Blame for phase2/dexhand/envelope_letter_insert/task_dag.json

{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/envelope_letter_insert",
 "suite": "dexhand",
 "base": "dexhand-envelope-letter-insert-i00",
 "title_zh": "信纸插入信封",
 "summary_zh": "信纸经信封口部送入袋腔，露出长度不超过 4.95 毫米，右手离开信纸及信封且两物体静止连续 50 个控制步，同时全程不触发掉落、越界、穿壁、信封过度移动或倾斜、非右手接触及物理不稳定的失败条件。",
 "embodiment_zh": "两个模式均为固定底座的天机 Marvin 双臂机器人，每臂七个关节、腕端各有灵巧手；仅右臂及右手操作，左臂停放在躯干旁。默认使用 Sharpa Wave 灵巧手，每手 22 个手指执行器；也支持 Wuji Hand 2.2 灵巧手，每手 20 个手指执行器；两种手共用场景与成功判据。底座固定于桌子正 x 侧，不需要移动底盘。",
 "task_class": "atomic",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-envelope-letter-insert-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "letter_in_envelope",
    "zh": "信纸插入信封",
    "level": "semantic",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": true,
    "criterion_zh": "俯视总览或末段近景可见白色信纸从信封口部滑入前壁下，末端只余窄边而非大块露在袋外：以信封自身坐标计，最外角超过口线 x=55 毫米的距离不大于 4.95 毫米，四角均满足 |y|≤107.6 毫米、x≥-51.6 毫米、中面高度在 1.2～4.4 毫米之间。须先经过两前角入袋至少 10 毫米、两后角仍在口外的口部阶段，再达到上述插入状态，右手与信纸及信封均无有效接触、两物体各自线速度≤0.01 米每秒且角速度≤0.2 弧度每秒，连续 50 个控制步；视频叠字阶段 3/3、接触 L0/E0、静置 50/50 可辅助确认，仍有大片信纸露出、信纸仅叠在封面上、手仍接触或静置不足均未完成，完成后若退回口外、离开袋腔或重新接触或运动速度超限则失去该状态。",
    "step": {
     "cat": "关系",
     "item": "插入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "推/扫",
      "plan": 1,
      "note_zh": "右手指腹带动信纸沿桌面滑行，随后右手指尖推信纸外露的后缘进入信封窄口；操作过程中可以改换接触位置。"
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 2,
      "note_zh": "替代方案：右手拇指与其他手指捏住信纸外露边缘送入口部，随插入深度改变握点，最后撤离信纸和信封；无掉落及穿壁约束仍须满足。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/task/standard/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:30-49",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:95-117",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:139-159",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:248-254",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:131-151",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-72",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/eca9b98723/scene.py:111-158",
     "inputs/oracle/replay.mp4: 视频约 0、6、10、11.4、12 秒；末段近景阶段 3/3、接触 L0/E0、静置 50/50",
     "inputs/oracle/run.json: steps id 57、60、62、66，成功轨迹及两次新进程复核"
    ],
    "conf": 6,
    "note_zh": "一个对象的一次插入关系；对准口部、部分进入、改换接触点与退手静置均为途中动作或本步验收，不另建节点。口部、插入、释放三阶段在本步内部按评分器顺序验收，不是三个语义步骤。窄口属于紧配合槽，故用关系·插入。信封翻盖初始展开，口唇虽称闭合但其下有 4 毫米间隙，2 毫米信纸无需先打开口唇；本步初始不成立。hold_s=0 表示不额外叠加等待：验收已经要求评分器 released_hold_steps 达到 50；无状态日志时由视频及原生读数判定。接受状态要求离手，采用默认持物冻结。"
   }
  ],
  "constraints": [
   {
    "id": "object_below_desk",
    "zh": "物体低于桌面",
    "never": null,
    "criterion_zh": "信纸或信封的物体原点世界高度小于 0.698 米；每个 2 毫秒物理子步检查，首次触发即永久失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66"
    ]
   },
   {
    "id": "object_floor_contact",
    "zh": "物体触地",
    "never": null,
    "criterion_zh": "信纸或信封与地面发生有效接触（接触的 efc_address 非负），立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201"
    ]
   },
   {
    "id": "unsupported_drop",
    "zh": "物体失去支承",
    "never": null,
    "criterion_zh": "信纸或信封没有任何有效接触，且质心竖直速度小于 -0.1 米每秒；不设防抖，首个违规子步即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-222",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70"
    ]
   },
   {
    "id": "object_outside_workspace",
    "zh": "物体离开桌区",
    "never": null,
    "criterion_zh": "信纸或信封的原点世界坐标超出 x∈[0.18,0.78] 米、y∈[-0.40,0.40] 米，或 z>1.00 米，立即失败；边界数值由桌面中心、半宽和最大高度推得。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-23",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67"
    ]
   },
   {
    "id": "letter_through_envelope",
    "zh": "信纸穿透信封",
    "never": null,
    "criterion_zh": "信纸与信封的有效接触穿透深度超过 0.7 毫米，或信纸中面采样点落入信封背壁、前壁、侧封、底封或口唇实体内，即失败；采样点按评分器的 7×15 网格生成，距信纸平面边缘内缩 1 毫米。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72"
    ]
   },
   {
    "id": "envelope_displaced",
    "zh": "信封移位过大",
    "never": null,
    "criterion_zh": "信封原点在水平面上偏离初始位置 (0.48,0.16) 米的欧氏距离超过 0.05 米，立即失败；不是累计路程，也不检查竖直位移。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68"
    ]
   },
   {
    "id": "envelope_tipped",
    "zh": "信封倾斜过大",
    "never": null,
    "criterion_zh": "信封局部向上轴相对世界竖直方向倾斜超过 0.35 弧度，立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69"
    ]
   },
   {
    "id": "forbidden_robot_contact",
    "zh": "非右手接触",
    "never": null,
