根握杆分别位于手掌与手指之间，低姿态速度接近零；执行闭合并检查接触，再进入起身。"}, "decision_wait_wall_s": 33.73570287413895}
{"observation_id": 9, "observation_file": "observation_009.json", "source": "codex", "decision": {"observation_id": 9, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手已闭合包住杆且均有接触力，双足稳定，允许保持夹持起身拾起支架。"}, "decision_wait_wall_s": 30.53203223273158}
{"observation_id": 10, "observation_file": "observation_010.json", "source": "codex", "decision": {"observation_id": 10, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "已恢复近竖直站姿，双手持续承载支架、身体速度接近零，继续完成拾取稳定并准备原地转向。"}, "decision_wait_wall_s": 34.33362587168813}
{"observation_id": 11, "observation_file": "observation_011.json", "source": "codex", "decision": {"observation_id": 11, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "拾取结束且双足负重均衡，保持握紧支架，执行面向舞台中心的原地转向。"}, "decision_wait_wall_s": 9.41006220318377}
{"observation_id": 12, "observation_file": "observation_012.json", "source": "codex", "decision": {"observation_id": 12, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "转向后中心蓝色标记已在前方，两手仍承载支架；沿台面走向中心，抵达后停步。"}, "decision_wait_wall_s": 35.235906671732664}
{"observation_id": 13, "observation_file": "observation_013.json", "source": "codex", "decision": {"observation_id": 13, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "中心标记已移动到身下，前进结束后双脚着地但身体仍有减速运动，保持支架并等待恢复稳定。"}, "decision_wait_wall_s": 62.36271297931671}
{"observation_id": 14, "observation_file": "observation_014.json", "source": "codex", "decision": {"observation_id": 14, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "负载下站立已稳定，准备布置支架；执行小幅原地朝向调整，保持双手闭合。"}, "decision_wait_wall_s": 8.608153501525521}
{"observation_id": 15, "observation_file": "observation_015.json", "source": "codex", "decision": {"observation_id": 15, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "转向结束后左右足负载暂不均衡，先恢复双足站稳，再开始下放支架。"}, "decision_wait_wall_s": 8.608578139916062}
{"observation_id": 16, "observation_file": "observation_016.json", "source": "codex", "decision": {"observation_id": 16, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "站姿已经稳定，支架仍在双手中，向面前台面缓慢下放，着地稳定之前保持夹紧。"}, "decision_wait_wall_s": 9.40954832173884}
{"observation_id": 17, "observation_file": "observation_017.json", "source": "codex", "decision": {"observation_id": 17, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两只支架已在中心标记前方对称放置，手指仍握紧；先让支架底座稳定贴地，随后再松手。"}, "decision_wait_wall_s": 33.33346446789801}
{"observation_id": 18, "observation_file": "observation_018.json", "source": "codex", "decision": {"observation_id": 18, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "支架底座姿态保持稳定，身体速度小于毫米每秒量级，双足承重充分，允许松开双手。"}, "decision_wait_wall_s": 16.41698072478175}
{"observation_id": 19, "observation_file": "observation_019.json", "source": "codex", "decision": {"observation_id": 19, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两手指已张开，手部载荷降至接近零，支架保持原位；先退开双手，避免起身带动支架。"}, "decision_wait_wall_s": 9.814358044415712}
{"observation_id": 20, "observation_file": "observation_020.json", "source": "codex", "decision": {"observation_id": 20, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两手已与握杆分离且接触力为零，支架在前方静止，保持双脚支撑起身至自然站立。"}, "decision_wait_wall_s": 7.908138984814286}
{"observation_id": 21, "observation_file": "observation_021.json", "source": "codex", "decision": {"observation_id": 21, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "已站直且支架保持前方位置，双手无载荷、双脚均衡，完成起身末段并进入自然站立。"}, "decision_wait_wall_s": 29.52769238129258}
{"observation_id": 22, "observation_file": "observation_022.json", "source": "codex", "decision": {"observation_id": 22, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "空手站立稳定且支架已放妥，保持自然站姿，为第一次秀肌肉准备。"}, "decision_wait_wall_s": 16.316743176430464}
{"observation_id": 23, "observation_file": "observation_023.json", "source": "codex", "decision": {"observation_id": 23, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "自然站立已稳定，身体速度约1毫米每秒、双足负载相当，执行第一次双臂秀肌肉。"}, "decision_wait_wall_s": 8.909530898556113}
