Blame for phase2/dexhand/essential_two_object/task_dag.json

{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/essential_two_object",
 "suite": "dexhand",
 "base": "dexhand-essential-two-object-i00",
 "title_zh": "核桃独立转动与选择释放",
 "summary_zh": "固定手腕并全程悬空稳持核桃B且两核桃不相碰，依次使A绕掌心Y轴正转90度、回到初始朝向，再仅将A释放到接盘中心附近并静置至终态保持完成。",
 "embodiment_zh": "两模式均为单只右侧五指灵巧手，装在六自由度定位台上且本任务锁定全部腕关节，无移动底盘；默认Sharpa Wave为22个手指驱动，也支持20个手指驱动的Wuji Hand 2.2，每回合只用一只手，复位抓姿可随手型不同。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-essential-two-object-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "a_quarter_turned",
    "zh": "A转九十度",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "固定手腕，用手指使悬空核桃A相对复位朝向绕掌心局部Y轴正向转90°，目标旋转误差不超过0.16 rad；A须有1至5根承重接触手指，所有任务物体自由度的最大绝对速度不超过0.25，连续5个50 Hz控制样本且各样本内每个2 ms子步均满足。总览视角中可见浅灰手指包围的棕色核桃A外壳纹理或轮廓相对掌心转过约四分之一圈；只动手指而核桃未达目标不算完成，核桃被完全遮挡时须用原生阶段记录核实。",
    "step": {
     "cat": "位姿",
     "item": "调整位姿"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "手内调整",
      "note_zh": "右手若干手指在掌内滚转核桃A，不松脱A。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "同一右手的其余手指持续抓住核桃B，保持B的初始位姿。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:64-68",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:100-135",
     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-133",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:237-255",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_two_object_scene.py:129-164",
     "inputs/oracle/replay.mp4: 手指包围核桃的总览画面"
    ],
    "conf": 6,
    "note_zh": "自由核桃调姿，非机构旋转；九十度不是翻面。5样本由原生阶段计数验收，未来宜记录stage_index>=1，故hold_s为0以免重复保持。B保持及A旋转前两阶段的悬空承重、位移和速度边界归约束；不限定具体参与手指。"
   },
   {
    "id": "a_returned",
    "zh": "A回初始朝向",
    "mode": "event",
    "when": null,
    "after": [
     "a_quarter_turned"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "仅在A转九十度阶段已完成后，将仍在手中悬空的A转回复位朝向，旋转误差不超过0.16 rad，A有1至5根承重接触手指，所有任务物体自由度的最大绝对速度不超过0.25，连续5个50 Hz控制样本且每个2 ms子步均满足。总览画面应见A外壳纹理或轮廓相对掌心恢复开局方向；开局本来同向、只回摆手指或尚未先转到九十度均不算回正，遮挡时依据原生第二阶段完成记录。",
    "step": {
     "cat": "位姿",
     "item": "调整位姿"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "手内调整",
      "note_zh": "右手操纵核桃A的手指将A在手内转回初始朝向。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "同一右手的其余手指持续抓住核桃B，避免B移位或转动。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:137-171",
     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-133",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:237-241",
     "docs/DECISIONS.md:438-457",
     "inputs/oracle/run.json: steps[id=108]记录释放前stage_index=2"
    ],
    "conf": 6,
    "note_zh": "按DECISIONS.md D7对此任务的现行处理，回正为锁存event而非开局即得分的state；最终释放不再检查A朝向。未来宜记录stage_index>=2，5样本窗口由该阶段计数承担，hold_s不重复计时。"
   },
   {
    "id": "a_in_tray",
    "zh": "A放入接盘",
    "mode": "state",
    "when": null,
    "after": [
     "a_returned"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "仅释放A：A不再与手承重接触（a_hand_contacts=0），与接盘底有至少一个有效接触且中心到盘中心的水平距离不超过0.04 m，先连续5个控制样本完成释放阶段；随后同样的落盘条件、B仍有1至5根承重接触手指、所有任务物体自由度最大绝对速度不超过0.06，另连续25个50 Hz样本且各2 ms子步均满足。总览应见一枚棕色核桃A停在手下方浅灰方形接盘的中央附近，另一枚B仍留在手内；A仍在空中、被手托住、离开中央容差或继续滚动均未完成，达标后离盘或重被手接触即失去该状态。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "右手操纵A的手指选择性张开使A落入接盘，同时同一右手的其余手指持续抓住核桃B。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:173-200",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:256-279",
     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:128-146",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-204",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:256",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_two_object_scene.py:19-35",
     "inputs/oracle/replay.mp4: 约12秒起可见A在浅灰接盘内；B仍在手内",
     "inputs/oracle/run.json: steps[id=112]两次回放stage_index=3且terminal_hold=25"
    ],
    "conf": 7,
    "note_zh": "释放、落下和静置是一次放入的验收，不另建动作或终态节点。未来须记录stage_index>=3、terminal_hold>=25及实时落盘/速度条件，hold_s为0以免重复原生计数；第三阶段的5样本与随后25样本不能重叠。freeze_held=false使重新接触A能反映状态丢失。"
   }
  ],
  "constraints": [
   {
    "id": "wrist_moved",
    "zh": "手腕移动",
    "never": null,
    "criterion_zh": "全程掌心相对复位位置漂移超过0.003 m，或旋转超过0.01 rad即失败；固定腕的六个指令目标也必须保持[-0.08,0,0.29,0,0,0]，允许规定的浮点归一化。画面中整个手腕相对接盘明显平移或转动可提示违规，精确界限及非法指令须查原生记录。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:10-14",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:207-214",
     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:310-325"
    ]
   },
   {
    "id": "b_pose_lost",
    "zh": "B位姿偏移",
    "never": null,
