{
  "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。"
}