{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "bigym2/pick_box",
 "suite": "bigym2",
 "base": "bigym2-pick-box-i00",
 "title_zh": "纸箱搬上厨房台面",
 "summary_zh": "纸箱位于厨房台面范围内并接触台面，箱底高度误差不超过3厘米，两夹爪均脱离，连续满足50个控制步且机器人从未跌倒。",
 "embodiment_zh": "三个模式均为Unitree G1人形机器人，两条七关节手臂各配Dex1-1二指夹爪；双足移动，腿与腰由GR00T全身控制器驱动，没有轮式底盘。",
 "task_class": "atomic",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "bigym2-pick-box-i00",
  "bench": "bigym2",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "box_on_counter",
    "zh": "纸箱放到台面",
    "level": "semantic",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0.98,
    "goal": true,
    "criterion_zh": "两个外部视角中，棕色纸箱从灰色边桌移到白柜的浅黄色厨房台面上，由台面承托：箱体接触台面，箱心的水平投影位于台面碰撞体包围框内，箱体最低点与台面顶部的高度差绝对值不超过0.03米，左右夹爪的指垫均不接触纸箱，连续满足50个控制步（任务称1秒）。仅悬在台面上方、仍靠双手夹住、停在原灰桌上均未完成；完成后纸箱离开台面、滑出范围或重新与指垫接触，就不再满足放置条件。",
    "step": {
     "cat": "关系",
     "item": "放置"
    },
    "contact": [
     {
      "who": "双臂协作",
      "how": "其他",
      "plan": 1,
      "note_zh": "候选：夹持；左、右手从纸箱两侧同时向内夹压并搬放纸箱，任一二指夹爪都没有合指包住箱体，因此不是抓握，现有接触词表未命名这种双臂夹持。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双腿经双脚支撑地面，配合躯干承重，走近边桌并将双臂夹住的纸箱移向厨房台面。"
     },
     {
      "who": "双臂协作",
      "how": "托/舀",
      "plan": 2,
      "note_zh": "替代方案：左、右手共同从纸箱下方托住箱体，搬到厨房台面后抽离双手；评分器不要求两侧夹压。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 2,
      "note_zh": "双腿经双脚支撑地面，配合躯干承重，在双手托住纸箱时步行到厨房台面。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:6-15 任务、开放边桌初态与放置验收；1秒为连续50个控制步",
     "inputs/task/privileged/environment/instance.json:6 纸箱初在边桌，目标厨房台面；:162 control_dt=0.02",
     "inputs/oracle/run.json:1 step id=184 out.text 记录上游 PickBox._success：接触台面、两侧均不持物、台面顶部检查",
     "inputs/oracle/run.json:1 step id=185 out.text 记录上游 _box_on_counter_top：箱心水平坐标在台面AABB内，箱底与台面顶部高度差在容差内",
     "inputs/oracle/run.json:1 step id=191 out.text _ON_COUNTER_Z_TOL=0.03；step id=18 out.text 指垫接触定义持物",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-150 上游 is_success；inputs/grader/efe_bigym2-files/sim/server.py:125-128 三模式共用 Episode",
     "inputs/oracle/replay.mp4 @ 0,6,10,16,18.6,19.1 s 初在灰桌，双臂夹持搬运，最终纸箱落在浅黄色台面上、双手离开",
     "docs/DECISIONS.md:541-545 D12 双臂夹持的接触方式暂用其他；:670-677 D31 连续N步按(N-1)*dt表示保持窗口"
    ],
    "conf": 6,
    "note_zh": "一个物体的一次搬放，拿起、走近、搬运和松手不拆节点；无必经门或工具。双臂夹压是典型接触方案，不限制成功策略；另列双手托举方案。成功接受条件要求脱手，采用默认持物冻结；连续50个0.02秒控制步的采样跨度为0.98秒，hold_s据此填写，视频判定仍要求完整50步窗口。评分器未单独限制纸箱朝向或线速度，不从成功视频增加此类阈值。"
   }
  ],
  "constraints": [
   {
    "id": "robot_fell",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "机器人在本回合任何时刻跌倒即否决成功；任务说明给出的判据是骨盆相对竖直倾斜超过约53度，或骨盆高度低于0.30米。该事件被历史记录，恢复站立也不能消除，跌倒本身不立即结束回合。",
    "consequence": "历史否决",
    "sources": [
     "inputs/task/privileged/instruction.md:15",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16,156-157",
     "inputs/oracle/run.json:1 step id=19 out.text is_success=episode_succeeded and not episode_fell"
    ]
   },
   {
    "id": "pelvis_out_of_bounds",
    "zh": "骨盆越界",
    "never": null,
    "criterion_zh": "骨盆离场景原点的距离超过10米即结束回合；未先完成任务时不能再继续搬放。任务说明未给出距离是平面还是三维范数，须按上游终止判据核实。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:17-19",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16",
     "inputs/grader/efe_bigym2-files/sim/server.py:125-128",
     "inputs/grader/efe_bigym2-files/sim/rcb_service.py:695-708"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "box_counter_contact",
    "level": "new_code",
    "source": "Log PickBox.box.is_colliding(PickBox.cabinet_base.counter) as dyn.box_counter_contact; inputs/oracle/run.json:1 step id=184"
   },
   {