    "criterion_zh": "任一2 ms子步，B相对复位掌心坐标的位置误差超过0.015 m，或朝向误差超过0.2 rad即失败；画面中原留在手内的B发生滑移或转动为可见线索，微小变化须查原生特征。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:219-226",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:237-241",
     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-367"
    ]
   },
   {
    "id": "b_hold_lost",
    "zh": "B失去悬空握持",
    "never": null,
    "criterion_zh": "全程B必须无环境承重接触（b_support=0），至少一个有效手接触（b_hand_contacts>=1），且有1至5根承重接触手指；任一条件失去立即失败。画面中B掉出手、落到接盘或借桌面支撑均违规；有效接触点力须大于0.005 N，手指接触按该指所有接触点的合力大于0.005 N计。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:227-238",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-204",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_two_object_scene.py:129-164"
    ]
   },
   {
    "id": "walnuts_touched",
    "zh": "两核桃相碰",
    "never": null,
    "criterion_zh": "全程两枚核桃之间不得产生有效接触（ball_pair_contacts必须为0，接触力大于0.005 N才计）；可见两核桃碰撞或挤到一起提示违规。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:215-218",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:185-189"
    ]
   },
   {
    "id": "a_outside_envelope",
    "zh": "A掉落或越界",
    "never": null,
    "criterion_zh": "全程A中心高度必须处于[0.135,0.6] m，A中心到接盘中心的水平距离必须处于[0,0.10] m；任一子步超界立即失败。画面中A掉向台面、越过接盘允许范围或被抬得过高提示违规。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:247-254",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:245-256"
    ]
   },
   {
    "id": "a_speed_exceeded",
    "zh": "A速度越限",
    "never": null,
    "criterion_zh": "全程A线速度必须处于[0,2.5] m/s、角速度处于[0,80] rad/s，释放阶段也用同一边界；任何子步越限立即失败。画面中的突然弹飞或高速旋转是线索，精确值须查原生速度特征。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:190-198",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:239-246",
     "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:246-248"
    ]
   },
   {
    "id": "force_exceeded",
    "zh": "接触力越限",
    "never": null,
    "criterion_zh": "任一任务核桃的最大接触力必须处于[0,80] N，按每个2 ms物理子步检查，超过80 N立即失败；视频不能可靠判断力值，须依据原生接触力或失败记录。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:203-206",
     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:203-210",
     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:350-367"
    ]
   },
   {
    "id": "a_prerelease_guard_lost",
    "zh": "A提前失握或偏移",
    "never": null,
    "criterion_zh": "仅第一、第二阶段活动期间，A须至少一个有效手接触、无环境承重接触、相对复位掌心位置误差不超过0.035 m，且所有任务物体自由度最大绝对速度处于[0,12]；任一子步不满足立即失败。画面中A在完成转动和回正前掉出手、借接盘支撑或明显离开手内工作区均违规；进入释放阶段后不再要求A留在手中。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:117-133",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:153-169",
     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-127",
     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-367"
    ]
   },
   {
    "id": "invalid_physics",
    "zh": "物理状态无效",
    "never": null,
    "criterion_zh": "任何评分所需特征缺失或不是有限数值，或出现BADQPOS、BADQVEL、BADQACC、BADCTRL等不稳定物理警告，立即终止失败；以模拟器原生失败记录为准，单凭视频停住不能判定。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:101-110",
     "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-348"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "a_quarter_turned",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:155 checker.snapshot().stage_index >= 1; log the completed native stage per control sample."
   },
   {
    "atom": "a_returned",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:155 checker.snapshot().stage_index >= 2; log the completed native stage per control sample."
   },
   {
    "atom": "a_in_tray",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:155-158 log checker.stage_index, checker.terminal_hold plus live features a_hand_contacts, deposit_support_a, a_deposit_distance, b_finger_contacts, speed; require stage_index>=3 and terminal_hold>=25 and current terminal bounds."
   },
   {
    "atom": "wrist_moved",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: palm_drift, wrist_rotation and locked-wrist command validation."
   },
   {
    "atom": "b_pose_lost",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: b_position_error, b_orientation_error."
   },
   {
    "atom": "b_hold_lost",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: b_support, b_hand_contacts, b_finger_contacts."
   },
   {
    "atom": "walnuts_touched",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: ball_pair_contacts."
   },
   {
    "atom": "a_outside_envelope",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: a_height, a_deposit_distance."
   },
   {
    "atom": "a_speed_exceeded",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: a_linear_speed, a_angular_speed."
