{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "behavior-1k/preparing_lunch_box",
 "suite": "behavior-1k",
 "base": "behavior-preparing-lunch-box-i00",
 "title_zh": "准备午餐盒",
 "summary_zh": "两块苹果半块、三明治、巧克力曲奇和茶瓶均在打包盒内，冰箱关闭，全部目标物体离手并静止达联合验收窗口。",
 "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人；左、右臂各装一个二指夹爪，使用辅助抓取，底盘可平移及转向，躯干可调节。头部和左右腕部摄像机用于观察；特权模式可查询世界状态，标准模式仅提供相机与本体感知。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "behavior-preparing-lunch-box-i00",
  "bench": "behavior-1k",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "fridge_opened",
    "zh": "打开冰箱",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": false,
    "criterion_zh": "头部或腕部视角可见冰箱门板离开柜体、显出门缝；至少一个可开合关节超过闭合到全开行程的5%时为打开，门板仍贴合柜体、所有关节均在5%以内则未完成。打开后即记住此步骤，后来关门不撤销。",
    "step": {
     "cat": "机构",
     "item": "打开"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪握住冰箱门把手向外拉开门板。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "勾",
      "note_zh": "左手或右手夹爪手指勾住冰箱门把手向外拉开门板。",
      "plan": 2
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "bddl/preparing_lunch_box.bddl:23 茶瓶初始在冰箱内",
     "bddl/preparing_lunch_box.literals.json:8,20 not open 初始为真",
     "task/standard/instruction.md:5 open 的5%关节行程阈值"
    ],
    "conf": 6,
    "note_zh": "冰箱初始关闭；取出茶瓶必须打开冰箱。作为非目标前置事件，与关上冰箱的暂时失分相抵；不单列抓把手或取出茶瓶。门机构在握住把手时也可完成，关闭持物冻结。"
   },
   {
    "id": "apple_halves_in_box_1",
    "zh": "第1块苹果入盒",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": true,
    "goal": true,
    "criterion_zh": "头部或腕部俯看打包盒内，可见至少一块苹果半块已落入盒内并离开夹爪，静止；按评分定义，每块的轴对齐包围盒中心须同时位于打包盒包围盒及其容器内腔中，不能仅搭在盒沿或悬在盒口。盒内没有符合条件的苹果半块时失去此状态；不要求识别两块苹果的实例身份；最终还须五件内容物均入盒且冰箱关闭，五件内容物、打包盒和冰箱均无辅助抓取附着、基体线速度均不超过0.05米/秒，联合连续保持30个控制步（30赫兹，名义1秒）。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪直接夹住任一苹果半块，送至打包盒内后松开。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-7 两块苹果均入盒",
     "bddl/preparing_lunch_box.bddl:33-36 forall 两块苹果 inside 盒",
     "bddl/preparing_lunch_box.literals.json:3-4,20 两个 inside 初始均为假",
     "grader/efe_behavior-files/rcb_behavior.py:100-105 REST_STEPS=30, REST_SPEED_M_S=0.05",
     "grader/efe_behavior-files/rcb_behavior.py:1309-1314 从目标提取全部目标物体，包括盒与冰箱",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1435 目标同时成立、离手、静止的联合窗口",
     "task/standard/instruction.md:5 inside 与 open 的定义"
    ],
    "conf": 6,
    "note_zh": "按N4计数，概念条件为至少1个苹果inside且离手静止；任一块可先放。无状态日志，when为null。局部物体离手与静止是放入验收，联合30步窗口属于总体成功；持物冻结只用于这些放入节点。"
   },
   {
    "id": "apple_halves_in_box_2",
    "zh": "第2块苹果入盒",
    "mode": "state",
    "when": null,
    "after": [
     "apple_halves_in_box_1"
    ],
    "hold_s": 0,
    "freeze_held": true,
    "goal": true,
