{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "bigym2/sandwich_remove",
 "suite": "bigym2",
 "base": "bigym2-sandwich-remove-i00",
 "title_zh": "三明治移到砧板",
 "summary_zh": "三明治在砧板上接触并平放，任一面朝上且偏离水平不超过10°，连续保持50个控制步，期间不触犯手指接触、跌倒或越界规则。",
 "embodiment_zh": "三个模式均为Unitree G1人形机器人，左右两臂各配Dex1-1二指夹爪，双足移动，由GR00T全身控制器驱动腿部和腰部；无轮式底盘。",
 "task_class": "atomic",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "bigym2-sandwich-remove-i00",
  "bench": "bigym2",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "sandwich_on_board",
    "zh": "三明治上砧板",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "外部近景中，金黄色三明治落到浅木色砧板上并与板面接触，其大面近水平，任一面朝上均可，偏离水平不超过10°，连续满足50个控制步（标称1秒）；不额外要求它与锅或锅铲完全脱离接触。仍仅在黑色煎锅内、悬在砧板上方而不接触砧板，或倾斜超限均未完成；离板或倾斜超限则失去该状态，须重新累计保持时长。",
    "step": {
     "cat": "关系",
     "item": "放置"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "托/舀",
      "note_zh": "一侧夹爪握锅铲，铲面从下方托住三明治并将其移到砧板；不另标夹爪握铲的同一接触链。",
      "plan": 1
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "note_zh": "机器人双腿和足部支撑躯干，在接近煎锅及将三明治移到砧板时保持站立。",
      "plan": 1
     },
     {
      "who": "手持工具",
      "how": "托/舀",
      "note_zh": "一侧夹爪握煎锅把手，锅面承托三明治；将锅移到砧板边并倾斜，使三明治滑到砧板上。",
      "plan": 2
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "note_zh": "机器人双腿和足部支撑躯干，在搬动煎锅并向砧板倾锅时保持站立。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:15",
     "inputs/task/privileged/instruction.md:6-9",
     "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:134-157",
     "inputs/grader/efe_bigym2-files/sim/server.py:13-17",
     "inputs/grader/efe_bigym2-files/sim/server.py:125-128",
     "inputs/oracle/replay.mp4 @ 0, 30, 35, 40, 44-46.64 s",
     "inputs/oracle/run.json: steps[id=212,213,218]"
    ],
    "conf": 6,
    "note_zh": "从锅中移出是放置过程，不另设取出、拿起或搬运节点（DECISIONS.md D5；CASES.md STEP-7）。锅铲不是所有成功路线的必需工具，不设拿铲节点；方案2列只用煎锅的替代接触链，当前成功示例还同时用另一侧夹爪所持锅铲推拨引导三明治。不要求额外松手、退手距离或速度阈值；保持时长由原生50步计数器验收，hold_s=0避免在该计数器之外重复计时。freeze_held=false避免把工具承托或允许的非手指接触误当成冻结条件。"
   }
  ],
  "constraints": [
   {
    "id": "finger_touches_sandwich",
    "zh": "手指触碰三明治",
    "never": null,
    "criterion_zh": "任一侧二指夹爪的任一手指直接接触三明治即违规；锅铲或煎锅接触三明治不属于这项禁止接触。",
    "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": "任一时刻骨盆相对竖直倾斜超过约53°，或骨盆高度低于0.30米，即记录跌倒；之后恢复站立也不能消除失败，跌倒本身不立即结束本任务。",
    "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": "骨盆距场景原点超过10米即终止当前回合。距离的具体计算沿用上游检查器，当前输入未提供其源码。",
    "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": "sandwich_on_board_flat_hold_50",
    "level": "new_code",
    "source": "需在回放中逐帧记录上游三明治接触砧板且任一面朝上偏离水平不超过10°的原生谓词及 task._success_hold_counter；连续计数>=50。依据 inputs/task/privileged/instruction.md:15；inputs/oracle/run.json 的 steps[id=212] 观察到 counter=50。"
   },
   {
    "atom": "finger_touches_sandwich",
    "level": "new_code",
    "source": "需记录上游三明治与左右夹爪手指接触的失败谓词；依据 inputs/task/privileged/instruction.md:15；当前无状态日志。"
   },
   {
    "atom": "robot_fell",
    "level": "new_code",
