[
  {
    "call_index_zero_based": 7,
    "purpose": "左手缓慢下移约 22 mm，尝试让滑门接触 object_2 顶面并开始转移载荷；保留左手承托，右手保持当前位置。",
    "before": {
      "sim_s": 177.556,
      "wall_s": 177.814,
      "door_bottom_m": 0.13084,
      "tray_x_m": 0.0,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        0.00015,
        0.13496,
        0.11586
      ],
      "right_xyz_m": [
        0.0555,
        0.195,
        0.05985
      ],
      "left_door_N": 4.455,
      "right_object_1_N": 0.0,
      "left_tray_N": 0.0,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 4.506,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 4.459,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    },
    "after": {
      "sim_s": 202.634,
      "wall_s": 202.888,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.0,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        0.00015,
        0.13493,
        0.09745
      ],
      "right_xyz_m": [
        0.05555,
        0.19499,
        0.05979
      ],
      "left_door_N": 2.118,
      "right_object_1_N": 0.0,
      "left_tray_N": 0.0,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 2.138,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 2.118,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    }
  },
  {
    "call_index_zero_based": 8,
    "purpose": "左手小幅下降卸去剩余托门力，检验 object_2 能否独立支撑滑门；右手保持当前位置。",
    "before": {
      "sim_s": 202.636,
      "wall_s": 202.895,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.0,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        0.00015,
        0.13493,
        0.09745
      ],
      "right_xyz_m": [
        0.05555,
        0.19499,
        0.05979
      ],
      "left_door_N": 2.118,
      "right_object_1_N": 0.0,
      "left_tray_N": 0.0,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 2.138,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 2.118,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    },
    "after": {
      "sim_s": 224.358,
      "wall_s": 224.612,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.0,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        2e-05,
        0.135,
        0.09198
      ],
      "right_xyz_m": [
        0.05561,
        0.19498,
        0.05973
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 0.0,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 0.001,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    }
  },
  {
    "call_index_zero_based": 12,
    "purpose": "左手沿 +x 再小幅试推，将限力提高至 8 N，检验单手能否使托盘起动；右手保持原位。",
    "before": {
      "sim_s": 312.016,
      "wall_s": 312.272,
      "door_bottom_m": 0.11244,
      "tray_x_m": 2e-05,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        -0.35496,
        1e-05,
        0.04007
      ],
      "right_xyz_m": [
        0.05576,
        0.19494,
        0.05954
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 5.371,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 5.382,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 5.371,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    },
    "after": {
      "sim_s": 333.708,
      "wall_s": 333.963,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.00093,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        -0.35404,
        -5e-05,
        0.04066
      ],
      "right_xyz_m": [
        0.05581,
        0.19493,
        0.05947
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 8.0,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 8.092,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 8.0,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    }
  },
  {
    "call_index_zero_based": 16,
    "purpose": "两手同步沿 +x 小幅接触并试推托盘后缘，每手限力 6 N，检验双手能否使托盘持续起动。",
    "before": {
      "sim_s": 436.588,
      "wall_s": 436.844,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.00251,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        -0.36,
        -0.07003,
        0.04
      ],
      "right_xyz_m": [
        -0.35995,
        0.07002,
        0.03998
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 0.0,
      "right_tray_N": 0.0,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 0.0,
        "back_abs_N": 0.0
      },
      "left_motor_N": 0.0,
      "right_motor_N": 0.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    },
    "after": {
      "sim_s": 456.814,
      "wall_s": 457.068,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.00258,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        -0.35239,
        -0.07011,
        0.03985
      ],
      "right_xyz_m": [
        -0.35239,
        0.06991,
        0.03974
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 6.0,
      "right_tray_N": 6.0,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 6.017,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 6.017,
        "back_abs_N": 0.0
      },
      "left_motor_N": 6.0,
      "right_motor_N": 6.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    }
  },
  {
    "call_index_zero_based": 17,
    "purpose": "双手各 6 N 时托盘未明显起动；将每手限力提高至 7.5 N，同步沿 +x 小幅试推，检验能否持续移动，并为接触力波动留出余量。",
    "before": {
      "sim_s": 456.822,
      "wall_s": 457.077,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.00258,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        -0.35239,
        -0.07011,
        0.03985
      ],
      "right_xyz_m": [
        -0.35239,
        0.06991,
        0.03974
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 6.0,
      "right_tray_N": 6.0,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 6.019,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 6.016,
        "back_abs_N": 0.0
      },
      "left_motor_N": 6.0,
      "right_motor_N": 6.0,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    },
    "after": {
      "sim_s": 478.218,
      "wall_s": 478.473,
      "door_bottom_m": 0.11244,
      "tray_x_m": 0.01185,
      "object_1_xyz_m": [
        0.00173,
        -0.18111,
        0.03824
      ],
      "left_xyz_m": [
        -0.34312,
        -0.07,
        0.04002
      ],
      "right_xyz_m": [
        -0.34312,
        0.06999,
        0.04006
      ],
      "left_door_N": 0.0,
      "right_object_1_N": 0.0,
      "left_tray_N": 6.41,
      "right_tray_N": 6.399,
      "left_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 6.453,
        "back_abs_N": 0.0
      },
      "right_tactile": {
        "top_abs_N": 0.0,
        "front_abs_N": 6.442,
        "back_abs_N": 0.0
      },
      "left_motor_N": 6.409,
      "right_motor_N": 6.398,
      "object_2_xyz_m": [
        0.00045,
        0.19548,
        0.05622
      ],
      "left_object_2_N": 0.0,
      "right_object_2_N": 0.0
    }
  }
]