{"observation_id": 24, "observation_file": "observation_024.json", "source": "codex", "decision": {"observation_id": 24, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "本体关节显示上臂外展、肘部弯曲完成定姿，双脚始终稳定，按任务要求放下双臂恢复自然站立。"}, "decision_wait_wall_s": 12.112281335517764}
{"observation_id": 25, "observation_file": "observation_025.json", "source": "codex", "decision": {"observation_id": 25, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "第一次定姿后已恢复站立，台面支架位置稳定，稍作稳定后开始面前的握架下蹲。"}, "decision_wait_wall_s": 23.62560502998531}
{"observation_id": 26, "observation_file": "observation_026.json", "source": "codex", "decision": {"observation_id": 26, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "第一视角与上一个站姿连续、身体倾斜很小；新控制段的接触摘要尚未刷新，先执行短时站稳并复查双足承重。"}, "decision_wait_wall_s": 24.523142961785197}
{"observation_id": 27, "observation_file": "observation_027.json", "source": "codex", "decision": {"observation_id": 27, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双足接触已更新且负载稳定，身体几乎静止；下蹲并将双臂伸向前方支架，暂不移腿。"}, "decision_wait_wall_s": 11.71143633313477}
{"observation_id": 28, "observation_file": "observation_028.json", "source": "codex", "decision": {"observation_id": 28, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "已下蹲到支架附近，双手在杆外侧张开、脚仍稳定承重，继续完成下蹲末段及手腕方向调整。"}, "decision_wait_wall_s": 33.02813006006181}
{"observation_id": 29, "observation_file": "observation_029.json", "source": "codex", "decision": {"observation_id": 29, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "蹲姿稳定、握杆无遮挡，调整张开的双手朝向以形成俯卧撑握持方向，随后靠近杆。"}, "decision_wait_wall_s": 11.11056105978787}
{"observation_id": 30, "observation_file": "observation_030.json", "source": "codex", "decision": {"observation_id": 30, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手已沿握杆调整方向，手指位于杆的一侧，接近握持位置；允许双手前伸对准，两腿继续保持支撑。"}, "decision_wait_wall_s": 16.21605939976871}
{"observation_id": 31, "observation_file": "observation_031.json", "source": "codex", "decision": {"observation_id": 31, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两手掌和张开的手指已分列握杆两侧，脚仍承重；闭合夹爪，确认夹持接触后再转移身体重量。"}, "decision_wait_wall_s": 23.72430138848722}
{"observation_id": 32, "observation_file": "observation_032.json", "source": "codex", "decision": {"observation_id": 32, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手均已闭合并检测到竖向载荷，双脚还在支撑、身体近静止；逐渐前移重心建立手部承重，准备单腿后伸。"}, "decision_wait_wall_s": 15.116263465955853}
{"observation_id": 33, "observation_file": "observation_033.json", "source": "codex", "decision": {"observation_id": 33, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手持续握持且各有约30N以上载荷，左脚具备支撑；先把右腿向后伸，保持双手和左脚稳定。"}, "decision_wait_wall_s": 42.63805412128568}
{"observation_id": 34, "observation_file": "observation_034.json", "source": "codex", "decision": {"observation_id": 34, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "右脚已离地后伸，双手承重明显增加且左脚仍支撑；先落稳右脚，不能同时抬起左脚。"}, "decision_wait_wall_s": 13.713084796443582}
{"observation_id": 35, "observation_file": "observation_035.json", "source": "codex", "decision": {"observation_id": 35, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "右脚已重新承重约63N，身体速度降低，双手仍牢靠握持；现在后伸左腿形成俯卧撑准备姿势。"}, "decision_wait_wall_s": 13.21360246092081}
{"observation_id": 36, "observation_file": "observation_036.json", "source": "codex", "decision": {"observation_id": 36, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "左腿后伸完成但左脚仍未负重，右脚和双手在承重；先等待左脚落地并稳定四点支撑，再做俯卧撑。"}, "decision_wait_wall_s": 11.612710699439049}
{"observation_id": 37, "observation_file": "observation_037.json", "source": "codex", "decision": {"observation_id": 37, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双腿已伸到后方，双手双脚均有负载且身体接近静止，允许曲臂下降，保持握杆和脚尖支撑。"}, "decision_wait_wall_s": 14.414178900420666}
{"observation_id": 38, "observation_file": "observation_038.json", "source": "codex", "decision": {"observation_id": 38, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "下降后相机靠近台面、两臂已曲起，四点接触保持且身体速度较低；推起身体恢复先前准备姿势。"}, "decision_wait_wall_s": 14.814641632139683}