    "atom": "box_center_in_counter_footprint",
    "level": "new_code",
    "source": "Log PickBox._box_on_counter_top center-in-AABB test as dyn.box_center_in_counter_footprint; inputs/oracle/run.json:1 step id=185"
   },
   {
    "atom": "box_bottom_counter_gap_m",
    "level": "new_code",
    "source": "Log abs(box_world_aabb_min_z-counter_world_aabb_max_z) as dyn.box_bottom_counter_gap_m; inputs/oracle/run.json:1 step id=185"
   },
   {
    "atom": "box_gripper_contact",
    "level": "new_code",
    "source": "Log robot.is_gripper_holding_object(box, side) for each HandSide as dyn.box_held_left and dyn.box_held_right; inputs/oracle/run.json:1 step ids=17,18"
   },
   {
    "atom": "box_counter_hold_steps",
    "level": "new_code",
    "source": "Log native consecutive success counter or per-step PickBox._success as dyn.box_counter_hold_steps; inputs/task/privileged/instruction.md:15"
   },
   {
    "atom": "episode_fell",
    "level": "new_code",
    "source": "Log env.episode_fell() as dyn.episode_fell; inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157"
   },
   {
    "atom": "pelvis_out_of_bounds",
    "level": "new_code",
    "source": "Log native pelvis-out-of-bounds termination predicate as dyn.pelvis_out_of_bounds; inputs/task/privileged/instruction.md:17-18"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "box_bottom_counter_gap",
   "unit": "m",
   "threshold": 0.03,
   "direction": "lower_better"
  }
 ],
 "open_questions_zh": [
  "没有状态日志（inputs/states/index.json 的 logs 为空），按DECISIONS.md P8将唯一节点的when、约束never和success均置null；不能进行状态回放达成率或评分一致性验证，需由视频判定，列出的原子均需新增日志。",
  "双臂从两侧夹压纸箱的接触方式尚未命名：按DECISIONS.md D12暂标双臂协作×其他，候选为夹持；双手托举另列替代方案，均不是评分器规定的手法。",
  "模式差异：物理任务、冻结初态和上游成功检查一致；特权模式还要求提交轨迹在两个独立重放中均成功且终态哈希相同（inputs/grader/efe_bigym2-files/privileged/tests/grade.py:105-120），标准及实时模式评分实际运行回合（inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。重放确定性与交付有效性不属于语义步骤；无状态日志，success保持null。",
  "上游完整任务与跌倒检查器源码未作为独立文件提供；放置检查、持物定义和成功组合可由成功运行记录中的源码输出核对（inputs/oracle/run.json:1，step ids=18,19,184,185,191）。连续50步和跌倒约53度阈值依据三模式说明；精确跌倒角度与骨盆10米越界距离范数未能独立核实，不自行补出数值。",
  "轻放没有单独给定冲击力或速度阈值；按实际检查的台面接触、顶部几何、脱手与连续窗口验收，不增加静止速度或直立朝向要求。"
 ],
 "conf": 6,
 "conf_reason_zh": "单次搬放的语义与类型明确，三模式初态一致，成功视频末段和运行记录中的上游检查源码相符；缺少任何状态日志与完整上游跌倒代码，无法绑定条件或用回放自检，部分约束仅有说明中的近似阈值。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "单一目标节点「纸箱放到台面」与任务文字（拿起并轻放到台面）一致，拿起为机器人动作不单列；验收条件、50步窗口、两个约束与评分器说明相符；无状态日志故when/success为null符合P8，开放问题已列出。",
    "n_issues": 0,
    "n_major": 0
   }
  ],
  "open_zh": []
 },
 "evidence_check": {
  "n_state_runs": 0,
  "n_faithful": 0,
  "success_runs_reaching_all": "0/0",
  "spec_success_eq_grader": "0/0",
  "diverged_runs": [],
  "notes_zh": [
   "when=null 的节点不在状态日志上检查：['box_on_counter']"
  ]
 },
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  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T01:45:36Z",
  "review_prompt": "prompts/02_task_dag_review.md",
  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
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  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
  "calls": [
   {
    "stage": "dag",
    "round": 0,
    "ok": true,
    "space": "work/tasks/bigym2__pick_box/01_dag"
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    "round": 1,
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    "space": "work/tasks/bigym2__pick_box/02_review_r1"
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  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
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}