   },
   {
    "atom": "force_exceeded",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: force."
   },
   {
    "atom": "a_prerelease_guard_lost",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: checker.stage_index, a_hand_contacts, a_support, a_position_error, speed."
   },
   {
    "atom": "invalid_physics",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: checker.failure and MuJoCo warning state."
   },
   {
    "atom": "task_success",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:80-85,150-160 log the benchmark per-frame checker.snapshot().success, failure, stage_index and terminal_hold; not an external verifier verdict."
   }
  ]
 },
 "native_metrics": [
  {
   "name": "a_quarter_turn_error",
   "unit": "rad",
   "threshold": 0.16,
   "direction": "lower_better"
  },
  {
   "name": "a_orientation_error",
   "unit": "rad",
   "threshold": 0.16,
   "direction": "lower_better"
  },
  {
   "name": "a_position_error",
   "unit": "m",
   "threshold": 0.035,
   "direction": "lower_better"
  },
  {
   "name": "a_deposit_distance",
   "unit": "m",
   "threshold": 0.04,
   "direction": "lower_better"
  },
  {
   "name": "b_position_error",
   "unit": "m",
   "threshold": 0.015,
   "direction": "lower_better"
  },
  {
   "name": "b_orientation_error",
   "unit": "rad",
   "threshold": 0.2,
   "direction": "lower_better"
  },
  {
   "name": "force",
   "unit": "N",
   "threshold": 80,
   "direction": "lower_better"
  },
  {
   "name": "palm_drift",
   "unit": "m",
   "threshold": 0.003,
   "direction": "lower_better"
  },
  {
   "name": "wrist_rotation",
   "unit": "rad",
   "threshold": 0.01,
   "direction": "lower_better"
  },
  {
   "name": "a_linear_speed",
   "unit": "m/s",
   "threshold": 2.5,
   "direction": "lower_better"
  },
  {
   "name": "a_angular_speed",
   "unit": "rad/s",
   "threshold": 80,
   "direction": "lower_better"
  },
  {
   "name": "a_height",
   "unit": "m",
   "threshold": [
    0.135,
    0.6
   ],
   "direction": "target"
  },
  {
   "name": "speed_rotate_return",
   "unit": "m/s or rad/s",
   "threshold": 0.25,
   "direction": "lower_better"
  },
  {
   "name": "speed_terminal",
   "unit": "m/s or rad/s",
   "threshold": 0.06,
   "direction": "lower_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空；按DECISIONS.md P8，三个节点的when、全部约束的never及success均为null，atoms标明待补录原生阶段、终态保持计数和物理特征的new_code来源，不能从成功声明伪造状态条件。",
  "回初始朝向采用DECISIONS.md D7对此任务的现行event处理：第二阶段须在九十度阶段后完成，不能把开局同向计为已经回正，释放后也不要求A继续同向；这与结束时必须恢复的容器关闭state不同。",
  "成功视频只有总览视角，核桃较小且手内大部分受遮挡，无法逐帧精确读出0.16 rad、微小位置容差或接触力；判据采用可见壳纹/轮廓变化与原生阶段验收，并保留证据不足。视频可见A最终停在浅灰方形接盘内，run.json的steps[id=112]两次原生回放均stage_index=3、terminal_hold=25；这不是状态日志重放校验。",
  "两模式的instance.json与privileged catalog任务定义完全一致，标准模式复用同一checker和runtime；privileged外层要求两次独立回放成功且终态哈希一致，standard按服务中最后一次现场回合判定。DAG覆盖共同物理任务，外层交付、哈希和基础设施有效性不建步骤；无状态日志故success无法校验这些判分差异。",
  "接触定义以代码为准：手接触、核桃间接触和环境支撑按单接触点力大于0.005 N计，手指接触则按同一手指各接触点力求和后大于0.005 N计，细节见essential_two_object_scene.py:154-164；指令中的简写并未逐项说明此差别。",
  "native_metrics的a_deposit_distance=0.04 m用于落盘验收，全程越界界限是0.10 m；speed在转动与回正完成时上限0.25、活动阶段守卫上限12、终态上限0.06，单位随任务物体自由度为m/s或rad/s，均来自catalog.json:100-279。原生5样本与25样本计数包含每个控制区间的全部物理子步，未来若使用计数条件则不再添加hold_s。"
 ],
 "conf": 6,
 "conf_reason_zh": "三个步骤直接来自指令，阈值与顺序由同一评分器和两模式一致的实例定义支持，初态由复位代码与视频核对；没有状态日志，手内核桃朝向及微小接触条件被总览画面遮挡，无法完成动态绑定或跨轨迹一致性校验。",
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    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "三步（A转90°、A回正、A放入接盘并静置）与指令一致；阶段/终态条件与catalog的三阶段和terminal一致，约束均为立即终止；无状态日志故when为null符合P8，已在open_questions_zh说明。回正采用D7的event读法已列为开放点。无需修改。",
    "n_issues": 0,
    "n_major": 0
   }
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  "notes_zh": [
   "when=null 的节点不在状态日志上检查：['a_quarter_turned', 'a_returned', 'a_in_tray']"
  ]
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