{"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": "舞台、双支架与中心标记可见，初始身体竖直且静止；先建立稳定站立接触。"}, "decision_wait_wall_s": 23.036894876509905}
{"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": "sonic", "reason": "双脚173/172N承重，躯干近竖直，前方入口畅通；采用SONIC登台。"}, "decision_wait_wall_s": 14.12806237116456}
{"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": "sonic", "reason": "支架位于前方，当前处于行走周期中；继续SONIC至预留停步位置，随后切换带足端避让的小步精调。"}, "decision_wait_wall_s": 28.738236349076033}
{"observation_id": 3, "observation_file": "observation_003.json", "source": "codex", "decision": {"observation_id": 3, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "支架已在近处，双脚承重且速度接近零；执行前进0.08m/s、横移0.04m/s上限的小步接近，到位后停稳。"}, "decision_wait_wall_s": 27.437345482409}
{"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": "双支架保持在前方，双脚165/247N承重，停步仍有小幅横向速度；执行2秒姿态过渡并等待站稳。"}, "decision_wait_wall_s": 35.77691239118576}
{"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": "身体已竖直且速度低于0.005m/s，双脚承重均衡；保持当前落脚位置准备双臂抓握。"}, "decision_wait_wall_s": 12.825100868940353}
{"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": "夹爪张开、身体静止，两脚175/170N承重；缓慢下蹲并伸手接近木杆。"}, "decision_wait_wall_s": 11.815595177933574}
{"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": "双掌位于杆侧，双脚稳定支撑、速度低；进行最后抓握对齐。"}, "decision_wait_wall_s": 14.22704691812396}
{"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": "双掌与木杆对齐，身体稳定，夹爪仍张开；闭合夹爪并等待实际夹持接触成立。"}, "decision_wait_wall_s": 16.652773236855865}
{"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": "双手已闭合环抱木杆，手部接触力约16/22N且身体静止；保持夹持，逐步起身提架。"}, "decision_wait_wall_s": 25.1384173091501}
{"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": "提架后视野已抬高，双手仍有约20N接触，膝关节接近站姿；继续稳住负载至转身条件满足。"}, "decision_wait_wall_s": 36.55342738702893}
{"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": "sonic", "reason": "身体竖直、两手夹持接触持续，膝角稳定；切换SONIC转向舞台中心，同时保持上肢夹持参考。"}, "decision_wait_wall_s": 16.931616380810738}
{"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": "sonic", "reason": "中心标记已进入前方视野，双手夹持持续；采用SONIC低速负重行走接近中心。"}, "decision_wait_wall_s": 14.236402528360486}
{"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": "sonic", "reason": "中心标记已接近脚下，当前右脚单支撑且仍向前运动；继续SONIC完成减速与双脚着地，不提前切静态姿态。"}, "decision_wait_wall_s": 38.763925686478615}
{"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": "两脚已恢复承重，两手夹持持续；先恢复直立、消除移动速度，再原地调整展示朝向。"}, "decision_wait_wall_s": 12.819686997681856}
{"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": "sonic", "reason": "已在中心附近，双脚185/171N承重、双手夹持稳定；采用经交接观测刷新的SONIC转向展示方向，随后保留实测落脚位置。"}, "decision_wait_wall_s": 16.221891766414046}
{"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": "转向结束、双脚恢复承重，两手仍夹持支架；切换实测落脚位置下的静态IK并逐渐站稳。"}, "decision_wait_wall_s": 25.934709548950195}
{"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": "身体已竖直、双脚稳定支撑，前方台面空旷；保持夹持，缓慢下蹲将双支架放到身前。"}, "decision_wait_wall_s": 11.817424098029733}
{"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": "两支架已放到中心标记两侧，身体低位静止、双脚承重；保持夹持，以微小高度与倾角反馈建立四底座稳定接触后再松手。"}, "decision_wait_wall_s": 48.788920506834984}
{"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": "双支架平放于面前，身体速度近零且放置接触门控已通过；逐渐张开夹爪释放支架。"}, "decision_wait_wall_s": 43.082175355404615}
{"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": "夹爪已张开至0.06m，手部接触基本卸载、双脚稳定；抬手脱离支架，确认无牵连后起身。"}, "decision_wait_wall_s": 15.55787056311965}
