{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "bigym2/put_cups",
 "suite": "bigym2",
 "base": "bigym2-put-cups-i00",
 "title_zh": "两杯收进壁柜",
 "summary_zh": "两只杯子同时接触壁柜底层搁板且均无夹爪手指接触，连续保持50个控制步，并且机器人全程未跌倒。",
 "embodiment_zh": "三种模式均为 Unitree G1 人形机器人，双臂各装 Dex1-1 二指夹爪，双足支撑和行走；GR00T 全身控制器驱动腿与腰。特权模式可读模拟器并重试，标准模式经相机与本体状态控制，标准实时模式持续运行，机械形态相同。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "bigym2-put-cups-i00",
  "bench": "bigym2",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "cabinet_opened",
    "zh": "打开壁柜",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": false,
    "freeze_held": false,
    "criterion_zh": "白色壁柜正面的玻璃门及门框绕侧边铰链向外转开，柜内底层出现足以让杯子通过的入口；结合左右外部视角观察门框偏转和柜口，不要求两扇门都打开。门板仍封住入口、仅手臂抬到门旁而门未转开时未完成；开启后允许关回，不撤销此事件。",
    "step": {
     "cat": "机构",
     "item": "打开"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "左或右二指夹爪夹住玻璃柜门把手，沿铰链方向外拉。"
     },
     {
      "who": "手指/夹爪",
      "how": "勾",
      "plan": 2,
      "note_zh": "左或右夹爪的一根手指勾住玻璃柜门把手外拉，形成入柜通道。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:8-9",
     "inputs/task/privileged/environment/instance.json:6",
     "inputs/oracle/replay.mp4 @ 0.0-22.5 s"
    ],
    "conf": 6,
    "note_zh": "初态说明和首帧均显示闭柜，开门是从台面向柜内放杯的必要前置变化；只建一个通道节点，不将成功视频先后开启两门的做法变成两步。评分器不单独验收门角度，也不要求最终关门；没有角度阈值可绑定。"
   },
   {
    "id": "cups_in_cabinet_1",
    "zh": "第1杯入柜",
    "mode": "state",
    "when": null,
    "after": [
     "cabinet_opened"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "两只白色带把杯中至少一只已从木色台面移至上方壁柜内部，杯体接触壁柜底层搁板；仍在台面、悬在柜口或仅碰到门板均不算，底层不再有任何杯子接触搁板即失去本节点。最终两杯须同时接触底层、两夹爪的任何手指均不触杯，连续50个控制步（说明称1秒）；此联合验收归入总成功条件，局部搁板接触允许仍被握住，杯子被白色柜体遮挡时不能仅凭台面空了推定接触或失去。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "左或右二指夹爪握住一只杯子的杯把或杯身，将它放入柜内；可逐杯完成。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双腿支撑躯干，并在夹爪搬杯时按需要迈步靠近或退离台面。"
     },
     {
      "who": "双臂协作",
      "how": "抓握",
      "plan": 2,
      "note_zh": "左夹爪和右夹爪各握一只杯子，同时送入壁柜；这是成功视频展示的替代方案。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 2,
      "note_zh": "双腿在两夹爪同时携带杯子时支撑躯干并迈步调整与壁柜的距离。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:6-9",
     "inputs/task/privileged/instruction.md:15-19",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157",
     "inputs/grader/efe_bigym2-files/sim/server.py:125-128",
     "inputs/oracle/run.json:1 steps[id=9].out.text 内记录的 PutCups._success 片段：逐杯检查 shelf_bottom 碰撞和每个夹爪的持杯状态",
     "inputs/oracle/replay.mp4 @ 27.0-35.9 s"
    ],
    "conf": 6,
    "note_zh": "两杯同类且共享目标搁板，按当前满足关系的杯数计数，不绑定实例或手；计数链不限制哪只杯子先入柜，也允许同时达成。抓、抬、搬、松手不另建节点；全部离手及50步共同保持由总成功条件验收，故本节点不加单杯等待窗口，且 freeze_held=false。"
   },
   {
    "id": "cups_in_cabinet_2",
    "zh": "第2杯入柜",
    "mode": "state",
    "when": null,
    "after": [
     "cups_in_cabinet_1"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "两只白色带把杯中两只已从木色台面移至上方壁柜内部，杯体接触壁柜底层搁板；仍在台面、悬在柜口或仅碰到门板均不算，任一只杯子失去与底层搁板的接触即失去本节点。最终两杯须同时接触底层、两夹爪的任何手指均不触杯，连续50个控制步（说明称1秒）；此联合验收归入总成功条件，局部搁板接触允许仍被握住，杯子被白色柜体遮挡时不能仅凭台面空了推定接触或失去。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "左或右二指夹爪握住一只杯子的杯把或杯身，将它放入柜内；可逐杯完成。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双腿支撑躯干，并在夹爪搬杯时按需要迈步靠近或退离台面。"
     },
     {
      "who": "双臂协作",
      "how": "抓握",
      "plan": 2,
      "note_zh": "左夹爪和右夹爪各握一只杯子，同时送入壁柜；这是成功视频展示的替代方案。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 2,
      "note_zh": "双腿在两夹爪同时携带杯子时支撑躯干并迈步调整与壁柜的距离。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:6-9",
     "inputs/task/privileged/instruction.md:15-19",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157",
     "inputs/grader/efe_bigym2-files/sim/server.py:125-128",
     "inputs/oracle/run.json:1 steps[id=9].out.text 内记录的 PutCups._success 片段：逐杯检查 shelf_bottom 碰撞和每个夹爪的持杯状态",
     "inputs/oracle/replay.mp4 @ 27.0-35.9 s"
    ],
    "conf": 6,
