task: ATEC2026-TaskB
robot: Unitree-B2-Piper
policy_observations:
  - proprioception
  - lidar
  - head_rgb
  - head_depth
  - ee_rgb
  - ee_depth
debug_only:
  - privileged_object_pose
  - privileged_robot_pose
  - object_id
  - object_list
  - third_person_environment_camera
forbidden_policy_dependencies:
  - simulator_ground_truth
  - random_seed_object_lookup
  - evaluator_internal_state
notes:
  - Use the checked-out official task version to confirm exact key names and shapes.
  - A debug camera may be rendered for video but must not affect actions.
  - Grasp and placement require independent physical-state verification.