{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "bigym2/move_two_plates",
 "suite": "bigym2",
 "base": "bigym2-move-two-plates-i00",
 "title_zh": "两盘移入右架",
 "summary_zh": "两只盘子从左架移到右架槽内，按规定方向竖立并接触右架、不碰桌面且脱离两夹爪，同时达标50个连续控制步，期间盘子不触地且机器人不跌倒。",
 "embodiment_zh": "三种模式均为Unitree G1双臂人形机器人，左右臂各有二指夹爪，双足和躯干由全身控制器维持平衡，可行走、转身、蹲身和前倾；无轮式底盘。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "bigym2-move-two-plates-i00",
  "bench": "bigym2",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "plates_in_right_rack_1",
    "zh": "第1盘入右架",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "原先为空的机器人右侧木色目标架中，至少一只白盘的底边已进入竖条间、盘面竖立且朝向与开局一致；每只合格盘的中心距该架任一槽点不超过0.05 m，盘轴与开局机器人右方向夹角不超过20°，接触目标架而不碰桌面，左右夹爪的手指均不接触该盘。近景中该目标架在画面左侧；盘子仍悬在夹爪中或架上方不算完成，合格盘数变成零即失去本步，最终还须与另一盘共同达标50个连续控制步。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "左手或右手的二指夹爪夹住盘子上沿，搬到右侧目标架后离开盘面。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双腿与躯干支撑人形机器人，在搬放盘子时保持站立，可按需要移动站位。"
     },
     {
      "who": "双臂协作",
      "how": "抓握",
      "plan": 2,
      "note_zh": "左右二指夹爪分别夹住同一盘子的两处边缘，共同搬放；不要求采用此方案。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 2,
      "note_zh": "双腿与躯干支撑机器人，在双臂搬放盘子时保持站立。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:6-9",
     "inputs/task/privileged/instruction.md:15",
     "inputs/task/standard/instruction.md:19-24",
     "inputs/task/standard-realtime/instruction.md:21-26",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157",
     "inputs/grader/efe_bigym2-files/sim/server.py:125-128",
     "inputs/task/privileged/environment/instance.json:4-18",
     "inputs/oracle/replay.mp4 @ 0 s, 18-24 s"
    ],
    "conf": 6,
    "note_zh": "按当前合格盘数至少1只计数，不绑定盘子实例、手或槽位；取出左架、抬高、搬运与对准合为这一步。显式关闭持物冻结，避免另一只盘被持有时冻结整个计数，或遮蔽已放盘的真实丢失。"
   },
   {
    "id": "plates_in_right_rack_2",
    "zh": "第2盘入右架",
    "mode": "state",
    "when": null,
    "after": [
     "plates_in_right_rack_1"
    ],
    "hold_s": 0.98,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "原先为空的机器人右侧目标架内同时有两只白盘，盘底边均在木色竖条间、盘面竖立；每盘中心距该架任一六槽点不超过0.05 m，盘轴与开局机器人右方向夹角不超过20°，接触目标架、不碰桌面，左右夹爪的手指均不接触两盘，全部条件共同保持50个连续控制步（标称1 s）。末段近景可见两盘并排留在架上、夹爪撤开；第二盘仍被夹持或只在架上方即未完成，任一盘离架、失准、碰桌或重新被手指接触即不再满足联合条件。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "左手或右手的二指夹爪夹住盘子上沿，搬到右侧目标架后离开盘面。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双腿与躯干支撑人形机器人，在搬放盘子时保持站立，可按需要移动站位。"
     },
     {
      "who": "双臂协作",
      "how": "抓握",
      "plan": 2,
      "note_zh": "左右二指夹爪分别夹住同一盘子的两处边缘，共同搬放；不要求采用此方案。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 2,
      "note_zh": "双腿与躯干支撑机器人，在双臂搬放盘子时保持站立。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:6-9",
     "inputs/task/privileged/instruction.md:15",
     "inputs/task/standard/instruction.md:19-24",
     "inputs/task/standard-realtime/instruction.md:21-26",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157",
     "inputs/grader/efe_bigym2-files/sim/server.py:125-128",
     "inputs/task/privileged/environment/instance.json:4-18",
     "inputs/task/standard-realtime/instruction.md:15-16",
     "inputs/oracle/replay.mp4 @ 27-36.52 s"
    ],
    "conf": 6,
    "note_zh": "按同时合格盘数至少2只计数，after仅为计数递增，允许两盘同时放好。联合保持窗口在本节点验收，不另建松手或静置节点；50步、每步0.02 s，按DECISIONS.md D31写hold_s=(50-1)*0.02=0.98，未来若记录原生保持计数则应直接检查计数且不重复加时窗。"
   }
  ],
  "constraints": [
   {
    "id": "plate_touched_floor",
    "zh": "盘子触地",
    "never": null,
    "criterion_zh": "任一盘子接触地板，即使之后拾回仍已触发失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:15",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16"
    ]
   },
   {
    "id": "robot_fell",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "机器人骨盆倾离直立超过约53°或高度低于0.30 m即记跌倒；之后重新站起也不能消除该失败，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:147-157"
    ]
   },
   {
    "id": "pelvis_out_of_bounds",
    "zh": "骨盆越界",
    "never": null,
    "criterion_zh": "骨盆距场景原点超过10 m，原生环境结束回合而不能完成；所用距离的维度在当前输入中未展开。",