{"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": "双掌已离开木杆、手部接触力为零，支架稳定留在台面；保持双脚位置缓慢站起。"}, "decision_wait_wall_s": 57.06734536215663}
{"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": "已恢复直立、双脚稳定承重，双支架留在脚前；完成起身并进入自然站立。"}, "decision_wait_wall_s": 49.355776127427816}
{"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": "站姿稳定、身体速度近零，支架已独立放置；短暂停留后执行第一次秀肌肉展示。"}, "decision_wait_wall_s": 16.22960956580937}
{"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": "双脚持续稳定承重、无手部负载；抬臂屈肘展示，然后恢复自然站立。"}, "decision_wait_wall_s": 28.07573071308434}
{"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": "展示结束时身体竖直、速度很低；放下双臂并张开夹爪，恢复自然站姿。"}, "decision_wait_wall_s": 29.34824543260038}
{"observation_id": 26, "observation_file": "observation_026.json", "source": "codex", "decision": {"observation_id": 26, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "自然站姿已恢复、夹爪张开，双支架位于前方；短暂保持站立后以连续动力学状态进入波比跳。"}, "decision_wait_wall_s": 21.731828432530165}
{"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": "场景与站姿连续，双支架仍在前方；当前接触摘要尚未初始化，先执行站立观测与稳定门控。"}, "decision_wait_wall_s": 15.027912102639675}
{"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": "接触摘要已建立，双脚182/162N且身体静止；下蹲并将双臂伸向支架。"}, "decision_wait_wall_s": 13.631800027564168}
{"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": "蹲姿已建立，双脚支撑稳定、双掌悬在支架上方；完成蹲姿稳定门控，随后调整手掌朝向。"}, "decision_wait_wall_s": 53.39328611642122}
{"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": "身体低位稳定，手掌与支架有垂直间隙；保持夹爪张开，对齐双掌朝向后缓慢下降。"}, "decision_wait_wall_s": 16.773748252540827}
{"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": "双掌已朝向木杆，当前仍由双脚承重，身体速度较低；缓慢降手至夹持位置。"}, "decision_wait_wall_s": 47.2607659958303}
{"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": "双手已降至杆侧，双脚仍支撑身体；闭合夹爪，以实际夹持接触确认后再把重量转移到手臂。"}, "decision_wait_wall_s": 16.833273604512215}
{"observation_id": 33, "observation_file": "observation_033.json", "source": "codex", "decision": {"observation_id": 33, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手闭合抓住支架、身体静止；右手当前竖直负载仍小，先执行缓慢重心转移，待支撑门控通过再伸腿。"}, "decision_wait_wall_s": 22.06228785775602}
{"observation_id": 34, "observation_file": "observation_034.json", "source": "codex", "decision": {"observation_id": 34, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两手均已承担约31–35N，身体速度接近零；保持双手和左脚支撑，先将右腿缓慢向后伸。"}, "decision_wait_wall_s": 41.65187022648752}
{"observation_id": 35, "observation_file": "observation_035.json", "source": "codex", "decision": {"observation_id": 35, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "右膝已接近伸直，两手正在承重，当前足部接触尚未恢复；先执行落脚与稳定门控，确认支撑后再移动另一腿。"}, "decision_wait_wall_s": 14.116338500753045}
{"observation_id": 36, "observation_file": "observation_036.json", "source": "codex", "decision": {"observation_id": 36, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "右脚已建立约62N接触，身体速度明显降低，双手持续支撑；保持右脚与双手，缓慢向后伸左腿。"}, "decision_wait_wall_s": 17.020301308482885}
{"observation_id": 37, "observation_file": "observation_037.json", "source": "codex", "decision": {"observation_id": 37, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "两腿已伸展，左脚尚未承重、右脚与双手支撑；先让左脚落稳，达到稳定俯卧撑预备姿势后再下压。"}, "decision_wait_wall_s": 15.918746955692768}