    "criterion_zh": "头部或腕部俯看打包盒内，可见两块苹果半块已落入盒内并离开夹爪，静止；按评分定义，每块的轴对齐包围盒中心须同时位于打包盒包围盒及其容器内腔中，不能仅搭在盒沿或悬在盒口。盒内符合条件的苹果半块少于两块时失去此状态；不要求识别两块苹果的实例身份；最终还须五件内容物均入盒且冰箱关闭，五件内容物、打包盒和冰箱均无辅助抓取附着、基体线速度均不超过0.05米/秒，联合连续保持30个控制步（30赫兹，名义1秒）。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪直接夹住任一苹果半块，送至打包盒内后松开。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-7 两块苹果均入盒",
     "bddl/preparing_lunch_box.bddl:33-36 forall 两块苹果 inside 盒",
     "bddl/preparing_lunch_box.literals.json:3-4,20 两个 inside 初始均为假",
     "grader/efe_behavior-files/rcb_behavior.py:100-105 REST_STEPS=30, REST_SPEED_M_S=0.05",
     "grader/efe_behavior-files/rcb_behavior.py:1309-1314 从目标提取全部目标物体，包括盒与冰箱",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1435 目标同时成立、离手、静止的联合窗口",
     "task/standard/instruction.md:5 inside 与 open 的定义"
    ],
    "conf": 6,
    "note_zh": "按N4计数，概念条件为至少2个苹果inside且离手静止；任一块可先放。无状态日志，when为null。局部物体离手与静止是放入验收，联合30步窗口属于总体成功；持物冻结只用于这些放入节点。"
   },
   {
    "id": "sandwich_in_box",
    "zh": "三明治入盒",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": true,
    "goal": true,
    "criterion_zh": "头部或腕部视角可见三明治放在打包盒内并已离开夹爪，静止；按评分定义，三明治的轴对齐包围盒中心须同时位于盒的包围盒及容器内腔中，仍在盒外、仅搭盒沿或悬在盒口均未完成，三明治移出内腔后失去此状态。最终还须五件内容物均入盒且冰箱关闭，五件内容物、打包盒和冰箱均无辅助抓取附着、基体线速度均不超过0.05米/秒，联合连续保持30个控制步（30赫兹，名义1秒）。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪直接夹住砧板上的俱乐部三明治，送至打包盒内后松开。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-11 五件内容物入盒及冰箱关闭",
     "bddl/preparing_lunch_box.bddl:37 对应物体 inside 打包盒",
     "bddl/preparing_lunch_box.literals.json:5,20 inside 初始为假",
     "grader/efe_behavior-files/rcb_behavior.py:100-105 REST_STEPS=30, REST_SPEED_M_S=0.05",
     "grader/efe_behavior-files/rcb_behavior.py:1309-1314 从目标提取全部目标物体，包括盒与冰箱",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1435 目标同时成立、离手、静止的联合窗口",
     "task/standard/instruction.md:5 inside 与 open 的定义"
    ],
    "conf": 6,
    "note_zh": "与其他类别物品放入之间无必需顺序。无日志不绑定条件；局部离手静止为放入验收，联合30步窗口属于总体成功。"
   },
   {
    "id": "cookie_in_box",
    "zh": "曲奇入盒",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": true,
    "goal": true,
    "criterion_zh": "头部或腕部视角可见巧克力曲奇放在打包盒内并已离开夹爪，静止；按评分定义，巧克力曲奇的轴对齐包围盒中心须同时位于盒的包围盒及容器内腔中，仍在盒外、仅搭盒沿或悬在盒口均未完成，巧克力曲奇移出内腔后失去此状态。最终还须五件内容物均入盒且冰箱关闭，五件内容物、打包盒和冰箱均无辅助抓取附着、基体线速度均不超过0.05米/秒，联合连续保持30个控制步（30赫兹，名义1秒）。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪直接夹住砧板上的巧克力曲奇，送至打包盒内后松开。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-11 五件内容物入盒及冰箱关闭",
     "bddl/preparing_lunch_box.bddl:38 对应物体 inside 打包盒",
     "bddl/preparing_lunch_box.literals.json:6,20 inside 初始为假",
     "grader/efe_behavior-files/rcb_behavior.py:100-105 REST_STEPS=30, REST_SPEED_M_S=0.05",
     "grader/efe_behavior-files/rcb_behavior.py:1309-1314 从目标提取全部目标物体，包括盒与冰箱",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1435 目标同时成立、离手、静止的联合窗口",
     "task/standard/instruction.md:5 inside 与 open 的定义"
    ],
    "conf": 6,
