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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "robodojo/pack_objects_into_box",
"suite": "robodojo",
"base": "robodojo-pack-objects-into-box-i00",
"title_zh": "四件物品朝左装箱",
"summary_zh": "玩具车、电动牙刷、锤子和鞋子的中心投影均进入纸箱底部验收区域、长轴沿箱体长边且前端朝左，纸箱正放对齐，双臂同时回到初始位姿容差内。",
"embodiment_zh": "特权与标准模式均为桌面固定式双臂机器人，两条ARX X5六关节机械臂各配平行二指夹爪，无移动底盘；头部相机及两腕相机提供视图。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "robodojo-pack-objects-into-box-i00",
"bench": "robodojo",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "car_in_box_left",
"zh": "玩具车入箱",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部俯视画面中，银色黑顶玩具车的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且车头（按初态朝右的那一端认定，不按外观猜测）朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "任一机械臂的二指夹爪夹住车身，搬入纸箱并调整朝向。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:42-55",
"inputs/task/privileged/instruction.md:63-68",
"inputs/task/privileged/instruction.md:79-88",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
"inputs/oracle/replay.mp4 @ 0.0 s, 21.0-24.0 s"
],
"conf": 6,
"note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
},
{
"id": "electric_toothbrush_in_box_left",
"zh": "电动牙刷入箱",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部俯视画面中，白色电动牙刷的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且刷头朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "任一机械臂的二指夹爪夹住牙刷柄，搬入纸箱并调整朝向。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:42-55",
"inputs/task/privileged/instruction.md:63-68",
"inputs/task/privileged/instruction.md:79-88",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
"inputs/oracle/replay.mp4 @ 0.0 s, 9.0-12.0 s"
],
"conf": 6,
"note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
},
{
"id": "hammer_in_box_left",
"zh": "锤子入箱",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部俯视画面中，木柄金属头锤子的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且锤头朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "任一机械臂的二指夹爪夹住锤柄，搬入纸箱并调整朝向。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:42-55",
"inputs/task/privileged/instruction.md:63-68",
"inputs/task/privileged/instruction.md:79-88",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
"inputs/oracle/replay.mp4 @ 0.0 s, 3.0-6.0 s"
],
"conf": 6,
"note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
},
{
"id": "shoe_in_box_left",
"zh": "鞋子入箱",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部俯视画面中，带三条黑纹的白色运动鞋的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且鞋尖朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "任一机械臂的二指夹爪夹住鞋身，搬入纸箱并调整朝向。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:42-55",
"inputs/task/privileged/instruction.md:63-68",
"inputs/task/privileged/instruction.md:79-88",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
"inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
"inputs/oracle/replay.mp4 @ 0.0 s, 32.0-35.0 s"
],
"conf": 6,
"note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
},
{
"id": "box_upright_aligned",
"zh": "纸箱保持正放",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部画面中，敞口棕色纸箱底部平放、开口向上、两块外翻箱盖立在左右两侧，箱体长边大致沿画面左右方向；验收要求箱体局部正z轴与世界竖直方向的三维夹角小于15度，局部正y或负y长轴与世界正x方向的三维夹角小于40度。开局即成立且四件入箱时可一直保持，倾斜或转向超限便失去，扶正或转回后恢复；它是末态姿态要求，没有历史违规否决或保持时窗。",
"step": {
"cat": "位姿",
"item": "调整位姿"
},
"contact": [
{
"who": "无接触",
"how": "不适用",
"note_zh": "正常装箱时机械臂夹爪无需接触纸箱，保留纸箱已成立的正放姿态；箱底与桌面的静态背景支承不另标。",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "推/扫",
"note_zh": "需要纠正偏航时，任一臂夹爪推纸箱侧壁，使纸箱长边回到左右方向。",
"plan": 2
},
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "需要扶正或调整时，任一臂二指夹爪夹住纸箱边缘，恢复箱体姿态。",
"plan": 3
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:10",
"inputs/task/privileged/instruction.md:56-68",