{"observation_id": 38, "observation_file": "observation_038.json", "source": "codex", "decision": {"observation_id": 38, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双手与双脚均已承重，身体速度约0.01m/s；执行八段连续IK下压，保持伸腿后的足端目标并加深屈肘。"}, "decision_wait_wall_s": 26.332633962854743}
{"observation_id": 39, "observation_file": "observation_039.json", "source": "codex", "decision": {"observation_id": 39, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "第一视角已下降接近支架，双手约122/125N、双脚约59N支撑；下压完成，沿连续参考逆序上推，随后等待稳定。"}, "decision_wait_wall_s": 22.424182070419192}
{"observation_id": 40, "observation_file": "observation_040.json", "source": "codex", "decision": {"observation_id": 40, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "身体已推回高位，双脚及双手支撑恢复且速度低；保持右脚与双手，先收回左腿。"}, "decision_wait_wall_s": 30.229699734598398}
{"observation_id": 41, "observation_file": "observation_041.json", "source": "codex", "decision": {"observation_id": 41, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "左膝已收回，左脚尚未承重；保持右脚和双手支撑，等待左脚落地稳定。"}, "decision_wait_wall_s": 19.019604943692684}
{"observation_id": 42, "observation_file": "observation_042.json", "source": "codex", "decision": {"observation_id": 42, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "左脚已恢复约161N承重，身体速度降低；保持左脚和双手支撑，再收回右腿。"}, "decision_wait_wall_s": 14.21628576144576}
{"observation_id": 43, "observation_file": "observation_043.json", "source": "codex", "decision": {"observation_id": 43, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "右腿已收至身体下方，但右脚接触尚未建立；保持支撑，等待双脚落稳再卸除手部负载。"}, "decision_wait_wall_s": 16.060553960502148}
{"observation_id": 44, "observation_file": "observation_044.json", "source": "codex", "decision": {"observation_id": 44, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双脚已稳定承重，身体速度接近零；将重心逐渐移回双脚，恢复蹲姿并卸载双手。"}, "decision_wait_wall_s": 13.247504422441125}
{"observation_id": 45, "observation_file": "observation_045.json", "source": "codex", "decision": {"observation_id": 45, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "蹲姿已恢复、两脚承重约149/143N，身体稳定；张开夹爪松开木杆。"}, "decision_wait_wall_s": 37.6481590885669}
{"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": "夹爪已张开、手部负载近零，支架留在台面；先抬手离杆，再保持双脚支撑站起。"}, "decision_wait_wall_s": 27.949655570089817}
{"observation_id": 47, "observation_file": "observation_047.json", "source": "codex", "decision": {"observation_id": 47, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "双掌已明显离开木杆，手部接触为零、身体静止；缓慢伸膝起身，保持支架位置不受手臂牵拉。"}, "decision_wait_wall_s": 17.62011519819498}
{"observation_id": 48, "observation_file": "observation_048.json", "source": "codex", "decision": {"observation_id": 48, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "身体已回到竖直，双脚约172N承重、两手无负载；完成站立稳定门控后开始摆臂蓄力跳跃。"}, "decision_wait_wall_s": 54.86964221484959}
{"observation_id": 49, "observation_file": "observation_049.json", "source": "codex", "decision": {"observation_id": 49, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "身体竖直、双脚接触已建立、双手与支架分离；执行后摆臂屈膝蓄力、前摆臂起跳及落地恢复。"}, "decision_wait_wall_s": 25.332345072180033}
{"observation_id": 50, "observation_file": "observation_050.json", "source": "codex", "decision": {"observation_id": 50, "execute": true, "horizon_s": 8.0, "speed_scale": 1.0, "controller": "legacy", "reason": "落地后身体已竖直且静止，双脚约181/178N稳定承重；执行最后一次秀肌肉并保持稳定定姿，完成表演。"}, "decision_wait_wall_s": 23.02655384503305}