    "note_zh": "与其他类别物品放入之间无必需顺序。无日志不绑定条件；局部离手静止为放入验收，联合30步窗口属于总体成功。"
   },
   {
    "id": "tea_bottle_in_box",
    "zh": "茶瓶入盒",
    "mode": "state",
    "when": null,
    "after": [
     "fridge_opened"
    ],
    "hold_s": 0,
    "freeze_held": true,
    "goal": true,
    "criterion_zh": "头部或腕部视角可见茶瓶放在打包盒内并已离开夹爪，静止；按评分定义，茶瓶的轴对齐包围盒中心须同时位于盒的包围盒及容器内腔中，仍在盒外、仅搭盒沿或悬在盒口均未完成，茶瓶移出内腔后失去此状态。最终还须五件内容物均入盒且冰箱关闭，五件内容物、打包盒和冰箱均无辅助抓取附着、基体线速度均不超过0.05米/秒，联合连续保持30个控制步（30赫兹，名义1秒）。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪直接夹住冰箱中的茶瓶，送至打包盒内后松开。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:4-11 五件内容物入盒及冰箱关闭",
     "bddl/preparing_lunch_box.bddl:39 对应物体 inside 打包盒",
     "bddl/preparing_lunch_box.literals.json:7,20 inside 初始为假",
     "grader/efe_behavior-files/rcb_behavior.py:100-105 REST_STEPS=30, REST_SPEED_M_S=0.05",
     "grader/efe_behavior-files/rcb_behavior.py:1309-1314 从目标提取全部目标物体，包括盒与冰箱",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1435 目标同时成立、离手、静止的联合窗口",
     "task/standard/instruction.md:5 inside 与 open 的定义"
    ],
    "conf": 6,
    "note_zh": "茶瓶离开冰箱并非独立目标，按D5并入入盒步骤；可先取出、关门，再入盒，故不向关门节点加边。无日志不绑定条件；局部离手静止为放入验收，联合30步窗口属于总体成功。"
   },
   {
    "id": "fridge_closed",
    "zh": "关上冰箱",
    "mode": "state",
    "when": null,
    "after": [
     "fridge_opened"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "头部或腕部视角可见冰箱门板回到贴近柜体的闭合位置，不再保持外张门缝；所有可开合关节均须在闭合到全开行程的5%以内，任一超过5%即失去此状态。初始关闭已成立，取茶瓶时打开会失去，之后须恢复；此机构状态可在夹爪握住把手时成立，最终联合验收仍须离手；最终还须五件内容物均入盒且冰箱关闭，五件内容物、打包盒和冰箱均无辅助抓取附着、基体线速度均不超过0.05米/秒，联合连续保持30个控制步（30赫兹，名义1秒）。",
    "step": {
     "cat": "机构",
     "item": "关上"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "推/扫",
      "note_zh": "左手或右手张开的夹爪推冰箱门板使其回到闭合位置。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "左手或右手二指夹爪握住冰箱门把手，将门板带回闭合位置。",
      "plan": 2
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承机器人在物品和打包盒或冰箱之间调整工作位置；无法确认全程无需移车，按S17列入。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:11 要求冰箱关闭",
     "bddl/preparing_lunch_box.bddl:40-42 not open 冰箱",
     "bddl/preparing_lunch_box.literals.json:8,20 冰箱关闭初始为真",
     "grader/efe_behavior-files/rcb_behavior.py:100-105 REST_STEPS=30, REST_SPEED_M_S=0.05",
     "grader/efe_behavior-files/rcb_behavior.py:1309-1314 从目标提取全部目标物体，包括盒与冰箱",
     "grader/efe_behavior-files/rcb_behavior.py:1414-1435 目标同时成立、离手、静止的联合窗口",
     "task/standard/instruction.md:5 inside 与 open 的定义"
    ],
    "conf": 6,
    "note_zh": "依据S4(b)作为恢复步骤，从初态计入；state不由after门控，after只表示最后恢复发生在打开之后。茶瓶可暂放盒外先关门，无茶瓶入盒到关门的边。握把手不应冻结门开关状态，freeze_held=false。"
   }
  ],
  "constraints": [
   {
    "id": "robot_fallen",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "机器人基体的上轴世界z分量小于0.75（约倾斜超过41.4度），或基体位置低于地面0.03米，任一条件连续达到300个控制步（30赫兹，名义10秒）才触发跌倒失败；视频表现为持续倾倒或低陷。短暂倾斜后及时恢复不算违规；同一控制步达到成功时，评分器先接受成功，不再判跌倒。",