    "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"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "dyn.plate_0_target_valid",
    "level": "new_code",
    "source": "需新增逐帧记录：BiGym move_two_plates 第1个盘子的原生目标合取（槽点距离、盘轴方向、目标架接触、无桌面接触、两夹爪均未持有）；验收定义见 inputs/task/privileged/instruction.md:15，当前无任何状态日志。"
   },
   {
    "atom": "dyn.plate_1_target_valid",
    "level": "new_code",
    "source": "需新增逐帧记录：BiGym move_two_plates 第2个盘子的原生目标合取（槽点距离、盘轴方向、目标架接触、无桌面接触、两夹爪均未持有）；验收定义见 inputs/task/privileged/instruction.md:15，当前无任何状态日志。"
   },
   {
    "atom": "dyn.plate_floor_contact",
    "level": "new_code",
    "source": "需逐帧记录两盘任一触地的原生检查；inputs/task/privileged/instruction.md:15。"
   },
   {
    "atom": "dyn.episode_fell",
    "level": "new_code",
    "source": "需逐帧记录 Episode.fell()/env.episode_fell() 的历史标志；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157。"
   },
   {
    "atom": "dyn.pelvis_origin_distance",
    "level": "new_code",
    "source": "需逐帧记录原生越界检查所用骨盆到场景原点的距离；inputs/task/privileged/instruction.md:17-19；距离维度待核实。"
   },
   {
    "atom": "flags.success",
    "level": "new_code",
    "source": "需逐帧记录 Episode.success() 调用的 BiGym bigym.loco.eval.is_success，含联合保持和无跌倒；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-150；不得用交付验证结果替代。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "plate_center_to_nearest_target_slot_distance",
   "unit": "m",
   "threshold": 0.05,
   "direction": "lower_better"
  },
  {
   "name": "plate_axis_to_initial_robot_right_angle",
   "unit": "deg",
   "threshold": 20,
   "direction": "lower_better"
  },
  {
   "name": "both_plates_valid_continuous_duration",
   "unit": "s",
   "threshold": 1,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空；按DECISIONS.md P8，两个节点when、success和各约束never均为null，只能凭视频及运行记录判断。atoms列的是需要补记的量，不声称这些字段已经存在。",
  "按DECISIONS.md D5暂行口径，“取出左架并立入右架”以最终关系为每盘一个搬放步骤；已提供的成功说明和评分包装器没有独立取出阶段，不额外建立出左架节点。两只同类盘与目标槽无固定配对，按DECISIONS.md N4计数。",
  "完整BiGym上游move_plates、成功保持与跌倒检查实现未随工作目录提供；包装器仅委托bigym.loco.eval.is_success。0.05 m、20°、50步、手指接触定义及跌倒阈值均来自三模式一致的instruction.md成功段；oracle/run.json中上游源码输出的中部已截断，无法逐行复核比较符边界、跌倒精确角阈值及10 m越界距离维度，未用录像估算替代。",
  "三模式物理任务和冻结初态相同；privileged评分额外要求两次新进程成功回放的最终哈希一致，standard及standard-realtime评分为服务的有效现场成功（inputs/grader/efe_bigym2-files/privileged/tests/grade.py:105-123；inputs/grader/efe_standard-files/v2_1/grade.py:93-110）。这些交付与基础设施条件不作为世界状态节点，当前success=null也不能验证其一致性。",
  "录像可识别盘子是否在目标架内竖立及夹爪撤离，但不能精确测出5 cm、20°或所有指尖接触；成功oracle提供最终通过的旁证，无状态日志可核实逐帧保持窗口。按DECISIONS.md D31，第二计数节点承担50控制步联合保持，hold_s写0.98 s，而不是给第1盘另加共同等待。"
 ],
 "conf": 6,
 "conf_reason_zh": "两个计数搬放步骤来自三个模式一致的任务文本，初态、接触方式和最终几何有成功录像支持，未加入固定手或实例顺序；但没有状态日志，完整上游检查源码也未提供，严格阈值及联合时窗只能依任务明确说明记录，不能执行条件核验。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "两个计数节点（第1/2盘入右架）与说明中的成功条件、D5(a)、N4、D31 的处理一致；无状态日志故when/success为null符合P8，约束为跌倒、盘子触地、骨盆越界，处理方式合理，开放问题已列入open_questions_zh。未发现需要修改内容的错误。",
    "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：['plates_in_right_rack_1', 'plates_in_right_rack_2']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T11:24:19Z",
  "review_prompt": "prompts/02_task_dag_review.md",
  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
  "reconcile_prompt": "prompts/05_reconcile.md",
  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
  "calls": [
   {
    "stage": "dag",
    "round": 0,
    "ok": true,
    "space": "work/tasks/bigym2__move_two_plates/01_dag"
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   {
    "stage": "dag_review",
    "round": 1,
    "ok": true,
    "space": "work/tasks/bigym2__move_two_plates/02_review_r1"
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  ],
  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
  "inputs_manifest_sha256": "a19bf4bfc3ce6cbbbe45adaa3d0bf03814333a471c391806bf265055f4f051d2",
  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
 }
}