| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/usb_plug_insert", |
| "suite": "dexhand", |
| "base": "dexhand-usb-plug-insert-i00", |
| "title_zh": "USB插头接入集线器", |
| "summary_zh": "右手先抓起USB-A插头，再将其正确极性朝上接入集线器最右侧四号口，离手后保持充分就位且稳定约一秒，全程不触发掉落、移位或碰撞等失败条件。", |
| "embodiment_zh": "两种模式均为固定立柱式天机Marvin机器人，配两条七关节机械臂及灵巧手；仅右臂和右侧灵巧手操作，左臂及左手停放，底座不移动；单次使用Sharpa Wave（22指部执行器）或Wuji Hand 2.2（20指部执行器），两种手使用相同任务验收。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-usb-plug-insert-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "plug_lifted", |
| "zh": "拿起插头", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "总览视角中，右手拇指和至少另一根手指接触插头刚性部分（金属壳、塑料壳或应力消除套），将其举离桌面，金属壳尖端中心达到世界高度至少0.73米，且刚性插头除右手外不接触任何物体；只捏住电缆、仍贴桌面或高度不足均未完成。录像顶部阶段由0/3变为1/3（或之后更高阶段）可佐证该次举起已经通过，此步骤一旦通过无需在末态维持举起高度。", |
| "step": { |
| "cat": "位姿", |
| "item": "拿起" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与至少另一根手指捏持插头刚性外壳或护套，右臂带动插头；左手保持停放。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171", |
| "inputs/task/privileged/environment/instance.json:39-55", |
| "inputs/task/privileged/environment/instance.json:224-230", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/e893d23529/scene.py:180-184", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:55-64" |
| ], |
| "conf": 6, |
| "note_zh": "文本要求且单独检查抓起后的世界状态，机器人可以在举起后暂停再插入，因此保留此步骤；不另分接近或合指节点。阶段1是后续插入验收的必要历史条件，故为目标事件；初态插头侧躺桌面，尚未完成。" |
| }, |
| { |
| "id": "plug_connected_port4", |
| "zh": "插头接入四号口", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "plug_lifted" |
| ], |
| "hold_s": 0.98, |
| "goal": true, |
| "criterion_zh": "端口近景中，带黑色电缆的插头正确极性朝上地接入黑色集线器最右侧四号口（集线器局部横坐标+33毫米），金属壳尖端相对口沿深度至少10.8毫米、横向偏差绝对值至多0.6毫米、竖向偏差绝对值至多0.5毫米，插头轴与端口轴夹角至多5度且顶面与集线器顶面夹角至多20度。须先通过举起与就位阶段，继而右手与插头、电缆、集线器均无接触，插头速度至多0.01米/秒连续保持50个50赫兹控制步（约1秒；录像顶部显示阶段3/3、保持50/50和通过），才算完成；仅靠近口沿、插错口、仍触碰或未满足稳定窗均未完成，之后抽出、失稳或重新接触则失去该状态。", |
| "step": { |
| "cat": "关系", |
| "item": "连接" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与至少另一根手指捏持插头刚性外壳或护套，右臂带动插头；左手保持停放。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 2, |
| "note_zh": "右手指腹抵住已经对准或初步啮合的插头塑料壳后部，将插头推进四号口，随后移开；此前仍须抓起插头。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:79-99", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:170-198", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:201-234", |
| "inputs/task/privileged/environment/instance.json:39-55", |
| "inputs/task/privileged/environment/instance.json:234", |
| "inputs/grader/efe_dexhand-files/privileged/environment/assets/usb_scene.json:81-92" |
| ], |
| "conf": 6, |
| "note_zh": "连接类型对应插头与集线器接通，实际验收仅检查几何就位，不检查电气导通。转正、对准、推进是这一步的实现与验收，松手和静置合并在此，不另建节点。典型接触为右手抓握插头推进，随后松开；不要求沿用录像的具体捏持位置、腕姿或松指顺序。50个控制步按D31换算为(50-1)×0.02=0.98秒；若以后记录原生released_hold_controls，应直接比较其达到50并将hold_s改为0。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "hub_displaced", |
| "zh": "集线器移位", |
| "never": null, |
| "criterion_zh": "集线器原点相对重置时位置的三维欧氏位移大于0.02米；超过限值的首个物理子步立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150", |
| "inputs/task/privileged/environment/instance.json:47", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:111-116" |
| ] |
| }, |
| { |
| "id": "hub_tipped", |
| "zh": "集线器倾斜", |
| "never": null, |
| "criterion_zh": "集线器局部顶面法向与世界竖直方向夹角大于20度；按世界竖直方向判定，不是相对任意起始姿态。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152", |
| "inputs/task/privileged/environment/instance.json:48" |
| ] |
| }, |
| { |
| "id": "plug_below_counter", |
| "zh": "插头低于桌面", |
| "never": null, |
| "criterion_zh": "插头原点即金属壳尖端中心的世界高度低于0.685米（桌面0.70米减0.015米）。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:142-143", |
| "inputs/task/privileged/environment/instance.json:40", |
| "inputs/task/privileged/environment/instance.json:82" |
| ] |
| }, |
| { |
| "id": "hub_below_counter", |