{"observation_id": 39, "observation_file": "observation_039.json", "source": "codex", "decision": {"observation_id": 39, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "推起后视野和手臂恢复到准备姿势附近，四点负载稳定、速度很低；先收回左腿，双手和右脚保持支撑。"}, "decision_wait_wall_s": 10.309596091508865}
{"observation_id": 40, "observation_file": "observation_040.json", "source": "codex", "decision": {"observation_id": 40, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "左膝和左脚已经收到身体下方，右腿仍在后方；等待左脚落稳和身体减速，再收右腿。"}, "decision_wait_wall_s": 12.21420551277697}
{"observation_id": 41, "observation_file": "observation_041.json", "source": "codex", "decision": {"observation_id": 41, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "左脚已稳定承重约158N，身体运动较小；保持双手和左脚支撑，将右腿收回到蹲姿落脚位置。"}, "decision_wait_wall_s": 14.01394566334784}
{"observation_id": 42, "observation_file": "observation_042.json", "source": "codex", "decision": {"observation_id": 42, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "右腿已收到前方但右脚尚无接触力，双手继续握紧；先完成右脚落地，确保两脚支撑后才能松手。"}, "decision_wait_wall_s": 14.914086770266294}
{"observation_id": 43, "observation_file": "observation_043.json", "source": "codex", "decision": {"observation_id": 43, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双脚各约140N且身体速度很低，双腿已回到身体下方；把重心转回双足并调整到可松手的蹲姿。"}, "decision_wait_wall_s": 15.215452820062637}
{"observation_id": 44, "observation_file": "observation_044.json", "source": "codex", "decision": {"observation_id": 44, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "支架与身体均已稳定，双脚承担大部分体重且两腿在身下，允许打开双手释放握杆。"}, "decision_wait_wall_s": 59.660661302506924}
{"observation_id": 45, "observation_file": "observation_045.json", "source": "codex", "decision": {"observation_id": 45, "execute": true, "horizon_s": 4.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手张开且接触力已经为零，双脚稳定承重，收回双手离开支架后再起身。"}, "decision_wait_wall_s": 16.516882486641407}
{"observation_id": 46, "observation_file": "observation_046.json", "source": "codex", "decision": {"observation_id": 46, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手已移到支架外侧并完全脱离，蹲姿平稳，保持双足支撑起身，恢复自然站立。"}, "decision_wait_wall_s": 21.921710524708033}
{"observation_id": 47, "observation_file": "observation_047.json", "source": "codex", "decision": {"observation_id": 47, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "身体已经站直、双脚载荷几乎相同且速度很低，结束起身稳定段，随后准备摆臂跳跃。"}, "decision_wait_wall_s": 31.835692573338747}
{"observation_id": 48, "observation_file": "observation_048.json", "source": "codex", "decision": {"observation_id": 48, "execute": true, "horizon_s": 3.1, "speed_scale": 1.0, "controller": "legacy", "reason": "起身完成，支架留在前方且双手已脱离；执行后摆臂屈膝和前摆臂起跳，在起跳附近提前复查。"}, "decision_wait_wall_s": 27.72928074002266}
{"observation_id": 49, "observation_file": "observation_049.json", "source": "codex", "decision": {"observation_id": 49, "execute": true, "horizon_s": 0.2, "speed_scale": 1.0, "controller": "legacy", "reason": "双臂已前摆，当前双足有明显接触力而身体仍向下运动，处于落地缓冲附近；只推进0.2秒检查冲击衰减。"}, "decision_wait_wall_s": 13.714865794405341}
{"observation_id": 50, "observation_file": "observation_050.json", "source": "codex", "decision": {"observation_id": 50, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "姿态已回到近竖直，双足均衡接触但仍有下降速度；继续落地缓冲与回臂，暂不提前定姿。"}, "decision_wait_wall_s": 20.42088976688683}
{"observation_id": 51, "observation_file": "observation_051.json", "source": "codex", "decision": {"observation_id": 51, "execute": true, "horizon_s": 2.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双臂已收回，双足各约172N，身体速度约1毫米每秒，已恢复自然稳定站立；允许完成稳定判定并进入最终定姿。"}, "decision_wait_wall_s": 23.42487528733909}
{"observation_id": 52, "observation_file": "observation_052.json", "source": "codex", "decision": {"observation_id": 52, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "落地后自然站立已确认，支架仍留在前方，身体平稳且双脚承重；执行最后一次秀肌肉并保持稳定结束。"}, "decision_wait_wall_s": 19.319590331986547}