    "note_zh": "两杯同类且共享目标搁板，按当前满足关系的杯数计数，不绑定实例或手；计数链不限制哪只杯子先入柜，也允许同时达成。抓、抬、搬、松手不另建节点；全部离手及50步共同保持由总成功条件验收，故本节点不加单杯等待窗口，且 freeze_held=false。"
   }
  ],
  "constraints": [
   {
    "id": "robot_fell",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "回合任一时刻骨盆从竖直方向倾斜超过说明中的约53度，或骨盆高度低于0.30米，即记为跌倒；即使随后重新站起并放好两杯，也不能成功。应以 BiGym 的历史跌倒记录为准，不能仅凭末帧站立推断未跌倒。",
    "consequence": "历史否决",
    "sources": [
     "inputs/task/privileged/instruction.md:15",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16",
     "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": "骨盆距离场景原点超过10米时，上游以越界终止回合；其精确距离计算应由上游终止判定提供，不能用离开画面代替。",
    "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": "cabinet_entry_open",
    "level": "new_code",
    "source": "需记录两扇玻璃柜门的关节状态及杯子可通过的柜口几何；初态来自 inputs/task/privileged/instruction.md:8，开门无评分角度阈值。"
   },
   {
    "atom": "cups_touching_bottom_shelf_count",
    "level": "new_code",
    "source": "需逐帧记录 PutCups.cups 中每杯 is_colliding(cabinet_wall.shelf_bottom)，并统计真值个数；检查片段见 inputs/oracle/run.json:1 steps[id=9].out.text。"
   },
   {
    "atom": "all_cups_unheld",
    "level": "new_code",
    "source": "需逐帧记录 robot.is_gripper_holding_object(cup, side) 的全部杯子与夹爪组合；定义见 inputs/task/privileged/instruction.md:15，接口见 inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:373-377。"
   },
   {
    "atom": "joint_success_hold_steps",
    "level": "new_code",
    "source": "需记录两杯均接触底层且均无夹爪手指接触的连续控制步数，或上游对应保持计数；50步要求见 inputs/task/privileged/instruction.md:15。"
   },
   {
    "atom": "episode_fell",
    "level": "new_code",
    "source": "需记录 env.episode_fell() 历史标志及原生逐帧跌倒条件；读取接口见 inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157。"
   },
   {
    "atom": "pelvis_out_of_bounds",
    "level": "new_code",
    "source": "需记录上游骨盆距场景原点超过10米的判定及回合终止原因；规则见 inputs/task/privileged/instruction.md:17-19。"
   }
  ]
 },
 "native_metrics": [],
 "open_questions_zh": [
  "inputs/states/index.json 的 logs 为空，成功视频也无状态日志；依 P8 所有 when、never 和 success 均为 null，尚不能核验逐帧接触、持杯、连续50步保持及历史跌倒。atoms 列出需补记的世界状态，不能用离线评分结果替代节点条件。",
  "所供评分器只通过 EnvTools 与 bigym.loco.eval.is_success 调用上游；完整 BiGym 任务、保持计数及跌倒/越界实现未随输入提供，成功记录 steps[id=9] 仅保存了截断的 PutCups._success 源码。50步与高度0.30米采用三种模式一致的明确说明，倾角仅能写约53度，无法核实其精确比较式或越界距离范数。",
  "说明中的轻放没有在已提供成功检查中对应独立力、速度或直立阈值；不把成功轨迹的下降速度或杯子姿态当成所有策略的验收阈值。开门无独立评分角度；按闭柜初态加入一个必要通道事件，不要求双门均开或最终关闭。",
  "两杯的全部离手与连续50步共同接触是跨节点的总成功验收；节点只统计当前接触底层的杯数，可在夹爪仍握杯时成立。success 当前为 null，两节点的视频判据均明确写出联合窗口，后续补日志应记录上游保持计数而非各杯独立计时。",
  "模式评分包装不同：特权模式要求同一轨迹在两个新进程中成功且末态哈希相同（privileged/tests/grade.py:105-114），标准与实时模式评在线回合（sim/server.py:13-16；efe_standard-files/v2_1/grade.py:93-99）；三者物理成功核心相同。交付、确定性与基础设施有效性不作为世界状态步骤。",
  "默认成功参考恰是待标注的唯一成功运行（oracle.json 标记 is_labelled_run=true，依 N2）；视频后段杯子被壁柜实体遮挡，放杯后的精确搁板接触和手指脱离须结合评分接受条件判断，不能仅凭杯子从台面消失确定。"
 ],
 "conf": 6,
 "conf_reason_zh": "三个语义步骤来自任务文字与闭柜初态；计数、必要边和两杯接触验收均有说明及成功视频支持，三种模式初态哈希相同。没有状态日志，且上游保持与跌倒实现只有接口和说明，精确终态接触还受柜体遮挡，故保留中等置信度。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 6,
    "summary_zh": "节点（开柜门、第1/2杯入柜）与说明和评分器一致：成功条件“两杯同时接触底层搁板、无夹爪手指接触、连续50步、全程未跌倒”由两个计数目标节点加 robot_fell 历史否决约束覆盖，松手条件未重复写进各节点。无状态日志，when/success 为 null 合理，atoms 已列出需补记字段。“轻放”未设阈值也正确。",
    "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：['cabinet_opened', 'cups_in_cabinet_1', 'cups_in_cabinet_2']"
  ]
 },
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  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
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  "effort": "high",
  "created": "2026-10-29T10:34:36Z",
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  "calls": [
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    "round": 0,
    "ok": true,
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  "review_engine": "claude",
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}