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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "robodojo/make_toast",
"suite": "robodojo",
"base": "robodojo-make-toast-i00",
"title_zh": "面包入槽并压杆",
"summary_zh": "两片可互换面包分别在烤面包机两槽内达到规定深度，四片面包均立在边缘上、架内恰剩两片，压杆超过全行程百分之八十五且双臂同时回到起始位姿容差内。",
"embodiment_zh": "两模式均为固定在桌边的两条六关节机械臂，各配二指夹爪，型号为 ARX X5，无移动底盘；头部固定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-make-toast-i00",
"bench": "robodojo",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "bread_in_slots_1",
"zh": "第1片面包入槽",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部视角中，右侧灰色烤面包机的任一槽内至少有一片面包立在边缘上，其中心投影落在该槽功能矩形内（容差为百万分之一米），且中心严格高于该槽功能平面三至六点五厘米；面包片局部正负横轴或正负纵轴至少一向与竖直向上相差不超过三十度，仅悬在槽上或横躺机顶不算，唯一合格片离槽或倒平即失去本步。最终还须另一槽有片、四片均符合直立判据、左侧白色金属架内恰剩两片、压杆处于下位且双臂同时回到初始容差内；无需脱手或静置。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "双臂协作",
"how": "抓握",
"plan": 1,
"note_zh": "典型方案中左夹爪从面包架夹住一片面包，交接时右夹爪夹住同片面包的另一处、两臂共同持片；随后左爪松开，右夹爪把面包放入烤面包机槽。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:10-17 task and initial bread shelf",
"inputs/task/privileged/instruction.md:32-47 slot geometry, upright acceptance and shelf count",
"inputs/task/privileged/instruction.md:51-56 simultaneous acceptance and arm return",
"inputs/task/standard/instruction.md:29-48 same world-state checks",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374 native run_reward registration",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:411-447 native success and action-boundary evaluation",
"inputs/oracle/replay.mp4:0-151.25 visual reference only"
],
"conf": 6,
"note_zh": "四片面包可互换，按放入不同槽的合格面包数量建立两个计数节点；第二个计数仅要求第一个计数已达到，不规定先左槽还是先右槽。中心入槽与直立是同一步的验收，取片、抬片、换手、释放均不另建节点；典型双臂交接不是每种成功策略的必经动作。评分未要求放片时脱手，故关闭持物冻结；双臂回位、架内余数及四片整体姿态作为共同终态验收归入成功条件。"
},
{
"id": "bread_in_slots_2",
"zh": "第2片面包入槽",
"mode": "state",
"when": null,
"after": [
"bread_in_slots_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部视角中，右侧灰色烤面包机两个并列槽各有至少一片不同的面包，按已占不同槽计数且不区分面包身份；每片中心投影须在对应槽功能矩形内（容差为百万分之一米）、中心严格高于功能平面三至六点五厘米，片内正负横轴或正负纵轴至少一向距竖直向上不超过三十度，同槽两片或机顶横躺不算，任一槽失去合格片即失去本步。最终四片均须符合直立判据，左侧白色金属架内恰剩两片（中心投影在架轮廓内并高于底面），并与压杆下位及双臂回到初始容差内同时成立；无需脱手或静置。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "双臂协作",
"how": "抓握",
"plan": 1,
"note_zh": "典型方案中左夹爪从面包架夹住一片面包，交接时右夹爪夹住同片面包的另一处、两臂共同持片；随后左爪松开，右夹爪把面包放入烤面包机槽。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:10-17 task and initial bread shelf",
"inputs/task/privileged/instruction.md:32-47 slot geometry, upright acceptance and shelf count",
"inputs/task/privileged/instruction.md:51-56 simultaneous acceptance and arm return",
"inputs/task/standard/instruction.md:29-48 same world-state checks",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374 native run_reward registration",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:411-447 native success and action-boundary evaluation",
"inputs/oracle/replay.mp4:0-151.25 visual reference only"
],
"conf": 6,
"note_zh": "四片面包可互换，按放入不同槽的合格面包数量建立两个计数节点；第二个计数仅要求第一个计数已达到，不规定先左槽还是先右槽。中心入槽与直立是同一步的验收，取片、抬片、换手、释放均不另建节点；典型双臂交接不是每种成功策略的必经动作。评分未要求放片时脱手，故关闭持物冻结；双臂回位、架内余数及四片整体姿态作为共同终态验收归入成功条件。"
},
{
"id": "toaster_lever_down",
"zh": "压下烤机压杆",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部视角中，右侧灰色烤面包机朝向机器人的前面压杆移到导槽下部，对应压杆关节的当前位置减下限后占全行程的比例严格大于百分之八十五；压杆未降到该范围或回弹出该范围即未完成或失去本步，夹爪遮挡时须结合动作前后画面，不能只凭手臂下移判断。最终该下位须与两槽各有一片合格面包、四片直立、架内恰剩两片及双臂回位同时成立，双臂末端各坐标距起点在十五厘米内、朝向距起始朝向在二十度内，夹爪可继续压住压杆且无需张开。",
"step": {
"cat": "机构",
"item": "按压"
},
"contact": [
{
"who": "手指/夹爪",
"how": "压/擦",
"plan": 1,
"note_zh": "一只夹爪的指部从上方向下压烤面包机前侧压杆，典型方案使用右夹爪。"
},
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 2,
"note_zh": "一只夹爪夹住烤面包机前侧压杆并将其带到下位，可持续夹持以维持下位。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:48-56 current lever ratio and single simultaneous stage",
"inputs/task/privileged/instruction.md:64-71 arm return can coincide with continued lever contact",
"inputs/task/standard/instruction.md:40-48 identical lever and arm thresholds",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:411-447 native checker result",
"inputs/oracle/run.json:steps[18].out.text initial lever position and limits",
