        # 5) Pull the drawer fully open along its pull axis
        print("[Task] Step 5: Pulling the drawer open.")
        # Assume pulling along +X by 0.1 meters opens drawer
        obs, reward, done = pull(env, task, pull_distance=0.1, pull_axis='x')
        if done:
            print("[Task] Episode ended during pull.")
            return

        # Report completion and verify goal
        print(f"[Task] Completed all steps. Final reward: {reward}, done flag: {done}")
        if not done:
            print("[Task] Drawer open sequence executed; verifying goal success.")
        else:
            print("[Task] Episode flagged done after pull; assume drawer is open.")