    "consequence": "立即终止",
    "sources": [
     "grader/efe_behavior-files/rcb_behavior.py:92-99 跌倒阈值与300步窗口",
     "grader/efe_behavior-files/rcb_behavior.py:124-144 FallWatch",
     "grader/efe_behavior-files/rcb_behavior.py:1393-1399 成功先于跌倒",
     "grader/efe_behavior-files/rcb_behavior.py:1483-1489 跌倒结束回合"
    ]
   },
   {
    "id": "simulator_breakdown",
    "zh": "仿真状态崩坏",
    "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，位置任一分量绝对值超过10000米，或基体线速度超过100米/秒，立即触发崩坏失败；目标物体每30个控制步检查一次，位置非有限或任一分量绝对值超过10000米同样失败。须以服务breakdown状态或原始状态为准，画面异常本身不能确认这些数值；读取状态异常仅被记录，不等同于崩坏。",
    "consequence": "立即终止",
    "sources": [
     "grader/efe_behavior-files/rcb_behavior.py:106-113 崩坏阈值",
     "grader/efe_behavior-files/rcb_behavior.py:1437-1471 崩坏检查与终止"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "flags.lit:(inside half__apple.n.01_2 packing_box.n.02_1)",
    "level": "new_code",
    "source": "待记录原生BDDL谓词 flags.lit:(inside half__apple.n.01_2 packing_box.n.02_1)；本任务无状态日志，字面量来源 bddl/preparing_lunch_box.literals.json:3-8"
   },
   {
    "atom": "flags.lit:(inside half__apple.n.01_1 packing_box.n.02_1)",
    "level": "new_code",
    "source": "待记录原生BDDL谓词 flags.lit:(inside half__apple.n.01_1 packing_box.n.02_1)；本任务无状态日志，字面量来源 bddl/preparing_lunch_box.literals.json:3-8"
   },
   {
    "atom": "flags.lit:(inside club_sandwich.n.01_1 packing_box.n.02_1)",
    "level": "new_code",
    "source": "待记录原生BDDL谓词 flags.lit:(inside club_sandwich.n.01_1 packing_box.n.02_1)；本任务无状态日志，字面量来源 bddl/preparing_lunch_box.literals.json:3-8"
   },
   {
    "atom": "flags.lit:(inside chocolate_chip_cookie.n.01_1 packing_box.n.02_1)",
    "level": "new_code",
    "source": "待记录原生BDDL谓词 flags.lit:(inside chocolate_chip_cookie.n.01_1 packing_box.n.02_1)；本任务无状态日志，字面量来源 bddl/preparing_lunch_box.literals.json:3-8"
   },
   {
    "atom": "flags.lit:(inside bottle__of__tea.n.01_1 packing_box.n.02_1)",
    "level": "new_code",
    "source": "待记录原生BDDL谓词 flags.lit:(inside bottle__of__tea.n.01_1 packing_box.n.02_1)；本任务无状态日志，字面量来源 bddl/preparing_lunch_box.literals.json:3-8"
   },
   {
    "atom": "flags.lit:(not (open electric_refrigerator.n.01_1))",
    "level": "new_code",
    "source": "待记录原生BDDL谓词 flags.lit:(not (open electric_refrigerator.n.01_1))；本任务无状态日志，字面量来源 bddl/preparing_lunch_box.literals.json:3-8"
   },
   {
    "atom": "fridge_open",
    "level": "new_code",
    "source": "待记录 proc.electric_refrigerator.n.01_1.open；与目标not open使用同一原生Open状态；task/standard/instruction.md:5"
   },
   {
    "atom": "goal_release_and_rest",
    "level": "new_code",
    "source": "待记录各目标物体的辅助抓取附着与基体线速度，或原生goal_objects_held/goal_objects_moving；grader/efe_behavior-files/rcb_behavior.py:1414-1435"
   },
   {
    "atom": "success_rule",