| "zh": "集线器低于桌面", |
| "never": null, |
| "criterion_zh": "集线器原点的世界高度低于桌面0.70米即失败；这是评分器额外明列的条件。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:144-145", |
| "inputs/task/privileged/environment/instance.json:82" |
| ] |
| }, |
| { |
| "id": "objects_outside_workspace", |
| "zh": "物体离开工作区", |
| "never": null, |
| "criterion_zh": "插头或集线器的原点离开闭合工作空间盒：世界坐标横向[0.25,1.15]米、纵向[-0.40,0.95]米、高度[0.685,1.10]米；任一坐标严格超界即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:146-148", |
| "inputs/task/privileged/environment/instance.json:236-246" |
| ] |
| }, |
| { |
| "id": "cable_end_off_counter", |
| "zh": "电缆远端坠落", |
| "never": null, |
| "criterion_zh": "自由电缆远端USB-B插头原点的世界高度低于0.65米（比桌面低超过0.05米）即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:153-154", |
| "inputs/task/privileged/environment/instance.json:46", |
| "inputs/task/privileged/environment/instance.json:82" |
| ] |
| }, |
| { |
| "id": "robot_collision", |
| "zh": "机器人禁触碰", |
| "never": null, |
| "criterion_zh": "任一机械臂连杆、立柱、躯干或停放的左手与任何物体产生有效接触（包括桌面、地面、任务物体、工作右手或其他机器人部件）即失败；工作右手可以接触桌面及任务物体。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:40-60", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:122-141", |
| "inputs/task/privileged/instruction.md:3" |
| ] |
| }, |
| { |
| "id": "plug_dropped", |
| "zh": "插头掉落", |
| "never": null, |
| "criterion_zh": "举起阶段通过后，若插头及其电缆均无右手接触、没有与任一端口达到至少3毫米插入深度且横竖向偏差各至多4毫米的啮合，同时插头质心向下速度超过0.2米/秒或刚性插头已接触桌面或地面，则首个满足条件的控制步立即失败，没有宽限期或补救机会。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-184", |
| "inputs/task/privileged/environment/instance.json:41-42" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理状态失稳", |
| "never": null, |
| "criterion_zh": "出现模拟器非法位置、速度或加速度警告，或任一广义位置非有限值，即在该物理子步终止并失败；需模拟器诊断，单凭画面不能精确确认。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-110" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "plug_lifted", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171; log Checker.stage and lift_step, or the complete lifted predicate from fingers_on_plug, plug_touch and plug_pos" |
| }, |
| { |
| "atom": "plug_connected_port4", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:185-198,201-234; log seated_port, target_depth_m, target_lateral_m, target_vertical_m, axis_error_deg, polarity_cos, plug_touch, cable_hand_contacts, hub_hand_contacts, plug_speed_m_s and released_hold_controls" |
| }, |
| { |
| "atom": "task_success", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:196-198,232-234; log Checker.success and failure; do not substitute delivery or verifier verdicts" |
| }, |
| { |
| "atom": "hub_displaced", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150; inputs/task/privileged/environment/instance.json:47; inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:111-116; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "hub_tipped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152; inputs/task/privileged/environment/instance.json:48; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "plug_below_counter", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:142-143; inputs/task/privileged/environment/instance.json:40; inputs/task/privileged/environment/instance.json:82; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "hub_below_counter", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:144-145; inputs/task/privileged/environment/instance.json:82; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "objects_outside_workspace", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:146-148; inputs/task/privileged/environment/instance.json:236-246; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "cable_end_off_counter", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:153-154; inputs/task/privileged/environment/instance.json:46; inputs/task/privileged/environment/instance.json:82; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "robot_collision", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:40-60; inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:122-141; inputs/task/privileged/instruction.md:3; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "plug_dropped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-184; inputs/task/privileged/environment/instance.json:41-42; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| }, |
