| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/stool_brace_insert", |
| "suite": "dexhand", |
| "base": "dexhand-stool-brace-insert-i00", |
| "title_zh": "木凳横撑插接", |
| "summary_zh": "横撑两端分别插入两侧框，四根杆的八个木销与八孔一一座合且各杆跨接两框，所有框杆离手并静稳50控制步，过程中不触发任何失败条件。", |
| "embodiment_zh": "两模式均为一只灵巧手，默认Sharpa Wave（22个手指执行器），可用Wuji Hand 2.2（20个手指执行器）；安装在六自由度腕部定位台（三移动、三旋转关节）上，无机械臂、无移动底盘，每局只用一只手。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-stool-brace-insert-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "brace_lower_seated", |
| "zh": "横撑插入下框", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览中原先躺在前方桌面的浅色横撑竖起，下端插入下框唯一空孔，与原有三杆并立；此前须通过横撑离桌、中心较初态升高至少0.05米且包围盒最低点高于桌面至少0.02米的阶段，插接要求销尖轴向深度0.012至0.019米、径向偏差不超过0.0016米、轴夹角不超过0.105弧度（视频阶段2提示可辅助确认）。悬在孔上或下端退出上述座合范围均未达成／失去此状态；任务最终还要求此接合与另七处接合同时成立、所有框杆离手且线速度不超过0.02米/秒、角速度不超过0.2弧度/秒，连续50控制步，作为跨步骤联合成功验收。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "单只灵巧手用拇指和其他手指夹握横撑，转立并将下端木销送入下框空孔。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/standard/instruction.md:1-7", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/a474b21f41/scene.py:179-186", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:245-250", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:265-284", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52-66", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:99-108" |
| ], |
| "conf": 7, |
| "note_zh": "横撑抬起和转立是插接的途径，原生阶段1并入本步验收，不另计节点；阶段2锁存不代替实时下端座合。持物时也能形成接合，故关闭持物冻结；三根预插杆与下框的初态保护另列约束。" |
| }, |
| { |
| "id": "upper_frame_seated", |
| "zh": "上框套入木销", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "brace_lower_seated" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览中原在后方桌面倒置的侧框已位于四根立杆上，四个朝下孔各套住一个不同立杆的上端木销；此前按原生顺序通过下端插接后上框离桌、中心升高至少0.05米且包围盒最低点高于桌面至少0.02米，四处上端接合均满足深度0.012至0.019米、径向偏差不超过0.0016米、轴夹角不超过0.105弧度，悬在销上、偏孔或仅套入部分木销均未达成，脱离则失去。整体成功另须八个销端与八孔一一座合且每根杆跨接两框（包括三根预插杆的下端仍完全座合），所有框杆离手且线速度不超过0.02米/秒、角速度不超过0.2弧度/秒，连续50个0.02秒控制步；视频末尾可见手退开、完整框架静止，阶段4、8/8与保持50/50提示辅助确认联合验收。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "单只灵巧手抓握另一侧框的框条，保持倒置姿态并下放，使四孔同时套入四根杆的上端木销。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/standard/instruction.md:1-7", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/a474b21f41/scene.py:206-210", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:251-284", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52-66", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:99-108" |
| ], |
| "conf": 7, |
| "note_zh": "一整块侧框同时套入四根木销是一次插接，不拆为四孔节点；上框抬起并入该步的阶段验收。下端横撑接合由前节点追踪，本节点追踪上框四处接合；八处一一匹配、各杆跨两框及全部件离手静止50控制步是跨步骤success联合条件，不另建松手节点。故本节点持框时可达成，freeze_held=false，hold_s=0；未来日志应直接记录released_hold_steps>=50来判断联合成功，无须重复时间保持。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "lower_frame_displaced", |
| "zh": "下框移位", |
| "never": null, |
| "criterion_zh": "下框中心相对初态位移大于0.03米，或本体z轴线偏离世界竖直大于0.1745弧度（文本约10度），任一2毫秒物理子步触发即永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:182-185", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:57-58" |
| ] |
| }, |
| { |
| "id": "preseated_rail_disturbed", |
| "zh": "预插杆松脱", |
| "never": null, |
| "criterion_zh": "三根预插杆任一原下孔轴向深度小于0.008米，或杆轴线偏离竖直大于0.1745弧度（文本约10度），立即失败；不将保护这些初态关系另列进度节点。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:145-155", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:186-193", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:222-229", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:59-60" |
| ] |
| }, |
| { |
| "id": "brace_dropped", |
| "zh": "横撑落回低处", |
| "never": null, |
| "criterion_zh": "原生阶段至少1后，横撑与桌面有有效接触，或横撑中心z低于0.74+0.09=0.83米，立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:194-195", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:216-217", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:15", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:61" |
| ] |
| }, |
| { |
| "id": "brace_knocked_over", |
| "zh": "横撑倾倒", |
| "never": null, |
| "criterion_zh": "原生阶段至少2后，横撑本体z轴线偏离世界竖直超过0.349弧度（文本约20度），立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:196-197", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62" |
| ] |
| }, |
| { |
| "id": "upper_frame_dropped", |
| "zh": "上框失稳", |
| "never": null, |
| "criterion_zh": "原生阶段至少3后，另一侧框与桌面有有效接触，或其本体z轴与世界向下方向夹角超过0.349弧度（文本约20度），立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:198-201", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:218-219", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62" |
| ] |
| }, |
| { |
| "id": "unsupported_fall", |
| "zh": "部件自由下落", |
| "never": null, |
| "criterion_zh": "任一框或杆没有任何有效接触（包括手、支撑物和其他部件），且质心竖直速度小于-0.2米/秒，立即失败，没有允许掉落后接住的窗口。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:202-212", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:63" |
| ] |
| }, |
| { |
| "id": "part_outside_workspace", |
| "zh": "部件越界触地", |
| "never": null, |
| "criterion_zh": "任一框或杆接触地面，或中心z低于桌面0.74米，或中心离开闭区间工作盒x=[0.23,1.23]米、y=[-0.73,1.03]米、z=[0.70,1.60]米，立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:177-181", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:213-215", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:15", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:67-78" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理失稳", |
