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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "robodojo/insert_key",
"suite": "robodojo",
"base": "robodojo-insert-key-i00",
"title_zh": "插入并转动钥匙",
"summary_zh": "白色钥匙齿端朝下、圆环朝上地插入棕色孔块，深度大于2.5厘米、中心水平偏差小于7毫米、竖直误差小于7度，且齿向与孔块规定目标的三维夹角小于30度，四项在同一动作边界成立。",
"embodiment_zh": "两种模式均为桌面固定的双臂机器人，两条ARX X5机械臂各装平行二指夹爪，无移动底盘；头部相机与左右腕部相机提供视图。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "robodojo-insert-key-i00",
"bench": "robodojo",
"progress": "live",
"entities": {},
"milestones": [
{
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"freeze_held": false,
"optional": false,
"verify_zh": null,
"id": "key_inserted",
"zh": "钥匙插入孔",
"criterion_zh": "头部相机中，白色钥匙的齿端向下进入棕色圆块顶部的短槽，圆环竖立在孔口上方；验收为块顶减钥匙最低点高度严格大于0.025米、钥匙圆环内根点与块中心的水平距离严格小于0.007米、钥匙本地正z轴与竖直向上的夹角严格小于7度，允许夹爪仍夹持。悬在孔上、插得太浅、偏离中心、倾斜超限或环朝下均未完成；已插入后拔出或失去上述任一条件即失去此步，最终须与转向条件在同一动作边界同时成立。",
"step": {
"cat": "关系",
"item": "插入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一只二指夹爪夹住白色钥匙圆环或露出的柄部，令齿端向下插入棕色孔块；左右手均可，典型方案由右爪插入。",
"plan": 1
}
],
"sources": [
"inputs/task/privileged/instruction.md:10-12",
"inputs/task/privileged/instruction.md:24-39",
"inputs/task/privileged/instruction.md:50-67",
"inputs/task/standard/instruction.md:26-32",
"inputs/task/privileged/environment/instance.json:260-280",
"inputs/task/privileged/environment/instance.json:324-375",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-441",
"inputs/oracle/replay.mp4:12.0-17.8s"
],
"conf": 6,
"note_zh": "深度、居中和环朝上的直立方向共同验收插入，不另拆节点。拿起、搬运、换手及竖立是操作过程；无需松手或回初位。录像中夹爪遮挡部分钥匙，毫米级深度和角度不能仅从全景精确测量。"
},
{
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"freeze_held": false,
"optional": false,
"verify_zh": null,
"id": "key_turned",
"zh": "钥匙转到位",
"criterion_zh": "白色钥匙的平面方向相对棕色圆块顶部短槽转到目标方向：钥匙本地正x轴（齿伸出的方向）与孔块本地正x轴绕竖直轴顺时针转60度所得方向的三维夹角严格小于30度；本实例目标约为世界正x轴顺时针45度，竖立时齿大致朝画面右方且靠近机器人。仍沿入孔槽向、转向不足或过头使该夹角达到30度均未完成，达到后转离即失去此步；允许持钥匙，最终须与插入步同时成立，遮挡时不能仅凭手腕方向判定钥匙方向。",
"step": {
"cat": "位姿",
"item": "调整位姿"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一只二指夹爪夹住白色钥匙圆环并带动钥匙转向；左右手均可，典型方案由右爪操作。",
"plan": 1
}
],
"sources": [
"inputs/task/privileged/instruction.md:10-12",
"inputs/task/privileged/instruction.md:40-51",
"inputs/task/privileged/instruction.md:61-67",
"inputs/task/standard/instruction.md:33-44",
"inputs/task/privileged/environment/instance.json:8-72",
"inputs/task/privileged/environment/instance.json:75-138",
"inputs/oracle/replay.mp4:15.0-17.8s"
],
"conf": 6,
"note_zh": "名称取自文本的转动，验收取原生最终轴向，不要求累计转过60度。受评对象是自由刚体钥匙的朝向，孔块为静态几何，输入未给出受评锁芯关节，故用位姿·调整位姿。转向判据独立于插入深度；无原生阶段顺序，不强加先插足再达方向阈值的边。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "key_depth_m",
"level": "new_code",
"source": "Log dyn.key_depth_m = world slot bbox top z - world key bbox bottom z; inputs/task/privileged/instruction.md:33-34."