| { |
| "atom": "unstable_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-110; log native failure reason and the raw state/contact/diagnostic quantities used here" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "target_depth_fraction", |
| "unit": "1", |
| "threshold": 0.9, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:93", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:214", |
| "inputs/task/privileged/environment/instance.json:53" |
| ] |
| }, |
| { |
| "name": "abs(target_lateral_m)", |
| "unit": "m", |
| "threshold": 0.0006, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:94", |
| "inputs/task/privileged/environment/instance.json:49" |
| ] |
| }, |
| { |
| "name": "abs(target_vertical_m)", |
| "unit": "m", |
| "threshold": 0.0005, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:95", |
| "inputs/task/privileged/environment/instance.json:52" |
| ] |
| }, |
| { |
| "name": "axis_error_deg", |
| "unit": "deg", |
| "threshold": 5, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:97", |
| "inputs/task/privileged/environment/instance.json:45" |
| ] |
| }, |
| { |
| "name": "polarity_cos", |
| "unit": "1", |
| "threshold": 0.9396926207859084, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:97", |
| "inputs/task/privileged/environment/instance.json:51" |
| ] |
| }, |
| { |
| "name": "plug_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.01, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:193", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:226", |
| "inputs/task/privileged/environment/instance.json:50" |
| ] |
| }, |
| { |
| "name": "hub_displacement_m", |
| "unit": "m", |
| "threshold": 0.02, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:225", |
| "inputs/task/privileged/environment/instance.json:47" |
| ] |
| } |
| ], |
| "open_questions_zh": [ |
| "没有状态日志（inputs/states/index.json的logs为空），依据P8所有节点when、约束never及success均为null；评分器字段只是待记录来源，不能假定已出现在日志中。录像可判断总体完成与阶段，但亚毫米偏差、确切接触和质心速度需原生特征或录像叠字佐证，不能凭目测估算阈值。", |
| "评分器要求，文本未提：集线器原点高度低于桌面0.70米即立即失败（checker.py:144-145），早于其离开工作空间盒的最低高度0.685米；已按N1单列约束。", |
| "两种模式物理判定及初态相同，checker.py、runtime.py及instance.json逐字一致；特权模式另要求两次独立回放都成功且最终状态哈希相同，标准模式判在线末次回合。此交付与复现检查不属于物理步骤，success因无状态日志保持null。", |
| "粒度说明：文本明确要求拿起，且抓起高度与刚性插头接触有独立检查，因此保留拿起插头事件；极性朝上是接入四号口的验收条件，按S8不另建转正节点，松手静置亦不另建节点。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "文本、初态、同源评分代码与成功录像支持两个步骤和先举起后接入的顺序，阈值均有来源；缺少任何状态日志，无法验证数值绑定和全部即时失败条件，故置信度为6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "两节点（拿起、接入四号口含松手稳定1 s）与指令三阶段一致；转正、松手不另建节点符合S8/S1；success与各when按P8为null并在open_questions_zh说明；约束与checker.py一致（含额外的hub_below_counter，已按N1列出）；hold_s=0.98符合D31；掉落约束的4 mm啮合容差与checker一致。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：['plug_lifted', 'plug_connected_port4']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T02:02:27Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/dexhand__usb_plug_insert/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/dexhand__usb_plug_insert/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "7d7b64907ee292ecde59746d48ace3d202c5b524b575ea01c4a682a2c460ff97", |
| "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" |
| } |
| } |
|
|
