{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "behavior-1k/installing_a_fax_machine",
 "suite": "behavior-1k",
 "base": "behavior-installing-a-fax-machine-i00",
 "title_zh": "安装传真机",
 "summary_zh": "传真机开启并放在任一隔间办公桌上，所有目标物体均离手且静止，联合目标连续保持30个控制步。",
 "embodiment_zh": "两种模式均为R1Pro轮式双臂移动机器人，左右各一条七自由度机械臂、各配二指夹爪，具有可调躯干与全向底盘；辅助抓取，头部及两腕相机。特权模式可读取物体状态并提交重放轨迹，标准模式通过服务控制同一构型。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "behavior-installing-a-fax-machine-i00",
  "bench": "behavior-1k",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "fax_on_carrel",
    "zh": "传真机上桌",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": true,
    "freeze_held": true,
    "criterion_zh": "灰色带听筒和数字键盘的传真机落在任一隔间的白色桌面上，桌面直接位于机身下方并与其接触；仅举在桌面上方、靠在隔板上或仍在地板上均未完成，离开所有隔间桌面即失去。放置须已松开夹爪并静止；最终两项结果须同时成立，且传真机及目标量词涉及的全部隔间桌均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是两步共同的成功验收，不另建静置节点。",
    "step": {
     "cat": "关系",
     "item": "放置"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "一侧二指夹爪夹住传真机机身，将其搬到隔间桌面；左右臂均可。"
     },
     {
      "who": "底盘",
      "how": "支撑",
      "plan": 1,
      "note_zh": "轮式底盘承载机械臂及夹持的传真机，在地板取物位置和隔间桌之间移动。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-8",
     "task/privileged/instruction.md:24-25",
     "bddl/installing_a_fax_machine.bddl:11-20",
     "bddl/installing_a_fax_machine.bddl:26-28",
     "grader/efe_behavior-files/rcb_behavior.py:100-105",
     "grader/efe_behavior-files/rcb_behavior.py:181-190",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
     "oracle/run.json:1 (steps[246] and final report: placed on carrel.n.02_7)"
    ],
    "conf": 7,
    "note_zh": "录像后段腕部视角可见传真机移到白色桌面，约48秒后夹爪松开；桌面接触也由成功运行记录的OnTop检查确认。十张隔间桌任一张均可，不固定成功样本所用的第7张。拿起、搬运和松手不另列步骤；共用静置窗口归入整体成功，hold_s=0不另加独立延时。"
   },
   {
    "id": "fax_switched_on",
    "zh": "开启传真机",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "传真机电源开关已翻到开启状态；腕部近景可定位数字键盘端的红色圆形开关标记和触碰它的夹爪手指，但手指靠近或短暂碰到本身不算开启，须有开关状态翻转的可见证据或原生状态记录确认，再次关闭即失去。开关由手指连续触碰5个控制步触发，松开后再触碰会反向切换；最终两项结果须同时成立，且传真机及目标量词涉及的全部隔间桌均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是两步共同的成功验收，不另建静置节点。",
    "step": {
     "cat": "机构",
     "item": "启停设备"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "压/擦",
      "plan": 1,
      "note_zh": "一侧夹爪的手指指腹接触传真机电源按钮，持续触发切换；左右臂均可。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-8",
     "task/privileged/instruction.md:24-26",
     "task/standard/instruction.md:5",
     "bddl/installing_a_fax_machine.bddl:13-15",
     "bddl/installing_a_fax_machine.bddl:25",
     "grader/efe_behavior-files/rcb_behavior.py:100-105",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1434",
     "oracle/run.json:1 (steps[246]: toggled=True; final report: fifth contact step)"
    ],
    "conf": 6,
    "note_zh": "开机可在搬上桌前或后完成，无物理或评分阶段顺序，故两步之间不连边。按开关时底盘可静止；开关允许在夹持机身时改变，故freeze_held=false。成功录像末帧仍可见红色标记，运行记录确认已开启；相机比物理晚两个控制步，不能据红色单独判为关闭。"
   }
  ],
  "constraints": [
   {
    "id": "robot_fallen",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "机器人底座上轴的竖直分量小于0.75（倾斜约超过41.4度），或底座低于地面超过0.03米，以上异常连续300个控制步（10秒）即触发跌倒失败；短暂倾斜后及时恢复不构成该约束。",
    "consequence": "立即终止",
    "sources": [
     "grader/efe_behavior-files/rcb_behavior.py:92-99",
     "grader/efe_behavior-files/rcb_behavior.py:124-144",
     "grader/efe_behavior-files/rcb_behavior.py:1383-1398",
     "grader/efe_behavior-files/rcb_behavior.py:1483-1489"
    ]
   },
   {
    "id": "simulator_breakdown",
    "zh": "仿真状态崩溃",
    "never": null,
    "criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限值，任一位置坐标绝对值超过10000米，或底座速度超过100米/秒时失败；每30个控制步还检查目标物体位置是否非有限或任一坐标绝对值超过10000米。录像中的物体突然飞离只能作线索，须以仿真状态确认。",
    "consequence": "立即终止",
    "sources": [
     "grader/efe_behavior-files/rcb_behavior.py:106-113",
     "grader/efe_behavior-files/rcb_behavior.py:1437-1471"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "fax_on_carrel",
    "level": "new_code",
    "source": "Log flags.lit:(ontop facsimile.n.02_1 carrel.n.02_k) for every k=1..10, as enumerated in bddl/installing_a_fax_machine.literals.json; no state logs supplied."