},
{
"atom": "key_slot_xy_distance_m",
"level": "new_code",
"source": "Log dyn.key_slot_xy_distance_m between key and slot root positions; inputs/task/privileged/instruction.md:35-36."
},
{
"atom": "key_up_error_deg",
"level": "new_code",
"source": "Log dyn.key_up_error_deg between key local +z and world +z; inputs/task/privileged/instruction.md:37-39."
},
{
"atom": "key_turn_error_deg",
"level": "new_code",
"source": "Log dyn.key_turn_error_deg between key local +x and slot local +x rotated -60 deg about vertical, using the native 3D angle; inputs/task/privileged/instruction.md:40-48."
}
]
},
"native_metrics": [
{
"name": "key_depth_m",
"unit": "m",
"threshold": 0.025,
"direction": "higher_better"
},
{
"name": "key_slot_xy_distance_m",
"unit": "m",
"threshold": 0.007,
"direction": "lower_better"
},
{
"name": "key_up_error_deg",
"unit": "deg",
"threshold": 7,
"direction": "lower_better"
},
{
"name": "key_turn_error_deg",
"unit": "deg",
"threshold": 30,
"direction": "lower_better"
}
],
"open_questions_zh": [
"输入没有任何状态日志（inputs/states/index.json为空），依暂行规则P8，两个节点的when与全局success均为null；四个验收量列为待新增记录的世界状态，当前只能依据视频与原生成功记录判断，不能完成逐帧数值核验。",
"文本要求换手，但两模式指令明确说明换手不受检查（privileged第61行、standard第55行）；依D3及CASES.md OPEN-4的当前处理，不增设换手节点，也不强制左右手顺序。拿起钥匙属于操作过程，过程分中的抬高5厘米不构成独立成功步骤。",
"文本说先插入再转动；指令所述原生检查只有单阶段终态四项合取，不检查转动历史或阶段顺序。依S2、S10保留可暂停的插入与转到位两步，转到位按最终轴向接受，不把60度作为累计转角，也不强加达到插入深度阈值后才能达到方向阈值的边。",
"底层任务检查源码及完整奖励解析器未随输入提供；已读取评分入口、会话实现和服务调用，精确几何阈值依据两模式指令对原生检查的逐项说明，未直接独立核对缺失源码。成功录像中的夹爪遮挡钥匙，无法从全景精确测量7毫米和7度阈值。",
"转动的类型按自由刚体钥匙的最终轴向采用位姿·调整位姿：实例将钥匙定义为刚体、孔块定义为静态几何，没有锁芯关节转角判据；不把它解释为螺纹拧。",
"两模式物理成功条件相同，但privileged按一次新进程回放评分，standard按现场执行评分（两种grade.py）；该差异以及基础设施和交付有效性不转成世界状态节点。"
],
"conf": 6,
"conf_reason_zh": "两个步骤直接来自文本，四个严格阈值由两模式指令明确给出，初态和成功录像支持几何解释；但无状态日志、底层任务检查源码缺失，录像遮挡使数值验收无法独立核验，换手与转动历史按现行暂行规则处理。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "两节点（钥匙插入孔、钥匙转到位）覆盖指令的插入与转动；换手按D3/OPEN-4不设节点并已在open_questions_zh说明；四个验收量分配无重复无遗漏，无状态日志故when与success为null（P8）。无需修改。",
"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：['key_inserted', 'key_turned']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T09:14:39Z",
"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/robodojo__insert_key/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/robodojo__insert_key/02_review_r1"
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"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "fe724af2f63020af1396ec1dda1783e43470110b12741c755f28b1b17490b2c2",
"repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
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}
|