    "criterion_zh": "机器人臂连杆、支架或停放的左手与信纸或信封发生有效接触即失败；允许操作物体的是右手，口唇也属于信封。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理状态不稳定",
    "never": null,
    "criterion_zh": "物理子步出现位置、速度或加速度异常警告，或广义位置出现非有限值，立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-126"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "letter_inserted_released_hold",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:157-170；需逐帧记录 features() 的 stage_completed、stage_steps、inserted、corners_envelope_frame、hand_letter_contacts、hand_envelope_contacts、两物体线速度与角速度、released_hold_steps；按 :131-151 的有序阶段与 50 步计数验收。"
   },
   {
    "atom": "object_below_desk",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "object_floor_contact",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "unsupported_drop",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-222；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "object_outside_workspace",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-23；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "letter_through_envelope",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "envelope_displaced",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "envelope_tipped",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "forbidden_robot_contact",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209；inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   },
   {
    "atom": "unstable_physics",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-126；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "outside_m",
   "unit": "m",
   "threshold": 0.00495,
   "direction": "lower_better"
  },
  {
   "name": "letter_linear_speed_m_s",
   "unit": "m/s",
   "threshold": 0.01,
   "direction": "lower_better"
  },
  {
   "name": "envelope_linear_speed_m_s",
   "unit": "m/s",
   "threshold": 0.01,
   "direction": "lower_better"
  },
  {
   "name": "letter_angular_speed_rad_s",
   "unit": "rad/s",
   "threshold": 0.2,
   "direction": "lower_better"
  },
  {
   "name": "envelope_angular_speed_rad_s",
   "unit": "rad/s",
   "threshold": 0.2,
   "direction": "lower_better"
  },
  {
   "name": "envelope_shift_m",
   "unit": "m",
   "threshold": 0.05,
   "direction": "lower_better"
  },
  {
   "name": "envelope_tilt_rad",
   "unit": "rad",
   "threshold": 0.35,
   "direction": "lower_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json 的 logs 为空，成功参考视频也没有状态日志；依暂行 DECISIONS.md P8，全部 when、never 和 success 均为 null，不能声称已经在状态回放中验证。毫米级袋内高度、穿透与瞬时速度无法仅由总览图精确量测；节点判据结合口部/近景、视频原生叠字及评分器读数，缺少这些证据且被遮挡时仍需保留未知。",
  "粒度解释：按 S1、S2、S8，把口部进入阶段并入信纸插入步骤的有序验收，释放静置也并入该步；不根据三个原生阶段拆成三个节点。task.json:10 明说口唇闭合时的 4 毫米间隙允许 2 毫米信纸进入，故打开口唇不是每条合法路线的必经前置状态。",
  "模式差异：privileged 的 grade.py:113-123 要求两次新进程均成功且终态哈希相同；standard 的 grade.py:22-38 读取服务实时终态。已逐字节确认两个模式 checker.py、runtime.py、scene.py、task.json 一致，DAG 表达共同物理结果；交付有效性、哈希复现与服务记录有效性不作为世界状态节点。",
  "文本与评分实现差异：instruction.md:3 将穿壁表述为信纸中面任意点进入壁体，而 checker.py:52-57、225-245 实际只检查内缩 1 毫米的 7×15 个采样点，并辅以有效接触穿透大于 0.7 毫米的检查；约束按实际采样实现记录，不能声称检查了连续中面的全部点。",
  "文本约束未单独受评：instruction.md 要求左臂停放并仅由右手操作；runtime.py:96-155 未比较左臂关节与初值，checker.py:76-85、206-209 仅在左手、臂或支架触碰信纸/信封时立即失败。保留右手接触方案与非右手接触失败约束，不额外发明左臂回位步骤或未实现的关节漂移阈值。",
  "视频的秒数与叠字模拟时间不同：参考视频总长 13.28 秒，末段显示模拟时间 84.22 秒并附最终静帧；这里只用视频秒数定位外观，不把工作日志时间或模拟时间直接当视频时间。参考成功仅用于确认可见结果，接触方案按暂行 DECISIONS.md P14 分列推送与捏持。",
  "inserted_fraction 在 checker.py:122-125 标为诊断量，不能用其达到 95% 替代四角深度、侧封、袋内高度及有序阶段验收；native_metrics 仅列实际参与成功或立即失败判定的连续量，阈值来自 task.json:25-72、checker.py:95-117、188-191、248-254。"
 ],
 "conf": 6,
 "conf_reason_zh": "文本语义支持单个插入步骤，所有几何阈值、阶段顺序、接触释放和静置计数均有评分源码，初态与口唇间隙可核实，成功视频及原生叠字支持最终结果；没有任何状态日志，无法逐帧绑定或核验毫米级袋内位置和子步失败条件，因此置信度为 6。",
 "review": {
  "status": "agreed",
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    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "单节点原子任务：文本步骤“把信纸送入信封口并松手”折叠为一个目标节点，口部阶段与释放静置并入其验收，符合 S1/S8；阈值（4.95 mm、|y|≤107.6、x≥-51.6、1.2–4.4 mm、0.01 m/s、0.2 rad/s、50 控制步）与失败条件均与说明文字一致，约束为立即终止；无状态日志故 when/never/success 为 null（P8），已列入 open_questions_zh。",
    "n_issues": 0,
    "n_major": 0
   }
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  "open_zh": []
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 "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：['letter_in_envelope']"
  ]
 },
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