| "never": null, |
| "criterion_zh": "物理子步出现运行时指定的不稳定数值警告时立即失败；画面突跳不能单独证明，需模拟器报告。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:21-23", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:125-137" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "brace_lower_seated", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:245-250,265-267; log stage and brace_lower_seated plus prior brace_lifted stage" |
| }, |
| { |
| "atom": "upper_frame_seated", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:99-108,236-264; log seated_matrix with end/bore identities, stage, and frame_lifted" |
| }, |
| { |
| "atom": "assembled_released_hold", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:256-284,299-304; log assembled, stage, hand_contact_parts, max_linear_speed_m_s, max_angular_speed_rad_s, released_hold_steps, failure, success" |
| }, |
| { |
| "atom": "lower_frame_displaced", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:182-185; log initial-relative lower frame shift and tilt" |
| }, |
| { |
| "atom": "preseated_rail_disturbed", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:186-193,222-229; log per-preseated-rail original bore depth and tilt" |
| }, |
| { |
| "atom": "brace_dropped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:194-195,216-217; log stage, brace center z, active brace-table contact" |
| }, |
| { |
| "atom": "brace_knocked_over", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:196-197; log stage and direction-free brace tilt" |
| }, |
| { |
| "atom": "upper_frame_dropped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:198-201,218-219; log stage, upper frame downward-axis tilt, active table contact" |
| }, |
| { |
| "atom": "unsupported_fall", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:202-212; log substep active contacts and per-part COM vertical speed" |
| }, |
| { |
| "atom": "part_outside_workspace", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:177-181,213-215; log per-part center positions and floor contacts" |
| }, |
| { |
| "atom": "unstable_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:125-137; log per-substep instability warnings and failure" |
| } |
| ], |
| "notes_zh": "无状态日志，所有条件均留空。联合成功严格为原生阶段4、实时八处完整一一座合、各杆跨两框、全部件无手接触且最大质心线速度<=0.02米/秒和角速度<=0.2弧度/秒连续50控制步，并且无历史失败；Checker.hold达到50锁存success。跨步骤保持条件放入success的语义与两节点视频判据，未复制到各节点的局部完成条件；未来若有完整日志，应以原生计数器>=50表达，无须额外hold_s。" |
| }, |
| "native_metrics": [ |
| { |
| "name": "seat_depth_min", |
| "unit": "m", |
| "threshold": 0.012, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52" |
| ] |
| }, |
| { |
| "name": "seat_depth_max", |
| "unit": "m", |
| "threshold": 0.019, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:104; inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:43" |
| ] |
| }, |
| { |
| "name": "seat_lateral", |
| "unit": "m", |
| "threshold": 0.0016, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:53" |
| ] |
| }, |
| { |
| "name": "seat_axis", |
| "unit": "rad", |
| "threshold": 0.105, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:54" |
| ] |
| }, |
| { |
| "name": "max_linear_speed", |
| "unit": "m/s", |
| "threshold": 0.02, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:64" |
| ] |
| }, |
| { |
| "name": "max_angular_speed", |
| "unit": "rad/s", |
| "threshold": 0.2, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:65" |
| ] |
| }, |
| { |
| "name": "released_hold_steps", |
| "unit": "control_steps", |
| "threshold": 50, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:66" |
| ] |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空，成功示例也无状态日志；依DECISIONS.md P8，所有when、never及success均为null，atoms只说明待补录字段，不推测实际日志路径，无法执行状态一致性实证检查。", |
| "粒度边界：文本列出两次独立抬起测试，但其目的是到达两次插接位置；按S1、S8及CASES STEP-1将抬起保留为各插接的原生阶段验收而不另计步骤。横撑下端插入与上框套入操作不同部件，且能在二者之间停下，故保留两节点；这一解释未有该任务的专门裁定。", |
| "视频可见前方横撑竖起插入、后方侧框上移套合及末尾手退出，并有阶段与8/8、50/50提示；0.0016米横向容差和0.105弧度对轴等精确值无法单凭像素独立量准，需原生检查结果辅助，节点置信度受此限制。", |
| "两模式使用同一物理任务与Checker。standard评分读取可信服务最后一局实时成功；privileged评分还要求两次新进程回放成功且末态哈希一致，属于交付／复现条件，不增加语义步骤或世界状态约束；见inputs/grader/efe_dexhand-files/standard/tests/grade.py:23-45与inputs/grader/efe_dexhand-files/privileged/tests/grade.py:116-127。", |
| "文本约10度／20度，冻结配置实际分别为0.1745／0.349弧度，采用配置的精确阈值；50控制步由原生计数器验收，不用视频冻结尾帧充当静置时间。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "两次插接、必要顺序及全部失败条件有文本、冻结代码与成功视频支持；缺少状态日志，无法绑定与实证检验，毫米级座合需视频原生提示辅助，且抬起阶段是否单列存在粒度解释空间。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
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| "summary_zh": "两步（横撑下端插入下框、上框套入四木销）与文本一致；抬起阶段并入各插接，联合验收/松手静置放在notes与criterion，未另建节点；无状态日志故when/never/success均为null（P8），阈值与grader一致，约束均为立即终止，无遗漏。仅有措辞层面意见。", |
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| "notes_zh": [ |
| "when=null 的节点不在状态日志上检查：['brace_lower_seated', 'upper_frame_seated']" |
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