{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "molmospaces/pick",
 "suite": "molmospaces",
 "base": "molmospaces-pick-i00",
 "title_zh": "拿起馅饼",
 "summary_zh": "结束时馅饼只接触机器人，且比初始位置至少高 1 厘米。",
 "embodiment_zh": "两种模式均为固定底座的 Franka FR3 七自由度单臂，末端为 Robotiq 2F-85 二指夹爪（DROID 配置），初始夹爪打开；没有移动底盘。",
 "task_class": "atomic",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "molmospaces-pick-i00",
  "bench": "molmospaces",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "pie_picked_up",
    "zh": "拿起馅饼",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "馅饼相对初始位置升高至少 1 厘米，只接触机器人，不再接触台面或其他物体；腕部画面中的金棕色三角馅饼随黑色夹爪上移并留在夹爪间，背景大理石台面相对退远，可与初帧比较确认已离开支撑面。仅夹住但仍贴着台面、抬升不足、脱离机器人或重新碰到其他物体均未成立或已失去；结束时必须仍成立，无额外静置或持续时间要求，遮挡下的精确高度和接触以可用评分证据辅助判断。",
    "step": {
     "cat": "位姿",
     "item": "拿起"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "Franka 单臂末端的 Robotiq 二指夹爪夹住馅饼并将其抬离台面；夹取位置与进近方向不限定。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3-15",
     "inputs/task/standard/instruction.md:5-17",
     "inputs/task/privileged/environment/instance.json:356-388",
     "inputs/task/privileged/environment/instance.json:458-463",
     "inputs/grader/efe_molmospaces-files/privileged/environment/rcb_molmospaces.py:256-257",
     "inputs/grader/efe_molmospaces-files/privileged/environment/rcb_molmospaces.py:550-584",
     "inputs/oracle/replay.mp4:0.0-8.0s",
     "inputs/oracle/run.json:1 steps[id=8,9]"
    ],
    "conf": 7,
    "note_zh": "抬起就是文字要求的目标世界状态，接近、闭爪和保持接触不另建节点；初始馅饼仍在台面上，本节点未成立。评分接受持物终态，故关闭持物冻结；不要求松手，也不限制馅饼朝向。典型接触为二指夹取，语义验收只要求机器人接触，不额外强制指定手指、夹取点或抓法。"
   }
  ],
  "constraints": [],
  "success": null,
  "atoms": [
   {
    "atom": "pie_height_gain_m",
    "level": "new_code",
    "source": "dyn.pie_height_gain_m: 需在逐帧日志新增目标馅饼世界坐标 z 相对上游记录初始 z 的差（m）；目标名称与初始位姿见 inputs/task/privileged/environment/instance.json:367-375。当前无此日志字段。"
   },
   {
    "atom": "pie_touches_robot",
    "level": "new_code",
    "source": "dyn.pie_touches_robot: 需记录上游 PickTask 对目标与机器人接触的原生逐帧布尔值；调用入口见 inputs/grader/efe_molmospaces-files/privileged/environment/rcb_molmospaces.py:256-257，验收文字见 inputs/task/privileged/instruction.md:13。当前无此日志字段。"
   },
   {
    "atom": "pie_touches_nonrobot",
    "level": "new_code",
    "source": "dyn.pie_touches_nonrobot: 需按上游 PickTask 接触筛选记录目标与非机器人实体有无接触；验收文字见 inputs/task/privileged/instruction.md:13。当前无此日志字段，需取得上游源码核对筛选。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "pie_height_gain",
   "unit": "m",
   "threshold": 0.01,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json 的 logs 为空，按暂行规则 DECISIONS.md P8 将唯一节点 when 和整体 success 均置为 null；atoms 是待新增的世界状态日志项，不代表已经存在可用绑定。录像可辨认抬离台面，不能独立精确测量 1 厘米或排除全部遮挡接触。",
  "输入评分链最终调用上游 molmo_spaces.tasks.pick_task.PickTask.judge_success()，但输入未附该函数源码；接触体筛选、恰好 1 厘米时的比较边界及是否存在额外内部条件尚不能逐行核对。当前采用两种模式 instruction.md 明示的终态规则，没有根据成功录像估计阈值。",
  "实例另存比初态高 5 厘米的 pickup_obj_goal_pose（inputs/task/privileged/environment/instance.json:377-386），而 facts.lift_cm=1.0 及两种模式说明明确成功只要求升高至少 1 厘米；当前不把该目标位姿当作额外平移或朝向对齐要求，待取得上游判定源码核实其用途。",
  "模式差异：特权模式评分还要求同一交付在两个新进程重放中均成功且终态哈希一致（privileged/tests/grade.py:126-138）；标准模式采纳现场终态成功值（standard/tests/grade.py:30-39）。这是交付验证差异，DAG 采用共同的物理目标；没有状态日志可表达这类跨重放条件，整体 success 保留 null。",
  "特权模式会话、重置和模拟步数作为成本记录但不评分（inputs/task/privileged/instruction.md:21-22），不建立约束；303 控制步和 20 秒为时域上限，按 DECISIONS.md P21 不建立约束。"
 ],
 "conf": 7,
 "conf_reason_zh": "一个拿起步骤直接来自两种模式的相同任务文字，终态验收明确，实例和成功录像支持初态及目标，未引入路线依赖；但没有状态日志，上游成功函数源码未提供，精确接触及高度只能按明示规则和评分证据判断。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 8,
    "summary_zh": "任务文字只有一步“拿起馅饼”，DAG 单节点、终态验收（升高≥1cm且只接触机器人）与评分一致；无状态日志故 when/success 置 null 符合 P8；持物终态已关闭 freeze_held；标签（位姿·拿起，手指/夹爪×抓握）合理，开放问题已列出。",
    "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_picked_up']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T10:23:21Z",
  "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/molmospaces__pick/01_dag"
   },
   {
    "stage": "dag_review",
    "round": 1,
    "ok": true,
    "space": "work/tasks/molmospaces__pick/02_review_r1"
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  ],
  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
  "inputs_manifest_sha256": "7e59dc3226793a5f6b86599aa11f4e597a81907cb5e14f023d879d76d1d00650",
  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
 }
}