{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "molmospaces/pick",
 "suite": "molmospaces",
 "base": "molmospaces-pick-i00",
 "title_zh": "拿起馅饼",
 "summary_zh": "末态馅饼片仅接触机器人、不接触其他物体，且相对初始高度至少升高1厘米。",
 "embodiment_zh": "两种模式均为固定底座的单臂Franka FR3，末端为Robotiq 2F-85二指夹爪，无移动底盘。",
 "task_class": "atomic",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "molmospaces-pick-i00",
  "bench": "molmospaces",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "pie_lifted",
    "zh": "拿起馅饼",
    "level": "semantic",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "腕部视角可见金棕色三角形馅饼片随黑色夹爪抬离灰色大理石纹台面，仍与机器人接触且不再接触台面或任何其他物体，其参考位置比初始高度至少升高1厘米；无额外保持时长，结束时必须仍满足。只合爪而馅饼仍留在台面上不算完成；抬起后脱离机器人、碰到其他物体或降回不足1厘米即失去，遮挡时需结合相邻帧的随动和原支撑位置判断。",
    "step": {
     "cat": "位姿",
     "item": "拿起"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "Franka末端Robotiq二指夹爪夹住馅饼片两侧并将其抬起；这是典型接触方案，验收不额外限定夹持位置或夹爪朝向。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3-15",
     "inputs/task/standard/instruction.md:3-18",
     "inputs/task/privileged/environment/instance.json:367-386",
     "inputs/task/privileged/environment/instance.json:463",
     "inputs/grader/efe_molmospaces-files/privileged/environment/rcb_molmospaces.py:256-257",
     "inputs/grader/efe_molmospaces-files/privileged/environment/rcb_molmospaces.py:568-584",
     "inputs/grader/efe_molmospaces-files/sim/server.py:201-215",
     "inputs/oracle/replay.mp4 @ 0-8.0 s"
    ],
    "conf": 6,
    "note_zh": "文本直接要求拿起，故这是受评世界状态，不拆出接近、抓握、离桌或抬升阶段；仅接触机器人与高度阈值共同验收。持物时即应计入进度，故关闭持物冻结；倾斜不单独扣除，未加入朝向、静止、松手或指定抬升路径要求。"
   }
  ],
  "constraints": [],
  "success": null,
  "atoms": [
   {
    "atom": "pie_robot_contact",
    "level": "new_code",
    "source": "需在回放中逐帧记录dyn.pie_robot_contact：上游PickTask用于判断目标馅饼与机器人接触的原生布尔量；调用位置 inputs/grader/efe_molmospaces-files/privileged/environment/rcb_molmospaces.py:256-257。"
   },
   {
    "atom": "pie_nonrobot_contact",
    "level": "new_code",
    "source": "需在回放中逐帧记录dyn.pie_nonrobot_contact：上游PickTask判定目标馅饼与任何非机器人物体接触的原生布尔量；规则 inputs/task/privileged/instruction.md:13。"
   },
   {
    "atom": "pie_height_rise_m",
    "level": "new_code",
    "source": "需在回放中逐帧记录dyn.pie_height_rise_m：上游成功判据采用的馅饼参考位置z相对初始值之差，单位m；初始参考位姿 inputs/task/privileged/environment/instance.json:368-376，阈值说明 inputs/task/privileged/instruction.md:13。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "pie_height_rise_m",
   "unit": "m",
   "threshold": 0.01,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空；按DECISIONS.md P8，唯一节点的when及spec.success均为null，尚不能用状态日志核验接触集合和高度阈值。腕部录像有遮挡，无法仅凭末帧精确量出1厘米或排除全部隐蔽接触。",
  "输入评分器通过rcb_molmospaces.py:256-257调用上游PickTask.judge_success()，但inputs/未提供该上游实现；接触分类细节及1厘米边界的严格或非严格比较待核实，当前按两种模式文本的“至少1厘米”描述。实例中的目标位姿高出初态5厘米，不把该位姿当成额外验收阈值。",
  "模式差异：特权评分器privileged/tests/grade.py:126-138要求同一轨迹两次回放均成功且最终哈希相同；标准评分器standard/tests/grade.py:30-39评判实时末态并检查服务记录有效性。共同物理目标只有拿起馅饼；确定性及记录有效性不属于世界状态，不另建节点，且无日志时success保留null。",
  "会话数、重置次数、模拟步数仅作为成本记录，不参与物理成功条件（inputs/task/privileged/instruction.md:21-23；privileged/tests/grade.py:34-63），因此不列为约束。"
 ],
 "conf": 6,
 "conf_reason_zh": "一个文本步骤及其类型明确，起态、实例参数和成功录像一致；没有习惯性顺序边或额外前置步骤。缺少全部状态日志和上游成功函数源码，精确接触与高度验收目前只能依据任务文本及录像说明，无法完成状态条件自证。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 8,
    "summary_zh": "任务文本只有“拿起馅饼”一步，文件为单个goal节点（位姿·拿起），无状态日志故when/success均为null（P8），freeze_held=false、接触手指/夹爪×抓握、open_questions已列出文本/评分器差异；未发现需修改之处。",
    "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：['pie_lifted']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T01:41:23Z",
  "review_prompt": "prompts/02_task_dag_review.md",
  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
  "reconcile_prompt": "prompts/05_reconcile.md",
  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
  "calls": [
   {
    "stage": "dag",
    "round": 0,
    "ok": true,
    "space": "work/tasks/molmospaces__pick/01_dag"
   },
   {
    "stage": "dag_review",
    "round": 1,
    "ok": true,
    "space": "work/tasks/molmospaces__pick/02_review_r1"
   }
  ],
  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
  "inputs_manifest_sha256": "4af05333f755b768deb34611cf20952549b26c8fdd060e6355ac0fcb8b4a05b1",
  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
 }
}