    "level": "new_code",
    "source": "待记录 flags.success_rule 与原生goal_held_steps；grader/efe_behavior-files/rcb_behavior.py:147-164,1538-1547；本文件success保持null"
   },
   {
    "atom": "robot_fallen",
    "level": "new_code",
    "source": "待记录Session.status().fallen或FallWatch计数及上轴z、基体高度；grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489；无日志never为null"
   },
   {
    "atom": "simulator_breakdown",
    "level": "new_code",
    "source": "待记录Session.breakdown及非有限/越界检查结果；grader/efe_behavior-files/rcb_behavior.py:1437-1471；无日志never为null"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "q_score",
   "unit": "无量纲",
   "threshold": null,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "无成功参考轨迹：inputs/oracle_none.txt说明13条目录运行均失败；依据任务文本、BDDL初态/目标、实例对象位置和评分代码规划，无法用成功视频核对可见外观及可达性（暂行：DECISIONS.md N2）。",
  "inputs/states/index.json的logs为空；所有节点when、约束never及总体success均为null，不能对回放做reach-all或success==grader实证校验。atoms中的new_code仅列未来需要记录的字段，不声称当前已有日志（暂行：DECISIONS.md P8）。",
  "两块苹果按至少1块、至少2块计数，任一块可先入盒，不按实例名绑定；只有计数边，没有苹果与其他食品的习惯顺序（暂行：DECISIONS.md N4）。",
  "茶瓶离开冰箱只服务于入盒，文本和BDDL均没有独立取出目标，因此不建茶瓶出冰箱节点；允许茶瓶暂放盒外、关冰箱后再入盒，关门不依赖茶瓶已入盒（暂行：DECISIONS.md D5）。",
  "初态字面量000001证明冰箱关闭，故关上冰箱为从t=0成立的恢复状态，打开冰箱为必经事件；预期初始语义进度1/7，因无日志未能实测。门节点禁用持物冻结，放入节点使用离手静止验收对应的冻结默认（DECISIONS.md S4(b)、D17）。",
  "两种模式共享Session成功规则，但特权评分还要求两次回放全部成功、终态哈希一致且冻结实例匹配（privileged/grade.py:168-174），标准评分依据服务已最终化的单次现场成功且无error、放弃或基础设施错误（standard/grade.py:29-35）。这些交付和复现条件不属于世界状态步骤；无日志时success=null。",
  "全局30步窗口包含五件内容物、打包盒和冰箱的离手与基体静止，不是额外语义步骤；各目标criterion均保留此联合验收。代码以速度>0.05米/秒拒绝，故等于0.05可接受，按代码使用不超过而非文本slower than的严格小于（rcb_behavior.py:1424-1427）。",
  "输入仅含Open/Inside的指令定义和BDDL，未提供OmniGibson内部谓词实现或门关节数据；5%阈值来自standard/instruction.md:5，不估计实际门角度或盒内几何容差。无oracle画面，criterion以头部/腕部相机的一般可见关系描述，不推断颜色与形状细节。",
  "轮式底盘是否对每一步都必须移动无法从静态对象坐标完全确定，按DECISIONS.md S17列底盘支撑；门的握把/勾把及推门/握把关门按不同plan列出（暂行：DECISIONS.md P14）。",
  "q_score由rcb_behavior.py:1538-1555转发，是诊断指标，不替代联合成功；提供源树没有其聚合公式或判分阈值，native_metrics.threshold为null。动作数、模拟时长等只作成本记录（standard/instruction.md:27-29），不建约束；时间和步数上限也不建约束。"
 ],
 "conf": 6,
 "conf_reason_zh": "步骤及计数来自一致任务文本，六项目标与初始冰箱关闭有BDDL字面量证据，验收阈值和失败条件有评分代码来源；但无成功视频、无任何状态日志，也缺少内部谓词几何源码，全部动态条件只能待视频或新增日志核实。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "七个节点（开冰箱前置、苹果第1/2块、三明治、曲奇、茶瓶入盒、关冰箱）与任务文本及BDDL目标一一对应；关冰箱为从t=0计入的恢复状态，freeze_held设置合理，边仅有必要的物理依赖；无状态日志，when/success为null并已在open_questions_zh说明；约束为评分器的失败条件。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：['fridge_opened', 'apple_halves_in_box_1', 'apple_halves_in_box_2', 'sandwich_in_box', 'cookie_in_box', 'tea_bottle_in_box', 'fridge_closed']"
  ]
 },
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  "effort": "high",
  "created": "2026-10-29T10:19:22Z",
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