   },
   {
    "atom": "fax_switched_on",
    "level": "new_code",
    "source": "Log flags.lit:(toggled_on facsimile.n.02_1) or proc.facsimile.n.02_1.toggled_on; no state logs supplied."
   },
   {
    "atom": "goal_release_and_rest",
    "level": "new_code",
    "source": "Log Session.status goal_objects_held, goal_objects_moving, goal_held_steps and flags.success_rule from grader/efe_behavior-files/rcb_behavior.py:1414-1434,1538-1546; all goal objects, including ten quantified carrels."
   },
   {
    "atom": "robot_fallen",
    "level": "new_code",
    "source": "Log FallWatch.fallen or Session.status fallen from grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489; no state logs supplied."
   },
   {
    "atom": "simulator_breakdown",
    "level": "new_code",
    "source": "Log Session.status breakdown and end_reason from grader/efe_behavior-files/rcb_behavior.py:1437-1471,1543-1546; no state logs supplied."
   }
  ],
  "notes_zh": "初态传真机在共享办公室地板且关闭，机器人和所有隔间桌也在该室；无必须通过的房间门，无工具前置步骤。两个目标无顺序限制。最终两项结果须同时成立，且传真机及目标量词涉及的全部隔间桌均未被夹爪附着、线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；这是两步共同的成功验收，不另建静置节点。没有状态日志，success及所有when、never均为null，不能据此自动核验最终成功。仿真崩溃检查优先于成功，成功优先于同一步的跌倒检查。"
 },
 "native_metrics": [
  {
   "name": "q_score",
   "unit": "1",
   "threshold": null,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "没有状态日志（states/index.json的logs为空），按P8所有节点when及整体success为null；原生目标、松手静止窗口和失败标记需后续记录，当前不能作状态回放一致性检查。q_score由评分器报告，但并非以数值阈值决定成功，故threshold为null。",
  "规则版本差异：oracle/run.json:1的task_text明确写两项目标一成立即结束，steps[246]和最终说明也称第5个触碰步开启后立即结束；当前instruction.md与rcb_behavior.py:100-105,1414-1434另要求松手、静止并连续保持30步。保留当前共同验收，不从旧版成功样本推断这一窗口已获验证（N2、P19）。",
  "视觉可观测性：成功录像末帧开关标记仍红，无法仅靠颜色确认开机，run.json中toggled=True提供补证；instruction.md说明相机滞后物理两个控制步。未发明颜色阈值，后续遮挡或末帧滞后时需结合原生开关记录及该次执行规则判断（N8、P19）。",
  "两种模式共同物理判据相同；特权模式还要求两次独立重放均成功、末态哈希一致且初态匹配（privileged/grade.py:165-175），标准模式按服务现场结果及finalized、infra等交付条件判分（standard/grade.py:29-35）。这些复现与交付要求不建语义步骤。"
 ],
 "conf": 6,
 "conf_reason_zh": "两项语义步骤、初态、任一隔间桌的析取目标及无顺序边均有文字和评分依据，成功录像与操作记录支持放置和开机；缺少状态日志，且成功样本使用旧版即时目标规则，开关末帧与当前联合静置窗口无法独立验证。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "两个节点（传真机上桌、开启传真机）与指令和BDDL目标一致，均为goal，无多余节点或习惯边；约束为评分器的跌倒/崩溃失败条件；无状态日志故when/success为null并已在open_questions_zh说明；标签合理。",
    "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：['fax_on_carrel', 'fax_switched_on']"
  ]
 },
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  "effort": "high",
  "created": "2026-10-29T09:38:50Z",
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  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
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}