"inputs/oracle/run.json:steps[136].out.text successful final lever and TCP poses",
"inputs/oracle/replay.mp4:143-151.25 lever press and final pose"
],
"conf": 6,
"note_zh": "评分只验收压杆机械行程，不验收热源开启或面包变热，故类型采用机构的按压，不另加烘烤步骤。压杆下位是实时终态而非一次触发事件；指令说明只有一组联合检查，未证明压杆必须在装片后才可下压，故不加放片至压杆的顺序边。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "occupied_slot_count",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:32-42; log dyn.occupied_slot_count using bread centers, toaster toast_slot1/2 functional rectangles, XY tolerance 1e-6 m, strict 0.03 < center_dz_m < 0.065, distinct slices per occupied slot"
},
{
"atom": "bread_edge_upright",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:43-45; log dyn.bread_edge_upright per bread_0..bread_3 using local +/-x or +/-y within 30 deg of world +z"
},
{
"atom": "shelf_bread_count",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:46-47; log dyn.shelf_bread_count using native is_A_in_B center-in-XY and above-shelf-bottom tests; final count == 2"
},
{
"atom": "lever_down",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:48-50; log dyn.lever_ratio from toast_botton parent joint and joint limits; ratio > 0.85"
},
{
"atom": "arms_home",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:51-52; log dyn.arms_home using native all_robot_back_to_origin, per-coordinate position tolerance 0.15 m and orientation tolerance 20 deg for both arms"
},
{
"atom": "simultaneous_success",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:37-56; log native per-action world-state checker conjunction: both slots occupied AND all four breads edge-upright AND shelf count == 2 AND lever ratio > 0.85 AND both arms home; no release or hold requirement"
}
]
},
"native_metrics": [
{
"name": "lever_joint_ratio",
"unit": "1",
"threshold": 0.85,
"direction": "higher_better",
"sources": [
"inputs/task/privileged/instruction.md:48-50 strict greater-than threshold"
]
},
{
"name": "bread_center_height_above_slot",
"unit": "m",
"threshold": [
0.03,
0.065
],
"direction": "target",
"sources": [
"inputs/task/privileged/instruction.md:38-42 both bounds strict"
]
},
{
"name": "bread_min_edge_to_up_angle",
"unit": "deg",
"threshold": 30,
"direction": "lower_better",
"sources": [
"inputs/task/privileged/instruction.md:43-45 minimum over local +/-x and +/-y, all four slices"
]
},
{
"name": "arm_max_coordinate_start_error",
"unit": "m",
"threshold": 0.15,
"direction": "lower_better",
"sources": [
"inputs/task/privileged/instruction.md:51-52 both arms, coordinatewise tolerance"
]
},
{
"name": "arm_start_orientation_error",
"unit": "deg",
"threshold": 20,
"direction": "lower_better",
"sources": [
"inputs/task/privileged/instruction.md:51-52 both arms"
]
}
],
"open_questions_zh": [
"缺少状态日志：输入的状态索引为空，按暂行规则所有节点的完成条件与成功条件均为空，不能核对日志字段或进行逐帧验收；待增加的日志字段在原子清单中列出，成功视频只提供视觉判据，不据此拟合阈值。",
"本地仅含评分入口、仿真服务及会话包装，未提供动态导入的原生任务模块及奖励管理器完整代码；槽深、直立、架内计数、压杆和回位阈值引用两模式指令逐项列明的原生检查说明，尚不能从本地原生源码独立逐行核实。",
"任务设计问题：指令既称任何面包平躺即失败、不得留下平躺，又明确所有条件仅在同一动作边界联合验收且没有提前失败；成功视频约一百至一百二十秒可见第二片横躺机顶后被恢复，最后仍通过。本文件按可恢复的当前态姿态验收处理直立要求，不把这段文字解释成评分器未体现的历史否决约束；此处文本与通过行为有冲突。",
"按回位规则的默认做法，文本中的双臂回到起点作为共同成功条件，不另建从初态就计分的节点；夹爪不必张开且可继续压住压杆，不能额外要求离开烤面包机。",
"两模式的世界状态验收说明一致且冻结实例完全相同；特权模式评分入口回放所交轨迹，标准模式按服务记录的现场结果评分。交付和基础设施有效性不作为世界状态节点；标准模式没有可用成功视频或状态日志作进一步核对。",
"面包片相同且可任意对应两个槽，按暂行计数规则使用第一个和第二个入槽节点，第二个要求占据不同槽；不固定物体身份或槽的先后。压杆检查是当前位置且没有独立阶段，故未添加装片先于压杆的边。",
"任务名称虽为制作吐司，任务文本和验收只要求装片、压杆与回位，没有烘烤温度、烤制时长或取出成品条件，因此没有增加加热或取出步骤。"
],
"conf": 6,
"conf_reason_zh": "步骤来自两模式相同的任务文本，几何阈值由指令的评分说明给出，冻结实例一致，成功视频支持三个结果及回位可持续压杆；但没有状态日志、原生任务检查源码未随输入提供，且不得平躺的文字与可恢复的成功行为冲突，不能给予高置信度。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "节点（两片入槽、压杆）与指令步骤一致；双臂回位按默认规则放入验收条件而非单独节点；无状态日志故 when 全为 null，符合 P8；任务设计问题（平躺即失败 vs 可恢复）已列入 open_questions。压杆节点 plan1/plan2 的接触标签合理。未发现需改内容的错误。",
"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：['bread_in_slots_1', 'bread_in_slots_2', 'toaster_lever_down']"
]
},
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"created": "2026-10-29T09:15:29Z",
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