"inputs/task/privileged/environment/instance.json:234-279",
"inputs/task/privileged/environment/instance.json:641-652",
"inputs/oracle/replay.mp4 @ 0.0 s, 35.0 s"
],
"conf": 7,
"note_zh": "按S4(a)，文本明确要求且合法路线不必破坏的箱体目标姿态，从初态计为独立状态；直立及长边对齐是同一箱体正放步骤的联合验收，不拆成两步，不为其他入箱步骤设前置边。该状态可以无接触保持；若需纠正，按自由箱体的调整位姿标型，而非机构旋转。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "car_in_box_left",
"level": "new_code",
"source": "dyn.car_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(car,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
},
{
"atom": "electric_toothbrush_in_box_left",
"level": "new_code",
"source": "dyn.electric_toothbrush_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(electric_toothbrush,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
},
{
"atom": "hammer_in_box_left",
"level": "new_code",
"source": "dyn.hammer_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(hammer,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
},
{
"atom": "shoe_in_box_left",
"level": "new_code",
"source": "dyn.shoe_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(shoe,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
},
{
"atom": "box_upright_aligned",
"level": "new_code",
"source": "dyn.box_upright_aligned: log is_axis_up(box,+z)<15deg AND is_axis_aligned(box,+/-y,world +x)<40deg in 3D; inputs/task/privileged/instruction.md:56-63"
},
{
"atom": "both_arms_home",
"level": "new_code",
"source": "dyn.both_arms_home: log all_robot_back_to_origin using per-axis translation tolerance 0.15m and rotation <20deg; inputs/task/privileged/instruction.md:60-63"
}
]
},
"native_metrics": [
{
"name": "item_box_long_axis_error_xy",
"unit": "deg",
"threshold": 45,
"direction": "lower_better"
},
{
"name": "item_front_left_error_xy",
"unit": "deg",
"threshold": 60,
"direction": "lower_better"
},
{
"name": "box_up_axis_error_3d",
"unit": "deg",
"threshold": 15,
"direction": "lower_better"
},
{
"name": "box_long_axis_error_3d",
"unit": "deg",
"threshold": 40,
"direction": "lower_better"
},
{
"name": "arm_start_position_error_per_axis",
"unit": "m",
"threshold": 0.15,
"direction": "lower_better"
},
{
"name": "arm_start_orientation_error",
"unit": "deg",
"threshold": 20,
"direction": "lower_better"
}
],
"open_questions_zh": [
"没有任何状态日志（inputs/states/index.json的logs为空），按P8所有节点的when及总success均为null；这里只能给出视频判据和待记录的原生检查量，不能进行状态回放的达成率或判决一致性验证。",
"输入提供了评分入口、会话封装与服务代码，但未提供底层任务检查、功能点和奖励管理器的实现；封装在重置时调用原生任务检查、每次动作后查询结束标志。各几何阈值及功能坐标的物理含义来自两种模式instruction.md的明确说明，尚不能逐行核对底层实现，箱底精确功能四角也不能从外观包围盒替代。",
"文本与验收的范围差异：装入箱子实际仅检查中心的水平投影，不检查高度、整体容纳、离手或静止；侧躺、越过箱沿或仍被夹持都可能通过。按N1采用文本的入箱语义命名，并在视频判据中按说明明示的原生检查判定，不添加整体入箱或松手要求；玩具车前端还须按初态朝右的资产端认定，不能只凭造型猜车头。",
"按S4(a)将开局已成立、每条合法路线都可保留的纸箱正放且对齐作为一个独立state，从初态计入进度；它是文本明确指定的箱体目标姿态，没有历史否决，不拆直立与对齐两个验收角度。按S4(b)双臂回初位默认放入总成功条件，不单列步骤，其数值容差已在各入箱节点的判据中说明。",
"模式共用同一物理任务检查且instance.json完全一致，但交付评分方式不同：特权模式一次新进程轨迹回放成功，标准模式实时回合成功且无基础设施错误。交付文件、回放初态哈希和服务健康不作为世界状态节点；无可绑定日志时总success保留null。",
"成功视频展示了先锤子、后牙刷、再车、最后鞋子的可行策略；该顺序以及车和鞋的换手过程均非任务必需。箱体姿态保持成立，最终部分物品被鞋遮挡；精确夹角及隐藏物体不能单凭末帧重新测得，需结合全过程和原生成功记录，不虚构视频测量阈值。"
],
"conf": 6,
"conf_reason_zh": "文本明确给出四件入箱及姿态验收，初态文件和成功视频支持该分解，四件物品无必需顺序；但没有状态日志，底层任务检查实现也未随输入提供，阈值仅能引用任务说明，无法完成机器条件绑定及回放一致性核验。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "四件物品入箱（各一步，朝左、沿长边、中心投影入箱底区域）加开局成立的箱体正放对齐state，双臂回初位放入总success，符合文本、S4与评分器；无状态日志故when/success为null并已在open_questions_zh说明，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：['car_in_box_left', 'electric_toothbrush_in_box_left', 'hammer_in_box_left', 'shoe_in_box_left', 'box_upright_aligned']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T09:15:41Z",
"review_prompt": "prompts/02_task_dag_review.md",
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