    "source": "需记录 env.episode_fell() 的历史跌倒标志；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157；不可用通用 fallen 的45°阈值替代。"
   },
   {
    "atom": "pelvis_out_of_bounds",
    "level": "new_code",
    "source": "需记录上游骨盆距场景原点超过10米的终止谓词；inputs/task/privileged/instruction.md:17-19；当前无状态日志。"
   },
   {
    "atom": "benchmark_success",
    "level": "new_code",
    "source": "需逐帧记录 bigym.loco.eval.is_success(self.env) 的原生世界状态成功标志；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-150；不使用未记录的最终评分结果。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "sandwich_flat_angle",
   "unit": "deg",
   "threshold": 10,
   "direction": "lower_better"
  },
  {
   "name": "success_hold_counter",
   "unit": "control_steps",
   "threshold": 50,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json 的 logs 为空，无法安全绑定任何逐帧字段；所有节点 when=null、约束 never=null、success=null，依视频判据判断，状态证据检查分母为0（暂行：DECISIONS.md P8）。",
  "任务设计问题：文本指定使用锅铲，但 CASES.md STEP-7 和 DECISIONS.md D2 明确记录本任务存在未触碰锅铲的真实成功，因此不能把拿起或使用锅铲设为必经步骤。当前提供的成功示例确实使用锅铲并倾锅，不是文档所述不拿铲的那条轨迹；依该已决案例保留替代接触方案，无法用本输入中的第二条成功轨迹独立复核。",
  "评分器封装只委托 bigym.loco.eval.is_success 与上游 EnvTools.step；inputs/bench_src 只有4个封装文件，未提供 bigym 的任务、接触、跌倒及保持窗口实现。10°、50步、0.30米、约53°和10米均据三模式 instruction.md；角度边界比较符、跌倒精确角阈值及越界距离算法无法由现有源码独立核实，未自造更精确数值。成功示例运行记录观察到原生 _success_hold_counter=50。",
  "模式的物理成功规则共用同一 Episode；privileged 还要求两次新进程回放均成功且终态哈希相同（inputs/grader/efe_bigym2-files/privileged/tests/grade.py:108-114），standard 与 standard-realtime 评判实时服务中实际运行的回合（inputs/grader/efe_bigym2-files/sim/server.py:1-17,125-128）。这些交付和复现条件不增设语义步骤，也不伪造未记录的评分条件。",
  "从煎锅离开并到砧板上视为一次放置，离锅没有独立终态目标，不拆成取出与放置两步（暂行：DECISIONS.md D5）。工具和腿足接触按替代方案分别列出，不限定成功示例的左右手角色（暂行：DECISIONS.md P14）。"
 ],
 "conf": 6,
 "conf_reason_zh": "一个放置步骤由文本及已决案例直接支持；成功视频和运行记录确认平放砧板并达到50步保持。无状态日志且上游检查器源码缺失，接触与跌倒的精确实现和全部阈值无法独立核查，故保持中等置信度。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "单步 DAG（三明治上砧板）与文本和评分器一致：10°、50步、手指接触、跌倒、越界均对应；无状态日志故 when=null，已在 open_questions_zh 说明；铲子按 STEP-7/D2 不设拾取步。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：['sandwich_on_board']"
  ]
 },
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  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
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  "effort": "high",
  "created": "2026-10-29T10:22:44Z",
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  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
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  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
  "calls": [
   {
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    "round": 0,
    "ok": true,
    "space": "work/tasks/bigym2__sandwich_remove/01_dag"
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    "round": 1,
    "ok": true,
    "space": "work/tasks/bigym2__sandwich_remove/02_review_r1"
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  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
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